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index 1268bac8127122cb046112e6b6adb77c601293a3..1ac01229edb1629ea8df496b21dac38acf6a9e70 100644
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/fem_node.csv
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+22,0.366666667,BASELINE,768,747,723,685,671,642,886.760546093,786.760546093,819,656,632,655.760546093,0.400925079124,0.00441173555583,0.0599318007409,0.999999970937,-0.000115307792268,-0.000209129571058,-3.30912766699e-05,1793250728733575424
+23,0.383333333,BASELINE,768,747,723,685,671,642.335374055,886.664625945,787,819,656,632,655.664625945,0.400924105691,0.00441171885057,0.0599312402916,0.999999970854,-0.000114592644572,-0.000209909572036,-3.31467184514e-05,1793250728750242048
+24,0.400000000,BASELINE,768,747,723,685,671,642.910082846,886.089917154,787,819,656,632,655.089917154,0.400923099781,0.00441114731578,0.0599308829564,0.999999970586,-0.000116346313664,-0.000210189881335,-3.33437629504e-05,1793250728766908416
+25,0.416666667,BASELINE,768,747,723,685.498423161,671,643,886,786.501576839,819,656,632,655.498423161,0.40092403537,0.00441173576867,0.0599315556137,0.999999970703,-0.000117722442378,-0.000208834737575,-3.35148300638e-05,1793250728783575296
+26,0.433333333,BASELINE,768,746.912514221,723,686,671,643,886.087485779,786,819,656,632,656,0.400925029269,0.00441218553234,0.0599321997943,0.999999970795,-0.000118995373126,-0.000207656081068,-3.36158218639e-05,1793250728800242432
+27,0.450000000,BASELINE,768,746.333596266,723,686,671,643,886.666403734,786,819,656,632,656,0.400924327926,0.00441064768368,0.0599316108951,0.999999970357,-0.000120081960466,-0.000209172731942,-3.33502460842e-05,1793250728816909056
+28,0.466666667,BASELINE,768,746.242244557,723,686,671,643,886.757755443,786.242244557,819,656,632,656,0.400924144601,0.00441012722721,0.059931633788,0.999999970248,-0.000120166256687,-0.000209663612787,-3.3248122943e-05,1793250728833575680
+29,0.483333333,BASELINE,768,746.813900965,723,686,671,643,886.186099035,786.813900965,819,656,632,656,0.400924665693,0.00441099025307,0.0599324886154,0.999999970586,-0.000118887605515,-0.000208759618849,-3.33682679117e-05,1793250728850242304
+30,0.500000000,BASELINE,768,747,723,686,671.387078075,642.612921925,886,786.612921925,819,656.387078075,632,655.612921925,0.400924080133,0.00441094110727,0.0599318941804,0.99999997036,-0.000119661159297,-0.000209397905797,-3.33581533988e-05,1793250728866908928
+31,0.516666667,BASELINE,768,747,723,686,671.960989174,642.039010826,886,786.039010826,819,656.960989174,632,655.039010826,0.400922960419,0.00441045167872,0.0599306002221,0.99999996986,-0.000121425261748,-0.000210780613653,-3.32851658485e-05,1793250728883575296
+32,0.533333333,BASELINE,768,746.441880348,723,685.441880348,672,642.558119652,886,786.558119652,819,657,632,655.558119652,0.400922346179,0.00441041613529,0.0599299614845,0.99999996992,-0.000118942296651,-0.000211960102518,-3.29475210763e-05,1793250728900241664
+33,0.550000000,BASELINE,768,746,723,685.150680699,672,642.849319301,886,787,819,656.849319301,632,656,0.40092270419,0.00441044270081,0.0599300867685,0.999999970177,-0.000117276450775,-0.000211711645296,-3.27024834123e-05,1793250728916908288
+34,0.566666667,BASELINE,768,746,723,685.725608378,672,642.274391622,886,787,819,656.274391622,632,656,0.400925695814,0.00441055093557,0.0599322286403,0.999999970883,-0.000118783326874,-0.000207484482801,-3.27725291892e-05,1793250728933574912
+35,0.583333333,BASELINE,768,746.299998006,723,686,671.700001994,642.299998006,886,787,818.700001994,656,632,656,0.40092689126,0.00441105557844,0.0599332823404,0.999999971225,-0.000118655478246,-0.000205869864763,-3.29884182684e-05,1793250728950241792
+36,0.600000000,BASELINE,768,746.873896458,723,686,671.126103542,642.873896458,886,787,818.126103542,656,632,656,0.400926446783,0.00441192214494,0.0599333425315,0.999999971246,-0.00011703511377,-0.000206640519061,-3.33374633925e-05,1793250728966908672
+37,0.616666667,BASELINE,768,747,723,686,671.461468457,642.538531543,886,787,818.461468457,656,632,656,0.400926294471,0.00441165756352,0.0599332457357,0.999999971245,-0.000116779566522,-0.000206784613164,-3.33657454424e-05,1793250728983575552
+38,0.633333333,BASELINE,768,746.948419482,723,686.051580518,672,642.051580518,886.051580518,787,819,656,632,656,0.400926182874,0.00441110896873,0.0599330382698,0.999999971228,-0.000116851088329,-0.000206837590363,-3.32811325529e-05,1793250729000242432
+39,0.650000000,BASELINE,768,746.371650885,723,686.628349115,672,642.628349115,886.628349115,787,819,656,632,656,0.400925648094,0.00441091194704,0.0599321541054,0.999999971107,-0.000116339419275,-0.00020775937688,-3.29667665304e-05,1793250729016908800
+40,0.666666667,BASELINE,768,746.205105979,723,686.794894021,671.794894021,642.794894021,886.794894021,786.794894021,819,656,632,656,0.400924859718,0.00441102490572,0.0599313308339,0.999999970811,-0.000116904125247,-0.000208859687616,-3.2997333779e-05,1793250729033575168
+41,0.683333333,BASELINE,768,746.781841549,723,686.218158451,671.218158451,642.218158451,886.218158451,786.218158451,819,656,632,656,0.400923611853,0.00441169951493,0.059930617894,0.999999970194,-0.000119419105029,-0.000210283464652,-3.36528823931e-05,1793250729050241792
+42,0.700000000,BASELINE,768,746.647002541,722.647002541,686,671,642.352997459,886,786.352997459,819,656,632,655.647002541,0.400923473198,0.00441146282002,0.0599304025895,0.999999970127,-0.000119034402932,-0.00021084885642,-3.34662917437e-05,1793250729066908672
+43,0.716666667,BASELINE,768,746.079241319,722.079241319,686,671,642.920758681,886,786.920758681,819,656,632,655.079241319,0.400924009387,0.00441067168737,0.0599304900465,0.999999970394,-0.000116885533393,-0.000210892006273,-3.27673432831e-05,1793250729083575552
+44,0.733333333,BASELINE,768,746.515033093,722.515033093,686,671,642.484966907,886,786.484966907,819,656,632,655.515033093,0.400923240392,0.00441141092312,0.059930463961,0.999999970478,-0.000115232385563,-0.000211410873059,-3.27184127597e-05,1793250729100241920
+45,0.750000000,BASELINE,768,746.890622805,723,686,671,642.109377195,886,786.109377195,819,656,632,656,0.400922796873,0.00441185256154,0.0599305676143,0.999999970547,-0.000114603936004,-0.000211420430907,-3.27561738786e-05,1793250729116908544
+46,0.766666667,BASELINE,768,746.314339759,723,686,671,642.685660241,886,786.685660241,819,656,632,656,0.400924646471,0.00440996416229,0.059931303712,0.999999970677,-0.000118006436452,-0.000208926469241,-3.2713913601e-05,1793250729133575168
+47,0.783333333,BASELINE,768,746.261325292,723,686,671,643,886.261325292,787,819,656,632,655.738674708,0.400925572089,0.0044102128158,0.0599317435979,0.999999970815,-0.000118836530931,-0.000207768022823,-3.28744136018e-05,1793250729150241792
+48,0.800000000,BASELINE,768,746.836248805,723,686,671,643,886.836248805,787,819,656,632,655.163751195,0.400925388904,0.00441302599674,0.0599318280206,0.999999970975,-0.00011657966121,-0.000208212234604,-3.3278232039e-05,1793250729166908416
+49,0.816666667,BASELINE,768,747,723,686,671,642.579891477,886.579891477,786.579891477,819,656,632,655.420108523,0.400925216873,0.00441220061852,0.0599314250031,0.99999997086,-0.000117134669865,-0.000208464317925,-3.32033693341e-05,1793250729183575296
+50,0.833333333,BASELINE,768,747,722.992547741,686,671,642,886,786.007452259,819,656.007452259,632,656,0.400925064918,0.00440996337955,0.0599308460653,0.999999970643,-0.000118769072121,-0.00020862107336,-3.29403317288e-05,1793250729200241920
+51,0.850000000,BASELINE,768,747,722.410968845,686,671,642,886,786.589031155,819,656.589031155,632,656,0.400926117337,0.00441059292957,0.059931669641,0.999999971089,-0.000117287234975,-0.000207328550862,-3.28669655489e-05,1793250729216908544
+52,0.866666667,BASELINE,768,746.830879016,722.169120984,686,671,642.169120984,886,787,819,656.830879016,632,656,0.400927180414,0.00441097432395,0.0599323817464,0.999999971405,-0.000116669045344,-0.000206155358387,-3.28276239226e-05,1793250729233575168
+53,0.883333333,BASELINE,768,746.254376116,722.745623884,686,671,642.745623884,886,787,819,656.254376116,632,656,0.400928269166,0.00441075795614,0.0599328253398,0.999999971414,-0.000118131226751,-0.000205269610467,-3.28702413076e-05,1793250729250241536
+54,0.900000000,BASELINE,768,746.32004141,723,686,671,643,886.32004141,787,819,656,632,656,0.400928031988,0.00441198450014,0.0599327504601,0.999999971411,-0.000117603296654,-0.000205548021956,-3.31353368821e-05,1793250729266908416
+55,0.916666667,BASELINE,768,746.892812135,723,686,671,643,886.892812135,787,819,656,632,656,0.400926747755,0.0044143504783,0.0599322661541,0.999999971394,-0.000115503821362,-0.000206745743305,-3.35761183464e-05,1793250729283575296
+56,0.933333333,BASELINE,768,747,723,686,671,642.516831241,886.516831241,787,819,656,632,656,0.400927055095,0.00441276211447,0.0599327937812,0.999999971498,-0.000116294709857,-0.000205886812035,-3.30155424514e-05,1793250729300241664
+57,0.950000000,BASELINE,768,747,723,686,671,642.075232342,886,787,819,656,632,656,0.400927600357,0.0044107922482,0.0599333752755,0.999999971592,-0.000117600670573,-0.000204787379432,-3.23795835415e-05,1793250729316908288
+58,0.966666667,BASELINE,768,747,723,686,671,642.651694121,886,787,819,656,632,656,0.400927289533,0.00441234598952,0.0599327635104,0.99999997145,-0.000117904896555,-0.000205240206804,-3.27773157004e-05,1793250729333574912
+59,0.983333333,BASELINE,768,747,723,686,671.226928153,643,886,786.773071847,819,656,632,656,0.400926690734,0.00441313691778,0.0599323628753,0.999999971354,-0.000117632548645,-0.000205834936066,-3.2973061565e-05,1793250729350241792
+60,1.000000000,BASELINE,768,747,723,686,671.800287976,643,886,786.199712024,819,656,632,656,0.400925652307,0.00441276332528,0.0599322845543,0.999999971325,-0.000116479995073,-0.00020664629479,-3.28604524083e-05,1793250729366908928
+61,1.016666667,BASELINE,768,747,723,686,671.615487529,643,886,786.384512471,819,656,632.384512471,656,0.400926353484,0.00441403875716,0.0599324715869,0.999999971833,-0.000113527657935,-0.000205800899085,-3.30394727668e-05,1793250729383575552
+62,1.033333333,BASELINE,768,747,723,686,671.02545598,643,886,786.97454402,819,656,632.97454402,656,0.400927984467,0.00441619558043,0.059932800449,0.999999972613,-0.000109613349835,-0.000204069980315,-3.33743669544e-05,1793250729400242432
+63,1.050000000,BASELINE,768,747,723,686,671,643,886.551548649,787,819.551548649,656,632.448451351,656,0.400926598787,0.00441420443945,0.0599318300721,0.999999971753,-0.000113716045086,-0.000206080282928,-3.30771379035e-05,1793250729416909056
+64,1.066666667,BASELINE,768,747,723,685.871199855,671,643,887,786.871199855,819.871199855,656,632,656,0.400925647616,0.0044124901163,0.05993110287,0.999999971024,-0.000117362144564,-0.00020760040076,-3.28578533082e-05,1793250729433575424
+65,1.083333333,BASELINE,768,747,723,685.291024847,671,643,887,786.291024847,819.291024847,656,632,656,0.400926695832,0.00441240131618,0.0599314331589,0.999999971091,-0.000118141343631,-0.000206811529812,-3.30116046576e-05,1793250729450242048
+66,1.100000000,BASELINE,768,747,722.714543845,685.285456155,671,643,886.714543845,786.285456155,819,656,631.714543845,656,0.40092648654,0.00441230421212,0.0599312638324,0.999999971048,-0.000118535924766,-0.000206776689183,-3.31159875144e-05,1793250729466908672
+67,1.116666667,BASELINE,768,747,722.141780836,685.858219164,671,643,886.141780836,786.858219164,819,656,631.141780836,656,0.400925011585,0.00441219875027,0.0599305916514,0.999999970895,-0.000118543394325,-0.000207500767534,-3.31706817981e-05,1793250729483575296
+68,1.133333333,BASELINE,768,746.556086894,722,686,671,642.556086894,886.443913106,787,819,656,631.443913106,655.556086894,0.400925163481,0.00441137957851,0.0599310296069,0.999999970911,-0.000118655374394,-0.00020743171308,-3.27126008142e-05,1793250729500241664
+69,1.150000000,BASELINE,768,746,722.03338246,685.96661754,671.03338246,642,886.96661754,787,819,656,632,655,0.400925794348,0.00441044273158,0.0599317715519,0.999999970977,-0.000118735860438,-0.000207161729433,-3.21351015693e-05,1793250729516908544
+70,1.166666667,BASELINE,768,746,722.614992874,685.385007126,671.614992874,642,886.385007126,787,819,656,632,655,0.400925502008,0.00441142922343,0.0599315082036,0.999999970939,-0.000117734505228,-0.000207876921448,-3.23667491587e-05,1793250729533575168
+71,1.183333333,BASELINE,768,746.194378199,723,685.194378199,671.805621801,642.194378199,886,787,819,656,632,655.194378199,0.400925946861,0.00441260454077,0.0599315551572,0.999999971052,-0.000116857156845,-0.000207785611393,-3.26414214626e-05,1793250729550242048
+72,1.200000000,BASELINE,768,746.769406247,723,685.769406247,671.230593753,642.769406247,886,787,819,656,632,655.769406247,0.400927835358,0.00441414963428,0.0599322097736,0.99999997146,-0.000116222650231,-0.000206114932525,-3.30003488894e-05,1793250729566908928
+73,1.216666667,BASELINE,768,746.658539957,723,686,671.341460043,643,886,787,819,656,632,655.658539957,0.400926935054,0.00441353274753,0.0599316708799,0.999999971105,-0.000117802550065,-0.000206956261646,-3.29014872622e-05,1793250729583575296
+74,1.233333333,BASELINE,768,746.088477415,723,686,671.911522585,643,886,787,819,656,632,655.088477415,0.400924167688,0.00441146844656,0.0599303329485,0.999999970227,-0.00012086496263,-0.000209479343436,-3.24961425441e-05,1793250729600241920
+75,1.250000000,BASELINE,768,746.504420105,722.495579895,686,671.495579895,643,886,787,819,656,632.504420105,655.504420105,0.400924724973,0.00441145448685,0.059930548988,0.999999970617,-0.000118484176606,-0.000209012381902,-3.22627824624e-05,1793250729616908544
+76,1.266666667,BASELINE,768,747,722.098158548,686,671.098158548,643,886,787,819.098158548,656,632.901841452,656,0.400925676815,0.00441178748596,0.0599309731973,0.999999971098,-0.000116039268426,-0.000208099977511,-3.21557893764e-05,1793250729633574912
+77,1.283333333,BASELINE,768,747,722.675521263,686,671.675521263,643,886,787,819.675521263,656,632.324478737,656,0.400925572936,0.00441197533316,0.059931019897,0.999999970922,-0.00011816341223,-0.000207694765737,-3.2511456628e-05,1793250729650241536
+78,1.300000000,BASELINE,768,747,723,686,671.749279485,643,886,787,819.749279485,656,632,656,0.400925761928,0.00441216632247,0.059931262262,0.999999970883,-0.000118922657967,-0.000207417694866,-3.26940993293e-05,1793250729666908416
+79,1.316666667,BASELINE,768,747,723,686,671.176856247,643,886,787,819.176856247,656,632,656,0.400926326705,0.00441236134346,0.0599317556875,0.999999971025,-0.00011793058524,-0.000207305043271,-3.26547319726e-05,1793250729683575040
+80,1.333333333,BASELINE,768,747,723,686,671.384153262,643,886,787,819,656,632,656,0.400925958694,0.00441131798147,0.0599314054783,0.999999970902,-0.000118284509183,-0.000207711889036,-3.25738718502e-05,1793250729700241664
+81,1.350000000,BASELINE,768,747,723,686,671.940059791,643,886,787,819,656,632,656,0.400925173637,0.00440972094381,0.0599306780836,0.999999970659,-0.000119240222348,-0.00020835099982,-3.24744604876e-05,1793250729716908288
+82,1.366666667,BASELINE,768,746.445853992,723,686,672,643,886,787,819,656,632,656,0.40092577908,0.00441059602134,0.0599309074846,0.999999970555,-0.000120623147817,-0.000208035395271,-3.2589647907e-05,1793250729733575168
+83,1.383333333,BASELINE,768,746,722.836707889,686,672,643,886,787,819,656,632,655.836707889,0.40092619127,0.00441155845974,0.0599309964733,0.999999970556,-0.0001208366036,-0.000207878661442,-3.27502706151e-05,1793250729750242048
+84,1.400000000,BASELINE,768,746,722.258015888,686,672,643,886,787,819,656,632,655.258015888,0.400925684338,0.00441198309715,0.0599304341048,0.999999970782,-0.000117943693732,-0.000208419602127,-3.29604991943e-05,1793250729766908416
+85,1.416666667,BASELINE,768,746.315574106,722.315574106,686,672,642.684425894,886,787,819,656,632,655,0.400925550068,0.00441246404381,0.0599302276793,0.999999970964,-0.000116045231022,-0.000208611440199,-3.2958297837e-05,1793250729783575040
+86,1.433333333,BASELINE,768,746.885058993,722.885058993,686,672,642.114941007,886,787,819,656,632,655,0.400925715642,0.00441299029682,0.0599303076454,0.999999971115,-0.000114946900212,-0.000208522390435,-3.27851754376e-05,1793250729800241664
+87,1.450000000,BASELINE,768,746.527083278,723,686,671.527083278,642.472916722,886,787,819,656,632,655.472916722,0.400925030924,0.00441265397079,0.0599299957769,0.999999970857,-0.000115922515655,-0.000209241891119,-3.26568841511e-05,1793250729816908288
+88,1.466666667,BASELINE,768,746,723,686,671.0639021,642.9360979,886.0639021,786.9360979,819,656,632,655.9360979,0.40092421594,0.00441219912314,0.0599295754617,0.999999970517,-0.000117296906023,-0.000210109634517,-3.25845193026e-05,1793250729833574912
+89,1.483333333,BASELINE,768,746,723,686,671.642654673,642.357345327,886.642654673,786.357345327,819,656,632,655.357345327,0.400924083751,0.00441254673648,0.0599290797104,0.999999970378,-0.000117658821685,-0.000210524450761,-3.28714095367e-05,1793250729850242048
+90,1.500000000,BASELINE,768,746.219556106,723,686,671.780443894,642.219556106,886.780443894,786.219556106,819,656,632,655.219556106,0.400924122038,0.0044127110738,0.0599291961767,0.999999970394,-0.000118006975785,-0.000210223606288,-3.30374135215e-05,1793250729866908672
+91,1.516666667,BASELINE,768,746.793469794,723,686,671.206530206,642.793469794,886.206530206,786.793469794,819,656,632,655.793469794,0.400924435468,0.00441257960858,0.0599303007458,0.999999970662,-0.000118332919062,-0.000208767704846,-3.30083103607e-05,1793250729883575040
+92,1.533333333,BASELINE,768,747,722.624307595,686,671.375692405,643,886,787,819.375692405,656,632,655.624307595,0.400925054796,0.00441319721544,0.0599309906009,0.999999970969,-0.000117399500336,-0.000207853441067,-3.28043804478e-05,1793250729900241664
+93,1.550000000,BASELINE,768,747,722.037413941,686,671.962586059,643,886,787,819.962586059,656,632,655.037413941,0.400925846088,0.00441423592464,0.0599314473184,0.999999971297,-0.000115758111975,-0.000207243667069,-3.2502168992e-05,1793250729916908544
+94,1.566666667,BASELINE,768,747,722.542322732,686,672,643,886,787.542322732,819.457677268,656,632,655,0.400924217047,0.00441299469628,0.0599298827073,0.999999970597,-0.000117528395258,-0.000209565917139,-3.2795589866e-05,1793250729933575168
+95,1.583333333,BASELINE,768,747,723,686,672,642.878507815,886,787.878507815,819,656,632,655.121492185,0.400923037023,0.00441210391033,0.0599288299857,0.99999997007,-0.000118996306333,-0.000211203113115,-3.30522563822e-05,1793250729950241792
+96,1.600000000,BASELINE,768,747,723,686,672,642.299639001,886,787.299639001,819,656,632,655.700360999,0.400924167814,0.00441311684719,0.0599302224891,0.999999970492,-0.000118451359906,-0.000209509735327,-3.30178741349e-05,1793250729966908416
+97,1.616666667,BASELINE,768,747,723,686,672,642.277600143,886,787,819,656,632,656,0.400924879976,0.00441319467216,0.0599308459496,0.999999970685,-0.000118293750012,-0.000208696592889,-3.2906556404e-05,1793250729983575040
+98,1.633333333,BASELINE,768,747,723,686,672,642.853090469,886,787,819,656,632,656,0.400925142914,0.00441226903703,0.059930644157,0.999999970633,-0.000118551787456,-0.000208828023084,-3.27126799089e-05,1793250730000241664
+99,1.650000000,BASELINE,768.425773903,746.574226097,723,686,672,643,886,787,819,656,632,656,0.40092619983,0.00441178768705,0.0599312565087,0.99999997101,-0.000118307240606,-0.000207196081646,-3.24654048706e-05,1793250730016908288
+100,1.666666667,BASELINE,768.997495175,746.002504825,723,686,672,643,886,787,819,656,632,656,0.400927528909,0.00441145862978,0.059932147934,0.999999971528,-0.00011789041721,-0.000204959689235,-3.21998258096e-05,1793250730033575168
+101,1.683333333,BASELINE,768.409106169,746.590893831,723,686,671.409106169,642.409106169,886,787,819,656,632,656,0.400925687879,0.0044120908334,0.0599307278011,0.99999997126,-0.000115330076101,-0.000207706580481,-3.22139852442e-05,1793250730050241536
+102,1.700000000,BASELINE,768,746.819955782,723,686,671.180044218,642,886,786.819955782,819,656,632,656,0.400924496139,0.00441252028294,0.0599299185645,0.999999971048,-0.000114480494738,-0.000209178822314,-3.23003955714e-05,1793250730066908416
+103,1.716666667,BASELINE,768,746.240442861,723,686,671.759557139,642,886,786.240442861,819,656,632,656,0.400924775946,0.00441249049152,0.0599304873079,0.999999970988,-0.000117447548184,-0.000207774312524,-3.25443795823e-05,1793250730083575040
+104,1.733333333,BASELINE,768,746.33595471,723,686,672,642.33595471,886,786.33595471,819,656,632,656,0.400925187309,0.00441235042502,0.0599309426075,0.999999971125,-0.000117433749976,-0.000207132870518,-3.2496828246e-05,1793250730100241664
+105,1.750000000,BASELINE,768,746.910143171,723,686,672,642.910143171,886,786.910143171,819,656,632,656,0.400925691961,0.00441213215973,0.0599313174613,0.999999971401,-0.000115306156826,-0.000207032538507,-3.22425420474e-05,1793250730116908288
+106,1.766666667,BASELINE,768,746.502117916,723,686,672,643,886,787,819,656,632,656,0.400924726874,0.00441167394993,0.0599303897611,0.999999970767,-0.000117827172361,-0.000208631975266,-3.24955468408e-05,1793250730133574912
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,747,723,686,672,643,886,787,819,657,632,656,0.400923425002,0.00441162713244,0.0599298332025,0.999999970607,-0.000117128060171,-0.000209804213105,-3.23783772669e-05,1793250730176550400
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,747,723,686,672,643,886,787,819,656.426010255,632,655.426010255,0.400924700345,0.00441310577049,0.0599306870837,0.999999971135,-0.000115197805986,-0.000208338959289,-3.24713960936e-05,1793250730193217280
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.851401921,747,723,686,672,642.851401921,886,787,819,656.148598079,632,655.148598079,0.400925467164,0.00441389653036,0.059931060541,0.999999971359,-0.000114361558921,-0.000207711113133,-3.25566634858e-05,1793250730209884160
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.275012629,747,723,686,672,642.275012629,886,787,819,656.724987371,632,655.724987371,0.400924770022,0.0044127069942,0.0599300509309,0.999999970718,-0.000116674791108,-0.000209494035618,-3.26196157023e-05,1793250730226551552
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.308574719,747,723,686,672,642.308574719,886,787,819,656.691425281,632,656,0.400924782985,0.00441270619666,0.0599302107797,0.999999970703,-0.00011706610851,-0.000209347169679,-3.26149649508e-05,1793250730243218176
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.898730412,747,723,686,672,642.898730412,886,787,819,656.101269588,632,656,0.400925443935,0.00441379014839,0.0599314377846,0.999999971261,-0.000115703637789,-0.000207439330785,-3.25486250542e-05,1793250730259884032
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.478825047,747,723,686,672,643,886,787,819,656,632,656,0.400930048502,0.00441402588248,0.0599326793551,0.999999971918,-0.00011552750242,-0.000204311332972,-3.27646585323e-05,1793250730276550912
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.943482761,746.943482761,723,686,672,642.943482761,886,787,819,656,632,656,0.40093629558,0.00441388807474,0.0599342344472,0.999999972698,-0.000115892854406,-0.000200210245151,-3.29878241209e-05,1793250730293218048
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.368709849,746.368709849,723,686,672,642.368709849,886,787,819,656,632,656,0.400950113456,0.00441193610903,0.0599386368252,0.999999974431,-0.000118970155494,-0.000189503715433,-3.274002797e-05,1793250730309884928
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,746.210305011,722.789694989,686,671.789694989,642,886.210305011,787,819,656,632,656,0.400967430589,0.00441148445009,0.0599428230017,0.999999976421,-0.000119902019744,-0.00017807217452,-3.27469868893e-05,1793250730326551296
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,746.796909948,722.203090052,686,671.203090052,642,886.796909948,787,819,656,632,656,0.400991008962,0.0044137172986,0.0599466223273,0.999999978935,-0.00011699504159,-0.0001653433682,-3.32097805028e-05,1793250730343217408
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,747,722.381409813,686,671.381409813,642.381409813,886.618590187,787,819,656,632,656,0.401024806167,0.00441527531162,0.0599516411602,0.999999981698,-0.000116707770744,-0.000147653529504,-3.43900282411e-05,1793250730359883776
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,747,722.964794992,686,671.964794992,642.964794992,886.035205008,787,819,656,632,656,0.401064014751,0.00441647596607,0.059957305783,0.999999984307,-0.000117807764221,-0.00012733657752,-3.59502034656e-05,1793250730376550400
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,747,723,686,672,642.459349134,886,787,818.459349134,656,632,655.459349134,0.401113898298,0.00441569292957,0.059960193596,0.999999985963,-0.000118754988643,-0.000112439306977,-3.64375135788e-05,1793250730393217280
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746.884700703,723,686,672,642.115299297,886,787,818,656.115299297,632,655,0.401166414245,0.00441468254871,0.0599622199752,0.999999987058,-0.000119683709698,-0.000100993629138,-3.68713632091e-05,1793250730409883904
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746.312918099,723,686,672,642.687081901,886,787,818,656.687081901,632,655,0.401226637969,0.00441327645969,0.0599615418725,0.999999986847,-0.000120578017321,-0.000101835191074,-3.73663442422e-05,1793250730426550784
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746.268774161,723,686,672,643,886,787,818.268774161,656.731225839,632,655.268774161,0.40129909326,0.00441328386392,0.0599619819494,0.999999987084,-0.00012073530929,-9.89524553883e-05,-3.82572974557e-05,1793250730443217408
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746.86244528,723,686,672,643,886,787,818.86244528,656.13755472,632,655.86244528,0.401386334192,0.00441499991337,0.0599637736931,0.999999987822,-0.000120001689131,-9.15677505563e-05,-3.96269058634e-05,1793250730459884032
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,747,723,686,671.557861926,643,886.442138074,787,819,656,632,655.557861926,0.401492110275,0.0044155347087,0.0599672252977,0.999999988193,-0.000121978548024,-8.41718158874e-05,-4.06309561936e-05,1793250730476550656
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,747,723,686,671.017595007,642.982404993,886.982404993,787,819,656,632,655.017595007,0.401604287658,0.00441569809534,0.0599711816185,0.999999988423,-0.000124717667019,-7.6643945224e-05,-4.15253764762e-05,1793250730493217280
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,747,723,686,671.592409231,642.407590769,886.407590769,787,819,656,632,655.592409231,0.401742164769,0.00441538111445,0.0599752690076,0.999999989083,-0.000125709883442,-6.50450208351e-05,-4.24392505444e-05,1793250730509883904
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,747,723,686,672,642.167154056,886,787,819,656.167154056,632,656,0.401885547768,0.00441519770332,0.0599768278062,0.999999989353,-0.000126804949652,-5.76949147368e-05,-4.34144235523e-05,1793250730526550528
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,747,723,686,672,642.741729645,886,787,819,656.741729645,632,656,0.402042350808,0.00441533985538,0.0599722234141,0.999999988955,-0.000128150701965,-6.07008860672e-05,-4.45390065604e-05,1793250730543217152
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,747,723,686,671.672543513,642.672543513,886,787,819,656.672543513,632,656,0.402224430414,0.0044158680012,0.0599706296318,0.99999998905,-0.000128529532393,-5.7376990259e-05,-4.57058243558e-05,1793250730559883776
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,747,723,686,671.077711358,642.077711358,886,787,819,656.077711358,632,656,0.402427148929,0.00441671131971,0.0599714940803,0.999999989498,-0.000128118849253,-4.88846143049e-05,-4.69071279355e-05,1793250730576550656
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,747,723,686,671,642.498904232,886.498904232,787,819,656,632,656,0.402662506696,0.0044172294805,0.0599746868611,0.999999990457,-0.000124259115388,-3.71975319326e-05,-4.75512040431e-05,1793250730593217280
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.073236606,746.926763394,723,686,671.073236606,642.926763394,886.926763394,787,819,656,632,656,0.402906984534,0.00441774918344,0.0599780306372,0.999999991307,-0.000120109878888,-2.54287918983e-05,-4.80981215226e-05,1793250730609884160
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.650697157,746.349302843,723,686,671.650697157,642.349302843,886.349302843,787,819,656,632,656,0.40318048316,0.00441861592402,0.0599800050202,0.999999991779,-0.000117535968052,-1.64032038848e-05,-4.85526433579e-05,1793250730626550784
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746.234137703,723,686.234137703,672,642.234137703,886,787,819,656.234137703,632,656,0.403465634088,0.0044194270227,0.0599786101893,0.9999999921,-0.000114763797804,-1.5311767688e-05,-4.89393738458e-05,1793250730643217664
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746.826733411,723,686.826733411,672,642.826733411,886,787,819,656.826733411,632,656,0.403768624336,0.00442015293521,0.0599720571899,0.999999992204,-0.000111688098323,-2.63672874583e-05,-4.92223177284e-05,1793250730659883776
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.592008288,746.592008288,723,686.592008288,672,643,886.407991712,787,819,656.592008288,632,656,0.404091765156,0.00442053002339,0.0599610764348,0.999999991921,-0.000108883915824,-4.27478413235e-05,-4.97575345426e-05,1793250730676550400
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.015434612,746.015434612,723,686.015434612,672,643,886.984565388,787,819,656.015434612,632,656,0.404423232175,0.00442076297754,0.0599482661333,0.999999991211,-0.000106191924048,-6.13286962257e-05,-5.03969903809e-05,1793250730693217024
+139,2.316666667,POSE1_TO_POSE2_PRESS,768,746,723,686.559438114,672,643,887,787,819,656,632,656,0.404784445988,0.0044240712116,0.0599318267104,0.99999998965,-9.93449344682e-05,-9.06487032769e-05,-5.11259771269e-05,1793250730709883904
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,746.133759394,723,687.133759394,672,643,887,787,819,656.133759394,632,656,0.405163037582,0.00442662959308,0.0599193780689,0.999999987907,-9.33925191802e-05,-0.000113104494102,-5.1680535619e-05,1793250730726551040
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+142,2.366666667,POSE1_TO_POSE2_PRESS,768,747,723,688,672,643,887,787,819,656.709983681,632,656,0.406075145314,0.00442600572041,0.0599372141593,0.999999991217,-8.81985490831e-05,-8.45227226014e-05,-5.1413509934e-05,1793250730759884288
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+144,2.400000000,POSE1_TO_POSE2_PRESS,768.464999788,747,723,688,672,643,887,787,819,656,632.464999788,656,0.407148056736,0.00442611007661,0.0599966648873,0.999999995107,-8.37225047812e-05,1.30824666567e-05,-5.10400216766e-05,1793250730793217280
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.958919574,747,723,688.041080426,672,643,887.041080426,787,819,656,632.958919574,656,0.407696256976,0.00442737589391,0.0600184482333,0.999999994227,-8.16103285032e-05,4.75703278996e-05,-5.12078640414e-05,1793250730809884416
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.385217071,747,723,688.614782929,672,643,887.614782929,787,819,656,632.385217071,656,0.408231381257,0.004429527457,0.0600110610053,0.999999995486,-7.69285888596e-05,2.34736408207e-05,-5.05890414972e-05,1793250730826550784
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,747,723,689.188330651,671.811669349,643,888,787.188330651,819,656,632,656,0.408779227276,0.0044311961175,0.0600012741004,0.999999995432,-8.11303546408e-05,-2.5765054376e-06,-5.0461543712e-05,1793250730843217664
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,747,723,689.761562002,671.238437998,643,888,787.761562002,819,656,632,656,0.409353073309,0.00443187784587,0.059986582857,0.999999992795,-0.000103487781744,-3.26190317344e-05,-5.13381907694e-05,1793250730859884288
+149,2.483333333,POSE1_TO_POSE2_PRESS,768,747,723,690,671.348230565,643,888,787.651769435,819.348230565,656,632,656,0.409991644105,0.00443230868399,0.0599870339834,0.999999990883,-0.00012076921974,-3.02315144367e-05,-5.23013808638e-05,1793250730876551168
+150,2.500000000,POSE1_TO_POSE2_PRESS,768,747,723,690,671.944469011,643,888,787.055530989,819.944469011,656,632,656,0.410676311495,0.00443256083943,0.0599982694223,0.99999998953,-0.000134435565437,-4.74749833304e-06,-5.3326206395e-05,1793250730893218048
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.524712116,747,723,690.524712116,672.524712116,642.475287884,888,787,819.475287884,656,632,656,0.411371123291,0.00443372175469,0.060001554409,0.999999990554,-0.000126261338533,5.28187971895e-06,-5.40525907522e-05,1793250730909885184
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.897402656,746.897402656,723,690.897402656,672.897402656,642.102597344,888,787,819,656,632,655.897402656,0.412063843362,0.0044351997562,0.0599998057901,0.999999991803,-0.00011574979891,4.68916971871e-06,-5.45333145102e-05,1793250730926551552
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.322807614,746.322807614,723,690.322807614,672.322807614,642.677192386,888,787,819,656,632,655.322807614,0.412742147312,0.00443770714404,0.0599786565081,0.999999992347,-0.000104804563125,-3.74684195779e-05,-5.40248850868e-05,1793250730943217664
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.258872699,746.258872699,723,690.517745397,671.741127301,643,888,787.258872699,819,656,632,655.258872699,0.413425581686,0.00443903591621,0.059951669389,0.99999998991,-9.67272244359e-05,-8.9040675358e-05,-5.38131707806e-05,1793250730959884032
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.849636864,746.849636864,723,691.699273729,671.150363136,643,888,787.849636864,819,656,632,655.849636864,0.414115593687,0.00443885362754,0.0599171977839,0.999999982625,-9.23267128826e-05,-0.000152683145375,-5.39818642344e-05,1793250730976550656
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.568486194,747,723,692,671.431513806,643,888.431513806,788,819.431513806,656,632,656,0.414951816479,0.00443872955255,0.0599429408251,0.999999989383,-8.82520260055e-05,-0.000102439990168,-5.43299637063e-05,1793250730993217536
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.010268584,747,723,692,672,643,888.989731416,787.989731416,820,656,632,655.989731416,0.415836996519,0.00443865734654,0.0599888937384,0.99999999485,-8.42753680372e-05,-1.41991172721e-05,-5.47292884887e-05,1793250731009884416
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.58420247,747,723,692,672,643,888.41579753,787.41579753,820,656,632,655.41579753,0.416669345132,0.00444034133228,0.0600157000752,0.999999995021,-7.95733140955e-05,2.54361418457e-05,-5.45781695869e-05,1793250731026551040
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.841636504,747,723,692,671.841636504,643,888.158363496,787.158363496,820,656,632,655,0.417501400146,0.00444144010811,0.0600306488708,0.999999994446,-7.59527124103e-05,4.83801174958e-05,-5.47610376995e-05,1793250731043217664
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.266878279,747,723,692,671.266878279,643,888.733121721,787.733121721,820,656,632,655,0.418332683131,0.00444100015602,0.0600144199143,0.99999999524,-7.51756391624e-05,2.74366887213e-05,-5.58220782798e-05,1793250731059884288
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,747,723,692,671.317461081,643,889.317461081,788,820.634922162,656,632,655.317461081,0.41916446281,0.00444000122264,0.0599943414732,0.999999995246,-7.87370236802e-05,-5.69817086117e-06,-5.72424206848e-05,1793250731076550912
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,747,723,692,671.910105585,643,889.910105585,788,821.820211171,656,632,655.910105585,0.419996672993,0.00443851774993,0.0599709262009,0.999999993338,-8.60590948219e-05,-4.94008748671e-05,-5.89742150187e-05,1793250731093217280
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,747,723,692.491646455,671.508353545,642.508353545,890,787.508353545,821.508353545,656,632,656,0.42084192817,0.00444254577336,0.0599338128897,0.999999989004,-8.15603359303e-05,-0.000108744622779,-5.9287572436e-05,1793250731109883904
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.070639426,747,723,693,670.929360574,642.070639426,890,787,821.070639426,656,632,656,0.421693747148,0.00444674377684,0.059898124748,0.999999981611,-7.60603040473e-05,-0.000165751353457,-5.9323895932e-05,1793250731126551040
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.645616015,747,723,693,670.354383985,642.645616015,890,787,821.645616015,656,632,656,0.422575775385,0.00444511939884,0.0598900986612,0.999999977849,-7.85020448374e-05,-0.00018610535503,-5.91930842344e-05,1793250731143217920
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,723,693.225998313,670.451996625,643,890.225998313,787.225998313,822.225998313,656,632,656,0.423494989704,0.00444265316445,0.0599114482157,0.999999982954,-8.30188516471e-05,-0.000154023033291,-5.89686712263e-05,1793250731159884800
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,723,693.81506502,671.63013004,643,890.81506502,787.81506502,822.81506502,656,632,656,0.424473943948,0.00443883447968,0.0599799900107,0.999999993444,-9.08692710224e-05,-3.7701270991e-05,-5.85938862968e-05,1793250731176551424
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.602565564,747,722.602565564,694,671.602565564,643,891,787.602565564,823,656,631.602565564,656,0.425437018042,0.00443897328311,0.0600198549357,0.9999999938,-9.02036558571e-05,2.94414995792e-05,-5.82868522225e-05,1793250731193218048
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.023260936,747,722.023260936,694,671.023260936,643,891,787.023260936,823,656,631.023260936,656,0.426392825152,0.00444092307514,0.0600465970183,0.999999991906,-8.56410131565e-05,7.40794374395e-05,-5.80108218172e-05,1793250731209884416
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,747,722.551986158,694,670.448013842,643,891.551986158,787.551986158,823.551986158,656,631.551986158,656,0.427342932369,0.00444186704558,0.0600278351469,0.999999992356,-8.84029919042e-05,6.09776445468e-05,-6.12726870892e-05,1793250731226551040
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.129303896,747,723,694,670.129303896,643,892,788,824,656,632,656,0.428270612107,0.00444194988971,0.0600048434249,0.999999993046,-9.14941889004e-05,3.77685013266e-05,-6.41058440651e-05,1793250731243217664
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.714520982,747,723,694,670.714520982,643,892,788,824,656,632,656,0.429120055376,0.00443914484222,0.0599736494382,0.999999993334,-9.46658041004e-05,-1.25616460581e-05,-6.49055805416e-05,1793250731259884032
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.703064426,747,722.703064426,694.296935574,670.703064426,643,892,787.703064426,824,656,632,656,0.429974969704,0.00443828511659,0.0599406276791,0.999999991149,-9.18068037023e-05,-7.14219259401e-05,-6.45975184401e-05,1793250731276550656
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.123319041,747,722.123319041,694.876680959,670.123319041,643,892,787.123319041,824,656,632,656,0.430835094772,0.00443927817049,0.0599058650999,0.999999984961,-8.32040746729e-05,-0.000138406541447,-6.3234357592e-05,1793250731293217536
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,722.45569544,695,670.45569544,643,892,787,824,655.54430456,632,655.54430456,0.431811205237,0.00443662485999,0.0599403614507,0.999999991485,-8.78815070352e-05,-7.23949353903e-05,-6.37623699052e-05,1793250731309884416
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,722.965644269,695,671.034355731,643,892.034355731,787,824.034355731,655.034355731,632,655.034355731,0.432813982878,0.0044331195172,0.0599912801097,0.999999993026,-9.5743538543e-05,2.43207234081e-05,-6.47223508733e-05,1793250731326551040
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,722.389456215,695,671.610543785,643,892.610543785,787,824.610543785,655.610543785,632,655.610543785,0.433743104363,0.00443171422292,0.0600060772414,0.999999992452,-9.72420924058e-05,3.85624246979e-05,-6.44364767481e-05,1793250731343217664
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,722.189870171,695,671.810129829,643.189870171,893,787,825,655.810129829,632,656,0.434643727422,0.00443042752367,0.0600067733993,0.999999992541,-9.85263758056e-05,3.29083772468e-05,-6.42527857434e-05,1793250731359884288
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,722.775742111,695,671.224257889,643.775742111,893,787,825,655.224257889,632,656,0.435484913055,0.00442938817128,0.0599780599348,0.999999992896,-9.93637672588e-05,-1.42411360154e-05,-6.42822123264e-05,1793250731376551168
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.357322011,747,722.642677989,695,671,644,893.357322011,787,825.357322011,655.357322011,632.357322011,656,0.436318306358,0.00442760299401,0.0599524844615,0.999999990902,-0.000102974243763,-5.86562563664e-05,-6.44294394007e-05,1793250731393217536
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.936240132,747,722.063759868,695,671,644,893.936240132,787,825.936240132,655.936240132,632.936240132,656,0.437146867135,0.00442535528752,0.0599288550404,0.999999986907,-0.000108304471092,-0.000101375618142,-6.46497213573e-05,1793250731409884160
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.485678116,747,722,695,670.485678116,644,894,787,826,656,632.485678116,656,0.437946469325,0.00442819331211,0.0599058810925,0.999999981243,-0.000103603085376,-0.000150422078348,-6.44468592793e-05,1793250731426550784
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.09166561,747,722.09166561,694.90833439,670.09166561,643.90833439,894.09166561,787,826,656,632,656,0.43875649943,0.00443023496474,0.0598917876084,0.999999976127,-0.000100029618444,-0.000183355417598,-6.41953233821e-05,1793250731443217920
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.665670561,747,722.665670561,694.334329439,670.665670561,643.334329439,894.665670561,787,826,656,632,656,0.43964026013,0.00442477402989,0.0599239957494,0.999999983909,-0.000108924365693,-0.000127381837526,-6.39632450272e-05,1793250731459884288
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,723,694.245840606,671,643,895,787,826,656,632.245840606,656,0.440486837115,0.00442267047408,0.0599573742022,0.999999988949,-0.000111923513126,-7.44743157588e-05,-6.34739654649e-05,1793250731476550656
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,723,694.834610446,671,643,895,787,826,656,632.834610446,656,0.441281545527,0.00442525021107,0.0599923851496,0.999999992013,-0.000106698739814,-2.58437206529e-05,-6.26259096188e-05,1793250731493217280
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,695,670.584132702,643,895,787,826.415867298,656,632.584132702,656,0.441999470331,0.00443139493772,0.0599672783708,0.999999991382,-9.63845503707e-05,-6.29511814465e-05,-6.31186923619e-05,1793250731509884160
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,695,670.005810679,643,895,787,826.994189321,656,632.005810679,656,0.442687400391,0.00443893229491,0.0599186871597,0.99999998549,-8.40822266582e-05,-0.000133551418633,-6.41352610204e-05,1793250731526551040
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.43037542,747,722.43037542,694.43037542,669.43037542,642.43037542,895,785.86075084,826.43037542,656,632,656,0.443352944878,0.00444554548857,0.0598738646571,0.99999997459,-7.34692587285e-05,-0.000203013263947,-6.48640993547e-05,1793250731543217408
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,722.145189866,694.145189866,669,642.145189866,895,785.145189866,826,656,632,656,0.444020817669,0.00445166521868,0.0598394366781,0.999999962961,-6.38497892986e-05,-0.000256367035428,-6.54054324218e-05,1793250731559883776
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,722.721228084,694.721228084,669,642.721228084,895,785.721228084,826,656,632,656,0.444696274032,0.00445634844026,0.0598357407459,0.99999996192,-5.71276268858e-05,-0.000261954688841,-6.53990138795e-05,1793250731576550400
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,723,695,668.696025046,642.696025046,895,785.696025046,826.303974954,656,632,656,0.445320459439,0.00446196471855,0.05982425223,0.999999955252,-4.82586628572e-05,-0.000287992720734,-6.50181108404e-05,1793250731593217024
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747,723,695,668.106986937,642.106986937,895,785.106986937,826.893013063,656,632,656,0.445896563674,0.00446845600313,0.0598054559463,0.999999941721,-3.73764607838e-05,-0.000333208810177,-6.42860217515e-05,1793250731609883904
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,723,695,667.523416546,641.523416546,895.476583454,785.476583454,826.523416546,656,632,656,0.446467477922,0.00447861338422,0.0597775279671,0.999999928962,-2.61288527361e-05,-0.000370067794714,-6.66550014008e-05,1793250731626550528
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,723,695,667,641,895.942333601,785.942333601,826.057666399,656,632,656.057666399,0.44703702495,0.00449012876122,0.0597521556844,0.999999917965,-1.4253731564e-05,-0.000398741633239,-6.97963023131e-05,1793250731643216896
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,723,695,667,641,895.372563734,785.372563734,826.627436266,656,632,656.627436266,0.447604659601,0.00450647810992,0.0597674771179,0.999999928388,2.47379611325e-06,-0.000371199029602,-7.36841552035e-05,1793250731659883776
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747,723,695,666.794920421,640.794920421,895.205079579,785,827,656,632,656.794920421,0.448156289997,0.00452418684049,0.0597795653367,0.999999935665,2.0379577557e-05,-0.000349685131626,-7.72998812698e-05,1793250731676550400
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747,723,695,666.202402584,640.202402584,895.797597416,785,827,656,632,656.202402584,0.44867768494,0.0045444637261,0.0597855453345,0.999999938296,4.05113251283e-05,-0.000339560724301,-8.04015024531e-05,1793250731693217024
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747,723,695,665.617993037,640,896,785,827,656,631.617993037,656,0.449132419908,0.00455398928053,0.0597647553463,0.99999992545,5.22539710193e-05,-0.00037390388911,-8.10286307026e-05,1793250731709883648
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747,723,695,665.037790243,640,896,785,827,656,631.037790243,656,0.449552569875,0.0045579367473,0.0597300763459,0.999999901974,5.96441194482e-05,-0.00043131806461,-8.03719233014e-05,1793250731726550272
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,747,723,695,665,639.462582495,896.537417505,785,827,656,631.537417505,656,0.44994117001,0.00456196627857,0.0596971876311,0.999999879871,6.57584145367e-05,-0.000478899457867,-8.11704326607e-05,1793250731743216896
+202,3.366666667,POSE1_TO_POSE2_PRESS,768.112484281,747,723,695,664.887515719,639,896.887515719,785,827.112484281,656,632,656,0.450328200398,0.00456557691569,0.059671782973,0.999999861715,7.09645260233e-05,-0.000514629409105,-8.1795072507e-05,1793250731759884032
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.688404223,747,723,695,664.311595777,639,896.311595777,785,827.688404223,656,632,656,0.450717819713,0.00456743815249,0.0596766987574,0.99999986686,7.27951452712e-05,-0.000504353827783,-8.12856598113e-05,1793250731776550400
+204,3.400000000,POSE1_TO_POSE2_PRESS,768.728849831,747,723,695,664,639,896,785,827.728849831,656,631.728849831,656,0.451092369829,0.00456828522211,0.0596856295658,0.99999987521,7.36378852541e-05,-0.000487488171167,-8.07025144376e-05,1793250731793217024
+205,3.416666667,POSE1_TO_POSE2_PRESS,768.138057158,747,723,695,664,639,896,785,827.138057158,656,631.138057158,656,0.451449155757,0.00456793675141,0.0596992934426,0.999999886993,7.33160740948e-05,-0.000462853874545,-8.00324500805e-05,1793250731809883904
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747,723,695,663.556609329,638.556609329,896.443390671,785,827,656,631.443390671,656,0.451777983535,0.00456900264373,0.0597133818103,0.999999896651,7.65798069794e-05,-0.000441011771058,-7.96334058547e-05,1793250731826550272
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,747.021832997,723,695.021832997,663,638,896.978167003,784.978167003,827,656,632,656.021832997,0.452095706594,0.00457052244637,0.0597268000244,0.999999904929,8.0893540847e-05,-0.000421075958463,-7.93266894645e-05,1793250731843216896
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,747.596329587,723,695.596329587,663,638,896.403670413,784.403670413,827,656,632,656.596329587,0.452348142834,0.00457261469514,0.059719977844,0.999999901797,8.41093224171e-05,-0.000427841533581,-7.92650805412e-05,1793250731859883776
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.174835009,748,723,695.825164991,662.825164991,638,896.174835009,784.174835009,827.174835009,656,632,656.825164991,0.452588887604,0.00457418321169,0.0597127263606,0.999999897782,8.60711119012e-05,-0.000436744161251,-7.92610662571e-05,1793250731876550400
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+211,3.516666667,POSE1_TO_POSE2_PRESS,768.654635495,747.654635495,723,695,662.345364505,637.654635495,896.654635495,785,827.654635495,656,632,656,0.452994274252,0.00457511394941,0.0596973000344,0.99999988548,8.548313534e-05,-0.000464167233603,-7.92550129179e-05,1793250731909883648
+212,3.533333333,POSE1_TO_POSE2_PRESS,768.075753995,747.075753995,723,695,662.924246005,637.075753995,896.075753995,785,827.075753995,656,632,656,0.453172447502,0.00457589559968,0.0596908871775,0.9999998792,8.68533125194e-05,-0.000477311758657,-7.8934165019e-05,1793250731926550272
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,747.501666823,723,695,662.498333177,637.501666823,896,784.498333177,827.501666823,656,632,656.501666823,0.453325946677,0.00457781171753,0.0596867960266,0.999999875453,9.05563027981e-05,-0.000484439180761,-7.88204150226e-05,1793250731943216896
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,747.921378121,723.078621879,695,662,638,896.078621879,784,828,656,631.921378121,656.921378121,0.453471576227,0.00457965720429,0.0596828121006,0.999999871812,9.42902014953e-05,-0.000491219054648,-7.86740205521e-05,1793250731959883776
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,747.345976135,723.654023865,695,662,638,896.654023865,784,828,656,631.345976135,656.345976135,0.453590954959,0.0045799771071,0.0596772968881,0.999999866575,9.6000037584e-05,-0.000501527389069,-7.81243325296e-05,1793250731976550400
+216,3.600000000,POSE1_TO_POSE2_PRESS,768,747.234407218,723.765592782,695,662,637.765592782,897,784,827.765592782,656,631,656,0.453702958575,0.00457944768232,0.0596729897859,0.999999862575,9.65870820867e-05,-0.000509441004982,-7.74038273224e-05,1793250731993217024
+217,3.616666667,POSE1_TO_POSE2_PRESS,768,747.822302478,723.177697522,695,662,637.177697522,897,784,827.177697522,656,631,656,0.453803840447,0.00457763746443,0.0596705045246,0.999999860555,9.5480947415e-05,-0.000513743364839,-7.64257284172e-05,1793250732009883648
+218,3.633333333,POSE1_TO_POSE2_PRESS,768,747.595477738,723,695,661.595477738,637,897,784,827.404522262,656,631,656,0.45389391737,0.00457897420784,0.0596717988695,0.999999861776,9.74470437785e-05,-0.000511047993806,-7.60449202538e-05,1793250732026550528
+219,3.650000000,POSE1_TO_POSE2_PRESS,768,747.015716583,723,695,661.015716583,637,897,784,827.984283417,656,631,656,0.453979313591,0.00458167421375,0.0596747305386,0.999999864368,0.000100744029507,-0.000505321208229,-7.59228582399e-05,1793250732043217152
+220,3.666666667,POSE1_TO_POSE2_PRESS,768,747,723,695,661,637,896.439862236,784,827.439862236,656,631.560137764,656,0.454040971672,0.004581749174,0.0596770897632,0.999999865957,0.000101182949186,-0.000502103015883,-7.5761729059e-05,1793250732059883776
+221,3.683333333,POSE1_TO_POSE2_PRESS,768,747,723,695,661,637,896,784,827,656,632,656,0.454097687781,0.00458151082606,0.0596790621926,0.99999986729,0.000101375368819,-0.000499446987005,-7.54677167539e-05,1793250732076550400
+222,3.700000000,POSE1_TO_POSE2_PRESS,768,747,723,695,661,637,896,784,827,656,632,656,0.454140547542,0.00458049505401,0.0596798341753,0.99999986791,0.000101027644055,-0.000498384445893,-7.47470777203e-05,1793250732093217280
+223,3.716666667,POSE1_TO_POSE2_PRESS,768,747,723,695,661,636.706124561,896,784,827,656,632,656,0.454176154601,0.00458189234688,0.059678311685,0.999999866992,0.000102195106747,-0.000499953146711,-7.49551766443e-05,1793250732109883904
+224,3.733333333,POSE1_TO_POSE2_PRESS,768,747,723,695,661,636.116147782,896,784,827,656,632,656,0.454204454029,0.00458572098182,0.0596744773426,0.999999864508,0.000104889233329,-0.000504173019131,-7.60990479749e-05,1793250732126550528
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768,747.956429561,723,695,661,636.956429561,897,784.043570439,827.043570439,656,631.956429561,656,0.454238593197,0.0045839043303,0.0596719485179,0.999999861377,0.000106006192969,-0.000510324394215,-7.46812065562e-05,1793250732159883776
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+228,3.800000000,POSE1_TO_POSE2_PRESS,768,747,723,695,660.807253479,636,897,785,828,656,631.192746521,656.192746521,0.454258390067,0.00458598693945,0.0596714498482,0.999999860599,0.000107162161646,-0.000511605343142,-7.46921367234e-05,1793250732193217024
+229,3.816666667,POSE1_TO_POSE2_PRESS,768,747,723,695,660.239374015,636,897,785,828,656,631.760625985,656.760625985,0.454265049881,0.00458518090782,0.0596710263016,0.999999861144,0.000105606351641,-0.000510831896327,-7.48969713876e-05,1793250732209883904
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+232,3.866666667,POSE1_TO_POSE2_PRESS,768,747,723,695.476597732,660.476597732,636,896,784,828,656,631,656,0.45426978206,0.0045882230449,0.0596663217152,0.999999857512,0.000109209053172,-0.000517147473704,-7.48827877215e-05,1793250732259884288
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,747,723,695,660,636,896,784,828,656,631,656,0.454271596786,0.00458758499958,0.0596663367646,0.999999857603,0.000108784936771,-0.000517152746981,-7.42425609911e-05,1793250732276551680
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+236,3.933333333,POSE1_TO_POSE2_PRESS,768.829445902,747,723,695,660,636,896.829445902,784,827.170554098,656,631.829445902,656.829445902,0.454272607811,0.00458691270729,0.0596654765887,0.999999856959,0.000108757222687,-0.000518447515441,-7.39258679975e-05,1793250732326551040
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768,747.009598809,723,695,660,636,896.009598809,784.990401191,827,656,631.009598809,656,0.454272650026,0.00458906782711,0.0596639261993,0.999999855768,0.000110571881974,-0.000520340172167,-7.40488100186e-05,1793250732359885056
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+240,4.000000000,POSE1_TO_POSE2_PRESS,768.158537786,747.841462214,723,695,660,636,896.841462214,784,827,656,631.841462214,656,0.454271643728,0.00458617153052,0.0596630078383,0.999999855141,0.000109701834104,-0.000521827022635,-7.33511755336e-05,1793250732393218816
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.73424324,747.26575676,723,695,660,636,896.26575676,784,827,656,631.26575676,656,0.454273040794,0.00458911925974,0.0596633268976,0.999999855501,0.000111695589223,-0.000520634613746,-7.39047368485e-05,1793250732409885184
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+247,4.116666667,HOLD_POSE2,768,747,723,695,660,636,896,784,828,656,631,656,0.454274214269,0.00458772372972,0.0596622519252,0.999999854612,0.000111189879288,-0.000522578730668,-7.29714919631e-05,1793250732531975936
+248,4.133333333,HOLD_POSE2,768,747,723,695,659.420868995,636,896,784,827.420868995,656,631.579131005,656,0.454273530596,0.00458896085703,0.0596610532587,0.999999853834,0.000110965815537,-0.00052404453954,-7.34546254271e-05,1793250732548642560
+249,4.150000000,HOLD_POSE2,768,747,723,695.15668194,659.15668194,636,896.313363881,784.15668194,827,656,632,656,0.454273678449,0.0045892055414,0.0596607659966,0.999999853811,0.00011013650913,-0.000524240618193,-7.36175652917e-05,1793250732565309184
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+260,4.333333333,HOLD_POSE2,768,748,723,695,659,636,896,784.455629104,827.544370896,656,632,656,0.454274263547,0.00458670271254,0.0596610930974,0.999999853458,0.000109309859617,-0.000525267315452,-7.23134747886e-05,1793250732748643584
+261,4.350000000,HOLD_POSE2,768,748,723,695,659,636,896.123327324,784.123327324,827.876672676,656,632,656,0.454275467908,0.00458819385342,0.0596618346382,0.999999853892,0.000109858145583,-0.000524321869389,-7.23391824109e-05,1793250732765310464
+262,4.366666667,HOLD_POSE2,768,748,723,695,659,636,896.700876522,784.700876522,827.299123478,656,632,656,0.454275628062,0.00458942368808,0.0596610266701,0.99999985367,0.000111381003762,-0.000524427024581,-7.23229137428e-05,1793250732781976576
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,660,635,897,784,827,656,631,656,0.454277023969,0.00458959450605,0.0596618320971,0.999999854074,0.000113558398492,-0.000523088656404,-7.30378062298e-05,1793250732819665152
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,659.410976865,635.589023135,896.410976865,784.589023135,827,656,631,656.589023135,0.454276141367,0.00458725075014,0.0596620466238,0.999999854231,0.000110333843871,-0.000523548978776,-7.25279669165e-05,1793250732836332032
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,747.17517246,723,695,659,636,896.17517246,785,827.17517246,656,631.17517246,656.82482754,0.454275715378,0.00458601509108,0.0596622987426,0.999999854352,0.000108658542719,-0.000523722791242,-7.21332535888e-05,1793250732852998656
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,747.754688403,723,695,659,636,896.754688403,785,827.754688403,656,631.754688403,656.245311597,0.454276343372,0.00458733720657,0.0596626376339,0.999999854408,0.000110559319868,-0.000523235264615,-7.20042808044e-05,1793250732869665280
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747.667081055,723,695.332918945,659.332918945,636,897,784.667081055,828,656,631.667081055,656,0.454276416151,0.00458790244892,0.0596618966771,0.999999854103,0.00011114323016,-0.000523683012267,-7.20905063809e-05,1793250732886331648
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747.089794053,723,695.910205947,659.910205947,636,897,784.089794053,828,656,631.089794053,656,0.454276081392,0.00458791213366,0.059660363094,0.999999853533,0.000110760538104,-0.000524817266862,-7.23346911502e-05,1793250732902998016
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.513818009,660,636,897,784,828,656,631,656,0.454277087195,0.00458646535735,0.0596615686326,0.999999854438,0.000109313446122,-0.000523447931719,-7.19498934091e-05,1793250732919664896
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.063065938,747.063065938,723,695,660,636,897,784.063065938,828,656,631,656,0.454278090607,0.0045852445254,0.0596630118961,0.999999855444,0.000107973061786,-0.000521850801299,-7.15979513216e-05,1793250732936331520
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.649488075,747.649488075,723,695,660,636,897,784.649488075,828,656,631,656,0.454277025056,0.00458812498959,0.0596622410272,0.999999855076,0.000109145193094,-0.00052219017962,-7.24800995413e-05,1793250732952998144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.766168939,747.766168939,723,695.233831061,660,636,896.766168939,785,828,656,631,656,0.454272515469,0.00458982450075,0.0596594610151,0.999999853054,0.00011087801009,-0.000525622006686,-7.29345240367e-05,1793250732969664768
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.184915175,747.184915175,723,695.815084825,660,636,896.184915175,785,828,656,631,656,0.454262888784,0.00458976936925,0.059653695848,0.999999848528,0.000113443885412,-0.000533648547931,-7.27534429189e-05,1793250732986331392
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.391922194,747,723,695.608077806,660,636,896,785,827.608077806,656,631,656,0.454234591516,0.0045887295254,0.0596416002116,0.999999837615,0.000112335371139,-0.000554007833571,-7.22976083057e-05,1793250733002998272
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.966699105,747,723,695.033300895,660,636,896,785,827.033300895,656,631,656,0.454197583324,0.00458723025542,0.0596265510392,0.999999823162,0.000109512538515,-0.000580121069073,-7.17135849965e-05,1793250733019664896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747.541486324,723,695,660,636,896,784.458513676,827,656,631,656,0.454139570593,0.00458894019765,0.0596059762549,0.999999805096,0.000113550441582,-0.000609659799594,-7.23114017628e-05,1793250733036331008
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.880056961,748,723,695,660,636,896.119943039,784.119943039,827,656,631,656,0.454077855288,0.00459088998827,0.0595863147874,0.99999978759,0.000117012924559,-0.00063701664373,-7.30548678461e-05,1793250733052997632
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.287132339,748,723,695,660,636,896.712867661,784.712867661,827,656,631,656,0.45400663329,0.0045930072989,0.0595715949398,0.999999775992,0.000116542447121,-0.000654938732574,-7.40860669278e-05,1793250733069664768
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747.701662346,723,695,659.701662346,636,896.701662346,785,827,656,631.298337654,656,0.453929279373,0.00459337209262,0.0595622171373,0.999999767848,0.000117074443985,-0.000667167528243,-7.40567148531e-05,1793250733086331648
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747.123192123,723,695,659.123192123,636,896.123192123,785,827,656,631.876807877,656,0.453846167722,0.00459209131094,0.0595578554,0.999999763134,0.000118547742473,-0.000674050444451,-7.30315282532e-05,1793250733102998272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.548410085,659,636,896,784.548410085,827,656,631.548410085,656,0.453745452236,0.00459111167075,0.0595557284303,0.999999760332,0.000120211533956,-0.000678031339642,-7.18184787887e-05,1793250733119664896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747,723,694.025979407,659,636,896,784.025979407,827,656,631,656,0.453638827269,0.00459043176487,0.0595541270673,0.999999757972,0.000122109572585,-0.000681293957093,-7.05997872111e-05,1793250733136331264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.613454229,659,636,896,784.613454229,827,656,631,656,0.453507431065,0.00459446890565,0.0595508162963,0.999999754038,0.00012795637428,-0.000686004006003,-7.0357813743e-05,1793250733152997888
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.197436132,747.197436132,723,695,659.197436132,636,896,785,827,656,631,656,0.453367692244,0.00459724651483,0.059548418651,0.999999751361,0.000133221332122,-0.000688957005839,-6.97682073303e-05,1793250733169664512
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.774698315,747.774698315,723,695,659.774698315,636,896,785,827,656,631,656,0.45321190398,0.0045976010467,0.0595477776699,0.999999751182,0.000137366942744,-0.000688529808219,-6.85098274714e-05,1793250733186331136
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.647274636,748,723,695,660,636,896,784.647274636,827,656,631,656,0.453040660992,0.00459850671259,0.0595509452217,0.999999754309,0.000141274022835,-0.000683300731751,-6.72619174979e-05,1793250733202997760
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.068757914,748,723,695,660,636,896,784.068757914,827,656,631,656,0.4528595249,0.00459976517793,0.0595565507433,0.999999759493,0.000145028411916,-0.000674997811191,-6.60207095222e-05,1793250733219664896
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747.494508844,723,695,660.505491156,636,896,784.505491156,827,656,631.505491156,656,0.452649579201,0.00459753439015,0.0595627745733,0.999999765831,0.000145600078038,-0.000665659185587,-6.35262853828e-05,1793250733236332032
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,661,636.082014606,895.917985394,785,827,656,631.917985394,656,0.452429134103,0.00459569404049,0.0595684632081,0.99999977128,0.000146747157831,-0.000657400474662,-6.10651249479e-05,1793250733252999168
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,661,636.676341186,895.323658814,785,827,656,631.323658814,656,0.452167377274,0.00459923250609,0.0595702877362,0.999999770657,0.000154170251204,-0.00065676019335,-5.98676590918e-05,1793250733269664768
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,661,636.737003197,895.262996803,785,827,656,631.262996803,656,0.451888648556,0.00460153724177,0.0595719072465,0.999999770904,0.000161863395108,-0.000654699950241,-5.79623016069e-05,1793250733286331136
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,661,636.159520392,895.840479608,785,827,656,631.840479608,656,0.451589625229,0.00460236670916,0.0595732816009,0.999999772184,0.000169879459265,-0.000650941746942,-5.52104623851e-05,1793250733302997760
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.584430931,661.415569069,636.415569069,896,785,827,656,631.584430931,656,0.451260570286,0.00460364778252,0.0595766292797,0.999999772601,0.000177483069086,-0.000648507456697,-5.23048265965e-05,1793250733319664640
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747,723,694.010254932,661.989745068,636.989745068,896,785,827,656,631.010254932,656,0.450920053423,0.00460510121671,0.0595807301016,0.999999772651,0.000184929260561,-0.000646578453841,-4.9340492561e-05,1793250733336331264
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.579194762,662,637,895.420805238,785,827,656,631,656,0.45052357554,0.00460586947879,0.0595687477785,0.99999976175,0.000191475475606,-0.000661524184955,-4.71460712557e-05,1793250733352997632
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.834436496,747,723,695,662,637,895,785,827,656,631.165563504,656,0.450114296982,0.00460786943264,0.0595571603342,0.999999750335,0.000199920749584,-0.000676272571033,-4.49074183225e-05,1793250733369664512
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.256434772,747,723,695,662,637,895,785,827,656,631.743565228,656,0.449675665588,0.00461296871492,0.0595472851659,0.999999738494,0.000213137572395,-0.000689764901199,-4.25237016391e-05,1793250733386331392
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.320165881,747,723,695,662.320165881,637.320165881,895,785,826.679834119,656,632,656,0.449220871899,0.00461425593741,0.0595425350663,0.999999733076,0.000223014099693,-0.000694663879207,-3.94381450963e-05,1793250733402998272
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.895649307,747,723,695,662.895649307,637.895649307,895,785,826.104350693,656,632,656,0.448753189476,0.00461250321835,0.059541871972,0.999999732934,0.000230226896624,-0.000692710056221,-3.57929033397e-05,1793250733419664640
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,723,694.530198863,663,638,894.530198863,785,826.469801137,656,631.530198863,656,0.448273547715,0.0046127191793,0.0595585192776,0.999999745166,0.000239089330829,-0.000671988946331,-3.05849968922e-05,1793250733436331264
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.045040422,747,723,694,663.045040422,638.045040422,894,785.045040422,826.954959578,656,631.045040422,656,0.447788305714,0.00461331697053,0.0595799234981,0.999999760883,0.000248470785704,-0.000644877884277,-2.5089272069e-05,1793250733452998144
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.776070837,747,723,694,664.447858325,639,893.776070837,785.776070837,826,656,632,655.776070837,0.446720368619,0.00461405435233,0.0596394402217,0.999999811313,0.000271630749015,-0.000550778469523,-1.52815348083e-05,1793250733486331392
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.19739597,747,723,694,665.60520806,639,893.19739597,785.19739597,826,656,632,655.19739597,0.446132696748,0.0046162123284,0.0596573047984,0.999999817053,0.000284597154855,-0.000533667054222,-9.89375758914e-06,1793250733502998784
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,722.622038083,694,666,639.377961917,893,785.377961917,826,656,632,655.377961917,0.445494485514,0.00461503919113,0.059649045863,0.999999804428,0.00029418503235,-0.000551883712068,-4.74776854837e-06,1793250733519665408
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,722.048397483,694,666,639.951602517,893,785.951602517,826,656,632,655.951602517,0.444830109027,0.00461214146769,0.0596272622459,0.999999781289,0.000302023775315,-0.000588390442265,2.73041601117e-07,1793250733536332288
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,746.891053146,722.891053146,694.891053146,667,640.108946854,891.891053146,786,825.891053146,656,632,655.891053146,0.443539434775,0.00460400605981,0.0596522509073,0.999999808305,0.000316181931382,-0.000532270797981,1.02938874886e-05,1793250733569665280
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746.164493751,722.835506249,693.835506249,669.164493751,642,891,787,824,656,632,655,0.438324937546,0.00460398455903,0.0598213020413,0.999999917959,0.000279126573517,-0.000293250318115,1.31835736056e-05,1793250733686331136
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746.761522461,722.238477539,693.238477539,669.761522461,642,891,787,824,656,632,655,0.437429832309,0.00460173276529,0.0598066775292,0.999999907537,0.000287753578827,-0.000319014847508,1.87725599036e-05,1793250733702997760
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.654776065,746.654776065,722.345223935,693.345223935,669.654776065,642,891,787,824,655.654776065,632,655,0.436535384969,0.00459999406702,0.0597746823077,0.99999988925,0.000292514155141,-0.000368034409509,2.203082503e-05,1793250733719664640
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.079938749,746.079938749,722.920061251,693.920061251,669.079938749,642,891,787,824,655.079938749,632,655,0.435641375241,0.00459859663598,0.0597311335791,0.999999862756,0.000294703112973,-0.000432521224459,2.37388938548e-05,1793250733736331264
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.495386234,746,722.504613766,694,669.495386234,642,890.504613766,787.495386234,823.504613766,655,632,655,0.434780993855,0.00458323015852,0.059738702321,0.99999988027,0.000280458415068,-0.000400182835987,2.56393225318e-05,1793250733752997632
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.072592654,722,693.927407346,670,642,890,787.927407346,823,655,632,655,0.433924104561,0.00456660086425,0.0597554470219,0.999999902004,0.000263316768217,-0.00035482773834,2.74361952391e-05,1793250733769664512
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.662648762,722,693.337351238,670,642,890,787.337351238,823,655,632,655,0.433053388581,0.00455705385194,0.0597787439421,0.999999915875,0.000244446558346,-0.00032817047596,2.82734034119e-05,1793250733786331136
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,722,693.247528598,670,642,890,787,822.752471402,655,632,655,0.432162458412,0.00455462198906,0.0597976511999,0.999999926334,0.000235419748353,-0.00030180305114,2.8704230151e-05,1793250733802997504
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,722,693.825498392,670,642,890,787,822.174501608,655,632,655,0.431244542952,0.00456168857672,0.0598106984298,0.999999932864,0.000239533497595,-0.000275822544837,2.85925533799e-05,1793250733819664384
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.401831337,746.598168663,722,693.598168663,670.401831337,642,889.598168663,787,822,655,631.598168663,655,0.430329483431,0.00456317876015,0.0598240489649,0.999999937719,0.000237218714066,-0.000259623093521,2.97462893857e-05,1793250733836331008
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.977456304,746.022543696,722,693.022543696,670.977456304,642,889.022543696,787,822,655,631.022543696,655,0.429415659171,0.00456225712645,0.05983753068,0.999999941899,0.000232123564665,-0.000247653988422,3.14473213885e-05,1793250733852997632
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.448518246,746,722.551481754,693.551481754,670.448518246,642,889.551481754,787,821.448518246,655.551481754,631.551481754,655.551481754,0.428429617361,0.00456180203719,0.0597852553615,0.999999913731,0.000229763111805,-0.000344514789591,3.24926807732e-05,1793250733869664256
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,722.870620383,693.870620383,670,642,889.870620383,787,820.870620383,655.870620383,631.870620383,656,0.427464268781,0.00456228800645,0.0597429441568,0.999999886674,0.000227742225048,-0.00041678071374,3.28559517439e-05,1793250733886331136
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,722.278643617,693.278643617,670,642,889.278643617,787,820.278643617,655.278643617,631.278643617,656,0.4265834338,0.00456607073958,0.0597458429776,0.999999899656,0.000226536915441,-0.000385246928961,3.08759713547e-05,1793250733902997760
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,722,693,670.306542344,642,888.693457656,787.306542344,820,655.306542344,631.306542344,655.693457656,0.425676338151,0.00456734473489,0.0597670708475,0.999999913105,0.000221663475164,-0.000351668612907,3.13921542386e-05,1793250733919664128
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722,693,670.885689287,642,888.114310713,787.885689287,820,655.885689287,631.885689287,655.114310713,0.424745889237,0.00456638773814,0.059804598531,0.999999926606,0.000213528008226,-0.000316272120144,3.41281466633e-05,1793250733936330752
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.461958112,746.461958112,722.461958112,692.538041888,670.076083776,642,888,788,820,656,632,655,0.42384637473,0.00456593263047,0.0598230527205,0.999999935671,0.000208803559898,-0.000289475066084,3.5529174076e-05,1793250733952997632
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.961596295,747,722.961596295,692,669.076807411,642,888.038403705,788,819.961596295,656,632,655,0.422955975592,0.00456566296603,0.0598360028746,0.999999942981,0.000204781877155,-0.000266021594768,3.6527281528e-05,1793250733969664256
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.372466558,747,722.372466558,692,670.255066884,642,888.627533442,788,819.372466558,656,632,655,0.422087204222,0.00456628270493,0.0598372862622,0.999999945723,0.000198809056493,-0.000260190290912,3.64551527612e-05,1793250733986330880
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,747,722,692,670.788713701,642,888.577427401,788,819.211286299,656,632,655.211286299,0.42118161473,0.00456690490301,0.0598166315944,0.999999936602,0.000193565451413,-0.000296660866716,3.63546537763e-05,1793250734002997760
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,747,722,692,670.214204164,642,887.428408329,788,819.785795836,656,632,655.785795836,0.420212730896,0.00456753132877,0.0597582631159,0.999999899017,0.000189575441605,-0.000405852792979,3.62053831148e-05,1793250734019664896
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746.639252707,722,692,669.639252707,642,887,788,819.639252707,656,631.639252707,655.639252707,0.419305579018,0.00456657025592,0.0597280198219,0.999999885076,0.000180356907925,-0.000442845648374,3.47571469111e-05,1793250734036331520
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746.064038559,722,692,669.064038559,642,887,788,819.064038559,656,631.064038559,655.064038559,0.418435127289,0.00456466540372,0.0597144971554,0.999999889906,0.000168029980401,-0.000436915633472,3.25366665486e-05,1793250734052998400
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746,722.502621315,691.497378685,670.005242629,642,887,787.497378685,819,656,631.502621315,655.502621315,0.417649693312,0.00456548808902,0.0597574701726,0.999999914602,0.000165982065249,-0.000376892819557,3.45988650787e-05,1793250734069665024
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.072968989,746,722.927031011,690.927031011,670.927031011,641.927031011,887,787,819,655.927031011,632,656,0.416873006062,0.00456608535215,0.0598051798436,0.999999936632,0.000164273132129,-0.00031364799443,3.70825928173e-05,1793250734086331648
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.678022234,746,722.321977766,690.321977766,670.321977766,641.321977766,887,787,819,655.321977766,632,656,0.416082434686,0.00456254722006,0.0598358194304,0.99999994896,0.000155646049163,-0.000276322860203,3.87278080987e-05,1793250734102998272
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.729204338,746,722,690,670,641.270795662,886.729204338,787,819,655.270795662,632,655.729204338,0.415295643102,0.00455952066824,0.0598494067016,0.999999954021,0.000149623806523,-0.000260797433375,3.94426900796e-05,1793250734119664896
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.150398346,746,722,690,670,641.849601654,886.150398346,787,819,655.849601654,632,655.150398346,0.414513150812,0.00455707600195,0.0598435982045,0.999999952027,0.000146564380674,-0.000270067587681,3.90993856753e-05,1793250734136331776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,722,689.592003513,670.407996487,642,886,787,819,656,632,655.407996487,0.413739746927,0.0045582952683,0.0598334043091,0.999999937093,0.000202985206044,-0.000288177556755,3.95498905861e-05,1793250734152998400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,722,689.040774251,670.959225749,642,886,787,819,656,632,655.959225749,0.412969533587,0.00456080080838,0.059821670859,0.999999912047,0.000280287389984,-0.000309390863486,4.02790729223e-05,1793250734169664768
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746,722,689,669.861779722,642,886,787,819.569110139,656,632.569110139,655.430889861,0.412183275186,0.0045583226413,0.0597740481232,0.999999886307,0.000270175236114,-0.000391014762166,3.87063251321e-05,1793250734186331392
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,722,689,669.173029651,642,886.173029651,787,820,656,632.826970349,655.173029651,0.411437052399,0.00455608471007,0.0597396328673,0.999999868357,0.000253923706672,-0.00044435283478,3.68718117843e-05,1793250734202997760
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746,722,689,669.751965362,642,886.751965362,787,820,656,632.248034638,655.751965362,0.410787754625,0.0045553442109,0.0597429258016,0.99999988247,0.000239650052087,-0.000420015891601,3.48545750307e-05,1793250734219664640
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,746,722,688.669822397,670.660355207,642,886.669822397,787,819.669822397,655.669822397,632,655.669822397,0.410168837066,0.00455272089018,0.0597733558687,0.999999905329,0.000225888846566,-0.000370223941345,3.53483150026e-05,1793250734236331776
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,746,722,688.092152484,671.815695031,642,886.092152484,787,819.092152484,655.092152484,632,655.092152484,0.409572691744,0.00454868625678,0.059824127205,0.999999931301,0.000212511759248,-0.000301351598124,3.77242160324e-05,1793250734252998912
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,746.483308383,722,687.516691617,670.55007485,642,886.483308383,787,819.483308383,655.483308383,632,655.483308383,0.408971842737,0.00454650825906,0.0598458217012,0.99999994277,0.000201904936,-0.000268764521803,3.82156472275e-05,1793250734269665536
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,746.940013706,722.059986294,687,669.059986294,642,886.940013706,786.940013706,819.940013706,656,632,656,0.408374102644,0.00454471831877,0.0598589012505,0.999999950159,0.000192260495921,-0.000247491809467,3.82801442628e-05,1793250734286332160
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,746.348846035,722.651153965,687,669.651153965,642,886.348846035,786.348846035,819.348846035,656,632,656,0.407811797645,0.00454324417665,0.059844564816,0.999999946676,0.000186481989347,-0.000265423260649,3.77313689409e-05,1793250734302998528
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,746,722.762865821,687,670,642,886,786,819,656,632,656,0.40726653467,0.00454163151372,0.0598308253553,0.999999942864,0.000181425926151,-0.000282788459681,3.72422133607e-05,1793250734319664640
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,746,722.184353517,687,670,642,886,786,819,656,632,656,0.406745805426,0.00453981943648,0.0598179452986,0.999999938783,0.000177409892253,-0.000299338481192,3.68388863558e-05,1793250734336331264
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.375679367,746.375679367,722,687,670.375679367,642,886.375679367,786,819,656,632,655.624320633,0.40626910963,0.0045392855883,0.0598174827951,0.999999940181,0.000174043985847,-0.000296696870215,3.63054394888e-05,1793250734352997888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.927069221,746.927069221,722,687,670.927069221,642,886.927069221,786,819,656,632,655.072930779,0.405813008848,0.00453934958554,0.0598228281533,0.99999994411,0.000170982152788,-0.000285079066205,3.57111337088e-05,1793250734369664512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.467420359,746.467420359,722.532579641,686.467420359,670.467420359,642,886.467420359,786,819,655.467420359,632,655.532579641,0.405373455751,0.00453799791545,0.0598223467555,0.999999945285,0.000166868732305,-0.000283444285019,3.52712008819e-05,1793250734386331392
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,722.862059129,686,670,642,886,786,819,655.137940871,632,656,0.404940737301,0.00453651577188,0.0598156844838,0.999999943319,0.000162559142608,-0.000292802705294,3.46924953152e-05,1793250734402998272
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,722.283523892,686,670,642,886,786,819,655.716476108,632,656,0.404521792601,0.00453530612941,0.0597921168636,0.999999931683,0.000158134956458,-0.000332413881829,3.35953787972e-05,1793250734419665152
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,746,722.295216481,686,669.704783519,642,886,786.295216481,819,656,632,655.704783519,0.404134740459,0.00453401928824,0.0597731438852,0.99999992114,0.000157310750014,-0.000363202234597,3.2506493512e-05,1793250734436332032
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,746,722.874153968,686,669.125846032,642,886,786.874153968,819,656,632,655.125846032,0.40377833903,0.00453265825447,0.0597585866385,0.999999912405,0.000159946343546,-0.000385511314643,3.14255190336e-05,1793250734452998144
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,746,722.552910748,686,669.894178504,642,885.552910748,787,819,656,632,655.447089252,0.403488033229,0.00453033352241,0.0597692663735,0.999999920108,0.000163501826574,-0.000363454953695,3.08450517232e-05,1793250734469664512
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.018982199,746.018982199,722,686,671,642,885.018982199,787,819,656,632,655.981017801,0.403217217821,0.00452781440161,0.0597871283123,0.999999931435,0.000167219752201,-0.000329000338364,3.04271416303e-05,1793250734486331136
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.609693062,746.609693062,722,686,671,642,885.609693062,787,819,656,632,655.390306938,0.402980507745,0.00452750236087,0.0598101900016,0.999999942684,0.000168134897795,-0.000292263740307,3.07182829028e-05,1793250734502997760
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.803489175,746.803489175,722.196510825,686,670.803489175,642,885.803489175,787,819,656,632,655.196510825,0.402748958963,0.00452674209156,0.059828462719,0.999999950593,0.000166984172933,-0.000264526471724,3.0933856944e-05,1793250734519664384
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.22425369,746.22425369,722.77574631,686,670.22425369,642,885.22425369,787,819,656,632,655.77574631,0.402527462351,0.00452510885189,0.0598374084275,0.99999995409,0.00016180995713,-0.000254316310343,3.10022562072e-05,1793250734536331264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,746.353719898,722.646280102,685.646280102,670,642,885.353719898,787,819,656,632,655.646280102,0.402316032469,0.00452276063371,0.0598366849763,0.999999953541,0.000157925295762,-0.000258839442498,3.12985484072e-05,1793250734552997888
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,746.93089636,722.06910364,685.06910364,670,642,885.93089636,787,819,656,632,655.06910364,0.402110962052,0.0045199607398,0.0598298531979,0.999999950332,0.000154855288078,-0.000272670082671,3.17388081196e-05,1793250734569664768
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.505357465,746.494642535,722,685,670,642,885.494642535,787,819,656,632,655.505357465,0.401940965342,0.00451905228322,0.0598276713815,0.999999948196,0.000153256355249,-0.000281249068776,3.19342082354e-05,1793250734586331392
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.324934898,746,722.675065102,685.675065102,670.675065102,642,885.675065102,786.324934898,819,656,632,656,0.401652022086,0.00451865957185,0.0598298308491,0.999999947857,0.00015221749503,-0.00028305132632,3.15870962951e-05,1793250734619664640
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e19dc4dfa44b1997b3bab08bf80059af07eb4fd0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+405,6.750000000,pose2_to_pose3_retreat,0.575664373588,0.0101502928802,1.05003342768,0.546235049089,0.0188229165615,1.04970482174
+406,6.766666667,pose2_to_pose3_retreat,0.575664338698,0.0101502626951,1.05003358427,0.546235014802,0.0188228883021,1.04970497524
+407,6.783333333,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a442a2db6bc2f553e45db765371152da6a83235
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ffc6092819e623b38a18f69437cb00d8d6de1adfd2d7f14be4e8179c5233627
+size 25969474
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bae6df2a963e6d3fd7dfd3e61ea40a5fd078c22
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+21,0.350000000,BASELINE,768.82153789,747,722.82153789,685.82153789,671,642.82153789,886.82153789,786.17846211,819,656.17846211,632,655.17846211,0.400964018152,0.00451198199844,0.059840452822,0.999999955519,0.000128017274963,-0.00026799917108,2.73933236054e-05,1793250735696962816
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+27,0.450000000,BASELINE,768.337204213,746.662795787,723,685.337204213,671,642.662795787,886.662795787,786,819,656.662795787,632.662795787,655.662795787,0.400965450093,0.00450946541514,0.0598410043524,0.999999956102,0.000127234208231,-0.000266184885316,2.74431802699e-05,1793250735796962816
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+51,0.850000000,BASELINE,768.594805383,746,722.405194617,685.594805383,670.405194617,642,886,786.405194617,819,656,632.405194617,656,0.400965393944,0.00450894530831,0.059841655987,0.99999995693,0.000121798149008,-0.000265669346862,2.69399808552e-05,1793250736196962304
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+53,0.883333333,BASELINE,768.255826731,746.744173269,722,685.255826731,670.744173269,642,886,786,819,656,632,656,0.400965620353,0.00450959856861,0.059842556236,0.99999995672,0.000124571768491,-0.000265121788854,2.7422308232e-05,1793250736230297088
+54,0.900000000,BASELINE,768,746.674692411,722,685,671,642,885.674692411,786,819,656,632,656,0.400966032962,0.00450990866365,0.0598430001745,0.999999956697,0.000125703678626,-0.000264674650285,2.7430245433e-05,1793250736246963968
+55,0.916666667,BASELINE,768,746.086449105,722,685,671,642,885.086449105,786,819,656,632,656,0.400965574064,0.00450966518521,0.0598427543173,0.999999956471,0.00012594092164,-0.00026541804014,2.73968713396e-05,1793250736263630080
+56,0.933333333,BASELINE,768,746,722.494694097,685,671,642,885.494694097,786.494694097,819,656,632,655.505305903,0.400965326933,0.00450902371554,0.059842711523,0.999999956646,0.000125044709359,-0.00026518517403,2.73664730676e-05,1793250736280296448
+57,0.950000000,BASELINE,768,746.074331191,722.925668809,685,671,642,886,786.925668809,819,656,632,655.074331191,0.400965228604,0.00450842866798,0.0598427744846,0.999999956877,0.000124067198355,-0.000264775634786,2.73321027543e-05,1793250736296963072
+58,0.966666667,BASELINE,768,746.652052118,722.347947882,685,671,642,886,786.347947882,819,656,632,655.652052118,0.400965890937,0.00450861234914,0.059843316734,0.999999957028,0.000123861541727,-0.000264308641584,2.72673608192e-05,1793250736313630208
+59,0.983333333,BASELINE,768,746.772199322,722,685,671,642,886,786.227800678,819,656,632,655.772199322,0.400965929866,0.00450894284086,0.0598433605423,0.999999956977,0.000124056230648,-0.000264412836058,2.72232470747e-05,1793250736330296832
+60,1.000000000,BASELINE,768,746.199437454,722,685,671,642,886,786.800562546,819,656,632,655.199437454,0.400965024768,0.00450949564955,0.0598426495557,0.999999956621,0.000124857167409,-0.000265381986533,2.72103708269e-05,1793250736346962944
+61,1.016666667,BASELINE,768,746,722.374404197,685,671,642,886,787,819,656,632,655.374404197,0.400964543124,0.00451044068351,0.059842146273,0.999999956475,0.000125948882583,-0.000265436779682,2.70288306481e-05,1793250736363629312
+62,1.033333333,BASELINE,768,746,722.948822656,685,671,642,886,787,819,656,632,655.948822656,0.400964287697,0.00451159525208,0.0598417539501,0.999999956439,0.000127195937392,-0.000265003104676,2.67571868017e-05,1793250736380295936
+63,1.050000000,BASELINE,768.541963038,746,723,685.541963038,671,642,886,787,819,656,632,655.458036962,0.400965244883,0.00451105427346,0.0598424380132,0.999999956684,0.000125594376149,-0.000264836104812,2.68214391891e-05,1793250736396962560
+64,1.066666667,BASELINE,768.867255751,746,723,685.867255751,671,642,886,787,819,656,632,655.132744249,0.400965752334,0.00451038504965,0.0598426955244,0.999999956809,0.000124136436727,-0.00026504696573,2.68677694356e-05,1793250736413629184
+65,1.083333333,BASELINE,768.290490942,746,723,685.290490942,671,642,886,787,819,656,632,655.709509058,0.400964358725,0.00450984157345,0.0598411740956,0.999999956449,0.000124090862451,-0.000266434499446,2.67442587435e-05,1793250736430296064
+66,1.100000000,BASELINE,768.285298361,746.285298361,723,685.285298361,671,642,885.714701639,787,819,656,632.285298361,656,0.400963849558,0.00450909135786,0.0598406217361,0.999999956379,0.000123930062077,-0.000266752825773,2.69371737058e-05,1793250736446962944
+67,1.116666667,BASELINE,768.860097751,746.860097751,723,685.860097751,671,642,885.139902249,787,819,656,632.860097751,656,0.400964237863,0.00450813135747,0.0598410527211,0.999999956604,0.000123652338238,-0.000265986194363,2.74511755279e-05,1793250736463629312
+68,1.133333333,BASELINE,769,746.551935886,723,685.551935886,671.448064114,642.448064114,885.448064114,786.551935886,819,656,632.551935886,656,0.400964693028,0.00450875416831,0.0598416173039,0.999999956721,0.000124408804517,-0.000265214465956,2.72507355359e-05,1793250736480295680
+69,1.150000000,BASELINE,768.960766194,746,722.960766194,685,671.960766194,642.960766194,885.960766194,786,819,656,632.039233806,656,0.400965213126,0.00450975496445,0.0598422545019,0.999999956832,0.000125319933082,-0.000264402634918,2.68805614471e-05,1793250736496962560
+70,1.166666667,BASELINE,768.383747873,746,722.383747873,685,671.383747873,642.383747873,885.383747873,786,819,656,632.616252127,656,0.400966328441,0.00450895751664,0.0598432979531,0.999999957363,0.000123790816862,-0.000263063586116,2.73341202816e-05,1793250736513629184
+71,1.183333333,BASELINE,768,746.192809339,722.192809339,685.192809339,671,642,885.192809339,786.192809339,819,656,632.807190661,656,0.400966444308,0.00450906168596,0.0598434276409,0.999999957285,0.000124202545846,-0.000263149477007,2.75069675382e-05,1793250736530296064
+72,1.200000000,BASELINE,768,746.7684511,722.7684511,685.7684511,671,642,885.7684511,786.7684511,819,656,632.2315489,656,0.400964575725,0.00451095606026,0.0598417430068,0.999999955985,0.000128467918132,-0.000266064655474,2.71224482364e-05,1793250736546963200
+73,1.216666667,BASELINE,768,746.648671914,722.648671914,685.648671914,671,642,886,786.648671914,819,656,632,655.648671914,0.40096494513,0.00451127914354,0.0598420955127,0.999999956118,0.000128652462958,-0.00026550039365,2.68591760394e-05,1793250736563629824
+74,1.233333333,BASELINE,768,746.060926194,722.060926194,685.060926194,671,642,886,786.060926194,819,656,632,655.060926194,0.400966820534,0.0045105448649,0.0598438188622,0.999999957217,0.000126090914605,-0.000262594727496,2.6677494136e-05,1793250736580296192
+75,1.250000000,BASELINE,768,746.519118639,722,685,671,642,886,786,819,656,632,655,0.400965660245,0.00451095600048,0.0598425769805,0.999999956921,0.000125534145183,-0.000263988415023,2.66440222032e-05,1793250736596963072
+76,1.266666667,BASELINE,768,746.902392482,722.097607518,685,671,642,886,786,819,656,632,655.097607518,0.400964554708,0.00451131835859,0.0598415431057,0.999999956628,0.000125296117194,-0.000265204676613,2.66530004769e-05,1793250736613629952
+77,1.283333333,BASELINE,768,746.327159414,722.672840586,685,671,642,886,786,819,656,632,655.672840586,0.400965435021,0.00451079383256,0.0598432051271,0.999999957152,0.000125483273337,-0.000263119692762,2.67858281821e-05,1793250736630296320
+78,1.300000000,BASELINE,767.751413563,746,722.751413563,685,671,642,886,786,819,656,632,655.751413563,0.400966061925,0.00451044665857,0.0598442211655,0.999999957436,0.000125506461934,-0.000262014335382,2.69216672331e-05,1793250736646962944
+79,1.316666667,BASELINE,767.174991498,746,722.174991498,685,671,642,886,786,819,656,632,655.174991498,0.400966354636,0.00451033337639,0.0598443852818,0.999999957407,0.000125313410226,-0.000262200908902,2.70614776343e-05,1793250736663629312
+80,1.333333333,BASELINE,767.820300493,746,722.410150247,685.410150247,671,642,886,786.410150247,819.410150247,656,632,655.410150247,0.400966542948,0.00450926648636,0.0598440657297,0.999999957606,0.000123695716038,-0.000262225245603,2.69185169987e-05,1793250736680296192
+81,1.350000000,BASELINE,768.998186244,746,722.999093122,685.999093122,671,642,886,786.999093122,819.999093122,656,632,655.999093122,0.40096668575,0.00450778389973,0.0598435353369,0.9999999579,0.000121456991914,-0.000262178860072,2.66522908703e-05,1793250736696962816
+82,1.366666667,BASELINE,768.421853918,746,723,685.421853918,671,642.578146082,886,787,819.421853918,656,632,655.421853918,0.40096650291,0.00450969821683,0.0598430748968,0.99999995731,0.000124916281943,-0.0002628097483,2.65786280783e-05,1793250736713629184
+83,1.383333333,BASELINE,768,746.156290133,723,685,671.156290133,642.843709867,886,786.843709867,819,656,632,655,0.40096646122,0.00451100033015,0.0598428458024,0.999999956956,0.000127133338223,-0.000263089631137,2.66151790354e-05,1793250736730295808
+84,1.400000000,BASELINE,768,746.732035895,723,685,671.732035895,642.267964105,886,786.267964105,819,656,632,655,0.400966799701,0.00451064533517,0.05984323731,0.999999957266,0.000125992870921,-0.000262424673235,2.6946727549e-05,1793250736746962944
+85,1.416666667,BASELINE,768,747,723,685.306871747,671.693128253,642,886,786.306871747,819,656,632,655.306871747,0.40096654179,0.00451083699989,0.059842918769,0.999999957131,0.000126021558149,-0.000262921085799,2.6995409111e-05,1793250736763629568
+86,1.433333333,BASELINE,768,747,723,685.880915369,671.119084631,642,886,786.880915369,819,656,632,655.880915369,0.400965764642,0.0045115046032,0.0598419820381,0.999999956607,0.000127068146938,-0.000264428622853,2.67978180823e-05,1793250736780296448
+87,1.450000000,BASELINE,768.471464002,746.528535998,722.528535998,685.528535998,671.471464002,642,886,787,819,656,632,656,0.400966499272,0.00451032103112,0.0598426037391,0.999999957138,0.000124601189399,-0.000263596113292,2.67382145131e-05,1793250736796962816
+88,1.466666667,BASELINE,769,746.064225147,722,685,671.935774853,642,886,786.935774853,819,656,632,656,0.400967533453,0.0045087936459,0.0598435610263,0.999999957846,0.000121708514113,-0.000262254773338,2.67858078839e-05,1793250736813629440
+89,1.483333333,BASELINE,769,746.640192741,722,685,671.359807259,642,886,786.359807259,819,656,632,656,0.40096780149,0.00450838757689,0.0598439419885,0.999999957837,0.000122751574597,-0.000261739488161,2.73997547551e-05,1793250736830295808
+90,1.500000000,BASELINE,768.784859851,746.784859851,722.215140149,685,671,642,886,786.215140149,819,656,632,655.784859851,0.400968111899,0.00450845884088,0.0598443501815,0.999999957987,0.000123453560877,-0.000260813947665,2.75938340803e-05,1793250736846962688
+91,1.516666667,BASELINE,768.211610642,746.211610642,722.788389358,685,671,642,886,786.788389358,819,656,632,655.211610642,0.400968492838,0.00450932464406,0.0598448037013,0.999999958402,0.000123587815908,-0.00025920552145,2.70890276489e-05,1793250736863629312
+92,1.533333333,BASELINE,768,746.372889023,723,685.372889023,671,642,886,787,819,656,632,655,0.400968911069,0.0045090129335,0.0598453183405,0.999999958647,0.000122809293038,-0.000258651545886,2.68947592037e-05,1793250736880295936
+93,1.550000000,BASELINE,768,746.963971881,723,685.963971881,671,642,886,787,819,656,632,655,0.400969351121,0.00450801220772,0.0598458687434,0.999999958791,0.000121496663521,-0.00025871457581,2.68822002001e-05,1793250736896963072
+94,1.566666667,BASELINE,768,746.456441106,723,686,671,642,886.543558894,786.456441106,819,656,632,655.543558894,0.400969480372,0.00450895723188,0.0598460539071,0.999999958704,0.000122600464795,-0.000258515610634,2.70215933059e-05,1793250736913629952
+95,1.583333333,BASELINE,768.121912055,746,722.878087945,685.878087945,671,642,886.878087945,786.121912055,819,656,632.121912055,655.878087945,0.400969370107,0.00450967764768,0.059845896697,0.999999958485,0.00012396394709,-0.000258693725657,2.71983560999e-05,1793250736930296320
+96,1.600000000,BASELINE,768.698446819,746,722.301553181,685.301553181,671,642,886.301553181,786.698446819,819,656,632.698446819,655.301553181,0.400968441893,0.00450908950152,0.0598445511462,0.999999957832,0.000125710903213,-0.000260341428486,2.74776939373e-05,1793250736946962944
+97,1.616666667,BASELINE,769,746,722.271245749,685.271245749,671,642,886,787,819,656.271245749,632.728754251,655.271245749,0.400967190482,0.00450934916798,0.0598436667996,0.999999957386,0.000126222003782,-0.00026180792619,2.74350172854e-05,1793250736963629312
+98,1.633333333,BASELINE,769,746,722.839947816,685.839947816,671,642,886,787,819,656.839947816,632.160052184,655.839947816,0.400965584643,0.00451053857152,0.0598432882237,0.99999995717,0.000125377827551,-0.000263075708756,2.70392097575e-05,1793250736980295936
+99,1.650000000,BASELINE,768.571749425,746,723,685.571749425,671,642,886,787,819,656.571749425,632,655.571749425,0.400965454935,0.00451061569686,0.0598431204019,0.999999957185,0.000124947474622,-0.000263235460848,2.69274987461e-05,1793250736996962560
+100,1.666666667,BASELINE,768,746.023600868,723,685,671,642,886,787,819,656,632,655,0.400965879388,0.0045102564385,0.0598430337649,0.999999957284,0.000124682805263,-0.000262985435818,2.69281978007e-05,1793250737013629184
+101,1.683333333,BASELINE,768,746.604102309,723,685,671,642,886,787,819,656,632,655,0.400965737915,0.00450987953374,0.0598429150475,0.999999957221,0.00012450320533,-0.000263306332995,2.69558103725e-05,1793250737030296320
+102,1.700000000,BASELINE,768,747,723,685.182376573,671,642,885.817623427,786.817623427,819,656,632,655.182376573,0.400965550928,0.00450990388551,0.0598428578182,0.999999957145,0.000124719594648,-0.000263488403217,2.70094800721e-05,1793250737046963200
+103,1.716666667,BASELINE,768,747,723,685.755874401,671,642,885.244125599,786.244125599,819,656,632,655.755874401,0.400965266336,0.00451078876429,0.0598429324552,0.999999957039,0.000125785214845,-0.000263372747806,2.71190313781e-05,1793250737063630336
+104,1.733333333,BASELINE,768,747,723,686,671,642.3292748,885.3292748,786,819,656,632.3292748,656,0.400965109302,0.00451120109658,0.0598429643593,0.999999956941,0.000125867919258,-0.000263716302912,2.70117226669e-05,1793250737080296960
+105,1.750000000,BASELINE,768,747,723,686,671,642.902603045,885.902603045,786,819,656,632.902603045,656,0.400965046813,0.00451126318474,0.0598429645906,0.999999956848,0.000125222101636,-0.000264400217819,2.67436806392e-05,1793250737096963328
+106,1.766666667,BASELINE,768.494622279,747,722.505377721,686,671,642.505377721,886,786.494622279,819,656,632.505377721,656,0.400966073821,0.00451089039785,0.0598433183913,0.999999957125,0.000125587326016,-0.00026317485766,2.67825603565e-05,1793250737113629696
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,723,686,671,642,886,787,819,656,632,656,0.400963755678,0.00451228187596,0.0598423684396,0.999999956433,0.000127787074074,-0.000264778838832,2.64116956665e-05,1793250737156708096
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.426111804,746.426111804,723,686,671,642,886,787,819,656,632,655.426111804,0.400964848715,0.0045109080756,0.0598426458773,0.999999956739,0.000126871655093,-0.000264036467265,2.66462344645e-05,1793250737173375488
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746.15198182,723,686,671,642,886,787,818.84801818,656,632,655,0.400965354759,0.00450985525598,0.059842742616,0.999999956929,0.000125962468472,-0.000263729446135,2.68692464852e-05,1793250737190042368
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746.742201897,723,686,671,642,886,787,818.257798103,656,632,655,0.400964168212,0.0045097279812,0.0598423183112,0.999999956785,0.000125071252594,-0.000264677754026,2.70590211985e-05,1793250737206708736
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,747,723,685.673963969,671,642,886,787,818.326036031,656,632,655.326036031,0.400965081117,0.00450907422102,0.0598430724786,0.999999957203,0.000123763087265,-0.000263686677246,2.73036724357e-05,1793250737223375104
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,747,723,685.095082262,671,642,886,787,818.904917738,656,632,655.904917738,0.400967622178,0.00450801216378,0.0598447405683,0.999999958051,0.000122131571637,-0.000261191579441,2.75908812024e-05,1793250737240041472
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,747,723,685,671,642,886.480949545,787,819,656,632.480949545,656,0.400967517591,0.00450898714088,0.0598444495525,0.999999957918,0.000122139156679,-0.000261744344534,2.71197088168e-05,1793250737256708096
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.056423901,747,722.943576099,685,671.056423901,642,886.943576099,787,819,656,632.943576099,656,0.40096696322,0.00451023763315,0.0598438373168,0.999999957602,0.000122618854845,-0.000262783943967,2.65734560138e-05,1793250737273374464
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.631922633,747,722.368077367,685,671.631922633,642,886.368077367,787,819,656,632.368077367,656,0.400967054397,0.00451033976278,0.0598438120858,0.999999957366,0.000124478272529,-0.000262791634393,2.67076579418e-05,1793250737290041088
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,722.212858215,685,671.787141785,642,886,787,819,656,632,656,0.400970143397,0.00450972652636,0.0598451683737,0.999999957868,0.000124650158413,-0.000260770185244,2.69343545806e-05,1793250737306707968
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,722.803441639,685,671.196558361,642,886,787,819,656,632,656,0.400978552152,0.00450784384497,0.0598489762207,0.999999959655,0.000121827453071,-0.000255147948737,2.73251866784e-05,1793250737323375104
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.61482933,746.61482933,722.61482933,685,671,642,886,787,819,656,632,655.61482933,0.401005341532,0.00450802608595,0.0598594136966,0.999999964396,0.000121358904396,-0.000236081980114,2.73002368727e-05,1793250737340041984
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.037517238,746.037517238,722.037517238,685,671,642,886,787,819,656,632,655.037517238,0.401041300042,0.00450923840813,0.0598731583465,0.999999970069,0.000122064720548,-0.000210309638819,2.70678753278e-05,1793250737356708352
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,722,685,671,642,886,787,819,656,632,655.538054706,0.401099838136,0.00450971686758,0.0598902362798,0.99999997561,0.000121366621265,-0.000182544610563,2.69697905666e-05,1793250737373374976
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.115868255,746.115868255,722,685,671,642.115868255,886,787,819,656,632,656,0.401163486235,0.00450991735351,0.0599068982557,0.999999980173,0.000120827148442,-0.00015598333698,2.6920326701e-05,1793250737390041344
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.703297083,746.703297083,722,685,671,642.703297083,886,787,819,656,632,656,0.401241544133,0.00450919412519,0.059920924513,0.999999983177,0.000121330368375,-0.000134884751708,2.70307583279e-05,1793250737406707968
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.71336221,746.71336221,722,685.28663779,671,642.71336221,886,787,819,656,632,656,0.401326065765,0.00450814233916,0.0599307070144,0.999999985304,0.000120361601375,-0.000119070229153,2.69625214824e-05,1793250737423374592
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.134193707,746.134193707,722,685.865806293,671,642.134193707,886,787,819,656,632,656,0.401417184013,0.00450675524071,0.0599361585127,0.999999986792,0.000117890585183,-0.000108648404506,2.67119429586e-05,1793250737440040960
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746.440000333,722.440000333,685.559999667,671,642,886,787,819,656,632,656,0.401524311915,0.0045068692163,0.0599390450379,0.99999998782,0.000114494585505,-0.000102927235654,2.56356040188e-05,1793250737456707584
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746.987160531,722.987160531,685.012839469,671,642,886,787,819,656,632,655.987160531,0.401636841323,0.00450741373573,0.059941158032,0.999999988699,0.000110876185615,-9.85798018674e-05,2.43166910428e-05,1793250737473374464
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746.407912155,722.407912155,685.592087845,671,642,886,787,819,656,632,655.407912155,0.401774665192,0.00450698137933,0.059943271172,0.999999989447,0.000109752581298,-9.2297064559e-05,2.32825577199e-05,1793250737490041088
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746.175132489,722.175132489,686,671,642,886,787,819,656,632,655.175132489,0.401921479549,0.00450658010007,0.0599447189659,0.999999990253,0.000107439504609,-8.6427588506e-05,2.19262127096e-05,1793250737506708224
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746.767215091,722.767215091,686,671,642,886,787,819,656,632,655.767215091,0.402089698168,0.00450625280839,0.0599445827238,0.999999991247,0.000102294568353,-8.15419932118e-05,1.980275604e-05,1793250737523375104
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.351371254,747,723,685.648628746,671,642,886,787,819,656,632,656,0.402279964007,0.00450695690408,0.0599459499162,0.999999992101,9.98898038686e-05,-7.42172966532e-05,1.76699832951e-05,1793250737540041472
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.930392024,747,723,685.069607976,671,642,886,787,819,656,632,656,0.402484514011,0.00450832922411,0.0599482911669,0.99999999282,9.9260365587e-05,-6.53123331151e-05,1.55311745584e-05,1793250737556708096
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.494574582,746.494574582,723,685.505425418,671,642,886,786.494574582,819,656,632,656,0.402717369564,0.00450684668326,0.0599480290422,0.999999993718,9.34432531047e-05,-6.04821011847e-05,1.31723015854e-05,1793250737573374720
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,746,723,686,671,642,886,786,819,656,632,656,0.402958680326,0.00450536360919,0.0599476529026,0.999999994572,8.71764696671e-05,-5.60412822935e-05,1.07117516407e-05,1793250737590040832
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,746,723,686,671,642,886,786,819,656,632,656,0.403228382109,0.004506291491,0.0599487727266,0.999999995287,8.25137772595e-05,-5.05646179929e-05,7.80803871915e-06,1793250737606707712
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.251634483,746,723,686,671,642.251634483,886.251634483,786.251634483,819,656,632.251634483,655.748365517,0.403516475387,0.00450630491455,0.05994712259,0.999999995698,7.70179238037e-05,-5.14438981113e-05,5.05572308648e-06,1793250737623374592
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.830653206,746,723,686,671,642.830653206,886.830653206,786.830653206,819,656,632.830653206,655.169346794,0.403828496553,0.00450512859956,0.0599418686488,0.99999999568,7.04381023499e-05,-6.05924586947e-05,2.5003801802e-06,1793250737640041728
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.591371033,746,723,686,671.408628967,643,886.591371033,787,819,656,632.591371033,655.408628967,0.404152715015,0.00450566044287,0.0599293517077,0.999999994503,6.55536025776e-05,-8.18240601733e-05,-7.98790688937e-07,1793250737656708352
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.013826418,746,723,686,671.986173582,643,886.013826418,787,819,656,632.013826418,655.986173582,0.404481975486,0.00450689839049,0.0599138324481,0.99999999227,6.13699009268e-05,-0.000108050448467,-4.40543891964e-06,1793250737673374976
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.561116201,746.561116201,723,686,671.438883799,642.438883799,886,787,819,656,632.561116201,656,0.404857238547,0.00450544106507,0.0599029338686,0.999999990425,5.2863594423e-05,-0.000127642078901,-7.95101569294e-06,1793250737690041856
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,723,686.140137838,671,642.140137838,886,787,819,656,632.859862162,656,0.405249468401,0.00450425092858,0.0598966049679,0.99999998919,4.39472068607e-05,-0.000139833852246,-1.16050352578e-05,1793250737706708480
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,723,686.732529146,671,642.732529146,886,787,819,656,632.267470854,656,0.405692812192,0.004504136408,0.0599046576114,0.99999999102,3.40495580585e-05,-0.000128669938568,-1.56138552621e-05,1793250737723375104
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.683222958,747,723,687,671,643,886.316777042,787,819,656,632,656,0.406188178251,0.00450324886086,0.0599267136596,0.999999995245,2.40679120571e-05,-9.25303156293e-05,-1.92002272548e-05,1793250737740041472
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.105678563,747,723,687,671,643,886.894321437,787,819,656,632,656,0.406726368514,0.0045017249668,0.0599602971564,0.999999999008,1.40171193466e-05,-3.58309638899e-05,-2.24388451145e-05,1793250737756707840
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.470874001,746.529125999,723,687,671,642.529125999,887,787,819,656,632,656,0.407275218851,0.0045008245484,0.0599865985308,0.999999999634,6.34415277826e-06,4.55318423416e-06,-2.58975892811e-05,1793250737773374208
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,723,687.046871239,671,642.046871239,887,787,819,656,632,656,0.407824857701,0.00449997305598,0.060008429345,0.999999998936,-9.43965447991e-07,3.55999719758e-05,-2.93374543408e-05,1793250737790041088
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,723,687.619134018,671,642.619134018,887,787,819,656,632,656,0.40835657444,0.00449810480579,0.0599984296667,0.999999999434,-9.88755010817e-06,2.93984300369e-06,-3.20130937871e-05,1793250737806707712
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.198525589,723,688.198525589,671,642.801474411,887.198525589,787,819,656.198525589,632,656,0.408906175274,0.004497074076,0.0599883555617,0.999999998866,-1.82745247288e-05,-2.63554835515e-05,-3.52009562377e-05,1793250737823374336
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.792102916,723,688.792102916,671,642.207897084,887.792102916,787,819,656.792102916,632,656,0.40949136415,0.00449770995204,0.0599781333537,0.999999997699,-2.55538846208e-05,-4.89550917622e-05,-3.9408105754e-05,1793250737840040960
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.627069903,747,723,689,671,642.372930097,888,787,819,656.627069903,632,655.627069903,0.410143775744,0.00449662924937,0.0599808973695,0.999999997904,-2.96597204601e-05,-3.87449893011e-05,-4.2545748566e-05,1793250737856707840
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.05311558,747,723,689,671,642.94688442,888,787,819,656.05311558,632,655.05311558,0.41083242305,0.00449462324214,0.0599906614791,0.99999999841,-3.20548997592e-05,-1.08491408303e-05,-4.51068843675e-05,1793250737873374464
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.524467115,746.475532885,723,689,671,642.475532885,887.475532885,787.524467115,819,656,632,655,0.411528143667,0.00449816156401,0.0599932204053,0.999999999241,1.27704217268e-05,-2.21254248748e-06,-3.67531557444e-05,1793250737890041088
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,722.895611928,689.104388072,671,642,887,787.895611928,819,656,632,655.104388072,0.412216964811,0.00450178713359,0.0599895284852,0.999999998148,5.26329302121e-05,-7.47309735248e-06,-2.96371854e-05,1793250737906707456
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,722.306552674,689.693447326,671,642,887,787.306552674,819,656,632,655.693447326,0.412870402483,0.00450319258126,0.0599602256578,0.999999996011,4.70945590522e-05,-6.81386361446e-05,-3.34362273436e-05,1793250737923374080
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,722.277636242,690,671,642,887.277636242,787.277636242,819.277636242,656,632.277636242,656,0.413561169122,0.00450158938029,0.0599323700547,0.99999999109,4.08351321025e-05,-0.000121705667348,-3.65977876376e-05,1793250737940040704
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,722.856540342,690,671,642,887.856540342,787.856540342,819.856540342,656,632.856540342,656,0.414292442146,0.00449672144314,0.0599060848561,0.999999984626,3.3793274499e-05,-0.00016756999358,-3.90676061561e-05,1793250737956707328
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.435087713,723,690.435087713,671.435087713,642.435087713,888,787.564912287,820,656,632.564912287,656,0.415147597415,0.00448354821456,0.0599400910682,0.999999993701,2.34264268688e-05,-0.000103239007059,-3.72820205473e-05,1793250737973374208
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,723,691.013354283,672.013354283,643,888.013354283,787.013354283,820.013354283,656,632,656,0.416041981438,0.00446785613292,0.0599932535127,0.999999999335,1.22067499419e-05,-4.17510737973e-06,-3.41248751996e-05,1793250737990040832
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,723,691.584798886,672.584798886,643,888.584798886,787.584798886,820.584798886,656,632,656,0.416870130561,0.00446124825399,0.0600168648908,0.999999998992,1.11258950397e-05,2.92117008699e-05,-3.22384957969e-05,1793250738006707712
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.838437054,723,692,672.515311163,643,889,787.838437054,821,656,632,656,0.417694794178,0.00445799913379,0.0600285525114,0.999999998351,1.3380763053e-05,4.5990799585e-05,-3.16693707375e-05,1793250738023374336
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.247537117,723,692,670.742611351,643,889,787.247537117,821,656,632,656,0.418510195371,0.00446367557154,0.0600085539658,0.999999998928,2.44999733923e-05,1.86366080482e-05,-3.46007144538e-05,1793250738040041216
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.336505136,723,692.336505136,670.673010272,643,889.336505136,787.336505136,821.336505136,656,632,656,0.419350147193,0.00446302486256,0.059986440634,0.99999999882,2.79608421509e-05,-1.66242139956e-05,-3.60798131241e-05,1793250738056707584
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.915603523,723,692.915603523,671.831207046,643,889.915603523,787.915603523,821.915603523,656,632,656,0.420207798018,0.00445781278731,0.0599628027118,0.99999999734,2.59006595214e-05,-5.7585082148e-05,-3.65119592756e-05,1793250738073373952
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.50727569,747,723,693,671.014551381,643,890,787.50727569,822,656,632,656,0.421048455352,0.00446241403797,0.0599219781137,0.99999999018,-3.78956080911e-05,-0.000129301750008,-3.85431516591e-05,1793250738090040832
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.069046565,747,723,693,670,643,890.069046565,787,822.069046565,656,632,656,0.421894326308,0.00446749341852,0.0598837869179,0.999999974686,-0.000102616151673,-0.000196084445909,-4.06023617481e-05,1793250738106707456
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.64200299,747,723,693,670,643,890.64200299,787,822.64200299,656,632,656,0.422799404418,0.0044638440293,0.0598862131229,0.999999976661,-9.72167859527e-05,-0.000188565486113,-4.08751357398e-05,1793250738123374080
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,723,693.221603362,670.443206725,643,891,787.221603362,823,656,632,656,0.423734271797,0.00446024037824,0.0599151452671,0.999999985013,-9.35766658852e-05,-0.000139802855937,-4.09079478366e-05,1793250738140040704
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,723,693.81226877,671.62453754,643,891,787.81226877,823,656,632,656,0.424718750882,0.00445671289972,0.059988220858,0.999999994616,-9.28664219959e-05,-2.23523059928e-05,-4.05411229322e-05,1793250738156707584
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.395749849,747,722.604250151,693.604250151,671.604250151,643,891.395749849,787.604250151,823.395749849,656,632.395749849,656,0.425685671575,0.00445691098256,0.0600244862348,0.999999994615,-8.72943142375e-05,3.76481352526e-05,-4.16177122199e-05,1793250738173373952
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.97588364,747,722.02411636,693.02411636,671.02411636,643,891.97588364,787.02411636,823.97588364,656,632.97588364,656,0.426644411573,0.00445884484312,0.0600436013484,0.999999993391,-7.9457014241e-05,7.08819705616e-05,-4.33668032385e-05,1793250738190040832
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.902186771,747,722.548906615,693,670.451093385,643,892,787,824,656,632.451093385,656,0.427587284335,0.00445513734677,0.0600234018122,0.999999994574,-7.92764545876e-05,5.01859784921e-05,-4.52600047591e-05,1793250738206707712
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.125592804,747,723,693.125592804,670.125592804,643,892,787,824,656,632,656,0.42851081744,0.00445246163531,0.0599994369261,0.999999995745,-7.65674190188e-05,2.12634881027e-05,-4.68531452658e-05,1793250738223374336
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.717009773,747,723,693.717009773,670.717009773,643,892,787,824,656,632,656,0.429365172233,0.00445452035461,0.0599678309728,0.999999996446,-6.3248501552e-05,-2.94953111023e-05,-4.73101749329e-05,1793250738240040960
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.698118926,746.698118926,722.698118926,694.301881074,670.698118926,643,892,787,824,655.698118926,632,656,0.430235472584,0.0044557925563,0.0599395625034,0.999999994394,-5.32754654859e-05,-7.7877366867e-05,-4.80435964476e-05,1793250738256707840
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.11925349,746.11925349,722.11925349,694.88074651,670.11925349,643,892,787,824,655.11925349,632,656,0.431120403386,0.0044563431059,0.0599143562709,0.999999990025,-4.63723703055e-05,-0.000124078690958,-4.90306152266e-05,1793250738273374208
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,746.456179705,722,694.543820295,670.456179705,643,892,787,824,655.456179705,632,656,0.432097965291,0.0044526629037,0.0599522178908,0.999999996054,-5.00439227557e-05,-5.33811472203e-05,-5.03886624885e-05,1793250738290040832
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.03132079,747,722.03132079,694,671,643,892.03132079,787,824.03132079,656,632,656,0.433094359554,0.00444812728646,0.0600038434528,0.999999996225,-5.55897318506e-05,4.22467351544e-05,-5.17173867064e-05,1793250738306707456
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.617054139,747,722.617054139,694,671,643,892.617054139,787,824.617054139,656,632,656,0.433998667315,0.00444788099862,0.0600094461426,0.999999996769,-4.57444182947e-05,4.22726452049e-05,-5.08229965251e-05,1793250738323374336
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,694.200798211,670.799201789,643,893.200798211,787,825,656,632,656,0.434892186576,0.00444577465729,0.0600029383454,0.999999997489,-4.26345949114e-05,2.52941253762e-05,-5.06325972929e-05,1793250738340041216
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,694.780785814,670.219214186,643,893.780785814,787,825,656,632,656,0.435765332878,0.00444015577193,0.0599735609819,0.999999997012,-5.22441381217e-05,-2.37957333837e-05,-5.17716215188e-05,1793250738356707584
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,722.63970998,694.63970998,670,643,894,787,825.36029002,656,632,656,0.436611525223,0.00443935826579,0.0599490279904,0.999999995057,-5.1983939324e-05,-6.59314189827e-05,-5.32545466136e-05,1793250738373374208
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,722.06049953,694.06049953,670,643,894,787,825.93950047,656,632,656,0.437441339677,0.00444149033992,0.0599274385517,0.999999992053,-4.57266597243e-05,-0.000103841587474,-5.4946433638e-05,1793250738390041088
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.514890681,747,722.514890681,694.514890681,670,643,894,787,826,656,632,656,0.438242726067,0.00444053643112,0.0599035951333,0.999999985454,-3.99623851013e-05,-0.000156828441404,-5.38583661177e-05,1793250738406707712
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.907815932,747,723,695,670.092184068,643,894.092184068,787,826,656,632,656,0.439056558635,0.0044386168955,0.0598905339963,0.999999979937,-3.58590039629e-05,-0.000189899198031,-5.271380698e-05,1793250738423374080
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.317839356,747,723,695,670.682160644,643,894.682160644,787,826,656,632,656,0.439955505031,0.00443342661592,0.0599371166196,0.999999992168,-4.04139156118e-05,-0.000105927688324,-5.30150762153e-05,1793250738440040704
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,723,694.733522752,670.733522752,643,895,787,826.266477248,656,632.266477248,656,0.440807359272,0.00443219740255,0.0599711223311,0.999999996572,-3.97957998774e-05,-4.92530022938e-05,-5.33579939267e-05,1793250738456707584
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,723,694.155816683,670.155816683,643,895,787,826.844183317,656,632.844183317,656,0.441604212745,0.00443559446805,0.0599904389902,0.999999997707,-3.31359104375e-05,-2.44593117658e-05,-5.37495547531e-05,1793250738473374720
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,694,669.580350361,643,895.419649639,786.580350361,826.580350361,656,632.580350361,656,0.442318021675,0.00443894007882,0.0599553314445,0.999999995001,-2.63272468679e-05,-7.93228628729e-05,-5.48958072069e-05,1793250738490041088
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,694,669.005711201,643,895.994288799,786.005711201,826.005711201,656,632.005711201,656,0.443001159766,0.00444226668605,0.0599001233672,0.999999984841,-1.94636357294e-05,-0.000163606281477,-5.63207901979e-05,1793250738506707712
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,694.580659404,668.419340596,642.419340596,895.419340596,786,826.580659404,656.580659404,632,656,0.443682302368,0.00444562632091,0.059861854327,0.999999974496,-1.45142235305e-05,-0.000218140647984,-5.66795708466e-05,1793250738523374336
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,695,668,642,895,786,827,656.834770759,632,656,0.444358146692,0.00444949063328,0.0598330963063,0.999999964101,-2.93971741167e-05,-0.000260181572705,-5.69121818201e-05,1793250738540041216
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,695,668,642,895,786,827,656.25501402,632,656,0.445020749082,0.00445462025066,0.0598277729405,0.999999957076,-9.39873923522e-05,-0.000271628154774,-5.68551102676e-05,1793250738556708096
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.67552608,747.32447392,723,695,667.67552608,641.67552608,895.32447392,786,827,656,632,656,0.445642098861,0.00446344195469,0.0598097353255,0.999999944725,-0.000111327471852,-0.000308233174387,-5.61103003596e-05,1793250738573374720
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.096249258,747.903750742,723,695,667.096249258,641.096249258,895.903750742,786,827,656,632,656,0.446231053746,0.00447516298049,0.0597817134643,0.999999927841,-9.15629550633e-05,-0.000364594612807,-5.48254232108e-05,1793250738590041344
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747.520537088,723,695,667,641,896,786,827,656,632,656,0.446814863769,0.00450252145506,0.0597640807653,0.999999921965,-5.75167672888e-05,-0.000386589898577,-5.75255406068e-05,1793250738606707712
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,723,695,666.945336128,640.945336128,896,786,827,656,632,656,0.447398409474,0.00453187571481,0.0597519666753,0.999999919029,-2.24337030944e-05,-0.00039709155943,-6.12978957916e-05,1793250738623374592
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,723,695,666.368232347,640.368232347,896,786,827,656,632,656,0.447989226986,0.00455052414574,0.0597728104056,0.999999931741,-4.63909942215e-06,-0.00036319240892,-6.77288867282e-05,1793250738640040960
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.213166878,747.213166878,723,694.786833122,666,640,896.213166878,785.786833122,827,656,632,656,0.448545515764,0.00456799096519,0.0597821675192,0.999999936746,1.29838288516e-05,-0.000347834725809,-7.31421343338e-05,1793250738656707584
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.802138745,747.802138745,723,694.197861255,666,640,896.802138745,785.197861255,827,656,632,656,0.449040931651,0.00458337464715,0.059771274168,0.999999929922,3.03040981235e-05,-0.00036516493922,-7.67611391169e-05,1793250738673374464
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747.615561341,723,694.384438659,665.615561341,639.615561341,896.615561341,785.384438659,827,655.615561341,632,656,0.449489499925,0.00458505952755,0.0597421270539,0.999999911665,3.27612572303e-05,-0.000411642497417,-7.84071854622e-05,1793250738690041088
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747.03663669,723,694.96336331,665.03663669,639.03663669,896.03663669,785.96336331,827,655.03663669,632,656,0.44991436822,0.00457981423996,0.0597037454324,0.999999884691,2.7699229311e-05,-0.000472865582123,-7.90551200545e-05,1793250738706707712
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747.882380436,723,695,664,639,896,785,827.882380436,656,632,656,0.450738781971,0.0045816421445,0.0596724305654,0.999999868757,2.76069200362e-05,-0.00050482616482,-8.29095250826e-05,1793250738740040960
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,747.297188198,723,695,664,639,896,785,827.297188198,656,632,656,0.45113840628,0.00458231104415,0.059683373682,0.999999877768,3.09061853448e-05,-0.000486477926141,-8.27566065784e-05,1793250738756707584
+204,3.400000000,POSE1_TO_POSE2_PRESS,768.716216523,747.283783477,723,695,663.716216523,638.716216523,896.283783477,785,827.283783477,656,632,656,0.451518948021,0.00458139778277,0.0596957039041,0.999999887282,3.98350933598e-05,-0.000466366427271,-7.96972015388e-05,1793250738773374208
+205,3.416666667,POSE1_TO_POSE2_PRESS,768.139600034,747.860399966,723,695,663.139600034,638.139600034,896.860399966,785,827.860399966,656,632,656,0.451879798646,0.00457885190701,0.059709465464,0.999999897038,5.45731668252e-05,-0.000444435440802,-7.3638625375e-05,1793250738790040832
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747.561493627,723,695,663,638,897,785,827.561493627,656,632,656,0.452204266307,0.00458316171173,0.0597158865912,0.999999901226,7.74870986243e-05,-0.000432190281254,-6.89591717925e-05,1793250738806707712
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,747.01701854,723,695,662.98298146,637.98298146,896.98298146,785,827.01701854,656,631.98298146,656.01701854,0.452515330645,0.00458945310558,0.0597196543354,0.999999902944,0.000102142196152,-0.000423640159703,-6.48753320052e-05,1793250738823374592
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,747.593225165,723,695,662.406774835,637.406774835,896.406774835,785,827.593225165,656,631.406774835,656.593225165,0.452767869521,0.00458889758823,0.0597132834265,0.999999898467,9.81940919137e-05,-0.000434837729439,-6.58866658272e-05,1793250738840041216
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.173927198,747.826072802,723,694.826072802,662,637.173927198,896.173927198,785,827.826072802,656,631.173927198,657,0.453007618897,0.0045879575438,0.0597044997144,0.999999892075,9.45393836116e-05,-0.000449922746045,-6.69412750264e-05,1793250738856708096
+210,3.500000000,POSE1_TO_POSE2_PRESS,768.765421799,747.234578201,723,694.234578201,662,637.765421799,896.765421799,785,827.234578201,656,631.765421799,657,0.453216662986,0.00458609432026,0.0596899233042,0.999999880987,9.15890658727e-05,-0.000474340810212,-6.8099780342e-05,1793250738873374464
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768.924676878,747.924676878,723.075323122,695,661,637,897,784,828,656,631.075323122,656,0.453910444016,0.00459434009137,0.0596705498476,0.999999862003,9.91927564531e-05,-0.000510843248578,-7.2064081849e-05,1793250738940040960
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+227,3.783333333,POSE1_TO_POSE2_PRESS,768.382075731,748,723,695,660,636,897,784.382075731,828,656,631.382075731,656,0.454731014798,0.00459912339751,0.0596614294139,0.999999857989,0.000102454469683,-0.000517872373417,-7.30355238955e-05,1793250739156708096
+228,3.800000000,POSE1_TO_POSE2_PRESS,768,748,723,694.800826017,659.800826017,636,897,784,828,656,631,656,0.454739149133,0.00459915617072,0.059659310886,0.999999856525,0.000102026643253,-0.000520749904511,-7.32087663124e-05,1793250739173374720
+229,3.816666667,POSE1_TO_POSE2_PRESS,768,748,723,694.210182875,659.210182875,636,897,784,828,656,631,656,0.454744519646,0.00460030920945,0.0596572319507,0.99999985538,0.000102239756067,-0.000522815308536,-7.3828855043e-05,1793250739190041344
+230,3.833333333,POSE1_TO_POSE2_PRESS,768,748,723,694.373154208,659.373154208,636,897,784,828,656,631,656.373154208,0.454747608273,0.00460060548923,0.0596550348751,0.999999853916,0.000102781782369,-0.000525511861724,-7.37575044221e-05,1793250739206707712
+231,3.850000000,POSE1_TO_POSE2_PRESS,768,748,723,694.952455086,659.952455086,636,897,784,828,656,631,656.952455086,0.454749436285,0.00460042845794,0.0596527725338,0.99999985227,0.000103505514829,-0.000528557089179,-7.33041725069e-05,1793250739223374336
+232,3.866666667,POSE1_TO_POSE2_PRESS,768,748,723,695,659.473738296,636,897,784,828,656,631,657,0.454751835787,0.00460227559668,0.0596536126556,0.999999852731,0.000106481907646,-0.000527080100171,-7.33916113769e-05,1793250739240040960
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,748,723,695,659.101919152,636,897,784,828,656,631.101919152,657,0.454753762833,0.00460360012993,0.0596542712063,0.999999853113,0.000108547939995,-0.000525923738553,-7.34568276903e-05,1793250739256707840
+234,3.900000000,POSE1_TO_POSE2_PRESS,768,748,723,695,659.68871887,636,897,784,828,656,631.68871887,657,0.454753199062,0.00460157733706,0.0596527462246,0.999999852269,0.000105324707086,-0.000528216395083,-7.31862904196e-05,1793250739273374720
+235,3.916666667,POSE1_TO_POSE2_PRESS,768.272544619,748,723,695,659.727455381,636,897,784.272544619,828,656,632,657,0.454752223733,0.00460182949512,0.0596516621764,0.999999851281,0.000104489837708,-0.000530237673367,-7.32658337389e-05,1793250739290041344
+236,3.933333333,POSE1_TO_POSE2_PRESS,768.853010451,748,723,695,659.146989549,636,897,784.853010451,828,656,632,657,0.454750783424,0.00460465189499,0.059651076295,0.999999850139,0.000106353343687,-0.000531952348506,-7.3740898463e-05,1793250739306707712
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.568688882,747.568688882,723,695,659,636,897,784.568688882,828,656,631.568688882,656.568688882,0.454751812717,0.00460480631402,0.0596512192255,0.99999985018,0.000107222576981,-0.000531722207144,-7.3579895018e-05,1793250739323374336
+238,3.966666667,POSE1_TO_POSE2_PRESS,768,747.008841788,723,695,659,636,897,784,828,656,631,656,0.454753649527,0.00460404780738,0.0596515902675,0.999999850613,0.000107728675232,-0.000530857400587,-7.32054772664e-05,1793250739340040704
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,747.584081283,723,695,659,636,897,784,828,656,631,656,0.454753570109,0.00460276226537,0.0596507425991,0.999999850369,0.000106570367047,-0.000531582023384,-7.29766706396e-05,1793250739356707328
+240,4.000000000,POSE1_TO_POSE2_PRESS,768.16268024,748,723,695,659,636,897,784,828,656,631,656,0.454753674382,0.0046023644449,0.0596500555688,0.999999850099,0.000106395414243,-0.000532129074784,-7.29362005751e-05,1793250739373374208
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.750049286,748,723,695,659,636,897,784,828,656,631,656,0.454754258192,0.00460428408732,0.0596497878963,0.999999849765,0.000108787583515,-0.000532212562866,-7.33873970602e-05,1793250739390041088
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.666496983,747.666496983,723,695,659,636,897,784.333503017,828,656,631.333503017,656,0.454755412399,0.0046057868892,0.0596500386935,0.999999850075,0.000110115392792,-0.000531322589271,-7.36306837453e-05,1793250739406707968
+243,4.050000000,POSE1_TO_POSE2_PRESS,768.08594364,747.08594364,723,695,659,636,897,784.91405636,828,656,631.91405636,656,0.454756989139,0.00460698090641,0.0596506735594,0.999999850863,0.000110654751881,-0.00052971150069,-7.37199562611e-05,1793250739423374592
+244,4.066666667,POSE1_TO_POSE2_PRESS,768,747.491607356,723,695,659,636,897,784.508392644,828,656,631.508392644,656,0.45475546437,0.0046052583271,0.0596501390708,0.999999850004,0.000109523806861,-0.000531623276789,-7.33048273077e-05,1793250739440041216
+245,4.083333333,POSE1_TO_POSE2_PRESS,768,748,723,695,659,636,896.931879602,784.068120398,828,656,631,656,0.454753628994,0.00460337164112,0.0596493797449,0.999999848901,0.000108484613664,-0.000533972305817,-7.28232825935e-05,1793250739456708096
+246,4.100000000,POSE1_TO_POSE2_PRESS,768,748,723,695,659,636,896.359190849,784.640809151,828,656,631,656,0.45475348473,0.00460402320978,0.0596484600616,0.999999848165,0.000110274785337,-0.000535025981991,-7.24989837631e-05,1793250739473374720
+247,4.116666667,HOLD_POSE2,768,747,723,695,659,636,897,784,827,656,631,656,0.454753957783,0.00460317219709,0.059648128146,0.999999848526,0.000107277555276,-0.000534994397534,-7.22575213219e-05,1793250739511908864
+248,4.133333333,HOLD_POSE2,768.577118243,747.577118243,723,695,659,636,897,784,827.577118243,656,631,656,0.454754664278,0.00460372342681,0.0596481219979,0.999999848388,0.000108782672454,-0.000534944315314,-7.22785443611e-05,1793250739528575488
+249,4.150000000,HOLD_POSE2,768.846449585,748,723,695,659,636,897,784,828,656,631,656.153550415,0.454755046512,0.00460421781442,0.059648013841,0.99999984821,0.000109857211631,-0.000535057248651,-7.22794338965e-05,1793250739545241856
+250,4.166666667,HOLD_POSE2,768.271898339,748,723,695,659,636,897,784,828,656,631,656.728101661,0.454754539699,0.00460455635384,0.0596476259988,0.999999847926,0.000109751202752,-0.000535617134113,-7.22251218807e-05,1793250739561908736
+251,4.183333333,HOLD_POSE2,768.310237637,748,723,695,659,636,897,784.310237637,828,656,631,656.689762363,0.454754090007,0.00460395636976,0.0596473157534,0.99999984767,0.000108481539062,-0.000536345457492,-7.22850143263e-05,1793250739578575360
+252,4.200000000,HOLD_POSE2,768.899187574,748,723,695,659,636,897,784.899187574,828,656,631,656.100812426,0.454753691632,0.00460251323185,0.0596470752197,0.999999847435,0.000106166467377,-0.000537225102638,-7.24475061513e-05,1793250739595241984
+253,4.216666667,HOLD_POSE2,769,747.520037901,723,695,659,636,897,785,827.520037901,656,631,656.479962099,0.454755196921,0.00460408004679,0.0596478315255,0.999999848194,0.000108646597431,-0.000535302390178,-7.25214465864e-05,1793250739611908608
+254,4.233333333,HOLD_POSE2,768.941358396,747,723,695,659,636,896.941358396,785,827.058641604,656,631,656.941358396,0.454756761009,0.00460592968989,0.0596485854236,0.999999848964,0.000111567342865,-0.000533247150313,-7.26068853181e-05,1793250739628575232
+255,4.250000000,HOLD_POSE2,768.366259745,747,723,695,659,636,896.366259745,785,827.633740255,656,631,656.366259745,0.45475538044,0.00460479550754,0.0596475050011,0.99999984815,0.000109646771213,-0.000535121848176,-7.29546525888e-05,1793250739645241856
+256,4.266666667,HOLD_POSE2,768.208555215,747,723,695,659,636,896.208555215,784.791444785,828,656,631.208555215,656,0.454755376349,0.00460446579635,0.0596472554411,0.999999848092,0.000108986163137,-0.000535339988895,-7.31323963769e-05,1793250739661908480
+257,4.283333333,HOLD_POSE2,768.782872581,747,723,695,659,636,896.782872581,784.217127419,828,656,631.782872581,656,0.45475778631,0.00460554695911,0.0596484630399,0.999999849366,0.000110535267387,-0.000532652875265,-7.30119545629e-05,1793250739678575104
+258,4.300000000,HOLD_POSE2,768.632474657,747,723,695,659,635.632474657,896.632474657,784.367525343,827.632474657,656,631.632474657,656,0.454757665476,0.00460473738411,0.0596485989879,0.999999849334,0.000110880175253,-0.00053272976182,-7.23659646207e-05,1793250739695241728
+259,4.316666667,HOLD_POSE2,768.041539193,747,723,695,659,635.041539193,896.041539193,784.958460807,827.041539193,656,631.041539193,656,0.454756006232,0.00460277847362,0.0596480835046,0.999999848509,0.000110493080251,-0.000534486819635,-7.14005061652e-05,1793250739711908864
+260,4.333333333,HOLD_POSE2,768.53745091,747,723,694.46254909,659.53745091,635.53745091,896,784.46254909,827.53745091,656,631.53745091,656,0.454756068569,0.00460366502465,0.0596480148767,0.999999848115,0.000108847821016,-0.000535508071957,-7.17891947812e-05,1793250739728575488
+261,4.350000000,HOLD_POSE2,769,747,723,694.114964452,659.885035548,635.885035548,896,784.114964452,828,656,632,656,0.454756501295,0.0046043027996,0.0596480920727,0.999999847957,0.000107733232041,-0.000535997471722,-7.20185247374e-05,1793250739745242112
+262,4.366666667,HOLD_POSE2,769,747,723,694.690182644,659.309817356,635.309817356,896,784.690182644,828,656,632,656,0.454757895743,0.00460308330509,0.0596486178056,0.999999848623,0.000109123991974,-0.000534580354955,-7.119997702e-05,1793250739761908480
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,659,635,897,784,828,656,632,656,0.454755745779,0.00460432423527,0.0596465420791,0.99999984803,0.000106524545544,-0.000536137550243,-7.17581041973e-05,1793250739800037888
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,747,723,695,659,635.597316042,896.402683958,784,828,656,631.402683958,656,0.454757576705,0.0046051640977,0.059647888865,0.999999848397,0.000108763643138,-0.000534926668503,-7.23245285926e-05,1793250739816704512
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768.812542481,747,723,695,659,636,896.187457519,784,828,655.812542481,631,656,0.454758188929,0.00460541951198,0.0596482560384,0.999999848258,0.000110338890643,-0.000534847105199,-7.24432165583e-05,1793250739833371392
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.237244708,747,723,695,659,636,896.762755292,784,828,655.237244708,631,656,0.454756279718,0.00460446573234,0.0596465964426,0.999999847082,0.000110540665856,-0.000537108183072,-7.16355602978e-05,1793250739850038528
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,659,636,896.662893958,784.337106042,827.662893958,655.337106042,631.337106042,656,0.454755895171,0.00460417979454,0.0596463011005,0.999999846851,0.000110361692477,-0.00053761176063,-7.13636221456e-05,1793250739866705152
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,659,636,896.089207859,784.910792141,827.089207859,655.910792141,631.910792141,656,0.454756580628,0.00460436254629,0.0596469631879,0.999999847284,0.000109915510815,-0.000536881929363,-7.14676494777e-05,1793250739883371776
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747.501232979,723,695,659,635.498767021,896,785,827,656,631.498767021,656,0.454756633253,0.00460505162073,0.0596469638486,0.99999984721,0.000110297056263,-0.000536886578155,-7.18903112193e-05,1793250739900038144
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.092215479,747.907784521,723,695,659,635.092215479,896.092215479,784.907784521,827,656,631,656.092215479,0.454756354029,0.00460581169372,0.0596466726655,0.999999847014,0.000110749618471,-0.000537102711846,-7.2299235044e-05,1793250739916704512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.669810598,747.330189402,723,695,659,635.669810598,896.669810598,784.330189402,827,656,631,656.669810598,0.454754941432,0.00460645475004,0.0596454863969,0.999999846677,0.00011077375958,-0.000537720157385,-7.23270332154e-05,1793250739933371136
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747.24583056,723,695,659,636,897,784.24583056,827.24583056,656,631,656.75416944,0.454751633619,0.00460617634563,0.0596440999679,0.999999845708,0.000110628934184,-0.000539555999238,-7.22746622667e-05,1793250739950038016
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,747.81974826,723,695,659,636,897,784.81974826,827.81974826,656,631,656.18025174,0.454745796435,0.00460466815342,0.0596424464036,0.999999843887,0.000110258604935,-0.00054301792106,-7.21152970612e-05,1793250739966704640
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.607307241,748,723,695,659,636,896.607307241,784.607307241,828,656,631,656,0.454723876656,0.00460536388658,0.0596326584242,0.999999834903,0.000111254935614,-0.000559111328238,-7.21869421825e-05,1793250739983371264
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.034808301,748,723,695,659,636,896.034808301,784.034808301,828,656,631,656,0.454694592976,0.00460706875308,0.0596191458583,0.999999822237,0.000112877032534,-0.000580988440679,-7.23643622816e-05,1793250740000037888
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.559721615,748,723,695,659,636,896.559721615,784,828,656,631,656,0.454639006374,0.00460723394305,0.0595981295479,0.999999801058,0.000112603299564,-0.000616397809956,-7.25146645133e-05,1793250740016704512
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.84908554,747.84908554,723,695,659,636,897,784.15091446,828,656,631.15091446,656.15091446,0.454579646938,0.00460723737688,0.0595783575667,0.999999781838,0.000112757950708,-0.000646787450057,-7.26321860863e-05,1793250740033371392
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.271363792,747.271363792,723,695,659,636,897,784.728636208,828,656,631.728636208,656.728636208,0.454514433038,0.00460706523238,0.0595634785368,0.999999772676,0.000114471229405,-0.000660503056075,-7.26619644592e-05,1793250740050038016
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747.303990852,723,695,659,636,897,784.696009148,828,656,631.696009148,657,0.454442260513,0.00460661023151,0.0595544923625,0.999999765264,0.000115244652873,-0.000671552046957,-7.21631163761e-05,1793250740066704640
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747.877248742,723,695,659,636,897,784.122751258,828,656,631.122751258,657,0.454363924228,0.00460590468396,0.0595507259243,0.999999759469,0.000115185577399,-0.000680239020061,-7.1196024995e-05,1793250740083371008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,723,695,659,635.547549313,897,784,828,656,631,656.547549313,0.454273836502,0.0046072568308,0.0595524531865,0.999999759388,0.000116639384652,-0.000680160771554,-7.07077375457e-05,1793250740100037888
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.028886224,747.971113776,723,695,659,635.028886224,896.971113776,784.028886224,827.971113776,656,631,656,0.454179049619,0.00460909247997,0.0595555452795,0.999999760819,0.00011856650675,-0.000677759184884,-7.03245040014e-05,1793250740116704768
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.618997598,747.381002402,723,695,659,635.618997598,896.381002402,784.618997598,827.381002402,656,631,656,0.454055173958,0.00460942889543,0.0595560716281,0.999999761278,0.000121680611998,-0.000676619599483,-6.94476302482e-05,1793250740133371392
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,659,636,896.205286674,784.794713326,827.205286674,656,631,656,0.453920091226,0.00461007218914,0.0595555843084,0.999999759823,0.00012579843837,-0.000678118848539,-6.84387503007e-05,1793250740150038016
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,747,723,695,659,636,896.784611353,784.215388647,827.784611353,656,631,656,0.453764588917,0.00461127462349,0.0595532500567,0.999999754845,0.000131745072085,-0.000684426127171,-6.71893515044e-05,1793250740166704640
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.639301536,747,723,695,659.360698464,636,896.639301536,784,828,656,631.360698464,656,0.453588844914,0.00461117826452,0.0595477554517,0.999999748148,0.000134234153623,-0.000693798563874,-6.57965710403e-05,1793250740183371520
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.065130463,747,723,695,659.934869537,636,896.065130463,784,828,656,631.934869537,656,0.45340112123,0.00461031323924,0.0595403904508,0.999999740361,0.000134676948422,-0.000704985057349,-6.43189327059e-05,1793250740200038400
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.508130182,747.508130182,723,695,660,636,896.508130182,784.508130182,828,656,632,656,0.453189561457,0.00461186555593,0.0595381013317,0.999999738429,0.000140049065004,-0.000706785665147,-6.31001537627e-05,1793250740216705024
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,747.915383001,723,695,660,636.084616999,896.915383001,785,827.915383001,656,631.915383001,656,0.45297089919,0.00461345373448,0.0595376471482,0.999999738456,0.000145962824223,-0.00070567152208,-6.17253882158e-05,1793250740233371392
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747.318666251,723,695,660,636.681333749,896.318666251,785,827.318666251,656,631.318666251,656,0.452727709849,0.00461338711716,0.0595443675122,0.999999745849,0.000151337647802,-0.00069418520352,-5.92061517498e-05,1793250740250038016
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,723,695,660.257951249,637,896,785,827,656,631,656,0.452471207421,0.00461419394335,0.0595540854363,0.999999755631,0.000157206921803,-0.000678825306597,-5.67375107654e-05,1793250740266704896
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,660.811533501,637,896,785,827,656,631,656,0.452199447235,0.00461600179971,0.0595672387835,0.999999767977,0.000163642871812,-0.000659026006038,-5.43268560459e-05,1793250740283371776
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.009350666,747,723,695,660.009350666,637,896,785,827.990649334,656,631,656,0.45156617148,0.00461888144319,0.0595768449065,0.999999774734,0.000177278802125,-0.000645436983078,-5.01474193368e-05,1793250740316705024
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.586171407,747,723,695,660.586171407,637,896,785,827.413828593,656,631.586171407,656,0.451178329421,0.0046207798683,0.059575532022,0.9999997691,0.000187180702526,-0.000651587602485,-4.68676085022e-05,1793250740333371648
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,661,637,896,785,827,656,631.824655049,656,0.450779732136,0.00462284202241,0.0595710518246,0.999999761869,0.000197223437946,-0.000659878291102,-4.38700805047e-05,1793250740350038272
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.099206548,747,723,695,661.900793452,637.900793452,896,785.900793452,827,656,631.900793452,656,0.4494458521,0.00462771548016,0.0595449628628,0.999999734429,0.000225319025879,-0.000692205525221,-3.49967387819e-05,1793250740400037888
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,723,694,663,638,895,785.343805416,826.343805416,656,631,656,0.447929338265,0.00463157283042,0.0595633039902,0.999999746787,0.000255885996295,-0.000663643420549,-2.29343859235e-05,1793250740450038528
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.234150244,747,723,694,663.234150244,638.234150244,894.765849756,785.234150244,826,656,631.234150244,656,0.447392147458,0.00463062330913,0.0595886148748,0.999999768341,0.000264977974396,-0.000626741791001,-1.73304730983e-05,1793250740466705408
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.811088514,747,723,694,663.811088514,638.811088514,894.188911486,785.811088514,826,656,631.811088514,656,0.446853637696,0.00462676911581,0.0596304410177,0.999999802855,0.000273788288656,-0.000564989926424,-1.08039216548e-05,1793250740483372288
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,665.550661511,640,893.449338489,786,826.449338489,656,631.550661511,656,0.444961037045,0.00462729367814,0.0596397400508,0.999999794259,0.000305440253143,-0.000564067329033,4.08939826848e-06,1793250740533371648
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.102763288,722.102763288,693,669.102763288,641.102763288,890.102763288,787.102763288,823.897236712,656,631.897236712,655,0.434779545643,0.00461558126864,0.0597277360407,0.999999885551,0.000254839351674,-0.000404689685078,1.34395756907e-05,1793250740750038016
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.681961091,722.681961091,693,669.681961091,641.681961091,890.681961091,787.681961091,823.318038909,656,631.318038909,655,0.433894299891,0.00461117492112,0.0597518863252,0.999999900486,0.000260460596304,-0.000361839375022,1.61269146773e-05,1793250740766704896
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,723,693,669.740799281,641.740799281,890.740799281,788,823,656,631.259200719,655,0.432989255509,0.00459471022427,0.0597720308832,0.999999913681,0.000247790551706,-0.000332891918605,2.05090571816e-05,1793250740783371520
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,723,693,669.165944241,641.165944241,890.165944241,788,823,656,631.834055759,655,0.432060100263,0.00456356088356,0.0597872972753,0.999999925505,0.000212845398112,-0.000320875335149,2.69551297322e-05,1793250740800037888
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,747,723,693,669.417268587,641.417268587,890,788,823,655.582731413,632,655.417268587,0.431177992988,0.00455592186829,0.0598078673912,0.999999938821,0.000199774146598,-0.000285777762044,2.79062364773e-05,1793250740816704256
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,747,722.416697475,693,670.583302525,641.416697475,889.416697475,788,822.416697475,655,632,656,0.429339333761,0.00456654719954,0.0598105522236,0.999999934818,0.000206971146207,-0.000294496337631,2.82554635323e-05,1793250740850037760
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.702095886,747,722,690.297904114,670.702095886,642,886.297904114,787,819.297904114,656,632,655.702095886,0.416767453017,0.00456972314076,0.0598034299528,0.999999940401,0.000146212482299,-0.000310903087961,3.40548443938e-05,1793250741083371264
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746.720867601,722,689.720867601,670.441735203,642,886.279132399,787,819,656,632,656,0.415975761651,0.00456772977659,0.0598307930878,0.999999949822,0.000141814773195,-0.000280969865641,3.60560532734e-05,1793250741100038144
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746.145277389,722,689.145277389,669.290554779,642,886.854722611,787,819,656,632,656,0.415176592166,0.00456225462873,0.0598361069679,0.99999994959,0.000131286666387,-0.000286654543554,3.75953791676e-05,1793250741116704768
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.571475143,746.428524857,722,689.428524857,669.857049714,642,887,787,819.428524857,655.571475143,632,656,0.414397219928,0.00456231047118,0.0598363303455,0.999999939116,0.000200605435267,-0.000283061562106,3.7436149058e-05,1793250741133371136
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,747,722,689.998206697,671,642,886.998206697,787,819.998206697,655.001793303,632,655.998206697,0.413624485384,0.00456422339948,0.0598347455076,0.999999917114,0.00029656018197,-0.000276544010837,3.67076437838e-05,1793250741150038016
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,747,722,689.401798864,671,642,886.401798864,787,819.401798864,655.598201136,632,655.401798864,0.412836509108,0.00456274589848,0.0598034459318,0.999999900965,0.000286067719034,-0.000338878791933,3.73626775622e-05,1793250741166704640
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.187301322,747,722,688.812698678,670.625397356,642,886,787,819,655.812698678,632,655.187301322,0.41207219609,0.00456146617752,0.0597709060828,0.999999883729,0.000273213027552,-0.000395661085062,3.67379322407e-05,1793250741183371520
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.7613139,747,722,688.2386861,669.477372201,642,886,787,819,655.2386861,632,655.7613139,0.411356739218,0.00456059480242,0.059735805501,0.999999869573,0.000255481165787,-0.000440979459539,3.34708941821e-05,1793250741200038400
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,746.663721067,722,688,669.672557866,642,886,787,819,655.336278933,632,656,0.410702247623,0.0045592447204,0.0597437776179,0.999999880996,0.000242693903905,-0.000421929850053,3.29132494489e-05,1793250741216705024
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,746.088078108,722,688,670.823843784,642,886,787,819,655.911921892,632,656,0.410091151279,0.0045575538939,0.059782408971,0.999999908421,0.000233426218773,-0.000357062975508,3.42841564986e-05,1793250741233371648
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.499509881,746,722,687.499509881,671,642,886,787,819,656,632,656,0.40949622392,0.0045532480138,0.059820678429,0.999999930687,0.000218263241062,-0.00029953552199,3.55743699169e-05,1793250741250038272
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,746.089348401,722.089348401,687,670.910651599,642.089348401,886.089348401,787,819,656,632,656,0.408905280494,0.00454929592224,0.0598528230232,0.999999946737,0.000203746598359,-0.000252326136388,3.66606242593e-05,1793250741266704640
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,746.667030387,722.667030387,687,670.332969613,642.667030387,886.667030387,787,819,656,632,656,0.408320147014,0.00454985940058,0.0598518494933,0.999999947283,0.000198583142092,-0.000254263661629,3.67118127841e-05,1793250741283371520
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.244468582,747,722.755531418,687,670,643,886.755531418,787,819,656,632,656,0.407748385066,0.00454901580621,0.0598428082895,0.999999945312,0.000190726497798,-0.000267705462916,3.65117296019e-05,1793250741300038144
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.821575015,747,722.178424985,687,670,643,886.178424985,787,819,656,632,656,0.407194817234,0.00454625766866,0.0598227897503,0.99999993925,0.000179205349059,-0.000296800635877,3.5969751822e-05,1793250741316705024
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,746.602559541,722.397440459,687,670,642.602559541,886,787,819,656,632,656,0.406688079322,0.00454491636482,0.0598162283828,0.999999939427,0.000169807644036,-0.000301813757641,3.49200250603e-05,1793250741333371648
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,746.027249436,722.972750564,687,670,642.027249436,886,787,819,656,632,656,0.406202299524,0.00454420914742,0.0598156896072,0.999999942593,0.000161360259465,-0.000296049252761,3.36430613749e-05,1793250741350038272
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.438304938,746,722.438304938,686.438304938,670.561695062,642,886,787,819,656,632,656,0.405755234805,0.00454139761116,0.0598236979791,0.999999948256,0.000149188377901,-0.000283062879514,3.32462437996e-05,1793250741366704640
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,722.148105651,686,670.851894349,642,886,786.851894349,819,656,632,656,0.405314407065,0.00453909462131,0.0598259438366,0.999999950936,0.000139610855406,-0.000278482263973,3.29420158254e-05,1793250741383371520
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,722.725213083,686,670.274786917,642,886,786.274786917,819,656,632,656,0.404886069547,0.00453856774218,0.0598102670954,0.999999945142,0.0001380845263,-0.000299289781738,3.27792254117e-05,1793250741400037888
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,746,723,686,670,642,886.300672492,786,819,655.699327508,632.300672492,655.699327508,0.404473638026,0.00453823313365,0.0597877044999,0.999999933764,0.000136557436354,-0.000335782885475,3.27855217833e-05,1793250741416704512
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,746,723,686,670,642,886.874633936,786,819,655.125366064,632.874633936,655.125366064,0.404075663901,0.00453807328484,0.0597588831755,0.999999915637,0.000135029654723,-0.000386533019413,3.29455054321e-05,1793250741433371392
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.451332619,746.451332619,723,686.451332619,670,642,886.097334762,786,819,655.451332619,632.548667381,655.902665238,0.403749944269,0.00453593083284,0.059759267931,0.999999918314,0.000132144090123,-0.000380511007891,3.3473661655e-05,1793250741450038272
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,747,723,686.970504718,670.029495282,642,885.029495282,786.029495282,819.029495282,656,632,656.970504718,0.403446938237,0.00453334384938,0.0597685165534,0.999999927048,0.000129030745514,-0.000357897649144,3.41234258415e-05,1793250741466704896
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,747,723,686.379023167,670.620976833,642,885.620976833,786.620976833,819.620976833,656,632,656.379023167,0.403191967753,0.00453284386136,0.0597911374809,0.999999939419,0.000128807249935,-0.000321459095213,3.51298159384e-05,1793250741483371264
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.791980822,747,723,685.791980822,670.791980822,642,886.208019178,786.791980822,819.791980822,656,632,656,0.402948027331,0.00453176324376,0.0598127279077,0.999999950183,0.000126271932161,-0.000287054977224,3.58995657083e-05,1793250741500037888
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.212858027,747,723,685.212858027,670.212858027,642,886.787141973,786.212858027,819.212858027,656,632,656,0.402723764428,0.00452964679027,0.0598324799315,0.99999995935,0.00011961235264,-0.000256280271882,3.62471520256e-05,1793250741516704768
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.363872172,746.636127828,723,685.363872172,670.363872172,642,886.636127828,786,819.363872172,656,632,656,0.402504250104,0.00452667062298,0.0598379669572,0.999999958896,0.000135051271117,-0.000251142708931,2.99494322331e-05,1793250741533371648
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.939211948,746.060788052,723,685.939211948,670.939211948,642,886.060788052,786,819.939211948,656,632,656,0.40228749544,0.00452319482503,0.0598351637522,0.99999995243,0.000163332930828,-0.000260904400067,1.97897327299e-05,1793250741550038272
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.488399196,746.511600804,722.488399196,685.488399196,670.488399196,642,886,786.511600804,819.488399196,656,632,656,0.40209510401,0.00451898821915,0.0598287397998,0.999999947208,0.000170215839576,-0.000276000317841,2.08428318002e-05,1793250741566704640
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,746.912720443,722,685,670,642,886,786.912720443,819,656,632,655.912720443,0.401911325049,0.00451577231596,0.0598229867197,0.999999942474,0.000174518847569,-0.00028994226351,2.29759530731e-05,1793250741583371264
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,746.31579534,722,685,670,642,886,786.31579534,819,656,632,655.31579534,0.401761029609,0.00451884548989,0.0598236487313,0.999999940724,0.000178518815494,-0.000293466172203,2.36806001867e-05,1793250741600037888
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.271224359,746,722,685.271224359,670.271224359,642,886,786,819,656.271224359,632,655.271224359,0.401628924391,0.00452008550453,0.0598252564179,0.999999940774,0.000180159341688,-0.000292227702849,2.44487236873e-05,1793250741616704768
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.847117202,746,722,685.847117202,670.847117202,642,886,786,819,656.847117202,632,655.847117202,0.401517252402,0.00451926631653,0.0598279263889,0.999999942838,0.000179149487931,-0.00028563961605,2.52881506773e-05,1793250741633372160
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,746.418740244,722,685.581259756,670.581259756,642,886,786.418740244,819,656.581259756,632,656,0.401424837744,0.00451714006313,0.0598311416224,0.999999945126,0.00017655392434,-0.000279099933114,2.60824602923e-05,1793250741650039040
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,746.988820096,722,685.011179904,670.011179904,642,886,786.988820096,819,656.011179904,632,656,0.401339383003,0.00451454141482,0.0598345539227,0.999999947459,0.000173385259162,-0.000272577744263,2.6860463727e-05,1793250741666705152
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,747,722,685,670,642,886.583613455,786.416386545,819,656,632,656,0.401261915214,0.00451541794993,0.0598318394091,0.999999946068,0.000173718545294,-0.000277425319864,2.68539697598e-05,1793250741683371520
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,746.82690654,722.17309346,685,670,642,886.82690654,786.17309346,819,656,632,656,0.401190384146,0.00451586628563,0.0598285294998,0.999999944453,0.000173298071591,-0.00028344503445,2.68333956062e-05,1793250741700038144
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,746.250943867,722.749056133,685,670,642,886.250943867,786.749056133,819,656,632,656,0.401132298759,0.0045151562064,0.0598241190752,0.999999942493,0.000170960205869,-0.00029166351732,2.68165743461e-05,1793250741716704768
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768.6757656,746.3242344,723,685,670,642,886,787,819,656,632,655.6757656,0.40108639695,0.00451548209422,0.0598220793902,0.999999941311,0.000171309422406,-0.000295494482303,2.67346227796e-05,1793250741733371136
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768.101192903,746.898807097,723,685,670,642,886,787,819,656,632,655.101192903,0.401049901961,0.00451660784227,0.05982187013,0.999999940765,0.000173733309357,-0.000295937887335,2.66023847221e-05,1793250741750037760
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,746.519588848,722.519588848,685.480411152,670,642,886,786.519588848,819,656,632,655,0.401024109135,0.00451547255824,0.059822126306,0.999999940704,0.000173082172112,-0.000296502636627,2.68560503278e-05,1793250741766704640
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746.063757175,722,685.936242825,670,642,886,786,819,656,632,655.063757175,0.401001864967,0.00451402078245,0.0598227038646,0.999999940949,0.000171709048417,-0.000296448965843,2.71335813258e-05,1793250741783371520
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,746.649057736,722,685.350942264,670,642,886,786,819,656,632,655.649057736,0.400989935068,0.00451393379801,0.0598250965004,0.999999942843,0.000169807091532,-0.000291124337089,2.69315264381e-05,1793250741800038400
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,746.768840244,722.231159756,685,670,642,886,786,819,656,632,656,0.400979738463,0.00451355313282,0.059827020664,0.999999944165,0.000168236697451,-0.000287477477699,2.68769545236e-05,1793250741816705280
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768,746.191527946,722.808472054,685,670,642,886,786,819,656,632,656,0.400972137397,0.00451273269242,0.0598282433089,0.999999944666,0.000167162805602,-0.000286343011541,2.70432325094e-05,1793250741833371648
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,746,723,685,670,642,885.616779935,786,819,656,632,656,0.400967597117,0.00451379869059,0.0598295506558,0.999999944969,0.00016815274159,-0.000284711722589,2.69550565031e-05,1793250741850038272
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,685,670,642,885.043305017,786,819,656,632,656,0.400964576407,0.00451580123708,0.059830900054,0.999999945167,0.000170167293225,-0.000282833779183,2.67405533195e-05,1793250741866704640
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768,746,722.454203046,685,670.545796954,642,885.545796954,786,819,656,632,655.454203046,0.400963936754,0.00451479131441,0.0598315472212,0.99999994607,0.000167904967748,-0.000280991225903,2.66853289426e-05,1793250741883371264
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768,746,722.133442479,685,670.866557521,642,886,786,819,656,632,655.133442479,0.400963585291,0.00451378477606,0.0598322901775,0.999999946903,0.000165794936616,-0.000279272375901,2.67070002972e-05,1793250741900038144
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768,746,722.711972535,685,670.288027465,642,886,786,819,656,632,655.711972535,0.400963546361,0.00451361025013,0.0598335439489,0.999999947336,0.000165358074835,-0.000277956487723,2.69417574378e-05,1793250741916704768
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.289674637,746,722.710325363,685,670.289674637,642,886,786,819,656,632,656,0.400962082382,0.00451374968335,0.059833463469,0.999999947185,0.000165400646526,-0.000278469282855,2.69649094486e-05,1793250741933371392
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.866555908,746,722.133444092,685,670.866555908,642,886,786,819,656,632,656,0.400959205495,0.0045142004008,0.0598320601055,0.999999946454,0.000165918566907,-0.000280795180924,2.67782592143e-05,1793250741950038272
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.547715297,746,722,685,670.547715297,642,886,786,819,656,632,655.547715297,0.400959561448,0.00451307751217,0.0598324057022,0.999999947083,0.000163694049195,-0.000279852002141,2.68387027761e-05,1793250741966705152
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,746,722,685,670.040039739,642,886,786,819,656,632,655,0.400960775857,0.00451163295523,0.0598332194449,0.999999948042,0.000160838101866,-0.000278067689563,2.6932005211e-05,1793250741983371776
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,746,722,685,670.619227881,642,886,786,819,656,632,655,0.400960449748,0.00451223349652,0.0598332499012,0.999999948056,0.000160592482487,-0.000278203982845,2.64665050139e-05,1793250742000038144
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6cf1bd28c892459a567e30a8fc7859ff03ab184c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+349,5.816666667,pose2_to_pose3_retreat,0.583147893099,0.0101501129748,1.05003355665,0.5537185721,0.0188227486497,1.04970495282
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+363,6.050000000,pose2_to_pose3_retreat,0.577710250077,0.0101501789032,1.05003368596,0.548280927942,0.0188228104858,1.04970507608
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+375,6.250000000,pose2_to_pose3_retreat,0.575969207203,0.0101500188279,1.05003346229,0.546539886795,0.0188226564034,1.04970485656
+376,6.266666667,pose2_to_pose3_retreat,0.575907194128,0.0101501316234,1.05003345255,0.546477871519,0.0188227617534,1.04970484736
+377,6.283333333,pose2_to_pose3_retreat,0.575852868826,0.0101501456655,1.05003345828,0.546423546112,0.0188227754275,1.04970485279
+378,6.300000000,pose2_to_pose3_retreat,0.575806610018,0.0101500296371,1.05003337471,0.546377289811,0.0188226680207,1.04970477217
+379,6.316666667,pose2_to_pose3_retreat,0.575768808891,0.010150114986,1.0500333789,0.546339487875,0.0188227506231,1.04970477645
+380,6.333333333,pose2_to_pose3_retreat,0.575739118659,0.0101502529633,1.05003340953,0.546309795608,0.0188228816326,1.04970480539
+381,6.350000000,pose2_to_pose3_retreat,0.575716927153,0.0101501647974,1.05003350696,0.54628760577,0.0188227990938,1.04970490194
+382,6.366666667,pose2_to_pose3_retreat,0.575700458478,0.010150059227,1.05003342003,0.546271139189,0.018822700584,1.04970481384
+383,6.383333333,pose2_to_pose3_retreat,0.575688657913,0.0101500655889,1.05003337395,0.546259337124,0.0188227020531,1.04970477304
+384,6.400000000,pose2_to_pose3_retreat,0.575680272952,0.0101501395294,1.05003332533,0.546250950037,0.0188227688227,1.0497047257
+385,6.416666667,pose2_to_pose3_retreat,0.575674882713,0.0101502345384,1.05003326468,0.546245558439,0.0188228590421,1.04970466039
+386,6.433333333,pose2_to_pose3_retreat,0.575671244989,0.0101501040019,1.05003339463,0.546241923452,0.0188227378661,1.04970479225
+387,6.450000000,pose2_to_pose3_retreat,0.575669005274,0.0101500115986,1.05003348897,0.546239685655,0.0188226520156,1.04970488779
+388,6.466666667,pose2_to_pose3_retreat,0.575667961437,0.0101500025704,1.05003355105,0.546238642154,0.0188226439797,1.04970494597
+389,6.483333333,pose2_to_pose3_retreat,0.57566729138,0.0101499967749,1.05003359091,0.546237972312,0.0188226388214,1.04970498332
+390,6.500000000,pose2_to_pose3_retreat,0.575666638798,0.0101499911307,1.05003362972,0.54623731994,0.0188226337975,1.04970501969
+391,6.516666667,pose2_to_pose3_retreat,0.575666123714,0.0101499890267,1.05003361963,0.546236804771,0.0188226313902,1.04970500914
+392,6.533333333,pose2_to_pose3_retreat,0.57566581451,0.0101499909255,1.0500335588,0.54623649518,0.0188226320405,1.04970495
+393,6.550000000,pose2_to_pose3_retreat,0.5756654737,0.0101499930184,1.05003349176,0.546236153943,0.0188226327572,1.04970488482
+394,6.566666667,pose2_to_pose3_retreat,0.575665238024,0.0101499944657,1.05003344539,0.546235917973,0.0188226332528,1.04970483975
+395,6.583333333,pose2_to_pose3_retreat,0.575665224415,0.0101499945493,1.05003344272,0.546235904347,0.0188226332815,1.04970483715
+396,6.600000000,pose2_to_pose3_retreat,0.575665219144,0.0101499945817,1.05003344168,0.54623589907,0.0188226332925,1.04970483614
+397,6.616666667,pose2_to_pose3_retreat,0.575665192739,0.0101499947438,1.05003343649,0.546235872631,0.0188226333481,1.04970483109
+398,6.633333333,pose2_to_pose3_retreat,0.575665094429,0.0101499953475,1.05003341715,0.546235774199,0.0188226335548,1.04970481229
+399,6.650000000,pose2_to_pose3_retreat,0.575664943018,0.0101499962774,1.05003338736,0.546235622598,0.0188226338732,1.04970478333
+400,6.666666667,pose2_to_pose3_retreat,0.575664849703,0.0101500438206,1.05003340642,0.546235528179,0.0188226776241,1.0497048012
+401,6.683333333,pose2_to_pose3_retreat,0.575664844542,0.0101500476565,1.05003340844,0.546235522932,0.0188226811625,1.04970480311
+402,6.700000000,pose2_to_pose3_retreat,0.575664709319,0.010150148165,1.05003346125,0.546235385443,0.0188227738765,1.04970485304
+403,6.716666667,pose2_to_pose3_retreat,0.575664585111,0.0101502404857,1.05003350975,0.546235259155,0.0188228590377,1.04970489891
+404,6.733333333,pose2_to_pose3_retreat,0.57566451781,0.010150275167,1.05003353966,0.54623519128,0.0188228917348,1.04970492787
+405,6.750000000,pose2_to_pose3_retreat,0.5756645007,0.0101502728556,1.05003354989,0.546235174425,0.0188228902935,1.04970493822
+406,6.766666667,pose2_to_pose3_retreat,0.575664409056,0.0101502604754,1.05003360468,0.546235084148,0.0188228825739,1.04970499363
+407,6.783333333,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b326ab5122701b52a07673eead5186a00dfb0951
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7c4243c9e8c0c4258a4bba17dccf63edd339779e9966b1eb6e8aafc92f1022b
+size 26099172
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4975a144249093c811d813afc48f394b60ab58e3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+19,0.316666667,BASELINE,768,746.97166197,723,685.02833803,671,642,885.02833803,786.97166197,819.97166197,656,632,656,0.400959685243,0.0045145328192,0.0598370448998,0.999999949969,0.000159975191444,-0.000271704793243,2.54343694478e-05,1793250742672634112
+20,0.333333333,BASELINE,768,746.387750263,723,685.612249737,671,642,885.612249737,786.387750263,819.387750263,656,632,656,0.400961429687,0.00451369795326,0.0598381036822,0.999999950194,0.000161563365439,-0.000269895614651,2.58099374229e-05,1793250742689300736
+21,0.350000000,BASELINE,768,746.194815,723,685.805185,671,642,886,786.194815,819,656,632,656,0.400962210169,0.00451261951914,0.0598387449999,0.999999950464,0.000161019352881,-0.000269195432749,2.60610572829e-05,1793250742705967360
+22,0.366666667,BASELINE,768,746.774718693,723,685.225281307,671,642,886,786.774718693,819,656,632,656,0.400961085199,0.00451105962655,0.0598385611194,0.999999950816,0.000156260670151,-0.000270687392762,2.60661818615e-05,1793250742722633984
+23,0.383333333,BASELINE,768.35400679,747,723,685.35400679,671,642,886.35400679,787,819,656,632.35400679,656,0.400961002376,0.00450976685977,0.0598387553329,0.999999951302,0.000153329236029,-0.00027056622763,2.60956017458e-05,1793250742739300864
+24,0.400000000,BASELINE,768.932903873,747,723,685.932903873,671,642,886.932903873,787,819,656,632.932903873,656,0.4009615816,0.00450864379016,0.0598391897386,0.99999995188,0.000151558599732,-0.000269420290814,2.61404557368e-05,1793250742755967488
+25,0.416666667,BASELINE,768.494889244,747,722.494889244,685.494889244,671,642,886.494889244,786.494889244,819,656,632.494889244,656,0.400961550195,0.00451046995611,0.0598386813727,0.999999951326,0.000154938157282,-0.000269581363455,2.58484485231e-05,1793250742772634112
+26,0.433333333,BASELINE,768,747,722.076814054,685.076814054,671,642,886,786,819,656,632,656,0.400961447181,0.00451243044888,0.0598381529647,0.999999950687,0.000158397586531,-0.000269965768778,2.55989474367e-05,1793250742789301248
+27,0.450000000,BASELINE,768,747,722.650935621,685.650935621,671,642,886,786,819,656,632,656,0.400961398824,0.00451275742874,0.0598382949793,0.999999950546,0.000158002884683,-0.000270686742212,2.59105497924e-05,1793250742805967872
+28,0.466666667,BASELINE,768,747,723,686,671,642,886,786.234140329,819,656,632,655.765859671,0.400960428019,0.00451248643541,0.0598378334355,0.999999950248,0.000157575413091,-0.00027202318658,2.60304893958e-05,1793250742822634240
+29,0.483333333,BASELINE,768,747,723,686,671,642,886,786.831432981,819,656,632,655.168567019,0.400958026494,0.0045112879839,0.0598364357708,0.999999949702,0.000157097115556,-0.000274314228086,2.58531595028e-05,1793250742839300608
+30,0.500000000,BASELINE,768,747,723,685.585186714,671,642.414813286,886,787,819,656,632,655.414813286,0.400958726668,0.00451106281319,0.0598366397429,0.999999950164,0.000156187856516,-0.000273149173135,2.58110717632e-05,1793250742855967488
+31,0.516666667,BASELINE,768,747,723,685.007276502,671,642.992723498,886,787,819,656,632,655.992723498,0.400960646373,0.00451122031855,0.059837473449,0.999999951018,0.000155109151377,-0.000270625244799,2.58221587458e-05,1793250742872634624
+32,0.533333333,BASELINE,768,746.434210182,723,685.565789818,671,642.434210182,886,787,819,656,632,656,0.400961085948,0.00451283719985,0.0598384412229,0.999999951009,0.000156093282819,-0.000270120661252,2.55202458827e-05,1793250742889300992
+33,0.550000000,BASELINE,768.143284462,746.143284462,722.856715538,686,671,642,886,786.856715538,819,656,632,655.856715538,0.400961232558,0.00451393522337,0.0598390953861,0.999999950931,0.000157089938803,-0.000269847708367,2.53721921771e-05,1793250742905967616
+34,0.566666667,BASELINE,768.734825984,746.734825984,722.265174016,686,671,642,886,786.265174016,819,656,632,655.265174016,0.400960521688,0.00451335181198,0.0598387630883,0.999999950671,0.000158043484799,-0.00027021884146,2.57179643094e-05,1793250742922634240
+35,0.583333333,BASELINE,769,747,722.31738753,686,671,642,886,786.31738753,819,656,632.31738753,655,0.400960759039,0.00451179003739,0.0598386956715,0.999999951095,0.000156319071183,-0.000269654683746,2.57039092679e-05,1793250742939301120
+36,0.600000000,BASELINE,769,747,722.892652896,686,671,642,886,786.892652896,819,656,632.892652896,655,0.400961766822,0.0045094333412,0.0598388434708,0.999999952061,0.000152418811532,-0.000268330600907,2.53974941544e-05,1793250742955968000
+37,0.616666667,BASELINE,768.531667301,747,723,685.531667301,671,642,886,786.531667301,819.468332699,656,633,655.468332699,0.400961392183,0.00451027409381,0.0598383774635,0.999999951697,0.000153450126749,-0.000269101297619,2.53522993358e-05,1793250742972634112
+38,0.633333333,BASELINE,768.043412257,747,723,685.043412257,671,642.043412257,886.043412257,786.043412257,819.956587743,656,633,656,0.400960780177,0.00451173592173,0.0598378532222,0.999999951095,0.000155430664126,-0.000270197899125,2.53698753618e-05,1793250742989300480
+39,0.650000000,BASELINE,768.610110933,747,723,685.610110933,671,642.610110933,886.610110933,786.610110933,819.389889067,656,633,656,0.400961129839,0.00451184211152,0.0598383244153,0.999999951335,0.000155215572728,-0.000269430158043,2.5421722939e-05,1793250743005967360
+40,0.666666667,BASELINE,769,746.812018812,723,686,671,642.812018812,886.812018812,786.812018812,819,656,632.812018812,656,0.40096152046,0.00451190685904,0.0598389104183,0.999999951579,0.000154922190577,-0.000268691957286,2.54055327956e-05,1793250743022634240
+41,0.683333333,BASELINE,769,746.209513755,723,686,671,642.209513755,886.209513755,786.209513755,819,656,632.209513755,656,0.4009620014,0.00451188022079,0.0598397495928,0.999999951836,0.000154456166773,-0.000268018896973,2.52393103e-05,1793250743039300608
+42,0.700000000,BASELINE,769,746.375680043,723,685.624319957,671,642,886,786.375680043,819,656,632,656,0.400961742922,0.00451199054286,0.05983971623,0.999999951692,0.000154928781116,-0.000268278751993,2.52852373815e-05,1793250743055967488
+43,0.716666667,BASELINE,769,746.951644746,723,685.048355254,671,642,886,786.951644746,819,656,632,656,0.40096109024,0.00451217388197,0.0598392176951,0.999999951333,0.000155901807528,-0.000269035968111,2.54442668458e-05,1793250743072634624
+44,0.733333333,BASELINE,768.472153942,747,723,685,671.527846058,642,886,787,819,656,632.527846058,656,0.400961296156,0.00451178893756,0.0598394997587,0.999999951421,0.000156009727126,-0.000268629537075,2.56161828026e-05,1793250743089300992
+45,0.750000000,BASELINE,768,746.897088822,723,685,671.897088822,642.102911178,886,786.897088822,819,656,632.897088822,655.897088822,0.400961307587,0.00451164194666,0.0598396296119,0.999999951416,0.000156299406612,-0.000268468999852,2.57325481368e-05,1793250743105967360
+46,0.766666667,BASELINE,768,746.327277078,723,685,671.327277078,642.672722922,886,786.327277078,819,656,632.327277078,655.327277078,0.400960079644,0.00451281083073,0.0598387443185,0.999999950801,0.000157773435964,-0.000269907919116,2.55915259595e-05,1793250743122634240
+47,0.783333333,BASELINE,768,746.254348613,722.745651387,685.254348613,671,642.745651387,886,786.254348613,819.254348613,656.254348613,632,655,0.400959530587,0.00451249249758,0.0598383140507,0.999999950653,0.000157009184709,-0.000270890802594,2.56769298669e-05,1793250743139301120
+48,0.800000000,BASELINE,768,746.851916166,722.148083834,685.851916166,671,642.148083834,886,786.851916166,819.851916166,656.851916166,632,655,0.400959897621,0.00451016730829,0.0598384977961,0.999999951131,0.000153224589688,-0.000271258309928,2.60678739346e-05,1793250743155967744
+49,0.816666667,BASELINE,768.434895909,746.565104091,722.434895909,686,671,642,886,787,820,656.565104091,632.434895909,655.434895909,0.400960993473,0.0045106988187,0.059838774407,0.999999951435,0.000153433819871,-0.000270059215779,2.56217852723e-05,1793250743172634368
+50,0.833333333,BASELINE,768.987015775,746,723,685.987015775,671,642,886,787,819.987015775,656,632.987015775,656,0.400962300568,0.00451212976625,0.0598390891046,0.999999951671,0.000154961169502,-0.000268371642903,2.49241199164e-05,1793250743189300736
+51,0.850000000,BASELINE,768.412619632,746,723,685.412619632,671,642,886,787,819.412619632,656,632.412619632,656,0.400962359409,0.00451175719048,0.0598397277427,0.999999951541,0.000156589747478,-0.00026787929743,2.52722237499e-05,1793250743205967360
+52,0.866666667,BASELINE,768,746.166493308,723,685,671,642.166493308,886,787,819.166493308,656,632,656,0.400962223663,0.00451129884802,0.0598399357459,0.999999951579,0.000156452502054,-0.000267800889879,2.54569918899e-05,1793250743222634240
+53,0.883333333,BASELINE,768,746.757636656,723,685,671,642.757636656,886,787,819.757636656,656,632,656,0.400961591616,0.00451062175305,0.0598390453916,0.999999952038,0.000151811429995,-0.000268778253047,2.52251636328e-05,1793250743239300864
+54,0.900000000,BASELINE,768,747,722.658722712,685,671,642.658722712,886,786.658722712,819.658722712,656,632,656,0.400960836192,0.00451091958557,0.0598383643537,0.99999995185,0.000151413686771,-0.000269710114736,2.50903149332e-05,1793250743255967488
+55,0.916666667,BASELINE,768,747,722.080295657,685,671,642.080295657,886,786.080295657,819.080295657,656,632,656,0.400959995037,0.00451189488431,0.0598378287674,0.999999951219,0.000153964585431,-0.000270610357917,2.50228562519e-05,1793250743272633856
+56,0.933333333,BASELINE,768.502108267,746.497891733,722.502108267,685.502108267,671,642,886,786.502108267,819,656,632,656,0.400960506804,0.00451211388107,0.0598387252809,0.999999951209,0.000156358627348,-0.000269272141745,2.5044959619e-05,1793250743289300736
+57,0.950000000,BASELINE,768.916921461,746,722.916921461,685.916921461,671,642.083078539,886,786.916921461,819,655.916921461,632,655.916921461,0.400961117916,0.00451224320365,0.0598396775134,0.999999951255,0.000158375728677,-0.00026791195102,2.51002062369e-05,1793250743305967104
+58,0.966666667,BASELINE,768.348082209,746,722.348082209,685.348082209,671,642.651917791,886,786.348082209,819,655.348082209,632,655.348082209,0.400961034771,0.00451256101585,0.0598396057803,0.999999951091,0.00015833669275,-0.000268533025149,2.52648293333e-05,1793250743322633984
+59,0.983333333,BASELINE,768,746,722.228791382,685,671,642.771208618,886,786,819,655.228791382,632,655.228791382,0.400961139927,0.00451249449019,0.0598396851552,0.999999951154,0.000157893077817,-0.000268546813474,2.53923068238e-05,1793250743339300608
+60,1.000000000,BASELINE,768,746,722.818333335,685,671,642.181666665,886,786,819,655.818333335,632,655.818333335,0.400961541992,0.00451182195354,0.0598400027921,0.999999951575,0.00015681153628,-0.000267603054023,2.54612143954e-05,1793250743355967232
+61,1.016666667,BASELINE,768,746,723,685.398353701,671.398353701,642,886.398353701,786.398353701,819,656,632,656,0.400961625876,0.00451158171165,0.0598398614184,0.999999951569,0.00015666134694,-0.00026770960286,2.55264952334e-05,1793250743372634368
+62,1.033333333,BASELINE,768,746,723,685.974133142,671.974133142,642,886.974133142,786.974133142,819,656,632,656,0.400961568044,0.00451153401282,0.0598395156025,0.999999951372,0.000156925979596,-0.000268283956432,2.55901607293e-05,1793250743389302016
+63,1.050000000,BASELINE,768.551450477,746.551450477,723,685.448549523,671.448549523,642.551450477,886.448549523,787,819,656,632,656,0.400960559326,0.00451142220494,0.0598390276001,0.999999951322,0.000155597009765,-0.000269252641758,2.54593634826e-05,1793250743405968128
+64,1.066666667,BASELINE,768.868189833,747,723,685.131810167,671,642.868189833,886.131810167,786.868189833,819,656,632,656,0.400960007595,0.00451152427187,0.0598388093687,0.999999951323,0.00015483620715,-0.000269694420358,2.53793576491e-05,1793250743422634240
+65,1.083333333,BASELINE,768.277490233,747,723,685.722509767,671,642.277490233,886.722509767,786.277490233,819,656,632,656,0.400961202556,0.00451238143001,0.0598395536136,0.999999951482,0.000156314414884,-0.000268237227809,2.55080244904e-05,1793250743439300864
+66,1.100000000,BASELINE,768,747,723,685.693040382,671,642,886.693040382,786.306959618,819,656,632,655.693040382,0.400960639137,0.00451206301806,0.0598392134552,0.999999951599,0.000154732812506,-0.000268726666476,2.54133072273e-05,1793250743455967744
+67,1.116666667,BASELINE,768,747,723,685.114127575,671,642,886.114127575,786.885872425,819,656,632,655.114127575,0.40095851787,0.00451070310087,0.0598379125613,0.999999951664,0.00015044034819,-0.000270940737829,2.51206811242e-05,1793250743472634624
+68,1.133333333,BASELINE,768.458951554,746.541048446,722.541048446,685,671,642,886.458951554,787,819.458951554,656,632,655.458951554,0.400960575827,0.00451081405687,0.0598386620672,0.999999951728,0.000152508924899,-0.000269519742506,2.53844073932e-05,1793250743489301248
+69,1.150000000,BASELINE,768.969874395,746.030125605,722.030125605,685.030125605,671,642,886.969874395,787,819.969874395,656,632.030125605,656,0.400963430263,0.0045112762507,0.0598398033673,0.999999951765,0.000155936856716,-0.000267376875158,2.57548510152e-05,1793250743505967872
+70,1.166666667,BASELINE,768.407058161,746.592941839,722.592941839,685.592941839,671,642,886.407058161,787,819.407058161,656,632.592941839,656,0.400962222615,0.00451156279308,0.0598389699105,0.999999951559,0.000155782477982,-0.000268252651311,2.55966909033e-05,1793250743522634240
+71,1.183333333,BASELINE,768.168027969,747,723,686,671,642.168027969,886,787,819,656,632.831972031,656,0.400960835884,0.00451176688156,0.0598382810295,0.999999951224,0.000156064756197,-0.000269338538363,2.5535588342e-05,1793250743539301120
+72,1.200000000,BASELINE,768.77518038,747,723,686,671,642.77518038,886,787,819,656,632.22481962,656,0.400958981134,0.004511755485,0.0598379699824,0.999999950554,0.000157488194037,-0.000270973529614,2.5728136034e-05,1793250743555968000
+73,1.216666667,BASELINE,768.636478004,746.636478004,722.636478004,685.636478004,671,642.636478004,886,787,819,656,632,656,0.400959337087,0.00451272079966,0.0598384352381,0.999999950815,0.000156972585402,-0.000270333632334,2.54792684454e-05,1793250743572634624
+74,1.233333333,BASELINE,768.05919756,746.05919756,722.05919756,685.05919756,671,642.05919756,886,787,819,656,632,656,0.400960992979,0.0045142604407,0.0598393569758,0.999999951619,0.000155316777274,-0.000268356053475,2.49708395361e-05,1793250743589301504
+75,1.250000000,BASELINE,768,746.517258272,722.517258272,685.517258272,671,642,886.517258272,787,819,656,632,656,0.400961600484,0.00451269324118,0.059839541104,0.999999951871,0.000154417229659,-0.000267925673716,2.50950446552e-05,1793250743605967872
+76,1.266666667,BASELINE,768,746.907081762,722.907081762,686,671,642.092918238,886.907081762,787,819,656,632,656,0.400961694806,0.00451137311537,0.0598394844001,0.999999951874,0.000154256988053,-0.00026798681717,2.52836119989e-05,1793250743622634240
+77,1.283333333,BASELINE,768,746.335039769,722.335039769,686,671,642.664960231,886.335039769,787,819,656,632,656,0.400959760647,0.00451315750315,0.0598386204565,0.999999950918,0.000157463328239,-0.000269670866034,2.54313186632e-05,1793250743639300864
+78,1.300000000,BASELINE,768.247706203,746.247706203,722,685.752293797,671,643,886,786.752293797,819,656,632,656,0.400958518571,0.00451375738067,0.0598379703807,0.999999950448,0.00015830208669,-0.00027091310161,2.55145586792e-05,1793250743655967488
+79,1.316666667,BASELINE,768.845583877,746.845583877,722,685.154416123,671,643,886,786.154416123,819,656,632,656,0.400958254863,0.00451268276749,0.0598376226406,0.999999950674,0.000155793897704,-0.000271530764842,2.55066649901e-05,1793250743672634112
+80,1.333333333,BASELINE,768.57416284,746.57416284,722.42583716,685,671,642.57416284,886,786.42583716,819,656,632.42583716,655.57416284,0.400959538573,0.00451403999469,0.0598381671456,0.999999950461,0.000158838320906,-0.000270571033674,2.52942263547e-05,1793250743689300736
+81,1.350000000,BASELINE,768.000046435,746.000046435,722.999953565,685,671,642.000046435,886,786.999953565,819,656,632.999953565,655.000046435,0.400961361103,0.00451624400431,0.059839022336,0.999999950072,0.00016381619928,-0.000269062043647,2.50105638485e-05,1793250743705967104
+82,1.366666667,BASELINE,768,746.576366135,723,685,671,642,886,787,819,656,632.423633865,655.576366135,0.4009628685,0.00451162199984,0.0598405888864,0.999999951948,0.000156113281527,-0.000266606185066,2.55497959639e-05,1793250743722633984
+83,1.383333333,BASELINE,768,747,723,685,671,642,886,787,819,656.156440058,632,656,0.400963272638,0.00450883336124,0.0598412594738,0.999999952922,0.000151423045752,-0.000265621036398,2.59242425763e-05,1793250743739300864
+84,1.400000000,BASELINE,768,747,723,685,671,642,886,787,819,656.746666008,632,656,0.400960617664,0.00451112991379,0.0598394455251,0.999999951536,0.000155089388376,-0.000268714167696,2.58415781327e-05,1793250743755967488
+85,1.416666667,BASELINE,768,746.66941919,723,685,671,642,886,786.66941919,819,656.66941919,632,655.66941919,0.400960288257,0.00451274781844,0.0598390469488,0.99999995105,0.000157081750351,-0.000269396660382,2.5502314536e-05,1793250743772633856
+86,1.433333333,BASELINE,768,746.090250244,723,685,671,642,886,786.090250244,819,656.090250244,632,655.090250244,0.400961707614,0.00451385539743,0.0598397126956,0.999999951252,0.000157815322373,-0.000268266415593,2.49700950819e-05,1793250743789300480
+87,1.450000000,BASELINE,768,746.485596879,722.514403121,685.485596879,671.485596879,642,886,786,819,656,632.485596879,655,0.400962126748,0.00451294651344,0.0598398771555,0.999999951496,0.000157309398495,-0.000267630504362,2.52172205488e-05,1793250743805967616
+88,1.466666667,BASELINE,768.060534489,746.939465511,722.060534489,685.939465511,671.939465511,642.060534489,886,786,819,656,632.939465511,655,0.400962234574,0.0045117664842,0.0598398506628,0.999999951735,0.000156429319783,-0.000267220915219,2.55445056048e-05,1793250743822634240
+89,1.483333333,BASELINE,768.632966245,746.367033755,722.632966245,685.367033755,671.367033755,642.632966245,886,786,819,656,632.367033755,655,0.400961271192,0.00451144118893,0.0598389919071,0.999999951872,0.000154320081834,-0.00026795353683,2.53331175603e-05,1793250743839300608
+90,1.500000000,BASELINE,769,746,723,685.212758887,671.212758887,642.787241113,886,786,819,656,632,655.212758887,0.40096124076,0.00451145998357,0.0598391841171,0.999999952139,0.00015346537181,-0.00026746224397,2.51786712639e-05,1793250743855967488
+91,1.516666667,BASELINE,769,746,723,685.805704919,671.805704919,642.194295081,886,786,819,656,632,655.805704919,0.400962877453,0.00451209364593,0.0598412543389,0.999999952639,0.000154852426845,-0.000264783890573,2.51259764186e-05,1793250743872634368
+92,1.533333333,BASELINE,768.611579313,746.388420687,723,685.611579313,671.611579313,642,885.611579313,786,819,656,632,655.611579313,0.400962595838,0.0045130837652,0.059841009094,0.99999995221,0.000156170277409,-0.000265644474598,2.49732555404e-05,1793250743889300992
+93,1.550000000,BASELINE,768.033849534,746.966150466,723,685.033849534,671.033849534,642,885.033849534,786,819,656,632,655.033849534,0.400961379275,0.00451424761505,0.0598396353336,0.999999951324,0.000157454399112,-0.000268229871332,2.47717838104e-05,1793250743905967616
+94,1.566666667,BASELINE,768.543965644,747,723,685,671,642,885.543965644,786,819.543965644,656,632,655,0.400961341729,0.00451110802898,0.0598401859666,0.999999951957,0.000154371534921,-0.000267603318502,2.5355813782e-05,1793250743922633984
+95,1.583333333,BASELINE,768.876726597,747,723,685,671,642,886,786.123273403,819.876726597,656,632,655.123273403,0.40096120273,0.0045088089293,0.0598404922913,0.999999952395,0.000152070151923,-0.000267242319648,2.57925623366e-05,1793250743939300864
+96,1.600000000,BASELINE,768.291849524,747,723,685,671,642,886,786.708150476,819.291849524,656,632,655.708150476,0.400960409064,0.00451065998975,0.0598394353104,0.999999951782,0.000153712791379,-0.000268624246367,2.54947469072e-05,1793250743955967232
+97,1.616666667,BASELINE,768.291602223,747,723,685.291602223,671,642,886,786.708397777,819,656,632,656,0.400960317478,0.00451163120839,0.0598391914801,0.999999951441,0.000155196926933,-0.000269059202721,2.52946440445e-05,1793250743972633856
+98,1.633333333,BASELINE,768.873634339,747,723,685.873634339,671,642,886,786.126365661,819,656,632,656,0.400960925149,0.00451172612234,0.0598397575311,0.999999951373,0.000156523195721,-0.000268550995738,2.51918609321e-05,1793250743989300736
+99,1.650000000,BASELINE,768.550909932,746.550909932,723,686,671,642,886,786.449090068,819,656,632,656,0.400961935581,0.00451163421787,0.0598402502847,0.999999951823,0.000155889364772,-0.000267230048915,2.5293747265e-05,1793250744005967616
+100,1.666666667,BASELINE,768.022799873,746.022799873,723,686,671,642,886,787,819,656,632,656,0.400962972719,0.00451147975132,0.0598406755476,0.999999952384,0.000154718764924,-0.000265796394609,2.54394898925e-05,1793250744022634240
+101,1.683333333,BASELINE,768.598397226,746.598397226,723,686,671,642,886,787,819,656,632,656,0.400961949278,0.00451106455947,0.0598399572909,0.999999952197,0.00015371320452,-0.000267094785917,2.52723973114e-05,1793250744039300864
+102,1.700000000,BASELINE,769,747,723,685.821299323,671.178700677,642.178700677,886,786.821299323,819.178700677,656,632,656,0.400961385869,0.0045108520202,0.0598397086528,0.999999952141,0.000152988738533,-0.00026772937417,2.51869429217e-05,1793250744055967488
+103,1.716666667,BASELINE,769,747,723,685.23013365,671.76986635,642.76986635,886,786.23013365,819.76986635,656,632,656,0.400961884274,0.00451110723017,0.0598405439574,0.999999952389,0.000152913076091,-0.000266831816269,2.52899203884e-05,1793250744072633856
+104,1.733333333,BASELINE,769,747,723,685.353558115,671.646441885,642.646441885,886,786.353558115,819.646441885,656,632,655.646441885,0.400962049779,0.0045115808355,0.0598402969063,0.999999952224,0.000153873226895,-0.000266907766535,2.52157113491e-05,1793250744089300480
+105,1.750000000,BASELINE,769,747,723,685.932485823,671.067514177,642.067514177,886,786.932485823,819.067514177,656,632,655.067514177,0.400962003084,0.00451219365325,0.059839359926,0.999999951792,0.000155493639187,-0.000267604262902,2.50285578018e-05,1793250744105967104
+106,1.766666667,BASELINE,769,747,723,686,671,642.506836574,886,787,819.506836574,656,632,655.506836574,0.400962931085,0.00451218443498,0.0598408514447,0.999999952277,0.000154932519057,-0.000266096283492,2.51767829955e-05,1793250744122634240
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,747,723,686,671,642,886,787,820,656,632,656,0.400960705286,0.00451306333215,0.0598397131312,0.999999951558,0.000156297356968,-0.000268003771035,2.50663387171e-05,1793250744166068736
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.597837505,747,723,686,671,642.597837505,886,787,819.402162495,656,632,655.402162495,0.40096134884,0.00451246456341,0.0598403347954,0.999999951957,0.000154452919549,-0.00026758724626,2.50484955773e-05,1793250744182734848
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,723,686,671,642.811607514,886,787,819,656,632,655.188392486,0.400961529707,0.00451274913006,0.0598405565763,0.999999952052,0.000153902701947,-0.000267556724392,2.49841114077e-05,1793250744199401472
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,723,686,671,642.236019886,886,787,819,656,632,655.763980114,0.400960759635,0.00451484917864,0.0598399564939,0.999999951524,0.000156012439487,-0.000268319537961,2.48240734172e-05,1793250744216068352
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.661214255,746.661214255,723,685.661214255,671,642.338785745,886,787,819.338785745,656,632,656,0.400961396258,0.00451418518264,0.0598400072254,0.999999951622,0.0001558871562,-0.000268013083244,2.49895732036e-05,1793250744232734976
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.086952192,746.086952192,723,685.086952192,671,642.913047808,886,787,819.913047808,656,632,656,0.400963010617,0.00451160001051,0.0598405103113,0.999999952153,0.000154208399887,-0.000266963423187,2.53813411884e-05,1793250744249401600
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,746.500943687,723,685.500943687,671.500943687,643,886,787,819.499056313,656,632.500943687,656,0.40096217053,0.0045104786412,0.0598404308469,0.999999952162,0.000154029281542,-0.000267026850155,2.54388828638e-05,1793250744266068480
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.089253829,747,723,685.910746171,672,642.910746171,886,787,819,656,633,656,0.40096135474,0.00451010933415,0.0598403268416,0.999999952058,0.000154349923781,-0.000267236422585,2.53731027053e-05,1793250744282735104
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.666527474,747,723,685.333472526,672,642.333472526,886,787,819,656,633,656,0.400963066434,0.00451242400146,0.0598406570074,0.999999951843,0.000155940049805,-0.000267159122405,2.49591083614e-05,1793250744299401728
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,723,685.243608825,672,642,886,787,819,656,633,656,0.400971650222,0.00451334919143,0.0598441113162,0.999999953233,0.000156332375081,-0.000261671702832,2.49251398202e-05,1793250744316068608
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,723,685.820427105,672,642,886,787,819,656,633,656,0.400989633695,0.00451237384665,0.0598518388446,0.999999956704,0.000155086341927,-0.000248784292937,2.54109726391e-05,1793250744332735488
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.604432442,747,723,685.604432442,671.604432442,642.395567558,886,786.604432442,819.395567558,656,632.604432442,656,0.401030117175,0.00451214366891,0.0598674570977,0.999999963361,0.000155272252732,-0.000220248459158,2.56689770595e-05,1793250744349402112
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.030050393,747,723,685.030050393,671.030050393,642.969949607,886,786.030050393,819.969949607,656,632.030050393,656,0.40108077168,0.00451225034041,0.0598866423172,0.999999970436,0.000156105466932,-0.000184638826171,2.5823992719e-05,1793250744366068480
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.560399894,746.439600106,722.439600106,685,671.560399894,642.439600106,886,786.560399894,819.439600106,656,632,656,0.401148883437,0.00451009230984,0.0599049088991,0.999999975161,0.000152532101664,-0.000160359114902,2.64140900813e-05,1793250744382735104
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.857242017,746.142757983,722.142757983,685,671.857242017,642,885.857242017,787,819,656,632,656,0.401221775268,0.00450888789705,0.0599209360954,0.999999978991,0.000149435499845,-0.000137767559409,2.65820940966e-05,1793250744399401728
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.300897739,746.699102261,722.699102261,685,671.300897739,642,885.300897739,787,819,656,632,656,0.401305723458,0.00451080843656,0.0599306224637,0.999999981669,0.000148424916372,-0.000118254692292,2.54576591186e-05,1793250744416068352
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746.724828196,722.724828196,685.275171804,671,642.275171804,885.275171804,787,819,656,632,655.724828196,0.401395075102,0.00451071765631,0.0599369486408,0.999999983161,0.000147386472739,-0.000106488556087,2.48090689485e-05,1793250744432735232
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746.125523737,722.125523737,685.874476263,671,642.874476263,885.874476263,787,819,656,632,655.125523737,0.401490791624,0.00450825768548,0.059939316753,0.999999983598,0.000146315211944,-0.000103847514655,2.47209899196e-05,1793250744449401600
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,722.452802329,685.547197671,671,643,886,786.547197671,819,655.547197671,632,655.452802329,0.401608236084,0.00450736824052,0.05994244566,0.999999984881,0.000143369297822,-9.54864535524e-05,2.3776152553e-05,1793250744466068480
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,723,685,671,643,886.026621569,786,819,655.026621569,632,655.973378431,0.401732627995,0.00450698262916,0.0599456628382,0.999999986251,0.000139992780158,-8.59719752517e-05,2.25740325192e-05,1793250744482735104
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,723,685,671,643,886.622936372,786,819,655.622936372,632,655.377063628,0.401882503529,0.00450847457421,0.0599464555518,0.999999986714,0.000138030100295,-8.4205210225e-05,2.07236596039e-05,1793250744499401728
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.211228895,746.211228895,723,685.211228895,671.211228895,642.788771105,886.788771105,786.211228895,819,656,632,655.211228895,0.402042158737,0.00450949766244,0.0599471449898,0.999999987362,0.000135924586724,-8.03052539229e-05,1.87236713817e-05,1793250744516068352
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.785724806,746.785724806,723,685.785724806,671.785724806,642.214275194,886.214275194,786.785724806,819,656,632,655.785724806,0.40221863281,0.00450971442041,0.0599476568165,0.999999988298,0.000133573430941,-7.27366802436e-05,1.6466378087e-05,1793250744532735232
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,723,685.638363895,671.638363895,642.361636105,886,787,819,656,632,656,0.402420557565,0.00450976027781,0.0599485535287,0.999999989395,0.000129003170739,-6.60622509438e-05,1.43119915275e-05,1793250744549401600
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,723,685.061610608,671.061610608,642.938389392,886,787,819,656,632,656,0.402637621531,0.004509704476,0.059949679188,0.999999990552,0.000123112888648,-5.99196976241e-05,1.22188182384e-05,1793250744566068224
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.474527564,746.474527564,723,685.525472436,671.525472436,642.474527564,886,787,819,656,632,656,0.402883835937,0.00450949512478,0.0599509816001,0.999999991603,0.000118189858496,-5.21983815406e-05,1.00272458231e-05,1793250744582735104
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.112105282,746,723,686,671.887894718,642,886.112105282,787,819,656.112105282,632.112105282,656,0.403142637318,0.00450934669258,0.0599523240751,0.999999992472,0.000113834216404,-4.51420437819e-05,7.72391482924e-06,1793250744599401728
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.691708953,746,723,686,671.308291047,642,886.691708953,787,819,656.691708953,632.691708953,656,0.403439389886,0.00450952888569,0.0599537454648,0.99999999292,0.000111362263173,-4.16461843324e-05,5.00360704121e-06,1793250744616068352
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,722.730547801,686,671,642.269452199,886.730547801,786.730547801,819,656.730547801,632.730547801,655.730547801,0.403740221186,0.00450915325695,0.0599476887048,0.999999993065,0.000105704505755,-5.18858033867e-05,1.96825211768e-06,1793250744632735232
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,722.15491858,686,671,642.84508142,886.15491858,786.15491858,819,656.15491858,632.15491858,655.15491858,0.404045687108,0.00450814377836,0.0599331345651,0.999999992329,9.64267369979e-05,-7.77329698117e-05,-1.4250889372e-06,1793250744649401856
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,722,686,671,643,886,786.419322632,819,656,632,655.419322632,0.404380713174,0.00450896000983,0.0599203484333,0.999999990799,9.18845855868e-05,-9.96786600062e-05,-4.85318807025e-06,1793250744666068480
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,722,686,671,643,886,786.993052725,819,656,632,655.993052725,0.404726624185,0.00451044852379,0.0599082133367,0.999999988775,8.90862339844e-05,-0.00012018770634,-8.294086118e-06,1793250744682735360
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.412559014,746.587440986,722.587440986,686,671,642.412559014,886,787,819,656,632,656,0.405120153629,0.00450832869134,0.0599016698279,0.999999987963,7.69044872834e-05,-0.000134227028654,-1.19245869353e-05,1793250744699401728
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.175563711,747,723,686.175563711,671,642,886,787,819,656,632.175563711,656,0.405542499566,0.00450706869027,0.0599023393332,0.999999988556,6.59430518692e-05,-0.000135253637558,-1.56647684523e-05,1793250744716068608
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.748916295,747,723,686.748916295,671,642,886,787,819,656,632.748916295,656,0.406028814818,0.00450785709185,0.0599191966553,0.999999992403,5.80071767082e-05,-0.000106975970013,-1.96481961336e-05,1793250744732735488
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,723,687,671,642,886.320676701,787,819,656,632.679323299,656,0.406542527775,0.0045067435355,0.0599450439355,0.999999996605,4.77097343046e-05,-6.30418730838e-05,-2.32138987645e-05,1793250744749402112
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,723,687,671,642,886.891196684,787,819,656,632.108803316,656,0.407077586682,0.00450414813973,0.0599778954079,0.999999998994,3.55723639931e-05,-6.9096504982e-06,-2.64541468931e-05,1793250744766068736
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.516724187,746.516724187,723,687,671,642.483275813,887,787,819,656,632,656,0.407616182322,0.00450232072835,0.0599950221655,0.999999999118,2.65361868223e-05,1.43029848824e-05,-2.9244632145e-05,1793250744782735360
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.07794751,746.07794751,723,687.07794751,671,643,887,787,819,656,632,656,0.408157777674,0.00450070543757,0.0600044711114,0.999999999119,1.7757118394e-05,2.03606373218e-05,-3.21343081351e-05,1793250744799401728
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.656637381,746.656637381,723,687.656637381,671,643,887,787,819,656,632,656,0.408713289666,0.00449929022733,0.0599884016864,0.999999999159,5.93504162713e-06,-1.80762756069e-05,-3.6342063142e-05,1793250744816068608
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.765769109,722.765769109,688.234230891,671,642.765769109,887,787,819,656,632,656,0.409301585878,0.00449880250697,0.0599777712419,0.999999998192,-4.57042286813e-06,-4.41092807609e-05,-4.06198255455e-05,1793250744832735232
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.18977532,722.18977532,688.81022468,671,642.18977532,887,787,819,656,632,656,0.409937717035,0.00449966807373,0.0599750767358,0.999999997547,-1.31548367549e-05,-5.20439215184e-05,-4.4999734541e-05,1793250744849401600
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,722.384333041,689,671.384333041,642.384333041,887,787,819,656,632,656,0.410607129849,0.00449833673475,0.0599821350456,0.999999997949,-2.25152445328e-05,-3.36041162119e-05,-4.9663235825e-05,1793250744866068480
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,722.957514944,689,671.957514944,642.957514944,887,787,819,656,632,656,0.411292896176,0.00449592590711,0.0599939855747,0.999999997994,-3.22569504144e-05,-2.20475829446e-06,-5.44660850431e-05,1793250744882735360
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,723,689,671.449591612,642.449591612,887,787,819,656,632,656,0.41197471852,0.00449462596607,0.0599891743828,0.999999998132,-2.5641959834e-05,-1.18410878508e-05,-5.41990205525e-05,1793250744899401984
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746.140431448,723,689.140431448,671,642,887.140431448,787,819,656.140431448,632,656,0.412654422691,0.00449247945319,0.0599751721583,0.999999998008,-4.12815187279e-06,-3.98018046386e-05,-4.88114347711e-05,1793250744916068608
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.716650121,723,689.716650121,671,642,887.716650121,787,819,656.716650121,632,656,0.413328533396,0.00448742988181,0.0599367875305,0.999999991265,5.95562478297e-05,-0.000114432406987,-2.87933406051e-05,1793250744932735232
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.708531999,747,723,690.291468001,671,642,888,787,819.291468001,656.708531999,632,656,0.41406837199,0.00447890263973,0.0599199736034,0.999999986254,7.78572185517e-05,-0.000144884635225,-2.09658323456e-05,1793250744949401856
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.135069315,747,723,690.864930685,671,642,888,787,819.864930685,656.135069315,632,656,0.41487180226,0.00446701075789,0.0599240292799,0.999999989534,5.22498241972e-05,-0.000132594388136,-2.49326883768e-05,1793250744966068480
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.435247801,747,723,691,671.435247801,642.435247801,888,787,820,656,632,656,0.415718671213,0.00446667625963,0.0599661342192,0.999999996955,4.61133429995e-05,-5.61328942248e-05,-2.85235567569e-05,1793250744982735104
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,723,691,672,643,888.004857123,787,820.004857123,656,632,656,0.416578629456,0.0044698560949,0.0600195419105,0.99999999766,4.60023987898e-05,3.9260387021e-05,-3.19662664384e-05,1793250744999401472
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,723,691,672,643,888.606587905,787,820.606587905,656,632,656,0.417402441043,0.00446732116114,0.0600213066073,0.999999997802,4.91522282089e-05,3.15011008762e-05,-3.14377599246e-05,1793250745016068096
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.801032763,723,691,671.602065526,643,889.198967237,787.198967237,821.198967237,656,632,656,0.418236128007,0.00446591241273,0.060015620236,0.999999997934,5.2727327043e-05,1.84538693292e-05,-3.18151414912e-05,1793250745032734720
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.226313781,723,691,670.452627562,643,889.773686219,787.773686219,821.773686219,656,632,656,0.419088464676,0.00446663047747,0.0599958624435,0.999999997784,5.71055514923e-05,-4.57970295695e-06,-3.39033023665e-05,1793250745049401600
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.651244622,746.348755378,723,691.348755378,670.697510756,643,890,787.651244622,822.348755378,656,632.348755378,656,0.419946109148,0.0044677677694,0.0599695009499,0.99999999682,5.65821953216e-05,-4.3037252986e-05,-3.61334228639e-05,1793250745066068480
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.075948021,746.924051979,723,691.924051979,671.848103958,643,890,787.075948021,822.924051979,656,632.924051979,656,0.42080720138,0.00446917737894,0.0599388498873,0.999999993675,5.2874916463e-05,-9.15137637688e-05,-3.84557560102e-05,1793250745082735104
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746.48720609,723,692,670.97441218,643,890,787.51279391,823,656,632.48720609,656,0.42162505506,0.00446816429374,0.0599018962322,0.999999985132,-3.33753862671e-05,-0.0001648781062,-3.79130209099e-05,1793250745099401728
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.101272999,746.101272999,723,692.101272999,670,643,890.101272999,787.898727001,823,656,632,656,0.422465565551,0.00446737750409,0.0598778633839,0.999999970051,-0.000112905329305,-0.000213891843628,-3.74326675357e-05,1793250745116068352
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.678896858,746.678896858,723,692.678896858,670,643,890.678896858,787.321103142,823,656,632,656,0.423443577708,0.00446938830957,0.0599191141049,0.999999985525,-0.000101774276533,-0.000130564662284,-3.92953929347e-05,1793250745132734976
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,722.743408655,693,670.51318269,643,891,787.256591345,823,656,632,656,0.424424157507,0.0044686099954,0.059967566276,0.999999993546,-9.50269937418e-05,-4.76859515306e-05,-4.00565312518e-05,1793250745149401600
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,722.165625681,693,671.668748638,643,891,787.834374319,823,656,632,656,0.425407951516,0.00446434036388,0.0600250329635,0.999999994226,-9.37671520465e-05,3.46313910058e-05,-3.94387436163e-05,1793250745166068480
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,722.417330219,693,671.165339562,643,891.417330219,787.582669781,823.417330219,656,632,656,0.426359620309,0.00446211979667,0.0600377336698,0.999999992856,-9.32655013039e-05,6.22162192262e-05,-4.14500836504e-05,1793250745182735104
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,722.997660536,693,670.002339464,643,892,787.002339464,824.002339464,656,632,656.002339464,0.427298286831,0.00446072785173,0.0600323565555,0.999999992394,-9.30420063284e-05,6.76286924198e-05,-4.45121507434e-05,1793250745199401728
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,722.418900391,693,670.581099609,643,892,787.581099609,824.581099609,656,632,656.581099609,0.428214119401,0.00446061820618,0.0600051537648,0.999999994787,-8.62832764614e-05,2.91695148591e-05,-4.61477386013e-05,1793250745216068352
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,722.159810102,693.159810102,670.840189898,643,892,787.840189898,824.840189898,656,632,656.840189898,0.42911164205,0.00446102805257,0.0599741084337,0.999999995679,-7.76745693314e-05,-1.91095909752e-05,-4.73663961949e-05,1793250745232734976
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,722.738390452,693.738390452,670.261609548,643,892,787.261609548,824.261609548,656,632,656.261609548,0.429961184883,0.00446279918817,0.0599329940188,0.999999992474,-6.42181375131e-05,-9.31210716117e-05,-4.74925195468e-05,1793250745249401600
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.685489801,723,694.314510199,670,643,892.314510199,787,824.314510199,656,632,656,0.430875174235,0.00446116411486,0.0599238310596,0.999999991585,-5.93154286538e-05,-0.000104721940367,-4.84318501168e-05,1793250745266068480
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.111400923,723,694.888599077,670,643,892.888599077,787,824.888599077,656,632,656,0.431842354006,0.00445671775201,0.0599410390012,0.999999994758,-6.14724728868e-05,-6.48126664944e-05,-5.00423553749e-05,1793250745282735104
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.473631319,723,694.526368681,670.947262637,643,893,787,825,656,632,656,0.432815568528,0.00445557857109,0.0599824201543,0.999999997085,-5.7644448482e-05,1.2452735778e-06,-5.00582140168e-05,1793250745299401984
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.939255253,746.939255253,723,694.060744747,671.878510507,643,893.060744747,787,825,656,632,656,0.433783060242,0.00445503578608,0.0600231138754,0.999999995393,-5.25551961069e-05,6.30627259437e-05,-4.97430496934e-05,1793250745316068608
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.356896265,746.356896265,723,694.643103735,670.713792529,643,893.643103735,787,825,656,632,656,0.434688932927,0.00445277671169,0.0600079269681,0.999999996963,-4.9009812707e-05,3.44052836126e-05,-4.98822980237e-05,1793250745332735232
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.222326098,746.222326098,722.777673902,694.777673902,670,643,894,787,825,656,632,656,0.43557174247,0.00444974899118,0.0599862878714,0.999999997549,-4.81871133338e-05,-5.48238856823e-06,-5.04922760544e-05,1793250745349401856
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.796583426,746.796583426,722.203416574,694.203416574,670,643,894,787,825,656,632,656,0.436418044337,0.00444550454148,0.0599544352752,0.999999995327,-5.16742876803e-05,-6.31469643221e-05,-5.18473959079e-05,1793250745366068480
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,722.370938848,694,670,643,894,787,825.370938848,656,632,656,0.437244079041,0.00444526122173,0.0599278445532,0.99999999114,-4.67944007348e-05,-0.000113093154729,-5.23563285313e-05,1793250745382735104
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,722.945348042,694,670,643,894,787,825.945348042,656,632,656,0.438058996587,0.00444721263407,0.0599041401183,0.999999985321,-3.73249461234e-05,-0.000158805591072,-5.24011036511e-05,1793250745399401728
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.464383715,747,723,694.535616285,670,643,894.535616285,787,825.464383715,655.464383715,632.535616285,656,0.438915635286,0.00444301348724,0.0599052879916,0.999999985366,-3.80651230875e-05,-0.000158404938172,-5.22265729551e-05,1793250745416068352
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.125064105,747,723,695,670.125064105,643,895,787,825.125064105,655.125064105,632.874935895,656,0.439783007008,0.00443928158524,0.0599198312585,0.999999988712,-3.89083795013e-05,-0.000135430890704,-5.21620608478e-05,1793250745432735232
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.705453798,747,723,695,670.705453798,643,895,787,825.705453798,655.705453798,632.294546202,656,0.44067348313,0.00443960535596,0.0599736296782,0.999999996813,-3.62184702636e-05,-4.79260472887e-05,-5.25820519361e-05,1793250745449401856
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.718955087,747.281044913,723,694.718955087,670.718955087,643,895,787,826,656,632,656,0.441485829794,0.00444040535795,0.0599900663861,0.999999997887,-3.05011333711e-05,-2.23891905453e-05,-5.28670575391e-05,1793250745466068480
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.148308681,747.851691319,723,694.148308681,670.148308681,643,895,787,826,656,632,656,0.442217668246,0.00444169609034,0.0599680038793,0.999999996517,-2.16641973219e-05,-6.07069783986e-05,-5.30129681696e-05,1793250745482735104
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.4271394,747.5728606,723,694,669.5728606,642.5728606,895,786.5728606,826.4271394,656,632,656,0.442919252604,0.00444201654709,0.0599184275674,0.999999989403,-1.69156990938e-05,-0.000134145416839,-5.39735920423e-05,1793250745499401984
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,694.004410599,668.995589401,642,895.004410599,786,827,656,632,656,0.443610276509,0.00444203925401,0.0598595002044,0.9999999743,-1.35293033555e-05,-0.000219474066565,-5.52092433613e-05,1793250745516068608
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,694.600033436,668.399966564,642,895.600033436,786,827,656,632,656,0.444309820161,0.00444782227517,0.0598422252896,0.999999968367,-2.77513034059e-07,-0.00024544696371,-5.49612846182e-05,1793250745532735232
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,694.811106302,668,642,895.811106302,786,827,656,632,656,0.444988187726,0.00445284802482,0.0598268895883,0.999999960805,1.15615938159e-05,-0.000274376361102,-5.45363517603e-05,1793250745549401856
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,694.236070199,668,642,895.236070199,786,827,656,632,656,0.445623266598,0.00445632573743,0.0598155180849,0.999999950497,2.05128513392e-05,-0.000309349533652,-5.37496428687e-05,1793250745566068480
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,694.34547708,667.65452292,641.65452292,895.34547708,786,827,656,632,656.34547708,0.446228088634,0.0044630663884,0.0597927773129,0.999999937198,3.08565344606e-05,-0.000348959889558,-5.36463344441e-05,1793250745582735104
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,723,694.931558982,667.068441018,641.068441018,895.931558982,786,827,656,632,656.931558982,0.446811838492,0.00447207948718,0.0597621185032,0.999999920898,4.21699609809e-05,-0.000391799773284,-5.40189749518e-05,1793250745599401728
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,695,666,640.331484178,896.337031645,785,827,656,631.331484178,656.668515822,0.448617160052,0.00455521509705,0.0597805518676,0.999999938398,8.75256982753e-06,-0.000344077351344,-6.88314679304e-05,1793250745649401856
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.753612276,747,723,695,665.753612276,640,897,785,827,656,631,656.753612276,0.44913352107,0.00457474103271,0.0597685515571,0.999999930365,-3.14369435823e-05,-0.000364225095766,-7.49771439596e-05,1793250745666068480
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.176604103,747,723,695,665.176604103,640,897,785,827,656,631,656.176604103,0.449590530565,0.00458971226527,0.0597325760533,0.999999905751,-1.92746284595e-05,-0.000426350242005,-7.9694774518e-05,1793250745682735104
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747,723,694.593939171,664.593939171,639.593939171,897,785,827,656,631.406060829,656.406060829,0.450025591646,0.00459277558214,0.0597007220897,0.999999884366,-1.7302214969e-05,-0.000473505303072,-8.22296241176e-05,1793250745699401728
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768.114897228,747,723.885102772,694.885102772,660,636.885102772,897,784.885102772,828,656,631.114897228,656.885102772,0.454440540097,0.00460261681414,0.0596808858645,0.999999877631,7.12096469117e-05,-0.000484851036098,-6.77291288515e-05,1793250745949401344
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+248,4.133333333,HOLD_POSE2,768,747.429156991,723,695,658,635.429156991,897,784.429156991,827.429156991,656,631.570843009,656,0.455234103817,0.00461333617574,0.0596378877965,0.999999846141,8.71645040339e-05,-0.000543143284528,-7.15243626862e-05,1793250746537771520
+249,4.150000000,HOLD_POSE2,768.148220489,747,723,695,658,635.148220489,897,784.148220489,827.148220489,656,632,656,0.455234220007,0.00461337937978,0.0596377004703,0.999999845951,8.68878126898e-05,-0.000543565772327,-7.13033738567e-05,1793250746554438400
+250,4.166666667,HOLD_POSE2,768.74539057,747,723,695,658,635.74539057,897,784.74539057,827.74539057,656,632,656,0.455234576637,0.00461362985973,0.059637388319,0.99999984544,8.81602165904e-05,-0.000544320733632,-7.11459849739e-05,1793250746571104768
+251,4.183333333,HOLD_POSE2,769,747.331218888,723.331218888,695,658.331218888,635.668781112,897,784.668781112,828,656,631.668781112,656,0.45523454157,0.00461354361925,0.0596370933943,0.999999845344,8.79751487558e-05,-0.000544515735007,-7.1245775422e-05,1793250746587771648
+252,4.200000000,HOLD_POSE2,769,747.908617368,723.908617368,695,658.908617368,635.091382632,897,784.091382632,828,656,631.091382632,656,0.455234215372,0.00461320711011,0.0596368112733,0.999999845554,8.67068099087e-05,-0.000544294544171,-7.15367153116e-05,1793250746604438272
+253,4.216666667,HOLD_POSE2,769,748,723.51369075,695,658.51369075,635,897,784,828,656,631.48630925,656,0.455234594257,0.00461350605172,0.059637290886,0.999999845542,8.71188599575e-05,-0.00054426240259,-7.14474602234e-05,1793250746621104896
+254,4.233333333,HOLD_POSE2,769,748,723,695,658,635,897,784.064970815,828,656,631.935029185,656,0.455234947502,0.0046137239706,0.0596376366995,0.999999845379,8.77459891963e-05,-0.000544483201296,-7.12809266896e-05,1793250746637771264
+255,4.250000000,HOLD_POSE2,769,748,723,695,658,635,897,784.650966231,828,656,631.349033769,656,0.455234031988,0.00461233398526,0.0596357609615,0.999999844339,8.7564171446e-05,-0.000546447365541,-7.10679395903e-05,1793250746654437888
+256,4.266666667,HOLD_POSE2,769,747.765279169,723,695,658,635,897,784.765279169,827.765279169,656,631,656,0.455234003379,0.00461162764302,0.0596351952484,0.999999844131,8.68737115279e-05,-0.000546944219943,-7.10200963528e-05,1793250746671104512
+257,4.283333333,HOLD_POSE2,769,747.184825244,723,695,658,635,897,784.184825244,827.184825244,656,631,656,0.455235281144,0.00461192827606,0.0596365591427,0.99999984515,8.54340448761e-05,-0.000545279793595,-7.12155025222e-05,1793250746687771136
+258,4.300000000,HOLD_POSE2,768.60760314,747.39239686,723,695,658,635,897,784,827.39239686,656,631,656.39239686,0.455236432688,0.00461163595248,0.0596372713377,0.999999845675,8.64419880991e-05,-0.000544190438209,-7.09586102788e-05,1793250746704438016
+259,4.316666667,HOLD_POSE2,768.031890791,747.968109209,723,695,658,635,897,784,827.968109209,656,631,656.968109209,0.455237525265,0.00461106661823,0.0596376790794,0.999999845966,8.85933776658e-05,-0.000543369737769,-7.04904184376e-05,1793250746721104640
+260,4.333333333,HOLD_POSE2,768.543728777,747.456271223,723,695,658,635,897,784,827.456271223,656,631,656.456271223,0.455238633518,0.00461283214277,0.0596375955412,0.999999846201,8.98981717829e-05,-0.000542650015824,-7.10390840788e-05,1793250746737771264
+261,4.350000000,HOLD_POSE2,768.877296098,747,723,695,658,635,897,784,827.122703902,656,631.122703902,656,0.455239216816,0.00461411317638,0.0596374289481,0.999999846306,9.03262788235e-05,-0.000542330852596,-7.14575405699e-05,1793250746754437632
+262,4.366666667,HOLD_POSE2,768.285471046,747,723,695,658,635,897,784,827.714528954,656,631.714528954,656,0.455237789592,0.00461301843119,0.0596370549644,0.999999845925,8.75924457762e-05,-0.000543520464537,-7.11502026574e-05,1793250746771104512
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,748,724,696,659,635,897,784,828,657,632,657,0.455236714014,0.00461181562021,0.0596382180467,0.999999845603,8.61494110658e-05,-0.000544346072689,-7.11273425292e-05,1793250746808170240
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,747.422337201,723.422337201,694.844674402,658.422337201,635,897,784,828,656.422337201,631.422337201,656.422337201,0.455237137081,0.00461425253701,0.0596380290595,0.99999984589,8.85556541892e-05,-0.000543430868621,-7.11411904313e-05,1793250746824837120
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768.841707271,747.158292729,723,694.158292729,658.158292729,635,897,784,828,656,631,656,0.455236988151,0.00461551249147,0.0596374177923,0.999999845758,9.01478610941e-05,-0.000543426812647,-7.10271109704e-05,1793250746841504256
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.25300945,747.74699055,723,694.74699055,658.74699055,635,897,784,828,656,631,656,0.455235283936,0.0046135722326,0.0596356583267,0.999999844499,8.95266672217e-05,-0.000545900209368,-7.0565191224e-05,1793250746858170624
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747.669790346,723,695,658.669790346,635,897,784,828,656,631,656.330209654,0.455235301129,0.00461281702123,0.0596356146516,0.999999844237,8.91162132008e-05,-0.000546456645305,-7.04975326641e-05,1793250746874837248
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747.090700606,723,695,658.090700606,635,897,784,828,656,631,656.909299394,0.455236615751,0.00461295498412,0.0596368641734,0.999999844728,8.88645945269e-05,-0.000545568261536,-7.07270300666e-05,1793250746891503872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747.486831335,723,695,658,635,897,784,828,656,631,656.513168665,0.455238588135,0.0046124753012,0.0596382111599,0.999999846239,8.81524724879e-05,-0.000542935890184,-7.05088917089e-05,1793250746908170496
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.063704356,747.936295644,723,695,658,635,897,784,828,656,631.063704356,656,0.455240218666,0.00461193928775,0.0596392320833,0.999999847558,8.77232268885e-05,-0.000540605341453,-7.02426877162e-05,1793250746924837120
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.63761714,747.36238286,723,695,658,635,897,784,828,656,631.63761714,656,0.455238132951,0.00461187079846,0.0596374965983,0.99999984588,9.02444844321e-05,-0.000543286067956,-7.02573315023e-05,1793250746941504000
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.782666166,747,723,695,658,635,897.217333834,784,828,656,631.782666166,656,0.455234470569,0.00461183839182,0.0596351595244,0.999999844157,9.08208009348e-05,-0.000546340171147,-7.03588707566e-05,1793250746958170880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.193006555,747,723,695,658,635,897.806993445,784,828,656,631.193006555,656,0.455228107116,0.00461186780027,0.0596317918378,0.999999842361,8.80651385755e-05,-0.000550033924889,-7.06092751084e-05,1793250746974837504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.390531934,747.390531934,723,695,658,635,897.609468066,784.390531934,828,656,631.390531934,656,0.455208026214,0.00461182027562,0.0596222071062,0.999999833999,8.84803804408e-05,-0.000564964645191,-7.06253678327e-05,1793250746991503872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.97109201,747.97109201,723,695,658,635,897.02890799,784.97109201,828,656,631.97109201,656,0.455181270567,0.00461173531624,0.0596095972349,0.999999822098,9.04385458919e-05,-0.000585363138418,-7.05274473348e-05,1793250747008170496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747.453942076,723,695,658,635,896.453942076,784.453942076,827.453942076,656,632,656,0.455131882193,0.00461240413031,0.0595927500601,0.999999803861,9.02326139131e-05,-0.000615761521655,-7.05245471291e-05,1793250747024837120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.876396846,658,635,896.123603154,784,827.123603154,656,631.876396846,656,0.455078236357,0.0046131743171,0.0595755710245,0.999999786,9.0232001227e-05,-0.000644095730131,-7.06968104661e-05,1793250747041503744
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747,723,694.288051104,658,635,896.711948896,784,827.711948896,656,631.288051104,656,0.455013041989,0.00461417714407,0.0595579790842,0.999999773679,9.14297757412e-05,-0.000662698447322,-7.15089594706e-05,1793250747058170368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,747,723,694.295430682,658.295430682,635,897,784,827.704569318,656,631.295430682,656,0.454940546669,0.00461490896654,0.0595468160673,0.99999976397,9.37141114358e-05,-0.000676877210121,-7.15204744806e-05,1793250747074837248
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.874246789,658.874246789,635,897,784,827.125753211,656,631.874246789,656,0.454861048073,0.00461538083378,0.0595418198558,0.999999756932,9.70407071412e-05,-0.00068681239034,-7.07639987906e-05,1793250747091504128
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.549012531,747,723,695,658.549012531,635,897,784.450987469,827.450987469,656,632,656,0.454770034476,0.00461504037761,0.0595403520731,0.999999755613,9.85592126998e-05,-0.000688590055158,-7.00304081417e-05,1793250747108170496
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.027199692,747.027199692,723,694.972800308,658.027199692,635.027199692,897,784.972800308,827.972800308,656,631.972800308,656.027199692,0.454674682569,0.00461446872846,0.0595400591484,0.999999755948,9.95587653254e-05,-0.000688034246612,-6.92860750493e-05,1793250747124837376
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.6043746,747.6043746,723,694.3956254,658.6043746,635.6043746,897,784.3956254,827.3956254,656,631.3956254,656.6043746,0.454556235878,0.00461378136931,0.0595437191914,0.999999757302,0.000100212655857,-0.000686078126803,-6.81960931516e-05,1793250747141504000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,748,723,694.184842728,659,636,896.815157272,784.184842728,827.184842728,656,631.184842728,656.815157272,0.454429182516,0.00461465752111,0.0595470452512,0.999999757809,0.00010296701163,-0.000685043559407,-6.70385331143e-05,1793250747158170112
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,748,723,694.77248723,659,636,896.22751277,784.77248723,827.77248723,656,631.77248723,656.22751277,0.454283373864,0.00461894081263,0.0595496435075,0.999999756447,0.000110298615946,-0.000686017201879,-6.57337096776e-05,1793250747174836736
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,748,723,695,659,636,896,785,828,656.354498925,631.645501075,656.354498925,0.454114609659,0.00462041169765,0.0595503211725,0.999999755338,0.000114789498678,-0.000687030180336,-6.43165240103e-05,1793250747191503872
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748,723,695,659,636,896,785,828,656.932952158,631.067047842,656.932952158,0.453931343293,0.00462010584835,0.0595497855063,0.999999754406,0.000117485759376,-0.000688068009364,-6.28283535003e-05,1793250747208170496
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,723,695,659,636,896,785,828,656.489754826,631.510245174,656.489754826,0.453716266988,0.0046208981219,0.0595461876208,0.999999748042,0.000122542236431,-0.000696529412889,-6.11985684033e-05,1793250747224837120
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.913030054,748,723,695,659,636,896,785,827.913030054,655.913030054,631.913030054,656,0.453491910639,0.00462186231633,0.0595417744192,0.999999741113,0.000127799288629,-0.000705612978257,-5.95966442234e-05,1793250747241503744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.338637276,748,723,695,659,636,896,785,827.338637276,655.338637276,631.338637276,656,0.453238917467,0.00462298316468,0.0595350418305,0.999999735541,0.000132446230722,-0.000712728772592,-5.82549211481e-05,1793250747258170368
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.757863831,723,695,659.242136169,636,896,785,827,655.242136169,631,656.242136169,0.452977593974,0.00462341439002,0.0595325820313,0.999999734023,0.000138047789691,-0.000713950662832,-5.63218095982e-05,1793250747274836992
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.167925283,723,695,659.832074717,636,896,785,827,655.832074717,631,656.832074717,0.452704304893,0.00462285504653,0.0595362596317,0.999999738334,0.00014502055212,-0.000706706597833,-5.35392326431e-05,1793250747291503616
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.41430178,747,723,694.58569822,659.58569822,636,896,785,827.41430178,656,631.41430178,657,0.452405145154,0.0046246547496,0.0595501172861,0.999999752803,0.000152190349694,-0.000684573477131,-5.09114053026e-05,1793250747308170240
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.993460316,747,723,694.006539684,659.006539684,636,896,785,827.993460316,656,631.993460316,657,0.452095691109,0.00462739315192,0.0595680257334,0.999999770615,0.000159438550169,-0.000656515782448,-4.83451551347e-05,1793250747324836864
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.431662959,747.568337041,723,694.568337041,659.568337041,636,895.431662959,784.431662959,827.431662959,656,632,656.431662959,0.451736019656,0.00462808307609,0.0595747106818,0.999999774159,0.000167557011881,-0.000649267478558,-4.53778914219e-05,1793250747341503744
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747.857117867,723,695,660.142882133,636,895.142882133,784.142882133,827,656,632,656,0.451362035996,0.00462916659161,0.0595788824602,0.999999775251,0.000175876551182,-0.000645571960726,-4.24549344187e-05,1793250747358170368
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747.283425356,723,695,660.716574644,636,895.716574644,784.716574644,827,656,632,656,0.450946628248,0.00463150738131,0.0595758631451,0.999999769674,0.000184772399767,-0.000651872039992,-3.96793780115e-05,1793250747374837248
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.108567882,661,636.891432118,895.108567882,785,827,656,632,656,0.450052224332,0.00463397498869,0.0595599298266,0.999999750495,0.000204811410041,-0.000675282797247,-3.24826875718e-05,1793250747408170752
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,723,694.472929206,661.472929206,637,895,785,827,656,631.527070794,656,0.449543373312,0.00463632004191,0.0595509920097,0.999999741569,0.000214800679574,-0.000685467032555,-2.92757830303e-05,1793250747424837120
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.948399985,662.051600015,637.051600015,895,785,826.948399985,656,631,656,0.449022154222,0.00463879195726,0.0595434723839,0.999999733862,0.000224801494576,-0.000693585570107,-2.60805562241e-05,1793250747441504000
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.374605145,662.625394855,637.625394855,895,785,826.374605145,656,631,656,0.448492191707,0.00463919635468,0.0595488232657,0.999999735092,0.000235825772576,-0.000688287387997,-2.15002093376e-05,1793250747458170368
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,747,723,694.198606425,663.198606425,638.198606425,895,785.198606425,826,656,631,656,0.447960195616,0.00463883115067,0.05956261978,0.999999746875,0.000245811239334,-0.000667492343665,-1.67559547093e-05,1793250747474837248
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.770721034,663.770721034,638.770721034,895,785.770721034,826,656,631,656,0.44742437512,0.00463701859956,0.0595922995306,0.999999777027,0.000253843069884,-0.000617553201869,-1.17034480504e-05,1793250747491503872
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.65400952,747,723,694.65400952,664,639,894.65400952,786,826,656,631.34599048,656,0.446869791622,0.00463510660379,0.0596253358347,0.999999802156,0.000262237961489,-0.000571733982621,-6.23506230722e-06,1793250747508170496
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.076630228,747,723,694.076630228,664,639,894.076630228,786,826,656,631.923369772,656,0.44630265997,0.00463312810227,0.0596606169074,0.999999823567,0.000270875657809,-0.000528670054822,-4.8854840183e-07,1793250747524837376
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.516419848,747,722.483580152,694,664.516419848,639,894,786,826,656,632,656,0.445598183274,0.00463297107561,0.0596519960921,0.999999810089,0.000281779589216,-0.000548084794491,5.01669006585e-06,1793250747541504000
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.893171147,747,722.106828853,694,665.106828853,639.106828853,893.893171147,786,826,656,632,656,0.444881929696,0.00463300611809,0.0596385039554,0.999999794436,0.000292016280743,-0.000570750907598,9.93509539007e-06,1793250747558170624
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.324545589,747,722.675454411,694,665.675454411,639.675454411,893.324545589,786,826,656,632,656,0.4442056239,0.0046326664915,0.0596329961428,0.999999795301,0.000297869486982,-0.000566141139831,1.24763618458e-05,1793250747574837248
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.256911086,747,723,694,666.256911086,640,892.743088914,786.256911086,825.743088914,655.743088914,632,656,0.443534196612,0.00463187261043,0.0596513955455,0.999999813845,0.000304813973126,-0.000528332901453,1.61848171359e-05,1793250747591504128
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.855428986,747,723,694,666.855428986,640,892.144571014,786.855428986,825.144571014,655.144571014,632,656,0.442869256033,0.00463047472101,0.0597015836404,0.999999851092,0.000313209500148,-0.00044638166878,2.1445248005e-05,1793250747608170752
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,723,694,667.436364853,640.436364853,891.563635147,787,825.436364853,655.436364853,631.563635147,656,0.44213501884,0.00462804642231,0.0597322304151,0.999999865159,0.000320796728015,-0.000407455143297,2.74202846411e-05,1793250747624837120
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746.988282897,722.988282897,694,668,641,891,787,825.988282897,655.988282897,631,655.988282897,0.441377248518,0.00462537497328,0.0597562167548,0.999999872296,0.000328227021936,-0.000382813180397,3.36095596665e-05,1793250747641503744
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,746.412166384,722.412166384,694,668,641,891,787,825.412166384,655.412166384,631,655.412166384,0.440548964161,0.00462679834514,0.0597591533322,0.999999866682,0.000340497796458,-0.000386217077646,3.91559848758e-05,1793250747658170624
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.167683421,746.167683421,722,693.832316579,668.167683421,641,891,787,824.832316579,655,631,655,0.439735261114,0.00462861512163,0.0597698767035,0.999999867373,0.000352406859989,-0.000372967641938,4.42538019209e-05,1793250747674837248
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.756918596,746.756918596,722,693.243081404,668.756918596,641,891,787,824.243081404,655,631,655,0.43895821515,0.00463142090705,0.059800175872,0.99999988229,0.000363406590209,-0.000317852160135,4.82238293237e-05,1793250747691504128
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.659795491,747,722.340204509,693,669,641,891,787,824.340204509,655,631.340204509,655.340204509,0.438117150464,0.00463301930726,0.0598088573299,0.999999902535,0.000313444566388,-0.000309180356287,3.30052394923e-05,1793250747708170496
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.080687386,747,722.919312614,693,669,641,891,787,824.919312614,655,631.919312614,655.919312614,0.437231129608,0.0046337698389,0.0598023580683,0.999999920157,0.000220673047751,-0.000333122940417,4.31172593528e-06,1793250747724837376
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746.503537331,722.503537331,693.496462669,669,641.496462669,891,787.496462669,825,655,632,655.503537331,0.436312215915,0.0046297495277,0.0597590421972,0.999999897838,0.000216874381619,-0.00039655827884,5.56122109857e-06,1793250747741503744
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.073171631,722.073171631,694,669.073171631,641.926828369,890.926828369,788,824.926828369,655.073171631,631.926828369,655,0.435392764059,0.00462516553023,0.0597186870896,0.999999872841,0.000227304683855,-0.000450023537114,1.13943648057e-05,1793250747758170368
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.649027678,722.649027678,694,669.649027678,641.350972322,890.350972322,788,824.350972322,655.649027678,631.350972322,655,0.434506197175,0.0046220149257,0.0597396177463,0.999999895437,0.00023653618524,-0.00039107320574,1.54158466872e-05,1793250747774836992
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,722.768960729,693.768960729,670,641.231039271,890,787.768960729,824,656,631.231039271,655.231039271,0.433616522624,0.00461009074216,0.0597601007465,0.999999911982,0.000233541593148,-0.000347993793723,1.98702380336e-05,1793250747791503872
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,722.177342186,693.177342186,670,641.822657814,890,787.177342186,824,656,631.822657814,655.822657814,0.432721997851,0.00458447377457,0.0597798850996,0.999999922983,0.000211465936082,-0.000329683862572,2.50002648929e-05,1793250747808170496
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,747,722.404892583,693,669.595107417,642,890,787,823.595107417,655.595107417,632,655.595107417,0.43182334023,0.00456543889469,0.0597950744686,0.999999935436,0.000186429421538,-0.000306000761357,2.71121099728e-05,1793250747824837120
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,747,722.98311034,693,669.01688966,642,890,787,823.01688966,655.01688966,632,655.01688966,0.430922913487,0.00454922165626,0.0598082968296,0.999999947585,0.000160125433367,-0.000280017530813,2.79319407283e-05,1793250747841504000
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.55597116,747,723,693,670.11194232,642,890,787.55597116,822.44402884,655.55597116,632,655,0.429996501446,0.00456346681763,0.0598196505609,0.999999948407,0.000173453994497,-0.000269013778045,2.70527210303e-05,1793250747858170624
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.870991028,747,723,693,670.741982057,642,890,788,821.870991028,656,632,655.129008972,0.429049461228,0.00457421961098,0.0598168076897,0.999999943063,0.000183760446952,-0.000281748216317,2.68896321098e-05,1793250747874837248
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.296786242,747,723,693,669.593572485,642,890,788,821.296786242,656,632,655.703213758,0.428033933618,0.00456975762283,0.0597651679248,0.9999999132,0.000179522766675,-0.000374845184635,2.93742493736e-05,1793250747891503872
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746.712522756,723,693.287477244,669.287477244,642,889.712522756,787.712522756,821,656,632,655.712522756,0.427079006135,0.00456881407021,0.0597429901549,0.99999990186,0.00017431610508,-0.000406214565401,2.97324887153e-05,1793250747908170752
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746.117498369,723,693.882501631,669.882501631,642,889.117498369,787.117498369,821,656,632,655.117498369,0.426188909573,0.00457163458899,0.0597523312391,0.999999916465,0.000168072815202,-0.000371546913386,2.78158994906e-05,1793250747924837632
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.4627475,746.4627475,723,693.5372525,670.4627475,641.5372525,889,787.4627475,820.5372525,656,632,655.4627475,0.425287637092,0.00457455010499,0.0597823536841,0.999999928701,0.000167354609958,-0.000337240419131,2.93044553633e-05,1793250747941504000
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.960783062,746.960783062,723,692.960783062,670.921566124,641,889,788,820,656,632,655.960783062,0.424383722621,0.00457695955331,0.0598158902861,0.999999939347,0.000167340400456,-0.000303818574699,3.15965132008e-05,1793250747958170624
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.386226409,746.386226409,723,692.386226409,669.772452817,641,889,788,820,656,632,655.386226409,0.42348128221,0.00457214172535,0.0598279320658,0.999999947346,0.00015837831669,-0.000281259807442,3.34195841755e-05,1793250747974837248
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.192895757,746.192895757,723,692,669.385791515,641.192895757,888.807104243,788,820,656,632,655,0.422579308513,0.00456953639128,0.0598362669155,0.999999952729,0.000152749167368,-0.000264600896262,3.45842137937e-05,1793250747991503872
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.781380955,746.781380955,723,692,670.56276191,641.781380955,888.218619045,788,820,656,632,655,0.421678291785,0.00457146842527,0.059836999618,0.999999953747,0.000153955178145,-0.000260041370005,3.439851627e-05,1793250748008170496
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.635696501,747,722.635696501,691.635696501,670.635696501,642,888,788,819.635696501,655.635696501,631.635696501,655.364303499,0.420728855318,0.00457336459321,0.0597959749079,0.999999931553,0.000157446130584,-0.000333083536309,3.40622693688e-05,1793250748024837120
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.056061944,747,722.056061944,691.056061944,670.056061944,642,888,788,819.056061944,655.056061944,631.056061944,655.943938056,0.41975079916,0.00457523956146,0.059730268393,0.999999884116,0.000162287655345,-0.000451994198043,3.36370359603e-05,1793250748041504000
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746.47938068,722,691,670,642,887.47938068,787.47938068,819.52061932,655,631.52061932,656,0.418902302189,0.00457178491901,0.059719955583,0.999999874778,0.000227775820069,-0.000444460892357,3.18875933453e-05,1793250748058170624
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,722.096747695,690.903252305,670.096747695,642,887,787,820,655.096747695,632,656,0.418074287372,0.00456892923185,0.0597248461845,0.999999871877,0.000287195184678,-0.000415716524072,3.0736634096e-05,1793250748074837248
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746,722.671706259,690.328293741,670.671706259,642,887,787,820,655.671706259,632,656,0.417278942467,0.0045718548565,0.0597755674702,0.999999898054,0.00028451937451,-0.000349050612633,3.32447509279e-05,1793250748091503872
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.252746474,746,722.747253526,690,670.747253526,642,887,787,820,656,632,656,0.416481134412,0.00457129564023,0.0598139903482,0.999999915595,0.000275821421735,-0.000302436679755,3.55489430829e-05,1793250748108170752
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.841880896,746,722.158119104,690,670.158119104,642,887,787,820,656,632,656,0.41568004814,0.00456609834326,0.0598360448984,0.999999925819,0.000259108418108,-0.000282510540082,3.758172564e-05,1793250748124837376
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746.425552108,722.425552108,690,670.425552108,642,887,787,819.574447892,655.574447892,632,656,0.41489741345,0.00456455189761,0.0598402700054,0.999999930486,0.000246246610528,-0.000277456265136,3.75400251621e-05,1793250748141504000
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.992882977,747,722.992882977,689.992882977,671,642,887,787.007117023,819.007117023,655.007117023,632,656,0.414121633886,0.00456435278431,0.0598378047343,0.999999933045,0.000234876197502,-0.000278194396284,3.67546884166e-05,1793250748158170624
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.419446554,747,722.419446554,689.419446554,671,642,887,787.580553446,819.580553446,655.580553446,632,656,0.413352711779,0.00456479088353,0.0598234354481,0.999999926176,0.000229758121213,-0.000305718492681,3.73533850009e-05,1793250748174837248
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746.845669896,722.154330104,688.845669896,670.845669896,642,887,787.845669896,819.845669896,656,632,656,0.412583613293,0.0045645060138,0.0597999155594,0.99999991422,0.000223634894223,-0.000346613794033,3.75009796443e-05,1793250748191504128
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746.270966357,722.729033643,688.270966357,670.270966357,642,887,787.270966357,819.270966357,656,632,656,0.411814034202,0.00456225187872,0.0597514707174,0.999999886414,0.000214773776907,-0.0004239303773,3.6419836282e-05,1793250748208170752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.312385325,746,723,688.312385325,670,642,886.687614675,787,819,656,632,656,0.411110822358,0.00456187015583,0.0597376407737,0.999999881617,0.000206200943972,-0.000439342490196,3.49987184157e-05,1793250748224837120
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.903452048,746,723,688.903452048,670,642,886.096547952,787,819,656,632,656,0.410466817301,0.00456315882669,0.0597546910552,0.999999900055,0.000197885292912,-0.000399529136073,3.32743067913e-05,1793250748241503744
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.515741846,746.484258154,723,688.515741846,670.968516309,642,886,787,819.484258154,656,632,656,0.409868596098,0.00455931351928,0.0597962768408,0.99999992491,0.000187926313536,-0.000337178417428,3.4279619254e-05,1793250748258170624
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,747,723,687.937498718,671.812496154,642,886.062501282,787.062501282,820,656,632,655.937498718,0.409280029899,0.00455480807978,0.0598389950136,0.99999994543,0.000178192200387,-0.00027588314446,3.57335181077e-05,1793250748274837504
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,747,723,687.363833333,670.0915,642,886.636166667,787.636166667,820,656,632,655.363833333,0.408697322236,0.00455310135886,0.0598517977737,0.999999950789,0.000172921104503,-0.000259205901373,3.64975284461e-05,1793250748291503872
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.216049503,746.783950497,723,687,669.216049503,642,886.783950497,787.783950497,819.783950497,656,632,655.216049503,0.408118037851,0.00455140501368,0.0598537187108,0.999999952588,0.000167893035332,-0.000255562667962,3.63718431364e-05,1793250748308170240
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.610373039,746.389626961,723,687,670,642,886.389626961,787,819,656,632,656,0.407009764135,0.00454778671421,0.0598236753715,0.999999944446,0.000159871740376,-0.000290506760628,3.39908415273e-05,1793250748341504000
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.031228229,746.968771771,723,687,670,642,886.968771771,787,819,656,632,656,0.406493528503,0.00454571952874,0.0598124526975,0.999999940573,0.000157036952028,-0.000305049704634,3.37430532997e-05,1793250748358170880
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.544346879,746.455653121,723,687,670.544346879,642,886.455653121,787,819,656,632,655.455653121,0.406040530272,0.00454435049456,0.0598202572496,0.999999946114,0.000152930812638,-0.000288522092327,3.37461812879e-05,1793250748374837248
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,671,642,886,787,819,656,632,655.119334259,0.40559567095,0.00454332665955,0.0598259232501,0.999999950269,0.000148771256153,-0.00027602955426,3.37038742082e-05,1793250748391503872
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,671,642,886,787,819,656,632,655.692859242,0.405168070836,0.00454346522006,0.0598193223971,0.999999948181,0.000144684176682,-0.000285634582135,3.34342100214e-05,1793250748408170752
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769,746,723,686.725182163,670.725182163,642,886,787,819.274817837,656,632,656,0.404743587155,0.00454324183608,0.0598044718416,0.999999940909,0.000142311995517,-0.000311146583607,3.34207767048e-05,1793250748424837376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,746,723,686.13349966,670.13349966,642,886,787,819.86650034,656,632,656,0.404322696742,0.00454260113048,0.0597801093887,0.99999992635,0.000141917090289,-0.000354999307362,3.37027772752e-05,1793250748441504000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,746.448631767,723,686,670,642,886.448631767,787.448631767,819.551368233,656,632,656,0.403961289185,0.00453944184082,0.0597665526034,0.999999919584,0.000139958702093,-0.000374250884616,3.43601698509e-05,1793250748458170624
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,746.972172008,723,686,670.027827992,642,886.972172008,787.972172008,819,656,632,656,0.403621145832,0.00453571748606,0.0597576917326,0.999999916241,0.000137775420873,-0.00038379861984,3.51478116777e-05,1793250748474837248
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746.395977315,723,686,670.604022685,642,886.395977315,787.395977315,819,656,632,656,0.403358500924,0.00453531881786,0.059779325092,0.999999930567,0.000140137335297,-0.000343375693984,3.63467516168e-05,1793250748491503872
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,746.184099759,722.815900241,686,671,642,886.184099759,787,819,656,632,656,0.403105543791,0.0045347164091,0.0598004140227,0.999999942392,0.000141943158612,-0.000306027018513,3.76299051683e-05,1793250748508170752
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,746.772707203,722.227292797,686,671,642,886.772707203,787,819,656,632,656,0.402873872865,0.00453366633757,0.0598203067213,0.999999951147,0.00014252712741,-0.000275433153848,3.90980944895e-05,1793250748524837376
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,747,722.355248133,686,670.644751867,642,886.644751867,787,819,656,632,655.644751867,0.402645200407,0.00453249573631,0.0598317463125,0.999999954955,0.000144336664167,-0.000260010669013,4.06333004533e-05,1793250748541503744
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,747,722.933972847,686,670.066027153,642,886.066027153,787,819,656,632,655.066027153,0.402418414178,0.0045312493131,0.0598378682943,0.999999956025,0.000146917171272,-0.000254132068441,4.22106648555e-05,1793250748558170112
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.48965636,747,723,685.48965636,670,642,886,787,819,656,632,655.51034364,0.402216711658,0.0045314665674,0.0598326287346,0.999999953033,0.000147455037028,-0.000265395697985,4.19056830893e-05,1793250748574837248
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,685.085953332,670.085953332,642,886.085953332,786.914046668,819,656,632,656,0.402024071933,0.0045308680539,0.0598269312945,0.999999951013,0.000138496261601,-0.000277945415554,3.92215721575e-05,1793250748591504384
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,747,723,685.658968223,670.658968223,642,886.658968223,786.341031777,819,656,632,656,0.401864482006,0.00452457878664,0.0598269304804,0.99999995603,7.72146412724e-05,-0.000285273077717,2.44296002247e-05,1793250748608170752
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.23925887,747,723,686,670.76074113,642,886.76074113,786.23925887,819,656,632,656,0.401719029626,0.00451951613019,0.0598269014122,0.999999955391,7.17658004004e-05,-0.000289484018618,1.6346432598e-05,1793250748624837376
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.830245364,747,723,686,670.169754636,642,886.169754636,786.830245364,819,656,632,656,0.401594360458,0.00451625667956,0.0598268308084,0.999999947032,0.000148395135771,-0.000289113156439,1.81256872593e-05,1793250748641503744
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.588402659,746.588402659,723,685.588402659,670,642,886,787,819,656,632,656,0.401485374109,0.00451827773766,0.0598267900919,0.999999943173,0.000175170462348,-0.000287439925555,1.86513836763e-05,1793250748658170368
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.010933365,746.010933365,723,685.010933365,670,642,886,787,819,656,632,656,0.401382707871,0.0045224268181,0.0598267614199,0.999999942609,0.000181854836785,-0.000285241846139,1.86719015116e-05,1793250748674837248
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,746.562427958,723,685.562427958,670.562427958,642,886.562427958,787,819,656,632,655.437572042,0.401308063255,0.00451770050279,0.0598287767022,0.999999944132,0.000179310070693,-0.000281362432885,2.04674177527e-05,1793250748691504128
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.136388622,746.863611378,723,686,670.863611378,642,886.863611378,787,819,656,632.136388622,655,0.40123640992,0.00451482754615,0.0598297919724,0.999999944746,0.000178204186978,-0.000279776713955,2.18325056792e-05,1793250748708171008
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.712537258,746.287462742,723,686,670.287462742,642,886.287462742,787,819,656,632.712537258,655,0.4011726578,0.00451848267478,0.0598274557026,0.999999942336,0.000182311997299,-0.000285691211867,2.16993073116e-05,1793250748724837376
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,746.29693613,723,685.70306387,670.29693613,642.29693613,886,787,819,656,632.70306387,655.29693613,0.401118974795,0.0045197318571,0.0598253354353,0.999999940625,0.0001842404816,-0.00029038405523,2.19772277108e-05,1793250748741504000
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,746.889550353,723,685.110449647,670.889550353,642.889550353,886,787,819,656,632.110449647,655.889550353,0.401075318238,0.0045185852869,0.0598234302551,0.999999939638,0.000183998873587,-0.000293860420576,2.2664525064e-05,1793250748758170880
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768.53012638,747,723,685.46987362,670.53012638,642.53012638,885.53012638,786.53012638,819,656,632,656,0.401043200331,0.00451647677833,0.0598227978529,0.999999939309,0.000183429272643,-0.00029527532869,2.34149654904e-05,1793250748774837504
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746.952973164,723,685.952973164,670.047026836,642,885.047026836,786.047026836,819,656,632,656,0.401014961275,0.00451462105713,0.0598226233565,0.999999939213,0.000183017360616,-0.00029580406451,2.40496730541e-05,1793250748791504128
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,746.37978649,723,685.37978649,670.62021351,642,885.62021351,786.62021351,819,656,632,656,0.40100054771,0.0045180590508,0.0598243100664,0.999999940034,0.000185210381921,-0.000291701282664,2.32276709895e-05,1793250748808170752
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.193535219,746.193535219,723,685,671,642,886,787,819.193535219,656,632,656,0.400988047832,0.00451950205859,0.0598263320849,0.99999994099,0.000185499875076,-0.000288237242994,2.30157758616e-05,1793250748824837632
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768.767122067,746.767122067,723,685,671,642,886,787,819.767122067,656,632,656,0.40097930593,0.00451702744519,0.0598290125603,0.999999942235,0.00018205134577,-0.000286027523105,2.4001968323e-05,1793250748841504256
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,747,723,685,671,642,886,787,819.645299513,656,632,656,0.400972972447,0.00451594521881,0.0598305474475,0.999999943216,0.000180401304035,-0.000283613770931,2.42174621294e-05,1793250748858170880
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,747,723,685,671,642,886,787,819.048157739,656,632,656,0.400968285144,0.00451581470282,0.0598312993138,0.99999994402,0.000179980546468,-0.000281060560767,2.39061757505e-05,1793250748874837504
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,747,722.472588508,685,671,642,886.527411492,787,819,656,632,656,0.400967234574,0.00451491833049,0.0598326278606,0.999999944412,0.000179765788767,-0.000279785509612,2.40861988154e-05,1793250748891504384
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,747,722.101228339,685,671,642,886.898771661,786.898771661,819,656,632,655.898771661,0.400966686556,0.00451423658663,0.0598339201737,0.999999944798,0.000179756661018,-0.000278394616191,2.42534114479e-05,1793250748908171008
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,747,722.675699478,685,671,642,886.324300522,786.324300522,819,656,632,655.324300522,0.400966996549,0.00451487230841,0.0598348065974,0.999999945325,0.000180624373747,-0.000275937988955,2.41592498862e-05,1793250748924837632
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.741640475,746.741640475,723,685,671,642,886,786.258359525,819,656,632,655.258359525,0.400965845225,0.00451501096814,0.0598350682719,0.999999945651,0.000179681617911,-0.000275383181258,2.40221190319e-05,1793250748941504512
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.148364923,746.148364923,723,685,671,642,886,786.851635077,819,656,632,655.851635077,0.400962799569,0.00451450527761,0.0598345200728,0.999999945713,0.000176391919741,-0.000277293735558,2.38292863096e-05,1793250748958171136
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,746.433638982,723,685.433638982,671,642,886,787,819,656,632,656,0.400962878465,0.00451389166007,0.0598341109296,0.999999945764,0.000175477111129,-0.000277688039118,2.38603509883e-05,1793250748974837504
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,746.988164555,723,685.988164555,670.988164555,642,886.011835445,786.988164555,819,656,632,656,0.40096394799,0.00451328419281,0.0598337644059,0.999999945808,0.000175383777478,-0.000277579719322,2.39581915648e-05,1793250748991504384
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,746.412285984,723,685.412285984,670.412285984,642,886.587714016,786.412285984,819,656,632,656,0.400962571841,0.00451468503468,0.0598341922363,0.999999945574,0.000176697160767,-0.000277614501035,2.36801389603e-05,1793250749008171520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,746.162898498,723,685.162898498,670,642,886.837101502,786.162898498,819,656,632,656,0.400961917366,0.00451535881224,0.0598349049473,0.999999945594,0.000177771305987,-0.000276862945226,2.35868446853e-05,1793250749024838400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768,746.736333702,723,685.736333702,670,642,886.263666298,786.736333702,819,656,632,656,0.400963081655,0.00451420024262,0.0598363356141,0.999999946254,0.000178242523476,-0.000274129662011,2.39591782706e-05,1793250749041504256
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746.678369244,723,685.678369244,670.321630756,642,885.678369244,786.678369244,819,656,632,656,0.400962940048,0.00451451327316,0.0598362405593,0.999999946179,0.000178936979639,-0.000273946543335,2.40286714072e-05,1793250749058170624
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,746.082975761,723,685.082975761,670.917024239,642,885.082975761,786.082975761,819,656,632,656,0.400961686901,0.00451607888694,0.0598348468545,0.999999945478,0.000179821450032,-0.000275934050556,2.38403955588e-05,1793250749074837248
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,746.495347212,723,685,671,642,885.495347212,786,819,656,632,656,0.400963257353,0.00451572925167,0.0598364238679,0.999999946396,0.00017802682224,-0.000273784536874,2.35964296185e-05,1793250749091503872
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768,746.929177661,723,685,670.929177661,642,886,786.070822339,819,656,632.070822339,656,0.400964778337,0.00451508496833,0.0598380001394,0.999999947326,0.00017608452224,-0.000271652428739,2.33830519763e-05,1793250749108170752
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,746.354297954,723,685,670.354297954,642,886,786.645702046,819,656,632.645702046,656,0.400962693081,0.00451455091719,0.0598361474097,0.999999946555,0.000176178840739,-0.000274412072206,2.34515599847e-05,1793250749124837632
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768.22619867,746.22619867,723,685,670.22619867,642,886,787,819,656,633,656,0.400961481045,0.00451397596836,0.0598355691791,0.999999946183,0.000176519950801,-0.000275528532873,2.36239240311e-05,1793250749141504768
+404,6.733333333,POSE2_TO_POSE3_RETREAT,768.815717268,746.815717268,723,685,670.815717268,642,886,787,819,656,633,656,0.400961671572,0.00451333532969,0.0598370380465,0.999999946463,0.000177257457077,-0.000274005716505,2.39631014831e-05,1793250749158171648
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768.602297862,747,723,685.397702138,671,642,886,787,819,656,632.602297862,656,0.400962196535,0.00451339102742,0.0598372258972,0.999999946818,0.000176105877775,-0.000273475559162,2.36957338155e-05,1793250749174838272
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768.023739022,747,723,685.976260978,671,642,886,787,819,656,632.023739022,656,0.400962873582,0.00451376338707,0.0598368312002,0.999999947204,0.000174095228902,-0.000273396817732,2.31525372103e-05,1793250749191504896
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768,746.446387605,723,686,671,642,886,787,819,656,632,656,0.400962816296,0.00451472481757,0.0598370696796,0.999999946881,0.0001768801798,-0.000272758615208,2.35604177223e-05,1793250749208171264
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768.133334672,746,723,686,671,642,886,787,819.133334672,656,632.133334672,656,0.400962600127,0.00451568982125,0.059837176929,0.99999994658,0.000179128587472,-0.000272370640111,2.38195039761e-05,1793250749224838144
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768.721317289,746,723,686,671,642,886,787,819.721317289,656,632.721317289,656,0.400961949331,0.00451658106577,0.0598367443291,0.99999994649,0.000178847818084,-0.000272917519946,2.34324695456e-05,1793250749241504768
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca1e974af6a2040264d8a5b89205efdd7e548755
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+1,0.016666667,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+2,0.033333333,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+3,0.050000000,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+4,0.066666667,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+5,0.083333333,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+6,0.100000000,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+7,0.116666667,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
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+374,6.233333333,pose2_to_pose3_retreat,0.576095353456,0.0101501612459,1.05003356429,0.546666031339,0.0188227930518,1.0497049592
+375,6.250000000,pose2_to_pose3_retreat,0.576016180831,0.0101501312911,1.05003357676,0.546586859659,0.0188227663904,1.04970497425
+376,6.266666667,pose2_to_pose3_retreat,0.575947286261,0.010150049363,1.05003352467,0.546517966307,0.0188226884501,1.04970491819
+377,6.283333333,pose2_to_pose3_retreat,0.575887497101,0.0101501597209,1.0500336261,0.546458175503,0.0188227933088,1.04970502172
+378,6.300000000,pose2_to_pose3_retreat,0.575837645641,0.0101500651195,1.05003366617,0.546408325135,0.0188227021028,1.04970505352
+379,6.316666667,pose2_to_pose3_retreat,0.575794838376,0.0101501188978,1.05003363127,0.546365517267,0.0188227541151,1.04970502602
+380,6.333333333,pose2_to_pose3_retreat,0.575759172016,0.0101500822231,1.05003342803,0.546329850886,0.018822717732,1.04970483232
+381,6.350000000,pose2_to_pose3_retreat,0.575731747464,0.0101501050374,1.05003343658,0.546302425785,0.0188227385176,1.04970483657
+382,6.366666667,pose2_to_pose3_retreat,0.575711108624,0.0101501520389,1.0500334495,0.546281786752,0.0188227847418,1.04970484633
+383,6.383333333,pose2_to_pose3_retreat,0.57569614278,0.0101501620359,1.05003336769,0.546266821116,0.0188227955549,1.04970476745
+384,6.400000000,pose2_to_pose3_retreat,0.575685418422,0.0101501614505,1.05003336972,0.546256096185,0.0188227929819,1.04970476832
+385,6.416666667,pose2_to_pose3_retreat,0.575678453012,0.0101500280901,1.05003350139,0.546249131934,0.0188226632143,1.04970489107
+386,6.433333333,pose2_to_pose3_retreat,0.575673599706,0.010150068719,1.05003343009,0.546244277867,0.0188227013407,1.04970482196
+387,6.450000000,pose2_to_pose3_retreat,0.575670566731,0.0101501858288,1.05003327356,0.546241243339,0.0188228134487,1.04970467256
+388,6.466666667,pose2_to_pose3_retreat,0.57566888095,0.0101501546195,1.05003336947,0.546239558821,0.0188227865036,1.04970476789
+389,6.483333333,pose2_to_pose3_retreat,0.575667922825,0.0101501079529,1.05003347892,0.546238602052,0.0188227443766,1.04970487566
+390,6.500000000,pose2_to_pose3_retreat,0.575667185389,0.0101500720352,1.05003356317,0.546237865661,0.018822711953,1.0497049586
+391,6.516666667,pose2_to_pose3_retreat,0.575666599789,0.0101500435129,1.05003363006,0.54623728089,0.0188226862053,1.04970502446
+392,6.533333333,pose2_to_pose3_retreat,0.575666282622,0.0101500513357,1.05003356178,0.546236963369,0.0188226928645,1.04970495706
+393,6.550000000,pose2_to_pose3_retreat,0.575665774725,0.0101500662744,1.05003344159,0.546236454824,0.0188227056636,1.04970483845
+394,6.566666667,pose2_to_pose3_retreat,0.575665323859,0.0101500795356,1.0500333349,0.546236003383,0.0188227170255,1.04970473315
+395,6.583333333,pose2_to_pose3_retreat,0.57566529148,0.010150080488,1.05003332724,0.546235970962,0.0188227178415,1.04970472559
+396,6.600000000,pose2_to_pose3_retreat,0.575665284411,0.0101500806959,1.05003332557,0.546235963884,0.0188227180196,1.04970472394
+397,6.616666667,pose2_to_pose3_retreat,0.575665024868,0.0101500883298,1.05003326415,0.54623570401,0.0188227245601,1.04970466332
+398,6.633333333,pose2_to_pose3_retreat,0.575664954037,0.0101500945054,1.050033255,0.546235632964,0.0188227300195,1.04970465451
+399,6.650000000,pose2_to_pose3_retreat,0.575664720183,0.0101501506327,1.05003329125,0.546235397314,0.0188227801334,1.04970469298
+400,6.666666667,pose2_to_pose3_retreat,0.575664688422,0.0101501582558,1.05003329617,0.546235365308,0.0188227869399,1.0497046982
+401,6.683333333,pose2_to_pose3_retreat,0.575664569164,0.0101501868789,1.05003331466,0.546235245134,0.0188228124963,1.04970471782
+402,6.700000000,pose2_to_pose3_retreat,0.575664567911,0.0101501871796,1.05003331485,0.546235243871,0.0188228127648,1.04970471803
+403,6.716666667,pose2_to_pose3_retreat,0.5756644812,0.010150207991,1.05003332829,0.546235156495,0.0188228313466,1.04970473229
+404,6.733333333,pose2_to_pose3_retreat,0.575664378866,0.0101502335795,1.05003345733,0.546235054233,0.0188228569944,1.04970485635
+405,6.750000000,pose2_to_pose3_retreat,0.575664374986,0.0101502346299,1.05003347107,0.546235050423,0.0188228582573,1.04970486943
+406,6.766666667,pose2_to_pose3_retreat,0.575664339744,0.0101502441708,1.0500335958,0.546235015816,0.0188228697276,1.04970498823
+407,6.783333333,pose2_to_pose3_retreat,0.575664330997,0.0101502465388,1.05003362676,0.546235007227,0.0188228725745,1.04970501772
+408,6.800000000,pose2_to_pose3_retreat,0.575664323212,0.0101502486464,1.05003365432,0.546234999582,0.0188228751083,1.04970504396
+409,6.816666667,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c574ec34272fa0853111c163b4d5ac53613972f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15026da5ecd3d323c226d6e9777d36992616b4c1680c2e5d61a9238086b5e751
+size 26224320
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e20e51d13c57fb5c15eb6643304f789dbea8650
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,769,747,723,685,671,642,886,787,819,656,632,656,0.400962401777,0.00451412745168,0.0598388580087,0.999999948266,0.000173380291674,-0.000269932061036,2.33440251832e-05,1793250749365430528
+1,0.016666667,BASELINE,769,747,723,685,671,642.598851664,886.598851664,787,819,656,632,656,0.400963393586,0.00451335121018,0.0598389674193,0.999999948854,0.000170847165606,-0.000269385254125,2.31048118458e-05,1793250749382093824
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+3,0.050000000,BASELINE,768.234091227,747,723,685.765908773,671.765908773,642.234091227,887,787,819.765908773,656,632,655.234091227,0.400962189867,0.00451461361974,0.0598381969025,0.999999947572,0.000175945601621,-0.000270839842157,2.33412702692e-05,1793250749415424768
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+9,0.150000000,BASELINE,768.253525899,747,723,686,671,642.253525899,886.253525899,787,819,656,632,656,0.400963406047,0.00451635941496,0.0598398902073,0.999999948043,0.000177976909056,-0.000267753564986,2.33712101626e-05,1793250749515425280
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+13,0.216666667,BASELINE,769,746.435352799,723,686,671,642,886,787,819,656,632,655,0.400961580361,0.00451350617769,0.0598381360999,0.999999947951,0.000173877101251,-0.00027076350397,2.34781172618e-05,1793250749582092032
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+16,0.266666667,BASELINE,768,746.690586878,723,685.309413122,671,642,886,787,819.309413122,656,632.309413122,655.690586878,0.400961302611,0.00451318056729,0.0598388040554,0.99999994835,0.000172404002041,-0.000270237406925,2.34333453656e-05,1793250749632091648
+17,0.283333333,BASELINE,768,746.117747048,723,685.882252952,671,642,886,787,819.882252952,656,632.882252952,655.117747048,0.400960509897,0.00451276444405,0.0598378382178,0.999999948545,0.00016996154118,-0.000271063118591,2.34274221512e-05,1793250749648758528
+18,0.300000000,BASELINE,768.460739737,746,723,685.539260263,671,642.460739737,886,787,819.539260263,656,633,655.460739737,0.400960850159,0.0045116673234,0.0598381172519,0.999999948539,0.000170691917148,-0.000270607494476,2.36241148606e-05,1793250749665425152
+19,0.316666667,BASELINE,768.958682959,746.041317041,723,685,671,642.958682959,886.041317041,787,819,656,632.958682959,656,0.400961374646,0.00451067518159,0.0598386525435,0.999999948423,0.000172349877965,-0.000269965663747,2.38381603051e-05,1793250749682092032
+20,0.333333333,BASELINE,768.36976276,746.63023724,723,685,671,642.36976276,886.63023724,787,819,656,632.36976276,656,0.400960455658,0.00451340964036,0.0598383153386,0.999999947547,0.000175421617185,-0.000271249804568,2.35873925884e-05,1793250749698758400
+21,0.350000000,BASELINE,768,747,723,685,671,642,886.785727377,787,819,656,632,656,0.400960184137,0.00451489795554,0.0598382182908,0.999999947225,0.000176744804207,-0.000271584914983,2.34964116283e-05,1793250749715425280
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+24,0.400000000,BASELINE,768.877114111,746.122885889,723,685,671,642,886,787,819.877114111,656,632,656,0.400959165448,0.00451617315337,0.0598377194787,0.99999994723,0.000175001978077,-0.000272739466376,2.29588504154e-05,1793250749765425664
+25,0.416666667,BASELINE,769,746.49199661,723,685,671,642,886,787,820,656,632.49199661,656,0.400959965392,0.00451606953745,0.059838072299,0.999999947329,0.000175947659722,-0.000271747002656,2.3185541379e-05,1793250749782092032
+26,0.433333333,BASELINE,769,747,723,685,671,642,886.117859307,787,819.882140693,656,632.882140693,656,0.400961227896,0.00451540142049,0.0598386863522,0.999999947722,0.000176291486635,-0.000270049426231,2.34645461165e-05,1793250749798758144
+27,0.450000000,BASELINE,769,747,723,685,671,642,886.695477001,787,819.304522999,656,632.304522999,656,0.400961850921,0.00451414964237,0.0598392586145,0.999999948551,0.000173529483134,-0.000268795413615,2.31308726651e-05,1793250749815425280
+28,0.466666667,BASELINE,768.727885531,746.727885531,723,685,671.272114469,642,887,786.727885531,819,656,632,656,0.400962026182,0.0045139747583,0.0598394807551,0.999999948787,0.000172926956695,-0.000268324673234,2.28886849093e-05,1793250749832092160
+29,0.483333333,BASELINE,768.15234113,746.15234113,723,685,671.84765887,642,887,786.15234113,819,656,632,656,0.400961702151,0.00451500069942,0.0598393124812,0.999999948368,0.00017473242432,-0.000268727345663,2.27485112217e-05,1793250749848758784
+30,0.500000000,BASELINE,768.434512187,746.434512187,723,685.434512187,671.565487813,642.434512187,886.565487813,786.434512187,819,656,632,656,0.40096242255,0.00451529192787,0.0598396423493,0.999999948386,0.000175874047047,-0.000267904369412,2.29027463037e-05,1793250749865425408
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+36,0.600000000,BASELINE,768.09358159,746.09358159,723,685.09358159,671.90641841,642,886.90641841,787,819.09358159,656.90641841,632.90641841,656,0.400961400934,0.00451451680134,0.0598393852034,0.999999948247,0.00017523423516,-0.000268795430431,2.33999119575e-05,1793250749965425152
+37,0.616666667,BASELINE,768.493676987,746.493676987,723,685,671.506323013,642,886.012646027,787,819.493676987,656.506323013,632.506323013,656,0.400962738795,0.00451459683404,0.0598402931994,0.99999994881,0.000174636382022,-0.000267096693883,2.32885742503e-05,1793250749982092032
+38,0.633333333,BASELINE,768.917783778,747,723,685.082216222,671.082216222,642,885.082216222,787,819.917783778,656,632.082216222,656,0.400964106435,0.00451440151542,0.0598410220066,0.999999949419,0.000173537567698,-0.00026553936433,2.31355850474e-05,1793250749998758912
+39,0.650000000,BASELINE,768.337871127,747,723,685.662128873,671.662128873,642,885.662128873,787,819.337871127,656,632.662128873,656,0.400962825968,0.00451441364078,0.0598394259217,0.999999948767,0.000173952424499,-0.000267727887221,2.29900915394e-05,1793250750015425280
+40,0.666666667,BASELINE,768.240523672,746.759476328,723,686,671.759476328,642,886,787,819,656,632.759476328,656,0.400961883092,0.00451404473969,0.0598387069085,0.999999948426,0.000174174754048,-0.000268851576643,2.30165333056e-05,1793250750032092160
+41,0.683333333,BASELINE,768.81679963,746.18320037,723,686,671.18320037,642,886,787,819,656,632.18320037,656,0.400961411469,0.00451314395539,0.0598392122189,0.999999948525,0.000174128330541,-0.000268488841467,2.32829833134e-05,1793250750048758784
+42,0.700000000,BASELINE,769,746.392415345,723,686,671,642.392415345,886,787,819,656,632,655.607584655,0.400961162,0.00451362677838,0.0598388958133,0.999999948461,0.000173607641586,-0.000269074622778,2.31571177339e-05,1793250750065425408
+43,0.716666667,BASELINE,769,746.967723324,723,686,671,642.967723324,886,787,819,656,632,655.032276676,0.40096101607,0.00451475445789,0.0598381964314,0.99999994832,0.000172865912199,-0.00027010247825,2.28484060053e-05,1793250750082092032
+44,0.733333333,BASELINE,769,747,723,686,671,642.441570826,886,787,819,656,632,655.558429174,0.400960769645,0.00451432052528,0.0598376893849,0.999999948215,0.000172739918608,-0.000270571846783,2.28595458332e-05,1793250750098758656
+45,0.750000000,BASELINE,768.85379048,746.85379048,723,685.85379048,671,642,886,786.85379048,819.14620952,656,632,656,0.400960782732,0.00451386199857,0.0598377505574,0.99999994824,0.000172919845818,-0.000270362317165,2.28874419481e-05,1793250750115425024
+46,0.766666667,BASELINE,768.277312789,746.277312789,723,685.277312789,671,642,886,786.277312789,819.722687211,656,632,656,0.400961577088,0.00451360424561,0.0598394502531,0.999999948639,0.000173892341082,-0.000268252600859,2.29087018869e-05,1793250750132091648
+47,0.783333333,BASELINE,768.298342298,746,723,685.298342298,671,642,886,786,819.701657702,656,632,656,0.400962336723,0.00451370421715,0.0598404421091,0.999999948899,0.000174503363281,-0.000266881562348,2.29033197768e-05,1793250750148758528
+48,0.800000000,BASELINE,768.873234934,746,723,685.873234934,671,642,886,786,819.126765066,656,632,656,0.400963064172,0.00451413578369,0.0598407778286,0.999999949035,0.000174779315777,-0.000266195245792,2.28732416486e-05,1793250750165425152
+49,0.816666667,BASELINE,768.543832765,746,723,686,671,642,886,786.456167235,819,656,632,655.543832765,0.400962871563,0.00451399310364,0.0598404743023,0.999999949249,0.000172573037623,-0.000266831751353,2.28317849149e-05,1793250750182092032
+50,0.833333333,BASELINE,768,746.041168804,723,686,671,642,886,787,819,656,632,655.041168804,0.400962478883,0.00451372589895,0.0598400144957,0.999999949443,0.000170001164419,-0.000267755830348,2.28019933383e-05,1793250750198758912
+51,0.850000000,BASELINE,768,746.623476661,723,686,671,642,886,787,819,656,632,655.623476661,0.400962877393,0.00451395708522,0.0598398773551,0.99999994918,0.00017185331609,-0.000267541306357,2.29678416641e-05,1793250750215426048
+52,0.866666667,BASELINE,768.204106412,746.795893588,723,685.795893588,671,642.204106412,886,787,819,656,632.204106412,656,0.400962504476,0.00451415089689,0.0598394048559,0.99999994863,0.000173736323615,-0.000268369873473,2.3077002682e-05,1793250750232093184
+53,0.883333333,BASELINE,768.781665703,746.218334297,723,685.218334297,671,642.781665703,886,787,819,656,632.781665703,656,0.400960720078,0.00451427632432,0.059838318752,0.999999947553,0.000175675787888,-0.000271106981215,2.30824430955e-05,1793250750248759808
+54,0.900000000,BASELINE,769,746,723,685.357671861,671,642.642328139,886,786.642328139,819,656,632.642328139,656,0.400960926601,0.00451420740886,0.0598388395566,0.99999994791,0.000175438066079,-0.000269950037262,2.29913826583e-05,1793250750265426176
+55,0.916666667,BASELINE,769,746,723,685.932734015,671,642.067265985,886,786.067265985,819,656,632.067265985,656,0.400962343189,0.00451402037323,0.0598403370284,0.999999949131,0.000173877066709,-0.000266426317589,2.28416697224e-05,1793250750282092544
+56,0.933333333,BASELINE,769,746,723,686,671,642,886,786.519397902,819.519397902,656,632.519397902,655.480602098,0.400962800588,0.00451416578842,0.0598406481867,0.999999949335,0.000173523508884,-0.000265883787058,2.29323227464e-05,1793250750298759168
+57,0.950000000,BASELINE,769,746.106368471,723,685.893631529,671,642,886,786.893631529,819.893631529,656.106368471,632.893631529,655.106368471,0.40096299013,0.00451419702043,0.0598406874802,0.999999949369,0.000173234812695,-0.000265932178664,2.30500405359e-05,1793250750315425280
+58,0.966666667,BASELINE,769,746.68784421,723,685.31215579,671,642,886,786.31215579,819.31215579,656.68784421,632.31215579,655.68784421,0.400962550791,0.00451352153625,0.0598402143719,0.999999949244,0.000172521413028,-0.00026685609176,2.31464271797e-05,1793250750332092160
+59,0.983333333,BASELINE,769,747,723,685,671,642,886.265121776,786.265121776,819,657,632,656,0.400962121948,0.00451354470251,0.0598399995566,0.999999949111,0.000172436982871,-0.000267401565191,2.32530907718e-05,1793250750348759296
+60,1.000000000,BASELINE,769,747,723,685,671,642,886.837533513,786.837533513,819,657,632,656,0.400961705269,0.00451437764098,0.0598400841163,0.999999948968,0.000173081561081,-0.000267508407437,2.3371665895e-05,1793250750365426432
+61,1.016666667,BASELINE,769,747,723,685,671,642.410110089,886.589889911,787,819,656.589889911,632,656,0.400963073765,0.00451338596164,0.059840821754,0.999999949411,0.000172365224488,-0.000266306810242,2.34426445801e-05,1793250750382092800
+62,1.033333333,BASELINE,769,747,723,685,671,642.982751958,886.017248042,787,819,656.017248042,632,656,0.400965149747,0.00451167116329,0.0598418182146,0.999999950082,0.000171109540225,-0.000264586662052,2.34947601915e-05,1793250750398758656
+63,1.050000000,BASELINE,769,746.42150934,723,685.57849066,671,643,886.57849066,787,819,656,632,656,0.400963527106,0.00451290888404,0.0598411965072,0.999999949604,0.000171866094342,-0.000265919705507,2.32733056137e-05,1793250750415425792
+64,1.066666667,BASELINE,768.830182628,746.169817372,723,686,671,642.830182628,887,786.830182628,819,656,632,656,0.400962369799,0.00451419408455,0.059840761354,0.999999949204,0.000172696395967,-0.000266896337611,2.31116884706e-05,1793250750432092672
+65,1.083333333,BASELINE,768.25121421,746.74878579,723,686,671,642.25121421,887,786.25121421,819,656,632,656,0.400962610397,0.00451537276181,0.0598408967545,0.999999949085,0.000173553818272,-0.000266785794989,2.31147108005e-05,1793250750448759040
+66,1.100000000,BASELINE,768,746.675800664,723,685.675800664,671,642,886.675800664,786.324199336,819,656,632,656,0.400962051032,0.00451516025429,0.0598403870791,0.999999949063,0.000173145071042,-0.000267143365834,2.30045157874e-05,1793250750465425664
+67,1.116666667,BASELINE,768,746.103111851,723,685.103111851,671,642,886.103111851,786.896888149,819,656,632,656,0.400960878519,0.00451388144356,0.0598393829714,0.999999949114,0.000171765841204,-0.000267859732209,2.28075429339e-05,1793250750482092800
+68,1.133333333,BASELINE,768,746,723,685,671,642,886.482904023,786.517095977,819,656,632,656,0.400961210594,0.0045136213226,0.0598397843339,0.999999949076,0.000172382392365,-0.000267601052497,2.28288154545e-05,1793250750498759168
+69,1.150000000,BASELINE,768,746,723,685,671,642,886.929335181,786.070664819,819,656,632,655.929335181,0.400961932403,0.00451359303372,0.0598404566287,0.999999949051,0.000173331640661,-0.000267074821163,2.29016871171e-05,1793250750515425024
+70,1.166666667,BASELINE,768,746,723,685,671,642,886.350078215,786.649921785,819,656,632,655.350078215,0.40096308137,0.00451362335591,0.0598408576785,0.999999949259,0.000173521250945,-0.000266163922035,2.30010145793e-05,1793250750532091648
+71,1.183333333,BASELINE,768.228111765,746,723,685.228111765,671,642,886,787,819,656,632,655,0.400963359498,0.00451346402759,0.0598410379898,0.999999949469,0.000172674810088,-0.000265931433981,2.29518785414e-05,1793250750548758528
+72,1.200000000,BASELINE,768.804671978,746,723,685.804671978,671,642,886,787,819,656,632,655,0.400962307391,0.0045130150017,0.0598408811158,0.999999949677,0.000170245766054,-0.000266735241683,2.26759594944e-05,1793250750565425920
+73,1.216666667,BASELINE,768.620124212,746.379875788,723,685.620124212,671,642.379875788,886,787,819,656,632.379875788,655.379875788,0.40096296231,0.00451264557139,0.0598411084136,0.999999949809,0.000170034548676,-0.000266368937669,2.27485463484e-05,1793250750582092544
+74,1.233333333,BASELINE,768.045615404,746.954384596,723,685.045615404,671,642.954384596,886,787,819,656,632.954384596,655.954384596,0.400964491842,0.00451231692266,0.0598415325454,0.999999949902,0.000170959656307,-0.000265403115592,2.29996935766e-05,1793250750598758656
+75,1.250000000,BASELINE,768,747,723,685.545757829,671,642.454242171,886,786.454242171,819,656,632.454242171,656,0.400964135756,0.00451312764013,0.0598410431439,0.999999949519,0.000172674541358,-0.000265750086329,2.28514490582e-05,1793250750615425536
+76,1.266666667,BASELINE,768,747,723,685.865165658,671,642,886,786,819,656,632,656,0.400963286327,0.00451373668281,0.0598403291425,0.999999949104,0.000173766889871,-0.000266608986491,2.27250350197e-05,1793250750632092416
+77,1.283333333,BASELINE,768,747,723,685.288384561,671,642,886,786,819,656,632,656,0.400961352916,0.00451336260644,0.0598391372176,0.999999948726,0.000172595485829,-0.000268774723177,2.27830794571e-05,1793250750648759040
+78,1.300000000,BASELINE,768.287395291,747,723,685.287395291,671,642,886,786,819.287395291,656,632,655.712604709,0.40096129535,0.00451383209684,0.0598392731513,0.99999994865,0.000173671001122,-0.000268351970178,2.29406954547e-05,1793250750665425664
+79,1.316666667,BASELINE,768.862173907,747,723,685.862173907,671,642,886,786,819.862173907,656,632,655.137826093,0.400963113554,0.0045151451189,0.0598407368883,0.999999948865,0.000176993342261,-0.000265340835144,2.31978788627e-05,1793250750682092032
+80,1.333333333,BASELINE,769,746.552140257,723,685.552140257,671,642,886,786.447859743,819.552140257,656,632,655,0.400962223271,0.00451402512608,0.0598404393499,0.999999948996,0.000174732502643,-0.000266338788222,2.32446368777e-05,1793250750698758656
+81,1.350000000,BASELINE,769,746.036359471,723.036359471,685.036359471,671,642,886,787,819,656,632,655.036359471,0.400960746684,0.0045123426452,0.059839719373,0.999999949117,0.000170972473619,-0.000268322452774,2.3204213746e-05,1793250750715425280
+82,1.366666667,BASELINE,769,746.615505509,723.615505509,685.615505509,671,642,886,787,819,656,632,655.615505509,0.400963271208,0.00451371969375,0.0598409865564,0.999999949681,0.000171122029003,-0.000266143223203,2.28531684174e-05,1793250750732091904
+83,1.383333333,BASELINE,768.806571166,747,723.806571166,685.806571166,671,642.193428834,886,787,819,656,632,656,0.400964684556,0.00451455050378,0.0598417215353,0.999999949943,0.000171839774109,-0.000264709723327,2.26688373257e-05,1793250750748758784
+84,1.400000000,BASELINE,768.23106296,747,723.23106296,685.23106296,671,642.76893704,886,787,819,656,632,656,0.400963903001,0.00451430233081,0.0598414052523,0.999999949611,0.000173679862627,-0.000264749260606,2.28138162842e-05,1793250750765425920
+85,1.416666667,BASELINE,768.341055653,747,723,685,671,642.658944347,886.341055653,787,819,656,632,655.658944347,0.40096386814,0.00451430878109,0.0598413453516,0.999999949656,0.000173293601028,-0.000264838700466,2.27397509706e-05,1793250750782092288
+86,1.433333333,BASELINE,768.910900405,747,723,685,671,642.089099595,886.910900405,787,819,656,632,655.089099595,0.40096433418,0.00451448603935,0.0598414574388,0.999999949953,0.000171413845129,-0.000264961616289,2.25187449923e-05,1793250750798758656
+87,1.450000000,BASELINE,768.497503547,746.497503547,723,685,671,642.502496453,887,787,819,656,632,655.502496453,0.400964325185,0.00451398744041,0.0598416911743,0.999999949661,0.000173079194228,-0.000264953621546,2.28503709143e-05,1793250750815425024
+88,1.466666667,BASELINE,768.095400827,746,723,685,671,642.904599173,886.904599173,787,819,656,632,656,0.400964058665,0.00451346183655,0.0598418988799,0.999999949366,0.000174733567016,-0.000264946470125,2.32119986464e-05,1793250750832091648
+89,1.483333333,BASELINE,768.674499239,746,723,685,671,642.325500761,886.325500761,787,819,656,632,656,0.400962932828,0.00451343440669,0.0598418602986,0.999999949636,0.000173001003833,-0.000265066609259,2.32064401273e-05,1793250750848758528
+90,1.500000000,BASELINE,768.748959259,746.251040741,723,685,671,642,886,787,819,656,632,655.748959259,0.400962893045,0.00451338225636,0.0598418518098,0.999999949913,0.000171557987168,-0.000264970953714,2.30633244595e-05,1793250750865424896
+91,1.516666667,BASELINE,768.175699678,746.824300322,723,685,671,642,886,787,819,656,632,655.175699678,0.400964247247,0.00451329837654,0.0598418819456,0.999999950202,0.000170486612873,-0.00026459831877,2.27436497822e-05,1793250750882091776
+92,1.533333333,BASELINE,768,747,723,685,671,642,886,787,819,656,632.399564016,655,0.400964254945,0.00451325233876,0.0598414493487,0.999999950296,0.000169281672571,-0.000265029982791,2.26123870686e-05,1793250750898758400
+93,1.550000000,BASELINE,768,747,723,685,671,642,886,787,819,656,632.975713469,655,0.400963667562,0.00451322302508,0.0598408122493,0.999999950301,0.000168017703307,-0.000265817102921,2.25643921078e-05,1793250750915425024
+94,1.566666667,BASELINE,768,746.433634271,722.433634271,685,671.566365729,642,885.433634271,787,819,656,632.433634271,655.566365729,0.400963267347,0.00451454381819,0.0598402807058,0.999999949754,0.000171196168901,-0.00026584810371,2.2571216341e-05,1793250750932091904
+95,1.583333333,BASELINE,768.154301379,746.154301379,722.154301379,685,671.845698621,642,885.154301379,787,819,656,632,656,0.400962870678,0.00451522686639,0.0598400350722,0.999999949294,0.000173776582587,-0.000265894533764,2.2680834231e-05,1793250750948758528
+96,1.600000000,BASELINE,768.733009616,746.733009616,722.733009616,685,671.266990384,642,885.733009616,787,819,656,632,656,0.400962461106,0.00451399237006,0.0598405630579,0.999999949168,0.000174174317185,-0.000266074926578,2.30665510966e-05,1793250750965425152
+97,1.616666667,BASELINE,768.689990379,746.689990379,723,685,671,642,886,787,819,656,632,656,0.40096205739,0.00451365750793,0.0598406742168,0.999999949111,0.000173685111978,-0.000266601148647,2.31186921454e-05,1793250750982091776
+98,1.633333333,BASELINE,768.11445353,746.11445353,723,685,671,642,886,787,819,656,632,656,0.400961658689,0.00451409319412,0.0598404283581,0.999999949113,0.000172436231395,-0.000267423577906,2.28851211936e-05,1793250750998758400
+99,1.650000000,BASELINE,768,746.472234231,723,685,671.472234231,642,886.472234231,787,819,656,632,656,0.400961478806,0.00451443881259,0.0598399939766,0.999999949201,0.000171531428018,-0.00026770772522,2.2512445384e-05,1793250751015425280
+100,1.666666667,BASELINE,768.060618071,747,723,685.060618071,671.939381929,642,887,786.939381929,819,656,632,656,0.400961451478,0.00451460979629,0.0598396281845,0.99999994933,0.000170733601227,-0.000267762218716,2.22086657415e-05,1793250751032091904
+101,1.683333333,BASELINE,768.639831842,747,723,685.639831842,671.360168158,642,887,786.360168158,819,656,632,656,0.400962264603,0.00451347802567,0.0598402495344,0.999999949627,0.000170120284512,-0.000266995098858,2.27897076878e-05,1793250751048758528
+102,1.700000000,BASELINE,769,747,723,686,671,642,886.78238794,786,819,656,632.21761206,656,0.400963278997,0.00451309875874,0.0598410117213,0.999999949891,0.000170538364491,-0.000265710812022,2.3083364606e-05,1793250751065425152
+103,1.716666667,BASELINE,769,747,723,686,671,642,886.206964916,786,819,656,632.793035084,656,0.400964624331,0.00451395680421,0.0598420054811,0.999999950097,0.000172652329618,-0.000263576167905,2.29044855493e-05,1793250751082092032
+104,1.733333333,BASELINE,768.632796651,747,723,685.632796651,671,642,886.367203349,786.367203349,819.367203349,656,633,656,0.4009634279,0.00451364374628,0.059841292166,0.999999949567,0.000173691415212,-0.000264895574223,2.29865530737e-05,1793250751098758656
+105,1.750000000,BASELINE,768.059333137,747,723,685.059333137,671,642,886.940666863,786.940666863,819.940666863,656,633,656,0.400960803747,0.00451267287314,0.0598396199776,0.999999948617,0.000174126735192,-0.000268155139682,2.32151957275e-05,1793250751115425280
+106,1.766666667,BASELINE,768.530835402,747,723,685,671,642,886.469164598,787,819.469164598,656,633,656,0.400960555597,0.0045138512267,0.0598396656279,0.999999948532,0.000174093581716,-0.000268519676411,2.29149534215e-05,1793250751132091904
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,723,686,671,642,886,787,819,656,633,656,0.40096370686,0.00451444794522,0.0598418662175,0.99999994989,0.000171904951579,-0.00026488974723,2.24054197188e-05,1793250751174158592
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.426196033,746.426196033,723,686,671,642,886,787,819,656,632.426196033,656,0.400961513244,0.00451348377934,0.0598398681448,0.999999949371,0.000170686065309,-0.000267609825154,2.25644900511e-05,1793250751190825984
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,685.848416372,671,642,886,787,819,656,632,656,0.4009603255,0.00451276358204,0.0598387323832,0.999999948975,0.000170564661205,-0.000269150024449,2.27364668383e-05,1793250751207492864
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,685.25915735,671,642,886,787,819,656,632,656,0.400962042059,0.00451274780784,0.0598400864174,0.999999948946,0.000173612074894,-0.000267283498661,2.29457091501e-05,1793250751224158976
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.324502161,746.324502161,723,685,671.324502161,642,886,786.675497839,819,656,632,656,0.400962676753,0.00451293653194,0.0598409530016,0.999999949291,0.000173046302148,-0.000266364886168,2.28770427443e-05,1793250751240825344
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.903765555,746.903765555,723,685,671.903765555,642,886,786.096234445,819,656,632,656,0.400962462093,0.00451328580425,0.059841436897,0.999999949927,0.000169643876834,-0.000266190464697,2.25901948288e-05,1793250751257491968
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.51899841,723,685,671.51899841,642,886,786,819,656,632,656,0.400961650758,0.00451337466556,0.0598400587317,0.999999949436,0.000170268099027,-0.000267621651756,2.2688027187e-05,1793250751274158592
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746,723,685,671,642,886,786.057717264,819,656.057717264,632,656,0.40096112268,0.00451339324125,0.0598387147403,0.999999948888,0.000171503695147,-0.000268863976466,2.28400853652e-05,1793250751290824960
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,723,685,671,642,886,786.63338796,819,656.63338796,632,656,0.400964203345,0.00451324666316,0.0598410065956,0.999999949859,0.00017102651843,-0.000265540793022,2.27909963447e-05,1793250751307491840
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,723,685,671,642,886,786.785128642,819,656.785128642,632,655.785128642,0.400967540648,0.00451282603111,0.0598431780138,0.999999950701,0.000170548866287,-0.000262654705694,2.29019256202e-05,1793250751324158464
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,723,685,671,642,886,786.193451964,819,656.193451964,632,655.193451964,0.400971327998,0.00451192480925,0.0598451382295,0.999999951327,0.000170070380471,-0.000260535124518,2.32934681302e-05,1793250751340825088
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746.387365372,723,685,671,642,886.387365372,786.387365372,819,656,632,655,0.400995316436,0.00451192039881,0.0598547831595,0.99999995571,0.000169626581895,-0.00024342861518,2.34338546516e-05,1793250751357491712
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.962907442,723,685,671,642,886.962907442,786.962907442,819,656,632,655,0.401029118281,0.00451235164678,0.0598681612167,0.999999961421,0.000169199633771,-0.000219041664679,2.34522331171e-05,1793250751374158336
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746.461331695,723,685,671,642,886.461331695,787,819,656,632,655.538668305,0.40108931728,0.00451226239746,0.0598884722273,0.999999968782,0.000169511920822,-0.000182068159934,2.3496663394e-05,1793250751390824960
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,723,685,671.117159494,642,886.117159494,787,819,656,632.117159494,656,0.401153205216,0.00451221855046,0.059907779299,0.999999974268,0.000169896333444,-0.000148478300571,2.3530050879e-05,1793250751407491584
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746,723,685,671.706596218,642,886.706596218,787,819,656,632.706596218,656,0.401224633264,0.00451250226028,0.0599211142202,0.999999976496,0.000170366210929,-0.000132023285138,2.3511689961e-05,1793250751424158464
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.709116006,746.290883994,723,685.290883994,671.709116006,642,886.709116006,787,819.290883994,656,632.709116006,655.709116006,0.401304151886,0.00451249260288,0.0599307940947,0.999999978477,0.000169446604393,-0.000117457700832,2.31964297353e-05,1793250751440825088
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.129931481,746.870068519,723,685.870068519,671.129931481,642,886.129931481,787,819.870068519,656,632.129931481,655.129931481,0.401391689223,0.00451219218378,0.059936851384,0.999999980288,0.000167149854416,-0.000104764767811,2.25869070938e-05,1793250751457491712
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.445840632,746.554159368,723,685.554159368,671.445840632,642.445840632,886,787,819.554159368,656,632,655.445840632,0.401496836501,0.00451165355162,0.0599411795863,0.999999981343,0.000164788335834,-9.8343558101e-05,2.20592887898e-05,1793250751474158336
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746.020564707,723,685.020564707,671.979435293,643,886,787,819,656,632,656,0.401607927402,0.00451104349048,0.0599449812306,0.999999982214,0.000162351654502,-9.3547923167e-05,2.15156438285e-05,1793250751490825216
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746.593647086,723,685.593647086,671.406352914,643,886,787,819,656,632,656,0.401741869938,0.00451036535312,0.0599480715073,0.999999983755,0.000158398835939,-8.36928469209e-05,1.99049712123e-05,1793250751507491840
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.832696777,746.832696777,723,686,671,642.832696777,886.167303223,787,819,656,632,656,0.401881182296,0.00451005563487,0.0599492383389,0.9999999848,0.000155033888992,-7.76530606493e-05,1.8306804469e-05,1793250751524158464
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.257642361,746.257642361,723,686,671,642.257642361,886.742357639,787,819,656,632,656,0.402033581956,0.00451064382727,0.0599457173524,0.999999984866,0.000153101702577,-8.09118954871e-05,1.67391172622e-05,1793250751540825344
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.328779879,746.328779879,723,686,671,642,887,787,819,656,632,656,0.402209869547,0.00451146936155,0.0599452031853,0.999999985334,0.000151835942383,-7.78209756352e-05,1.49043659476e-05,1793250751557491968
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.924429409,746.924429409,723,686,671,642,887,787,819,656,632,656,0.402405546916,0.00451248754559,0.0599471296442,0.99999998608,0.000151111118162,-6.95759790905e-05,1.28528393178e-05,1793250751574158592
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,723,685.497407559,671,642.502592441,887,787,819,656,632,655.497407559,0.402641420657,0.00451142451033,0.0599499003383,0.999999987617,0.000145424114416,-5.92561285065e-05,1.03471762015e-05,1793250751590825216
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.921932657,746.921932657,723,685,671,642.921932657,887,787,819,656,632,655,0.402886471509,0.0045102987256,0.0599526484897,0.999999989078,0.000139151240931,-4.92074870253e-05,7.7596754003e-06,1793250751607491840
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.347393849,746.347393849,723,685,671,642.347393849,887,787,819,656,632,655,0.403152739992,0.00451069709136,0.0599544731421,0.999999990128,0.000133737948567,-4.28009289344e-05,5.07138176498e-06,1793250751624158720
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.234171065,746,723,685.234171065,671.234171065,642.234171065,886.765828935,787,819,656,632.234171065,655.234171065,0.403428256399,0.00451091020261,0.0599536655974,0.999999991003,0.000127436944472,-4.18250323378e-05,2.27510833399e-06,1793250751640825344
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.826481621,746,723,685.826481621,671.826481621,642.826481621,886.173518379,787,819,656,632.826481621,655.826481621,0.403717916494,0.00451083998696,0.0599488323898,0.999999991618,0.000119778280968,-4.915474952e-05,-6.86308433791e-07,1793250751657491968
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,723,686,672,642.5943301,886.4056699,787,819,656,632.5943301,656,0.404034139423,0.0045107332491,0.0599383960306,0.999999991688,0.000111047951696,-6.53905081185e-05,-4.13890519831e-06,1793250751674158592
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,723,686,672,642.020578795,886.979421205,787,819,656,632.020578795,656,0.404361368138,0.00451061137898,0.059925638115,0.999999991141,0.000101873598775,-8.5316310948e-05,-7.79501273271e-06,1793250751690825728
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746.556392854,723,686,671.443607146,642.556392854,887,787,819.556392854,656,632.556392854,656,0.40472963845,0.00450821170297,0.059912319686,0.999999989386,9.25476109177e-05,-0.000111992314058,-1.0944040202e-05,1793250751707492352
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,723,686.131014916,671.131014916,643,887,787,819.868985084,656,632.868985084,656,0.405112458825,0.00450635983418,0.0599026714162,0.99999998771,8.3169839262e-05,-0.000132138640597,-1.41961791818e-05,1793250751724158720
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,723,686.697430366,671.697430366,643,887,787,819.302569634,656,632.302569634,656,0.405538559182,0.00450661009559,0.0599052894488,0.999999988712,7.36387239644e-05,-0.000129750419826,-1.78536778142e-05,1793250751740825600
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.718790375,747,723,687.281209625,671.718790375,643,887,787,819,656,632.281209625,656,0.406002176707,0.00450666367595,0.0599190522305,0.999999991889,6.48767918884e-05,-0.000107523784165,-2.12490840828e-05,1793250751757492224
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.115098796,747,723,687.884901204,671.115098796,643,887,787,819,656,632.884901204,656,0.406508817742,0.00450649170897,0.0599455954444,0.999999996123,5.699693252e-05,-6.25471060579e-05,-2.43439318863e-05,1793250751774158336
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.467205057,747,723,688,671,643,887,787,819,656,632.532794943,656,0.407056757671,0.00450412126619,0.0599755780564,0.999999998471,4.60097564322e-05,-1.29941313537e-05,-2.77729640893e-05,1793250751790824960
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,723,688,671,642.955957966,887,787,819,656,632.044042034,656,0.407613334519,0.00450138092725,0.0600035881994,0.999999998404,3.44095744996e-05,3.2091320948e-05,-3.12829638891e-05,1793250751807491840
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,723,688,671,642.384254639,887,787,819,656,632.615745361,656,0.408156829357,0.00450041379203,0.0599982592977,0.999999999042,2.42349995485e-05,1.07361346394e-05,-3.48198413417e-05,1793250751824158464
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.80465099,723,688.19534901,671,642.19534901,887,787,819,656,632.80465099,656,0.408709414153,0.00449947609421,0.0599900319197,0.99999999907,1.44021373739e-05,-1.33236361563e-05,-3.84042434319e-05,1793250751840824832
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.208852357,723,688.791147643,671,642.791147643,887,787,819,656,632.208852357,656,0.409280632592,0.00449859874072,0.059975862901,0.999999998179,5.26975929282e-06,-4.29275844578e-05,-4.20860669721e-05,1793250751857491712
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746.373375428,723,689,671.373375428,643,887,787,819,656,632.373375428,656,0.409902653192,0.00449809206801,0.0599748838606,0.999999997887,-3.85170112599e-06,-4.51339967576e-05,-4.66302899825e-05,1793250751874158592
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746.948278396,723,689,671.948278396,643,887,787,819,656,632.948278396,656,0.410552093988,0.00449778546844,0.0599810240462,0.999999998053,-1.29672684933e-05,-3.25527235768e-05,-5.16399887269e-05,1793250751890825472
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,723,689,672,643,887.523223652,787,819.523223652,656,632.476776348,656,0.41125137775,0.00449600598881,0.0599903224719,0.999999998026,-2.46844406468e-05,-1.10886872598e-05,-5.67111321634e-05,1793250751907491840
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746.899044447,723,689.100955553,671.899044447,643,888,787,819.899044447,656,632,655.899044447,0.411952031422,0.0044935787844,0.0599944083926,0.999999997671,-3.22574155879e-05,-5.84669286288e-07,-6.0148324459e-05,1793250751924158208
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.307799733,723,689.692200267,671.307799733,643,888,787,819.307799733,656,632,655.307799733,0.412635407653,0.00448871306094,0.0599716635497,0.999999997151,-1.84550943394e-05,-4.75725403089e-05,-5.56207552045e-05,1793250751940824832
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.277527594,723,690,671,642.722472406,888,787.277527594,819.277527594,656,632,655.277527594,0.413327712645,0.00448200138773,0.0599441552637,0.999999993718,2.37982281449e-05,-0.000101267848636,-4.1740711642e-05,1793250751957491712
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746.856429161,723,690,671,642.143570839,888,787.856429161,819.856429161,656,632,655.856429161,0.414029713679,0.00447328515214,0.0599114742358,0.999999981982,9.69471874155e-05,-0.000162246931861,-1.77045876631e-05,1793250751974158592
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,723,690.871355267,671,642,888,788,820,656,632,656,0.414841982316,0.00447030604059,0.0599311431334,0.999999987291,0.000101981682934,-0.000121374263589,-1.69200353277e-05,1793250751990825216
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,723,691.985080699,671.014919301,642.014919301,888.014919301,788,820.014919301,656,632,656,0.415690762999,0.00446921465636,0.0599680967155,0.999999995006,8.47709512781e-05,-4.73271199695e-05,-2.37234217851e-05,1793250752007491840
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,723,691.410385661,671.589614339,642.589614339,888.589614339,788,820.589614339,656,632,656,0.41654502752,0.00446795968427,0.0600057943166,0.999999996689,7.57669813993e-05,1.11138922915e-05,-2.75115662455e-05,1793250752024158464
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,723,691,671.832079624,643,889.167920376,788,821,656,632,656,0.417395302398,0.00446711135961,0.0600294174252,0.99999999598,6.92667196526e-05,4.78728407011e-05,-3.08364846627e-05,1793250752040825088
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,723,691,671.244754644,643,889.755245356,788,821,656,632,656,0.418235612529,0.00446727869377,0.0600178875199,0.999999996609,6.90198198845e-05,3.04778017435e-05,-3.30044312879e-05,1793250752057491712
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.662141734,747,723,691,671,643,890,788,821.337858266,656,632.337858266,656,0.41908236288,0.00446791398362,0.059998475274,0.999999999398,3.83366385691e-07,-1.35359978854e-06,-3.46771770261e-05,1793250752074158336
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.082895458,747,723,691,671,643,890,788,821.917104542,656,632.917104542,656,0.41993371451,0.00446888361158,0.0599734313699,0.999999991548,-0.000117115050804,-4.34992808469e-05,-3.59961183976e-05,1793250752090824960
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746.506885419,723,691.493114581,671,643,890,788,822.493114581,656,632.506885419,656,0.420759699866,0.00446880620987,0.0599368348268,0.999999986438,-0.000125427117852,-0.000100034470256,-3.72296038868e-05,1793250752107492096
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.06858221,746.06858221,723,692.06858221,670.93141779,643,890.137164419,788,823,656,632.06858221,656,0.421588638865,0.0044683905728,0.0599010130578,0.999999980337,-0.000115923887172,-0.000156257460398,-3.83449411653e-05,1793250752124158720
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.644035294,746.644035294,723,692.644035294,670.355964706,643,891.288070588,788,823,656,632.644035294,656,0.42247071704,0.00446676750801,0.0598851770918,0.999999974743,-0.000109523977445,-0.000192411787135,-3.86925595955e-05,1793250752140825344
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,723,693,670.450283238,643,892,788,823.225141619,656,632.774858381,656,0.423407373326,0.00446571051844,0.059903236934,0.999999980096,-0.000102666490739,-0.000166591538807,-3.89135451809e-05,1793250752157491968
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,723,693,671.630832843,643,892,788,823.815416422,656,632.184583578,656,0.42443254417,0.00446557158564,0.0599762687708,0.999999993913,-9.506690675e-05,-4.02613397003e-05,-3.8929158152e-05,1793250752174158592
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,723,693,672,643,892,787.601843387,824,656,632,656,0.425412754537,0.00446506910244,0.0600177012861,0.999999994816,-8.88649364324e-05,2.99847367149e-05,-3.96557526877e-05,1793250752190825216
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,723,693,672,643,892,787.022531369,824,656,632,656,0.426372508488,0.00446440120916,0.0600447565703,0.999999992911,-8.32988605333e-05,7.47133541929e-05,-4.07058335005e-05,1793250752207492096
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,723,692.447672224,670.895344449,643,892,787.552327776,824,656,632,656,0.427307064879,0.00446203113278,0.0600290141542,0.999999993364,-8.49264652935e-05,6.41835880916e-05,-4.40447486697e-05,1793250752224158464
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,723,692.129718207,670.129718207,643,892.129718207,787.870281793,824,656,632,656,0.428232107976,0.00446027099277,0.0600086309129,0.999999994524,-8.31077792696e-05,4.32047767735e-05,-4.66779303514e-05,1793250752240825088
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,723,692.716666018,670.716666018,643,892.716666018,787.283333982,824,656,632,656,0.42912721279,0.0044609035482,0.0599779943333,0.999999996577,-6.81155412892e-05,-6.72276307931e-06,-4.64970725876e-05,1793250752257491456
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,722.700340863,693.299659137,670.400681726,643,892.700340863,787,824,656,632,656,0.430012755224,0.00446082118534,0.0599443470409,0.999999995014,-5.81661865729e-05,-6.63886470964e-05,-4.67010887166e-05,1793250752274158080
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,722.121038314,693.878961686,669.242076627,643,892.121038314,787,824,656,632,656,0.430889373949,0.00446007165713,0.059907890138,0.999999988351,-5.29228765949e-05,-0.00013514239985,-4.7264271025e-05,1793250752290824960
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,722.457267835,694.457267835,669.914535671,643,892.457267835,787,824.457267835,656,632,656,0.431879028793,0.00445650674237,0.0599426042607,0.999999995038,-5.43755342022e-05,-6.77917198036e-05,-4.86987532527e-05,1793250752307491584
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,723,694.966285649,671.033714351,643,893.033714351,787,825.033714351,656,632.033714351,656,0.43289246173,0.00445255741804,0.0599937198802,0.999999996672,-5.6898462336e-05,2.99477649457e-05,-5.0215772007e-05,1793250752324158208
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,723,694.414377606,671.585622394,643,893.585622394,787,825.585622394,656,632.585622394,656,0.433812483208,0.0044541290456,0.0600080019018,0.999999996699,-4.86885715133e-05,4.22359663265e-05,-4.94642545743e-05,1793250752340825088
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.846875349,747,723,694,671.693750698,643,894,787,825.846875349,656,632.846875349,656,0.434725513157,0.00445391632117,0.0600109059432,0.99999999709,-4.42221608406e-05,3.8027934904e-05,-4.91761199354e-05,1793250752357491712
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.23238776,747,723,694,670.46477552,643,894,787,825.23238776,656,632.23238776,656,0.435617477926,0.00444832736368,0.0599795282551,0.999999997307,-5.10348138675e-05,-1.58830669627e-05,-5.02841524639e-05,1793250752374158336
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.361714961,747,723,694,670.361714961,643,894,787,825,656,632,656,0.436489001658,0.00444538409369,0.0599537064908,0.999999995553,-5.23454224716e-05,-5.91867535812e-05,-5.14954106644e-05,1793250752390824960
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.943419855,747,723,694,670.943419855,643,894,787,825,656,632,656,0.437348093387,0.00444404989383,0.0599312637628,0.99999999273,-5.03097649165e-05,-9.60392175259e-05,-5.27694492008e-05,1793250752407491840
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,694,671,643,894,787,825.517972291,656,632,656,0.438161019405,0.00444372381647,0.0599065112771,0.999999986411,-4.52280125208e-05,-0.000149716538658,-5.21235300226e-05,1793250752424158720
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.908171903,747,723,694,670.908171903,643,894.091828097,786.908171903,826,656,632,656,0.438983600597,0.00444248946766,0.059892194321,0.999999980825,-4.14128042759e-05,-0.000184388348561,-5.13500874363e-05,1793250752440825088
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.333927252,747,723,694,670.333927252,643,894.666072748,786.333927252,826,656,632,656,0.439883036678,0.00443591289907,0.0599340075713,0.999999991627,-4.59755696137e-05,-0.000109691627352,-5.09934800027e-05,1793250752457491712
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747,723,694.246987989,670,643,895,786,826,656,632,656,0.440756727291,0.00443454343556,0.0599685230875,0.999999996306,-4.54105365735e-05,-5.20968692539e-05,-5.11100525903e-05,1793250752474158336
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747,723,694.837172139,670,643,895,786,826,656,632,656,0.44159464384,0.00444040937897,0.0599928982109,0.999999997776,-3.77202957413e-05,-1.82657352907e-05,-5.18841212802e-05,1793250752490824960
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.4186589,747,723,694.5813411,669.5813411,643,895.4186589,786,826.4186589,656,632,656,0.442344347659,0.00444116874697,0.0599615941865,0.999999995654,-3.5030542057e-05,-6.84597399839e-05,-5.26986101128e-05,1793250752507491584
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.996831901,747,723,694.003168099,669.003168099,643,895.996831901,786,826.996831901,656,632,656,0.443060441431,0.00443998244853,0.0599090757358,0.99999998663,-3.4246033571e-05,-0.000150668334672,-5.35284992803e-05,1793250752524158464
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,693.427950655,669,642.427950655,895.427950655,786,826.427950655,656,632,656,0.443760321713,0.00444457252319,0.059869125101,0.999999976771,-2.77719443955e-05,-0.000206819486884,-5.39684486627e-05,1793250752540825344
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,693.150441582,668.849558418,642,895,786,826.150441582,656,632,656,0.444452528818,0.00444919584995,0.0598384005746,0.999999966181,-3.75530670881e-05,-0.000251618609086,-5.40023416261e-05,1793250752557492224
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,693.73810811,668.26189189,642,895,786,826.73810811,656,632,656,0.445122695323,0.00445382332238,0.0598342884228,0.999999959315,-9.46674461943e-05,-0.000263842848784,-5.28623664617e-05,1793250752574158848
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.677271076,747,723,694,668,641.677271076,895.322728924,786,827,656,632,656,0.445771538373,0.00446105949439,0.0598128547563,0.999999945456,-0.000112637283071,-0.000306030006316,-5.24122299759e-05,1793250752590825216
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.09509876,747,723,694,668,641.09509876,895.90490124,786,827,656,632,656,0.446403239349,0.00447039281271,0.0597774962379,0.999999924401,-9.91386236775e-05,-0.000372304501618,-5.25166582291e-05,1793250752607491840
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.482397946,747,723,694,667.517602054,641,896,786,827,656,632,656,0.447033224118,0.00450017205224,0.0597649739737,0.999999923561,-6.60420859804e-05,-0.00038128612142,-5.60189395247e-05,1793250752624158464
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,694,666.941199452,641,896,785.941199452,827,656,632,656,0.447660904501,0.00453257853252,0.0597599026465,0.999999926967,-3.07257853037e-05,-0.000376132692345,-6.0378053227e-05,1793250752640824832
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,694,666.366387092,641,896,785.366387092,827,656,632,656,0.448271303015,0.00455300867922,0.0597810903599,0.999999938201,-9.50865620572e-06,-0.000345100885345,-6.64345321616e-05,1793250752657491456
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747,723,694,665.786069714,640.786069714,896,785,827,656,632,656,0.44883897091,0.00457115910577,0.059784001125,0.999999938835,8.26118521152e-06,-0.000342078827488,-7.24079341826e-05,1793250752674158336
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,723,694,665.196075225,640.196075225,896,785,827,656,632,656,0.449331523356,0.00458530205113,0.0597547831691,0.999999921354,1.99710993618e-05,-0.000388294607303,-7.8235296182e-05,1793250752690825216
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,723,694,664.614585356,639.614585356,896,785,827,656,632,656,0.449809204417,0.00459087575158,0.0597187753694,0.999999897964,2.54790373523e-05,-0.000443614569965,-8.14144629644e-05,1793250752707491840
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747,723,694,664.03732865,639.03732865,896,785,827,656,632,656,0.450279483218,0.00459218406894,0.0596793878885,0.999999869404,2.78999117866e-05,-0.000503466188173,-8.32754777175e-05,1793250752724158720
+201,3.350000000,POSE1_TO_POSE2_PRESS,768.460676476,747.539323524,723,694,664,639,896,785,827,656,632,656.539323524,0.450741634379,0.00458805512513,0.0596745531333,0.999999869851,1.93229128746e-05,-0.000502740121532,-8.47134377964e-05,1793250752740825344
+202,3.366666667,POSE1_TO_POSE2_PRESS,768.117988309,747.882011691,723,694,664,638.882011691,896.117988309,785.117988309,827,656,632,657,0.451195007295,0.00458537088204,0.0596757112251,0.999999874231,1.28940268644e-05,-0.000493909628349,-8.61667653858e-05,1793250752757491968
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.704816684,747.295183316,723,694,664,638.295183316,896.704816684,785.704816684,827,656,632,657,0.451615731825,0.00458992105225,0.0596911902146,0.99999988576,1.80222594836e-05,-0.000469517238724,-8.77973799931e-05,1793250752774158592
+204,3.400000000,POSE1_TO_POSE2_PRESS,768.711972187,747.288027813,723,694,663.711972187,638,897,785.711972187,827,656,631.711972187,657,0.452026128165,0.00459138383651,0.0597059849278,0.999999897133,2.107953791e-05,-0.000444357153824,-8.85209010346e-05,1793250752790825216
+205,3.416666667,POSE1_TO_POSE2_PRESS,768.132422223,747.867577777,723,694,663.132422223,638,897,785.132422223,827,656,631.132422223,657,0.452426070989,0.00458972177852,0.0597200870622,0.999999908319,2.20407371239e-05,-0.000418420061461,-8.83263235969e-05,1793250752807491584
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,748,723,694,662.556281233,638,897,785,827.443718767,656,631.443718767,656.556281233,0.452767201739,0.00458819142089,0.0597163280365,0.999999904407,6.93784525975e-05,-0.00042564559136,-7.21056639977e-05,1793250752824158208
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,723,694.018896288,662,637.981103712,897,785,828,656,632,656,0.453089032177,0.00458709425446,0.0597070918627,0.99999989223,0.000128756112005,-0.00044302105563,-5.19137240014e-05,1793250752840825344
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,748,723,694.595435703,662,637.404564297,897,785,828,656,632,656,0.453355311355,0.00459762981852,0.0596923267875,0.999999878481,0.000138112674696,-0.000470088710294,-5.45936352073e-05,1793250752857491968
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,747.825122716,723,695,661.825122716,637,897,785,828,656,632,656,0.453611078407,0.00460430045511,0.0596775346863,0.999999865496,0.000142152329872,-0.000495540936056,-5.69206726528e-05,1793250752874158592
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,747.238853997,723,695,661.238853997,637,897,785,828,656,632,656,0.453842116086,0.00460187901128,0.05966267901,0.999999855614,0.000133684183188,-0.000517192930231,-5.84175891497e-05,1793250752890825216
+211,3.516666667,POSE1_TO_POSE2_PRESS,768.346127477,747.346127477,723,694.653872523,661,637,897,785,828,656,632,656.346127477,0.454073571002,0.00460034674072,0.0596591844865,0.999999854861,0.000126383941701,-0.000520242422253,-6.04346174445e-05,1793250752907491840
+212,3.533333333,POSE1_TO_POSE2_PRESS,768.930224005,747.930224005,723,694.069775995,661,637,897,785,828,656,632,656.930224005,0.454305312798,0.004599425793,0.0596635009645,0.999999860535,0.000119886655831,-0.000510502351746,-6.28092323941e-05,1793250752924158464
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.636401874,748,723,694.636401874,657.363598126,635,897,784,827.636401874,656,632,656.363598126,0.455722317981,0.00461591287315,0.059624129118,0.999999835607,0.00012479871208,-0.000555099142822,-7.12544160385e-05,1793250753978791424
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.787419057,747.787419057,723,694.787419057,657.212580943,635,897,784,828,656,632,656.212580943,0.455717684721,0.00461577367139,0.0596220255347,0.999999834,0.000125362800145,-0.000557863671255,-7.12132007854e-05,1793250753995458048
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.212028672,747.212028672,723,694.212028672,657.787971328,635,897,784,828,656,632,656.787971328,0.455706994005,0.00461559094837,0.0596166680786,0.999999829455,0.000127095423163,-0.000565600697252,-7.0943526405e-05,1793250754012124672
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,747,723,694,658,635,897,784.360650054,828,656,632,656.639349946,0.455679708704,0.00461573325568,0.0596041723291,0.999999817645,0.000127014169055,-0.000586111923547,-7.10577878528e-05,1793250754028791552
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,658,635,897,784.931746526,828,656,632,656.068253474,0.455642740136,0.00461606522457,0.0595875112441,0.999999800984,0.000125874481959,-0.000614077148019,-7.1396083359e-05,1793250754045458432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,747,723,694,658,635,897,785,827.474730118,656,632,656,0.455586524462,0.00461756610015,0.0595680383423,0.99999978119,0.000128492347425,-0.000644985685874,-7.14295003753e-05,1793250754062125056
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.117602861,747,723.117602861,694,658,635,897,785,827,656,632,656,0.455525320787,0.00461866108074,0.0595494381044,0.999999762375,0.00013062303314,-0.000673112923195,-7.14658050149e-05,1793250754078791680
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,723.724324853,694.275675147,657.724324853,635,896.724324853,784.724324853,827,656,632,656,0.455380662714,0.0046167090703,0.0595271877458,0.999999744977,0.000128877024746,-0.000698808933107,-7.14317204158e-05,1793250754112124928
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,723.134794571,694.865205429,657.134794571,635,896.134794571,784.134794571,827,656,632,656,0.455302207642,0.00461615503515,0.0595245423554,0.999999742393,0.000130893905583,-0.000702201356402,-7.06745912364e-05,1793250754128791552
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.553444574,747,723,695,657.446555426,635,896.446555426,784.446555426,827.446555426,656,632,656.446555426,0.455205756387,0.00461706847748,0.0595262024281,0.999999742167,0.0001338264051,-0.000702047381399,-6.9902726825e-05,1793250754145458176
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747.02529396,723,695,658,635,897,785,828,656,632,657,0.455102803658,0.00461854967797,0.0595291756655,0.999999742689,0.000137127494022,-0.000700740691971,-6.91374188158e-05,1793250754162124800
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.175392661,748,723,694.824607339,658,635,897,785,828,656,632,656.824607339,0.454836876052,0.00462493672269,0.0595355944124,0.999999744952,0.000146371061293,-0.000695777059354,-6.75728116176e-05,1793250754195458560
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.752474756,748,723,694.247525244,658,635,897,785,828,656,632,656.247525244,0.45467788451,0.00462159376333,0.0595356462135,0.999999742793,0.000146584068731,-0.000699037408251,-6.53715458762e-05,1793250754212124928
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,723.328763347,694,658.328763347,635,897,785,828,656,631.671236653,656,0.454500466939,0.00462006794235,0.0595359458325,0.999999740059,0.000148875544239,-0.000702632004617,-6.34501694552e-05,1793250754228791552
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748,723.90445601,694,658.90445601,635,897,785,828,656,631.09554399,656,0.454309209833,0.00461990694694,0.0595364315839,0.999999736876,0.000152728126573,-0.000706477649673,-6.17390135552e-05,1793250754245458176
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747.504216684,723.504216684,694,659,635,897,785,828,656,631.495783316,656,0.454095278563,0.00462204205579,0.0595386411682,0.999999736545,0.00015871843267,-0.000705760779776,-6.01643419171e-05,1793250754262125056
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,723,694.086925535,659,635.086925535,897,785,828,656,632,656.086925535,0.453869102523,0.00462455924612,0.0595404143265,0.999999735664,0.000165395560781,-0.000705612174389,-5.85415988196e-05,1793250754278791424
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.65964672,659,635.65964672,897,785,828,656,632,656.65964672,0.453599710127,0.00462665831485,0.0595378314275,0.999999728654,0.000173533785309,-0.000713713251691,-5.64984202947e-05,1793250754295458048
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.766096219,747.233903781,723,695,659,636,896.766096219,785,827.766096219,656,631.766096219,656.766096219,0.453317328046,0.00462813930046,0.0595332967275,0.99999972251,0.000180371918571,-0.000720744348645,-5.45292035504e-05,1793250754312124928
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.189589569,747.810410431,723,695,659,636,896.189589569,785,827.189589569,656,631.189589569,656.189589569,0.453015919769,0.004628714969,0.0595259031916,0.999999717755,0.000185305785446,-0.00072620822668,-5.26683200204e-05,1793250754328791552
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.397603611,747.602396389,723,694.602396389,659.397603611,636,896,785,827,656,631.397603611,656,0.452708670828,0.00462900769423,0.0595327643881,0.99999972731,0.000191197933437,-0.000711561210193,-5.00383842499e-05,1793250754345458176
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.990033178,747.009966822,723,694.009966822,659.990033178,636,896,785,827,656,631.990033178,656,0.452398559967,0.00462916177707,0.0595466104105,0.999999743353,0.000197559639382,-0.000687059845347,-4.70316125462e-05,1793250754362124800
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,660,636,895.142156656,785,827.857843344,656,631,656.142156656,0.451662378909,0.00463249832209,0.0595737248994,0.999999764995,0.000215514356071,-0.000649538480703,-4.07821227543e-05,1793250754395458048
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,723,694,660,636,895.719218131,785,827.280781869,656,631,656.719218131,0.451233175532,0.00463599092621,0.0595807202183,0.999999767089,0.000227668603966,-0.000642351352538,-3.70653054911e-05,1793250754412124672
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,660.888846548,636.888846548,896,785,827,656,631,656.111153452,0.450323457271,0.00463856320988,0.0595720147407,0.999999754291,0.00024499635478,-0.000656072887084,-3.10189881042e-05,1793250754445458176
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,723,694,661,637,895.530376723,785,827,656.469623277,631.469623277,656,0.449811443021,0.00464024947286,0.0595591481364,0.999999739622,0.000255686568541,-0.000674260871396,-2.74313362626e-05,1793250754462124800
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.04867635,747,723,694,661.097352701,637.04867635,895,785.04867635,827,656.95132365,632,656,0.449285561515,0.00464191038374,0.0595462775345,0.999999724412,0.00026684723744,-0.00069239580803,-2.36082756908e-05,1793250754478791424
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.625567306,747,723,694,662.251134612,637.625567306,895,785.625567306,827,656.374432694,632,656,0.448733088374,0.00464048559243,0.0595456886229,0.999999722047,0.000275137318117,-0.000692702094436,-1.9225566282e-05,1793250754495458304
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.225171298,747,723,694,663,638,894.225171298,786,827,656,632,656,0.447601530971,0.00464182992416,0.0595750811266,0.999999748421,0.000297189155856,-0.000644002093868,-9.87843077821e-06,1793250754528791296
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,693.641305765,663.71738847,638.358694235,894,785.641305765,827,655.641305765,631.641305765,656,0.447025688487,0.0046397070101,0.0596111188405,0.999999777383,0.000305523237336,-0.000593188913321,-4.10149235412e-06,1793250754545457920
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.531480804,747,723,693,665,639,893.468519196,785.531480804,826.468519196,655.531480804,631.531480804,656,0.445769783944,0.00463503268882,0.0596572363078,0.999999802269,0.000321372890712,-0.000540491046413,7.19796820647e-06,1793250754578791168
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.88874228,747,723,693,665.11125772,639.11125772,893,786,826,656,631.88874228,656,0.445077638525,0.00463513259275,0.0596515882567,0.999999791367,0.000331163424289,-0.000554492910462,1.16188246157e-05,1793250754595458048
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.315991907,747,723,693,665.684008093,639.684008093,893,786,826,656,631.315991907,656,0.444364339004,0.00463428464205,0.0596354177455,0.999999781055,0.000337948305097,-0.000568740647143,1.46388018682e-05,1793250754612124928
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.257414011,747,723,693.257414011,666.257414011,640,892.742585989,786.257414011,826,656,631.257414011,656,0.443656849672,0.0046330184673,0.0596470335691,0.999999794072,0.000343763638273,-0.000541612463128,1.84090492397e-05,1793250754628791552
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746.985811008,722.985811008,694,668,641,892,786.014188992,825.985811008,656,632,656,0.441475010366,0.0046306999121,0.0597551044614,0.99999985862,0.000367972074251,-0.000382253364584,3.51983165377e-05,1793250754678791168
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746.40933908,722.40933908,694,668,641,892,786.59066092,825.40933908,656,632,656,0.440662765947,0.00463142656995,0.0597592587708,0.999999851575,0.000379537342058,-0.000388765626531,4.07725330838e-05,1793250754695457792
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746.611633606,723,692.776732787,669.223267213,641.611633606,890,787.611633606,823,656,631.388366394,655.611633606,0.431853077473,0.00456069692361,0.0597957919172,0.999999933025,0.000200531630512,-0.000304933764447,2.74397033805e-05,1793250754862124544
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746.02098094,723,693.958038119,668.041961881,641.02098094,890,787.02098094,823,656,631.97901906,655.02098094,0.430935514338,0.0045609818488,0.0598113568833,0.999999942549,0.000192664553802,-0.000277652419803,2.62986406574e-05,1793250754878791168
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.555063344,746.555063344,723,693.444936656,669.665190033,641.555063344,890,787.555063344,822.444936656,656,632,655,0.43000513229,0.00456801165835,0.059822499425,0.999999944788,0.000197628275328,-0.000265837023952,2.64168225908e-05,1793250754895458816
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.869497672,747,723,693,670.738995344,641.869497672,889.869497672,788,822,656,631.869497672,655.130502328,0.429060169758,0.00457319753634,0.0598191009313,0.999999940598,0.000200898244937,-0.000278769638649,2.70269890411e-05,1793250754912126720
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.294287971,747,723,693,669.588575941,641.294287971,889.294287971,788,822,656,631.294287971,655.705712029,0.428067130785,0.00457125341725,0.0597667065841,0.999999910239,0.000196786173024,-0.000374093989145,2.91556307875e-05,1793250754928793344
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,747,722.717412197,693,669,641,889,788,821.717412197,656,631.282587803,656,0.427112220191,0.00457158570697,0.0597433640633,0.999999897836,0.000193020885699,-0.000407691941088,2.92839160439e-05,1793250754945459712
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,747,722.138791116,693,669,641,889,788,821.138791116,656,631.861208884,656,0.426197252181,0.00457430271673,0.0597504556528,0.999999910725,0.00018961888444,-0.000376626560351,2.73166682749e-05,1793250754962126080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746.551909821,722,692.551909821,669.896180359,641.448090179,889,788,820.551909821,656,632,656,0.425279834926,0.00457438603901,0.0597797802183,0.999999923807,0.000185834844876,-0.000342069124028,2.89971674482e-05,1793250754978792704
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746.03688251,722.03688251,692,670.926234981,642,889,788,820,656,631.96311749,655.96311749,0.424362713012,0.00457356158712,0.0598146254813,0.999999935878,0.000181733541561,-0.000306937799725,3.17230343674e-05,1793250754995459328
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746.615458918,722.615458918,692,669.769082164,642,889,788,820,656,631.384541082,655.384541082,0.423461281067,0.00457161067909,0.0598275127639,0.999999945114,0.000174743175233,-0.000279562030135,3.28964549051e-05,1793250755012125696
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.192673975,746.807326025,723,692,669.770695899,642,888.807326025,788,819.807326025,656,631.192673975,655.192673975,0.422561999654,0.00457234381715,0.0598358672923,0.999999950795,0.000170054235279,-0.000261471712344,3.35218975878e-05,1793250755028792064
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.767191195,746.232808805,723,692,672.068764781,642,888.232808805,788,819.232808805,656,631.767191195,655.767191195,0.421666980026,0.00457839622474,0.0598352387643,0.999999950751,0.000169926284528,-0.000261783392948,3.30613524305e-05,1793250755045458688
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746,723,691.662094582,671.986283745,642,888,788,819.337905418,656,632,656,0.420733754295,0.00458009181291,0.0597983279472,0.999999931901,0.0001651237483,-0.000328417463075,3.27668615787e-05,1793250755062125568
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,746,723,691.093971406,670.281914218,642,888,788,819.906028594,656,632,656,0.419774498484,0.0045788190636,0.0597366977063,0.999999890219,0.000157136376652,-0.000440237522751,3.25855045982e-05,1793250755078792448
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.498660555,746.501339445,723,691,670,642,887.498660555,787.498660555,819.498660555,656,632,656,0.418892809638,0.0045753591411,0.059721757105,0.999999891347,0.000143216068997,-0.000442530111672,3.1031112346e-05,1793250755095459072
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,747,723,690.902030095,670.19593981,642,887,787,819.097969905,655.902030095,632,656,0.418038262394,0.00457250895456,0.0597251429124,0.999999904599,0.000130565790264,-0.000415763090552,2.99284983641e-05,1793250755112125696
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,747,723,690.325283169,671.349433663,642,887,787,819.674716831,655.325283169,632,656,0.417241228682,0.00457475690737,0.0597728685937,0.999999928716,0.000129868421561,-0.000353064395012,3.23635596629e-05,1793250755128791808
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,747,722.750737807,690,671.501475614,642,887,787,820,655.249262193,632,655.750737807,0.416450248554,0.00457475380518,0.0598095254787,0.999999943799,0.00012514661158,-0.000309122326939,3.44007945267e-05,1793250755145458176
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,747,722.179040343,690,670.358080687,642,887,787,820,655.820959657,632,655.179040343,0.415667099155,0.00457183883109,0.0598318642227,0.999999950828,0.00011521895122,-0.000289443063045,3.59234174862e-05,1793250755162125312
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,747,722.407377696,690,670,642,887,787,819.592622304,656,632,655.407377696,0.41488473953,0.00457016289331,0.059837062985,0.999999954112,0.000106055246857,-0.000281482907147,3.59953557643e-05,1793250755178791936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.000495895,746.999504105,723,689.999504105,670.000495895,642,887,787,819.000495895,656,632,656,0.41410273794,0.00456905273204,0.0598344341464,0.999999955742,9.73613346786e-05,-0.000278897105523,3.54064020267e-05,1793250755195458560
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.579555289,746.420444711,723,689.420444711,670.579555289,642,887,787,819.579555289,656,632,656,0.413318388831,0.00456888960472,0.0598174985946,0.999999924095,0.000230365031368,-0.000312220873053,3.54923723688e-05,1793250755212125440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.842170733,746,722.842170733,689,670.842170733,642,886.842170733,787,820,656,632,656,0.412539268972,0.00456860214935,0.0597923722009,0.999999883127,0.000323851910595,-0.000357239795394,3.52953170499e-05,1793250755228792064
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.265978555,746,722.265978555,689,670.265978555,642,886.265978555,787,820,656,632,656,0.411774010271,0.00456798513376,0.0597455340863,0.999999856697,0.000312590380027,-0.000433259445042,3.43480382879e-05,1793250755245458944
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.308505488,746.308505488,722.308505488,689,670,642,886,787,819.691494512,656,632,656,0.411085168335,0.00456694331138,0.0597351073131,0.999999856542,0.000298983849401,-0.000443199424431,3.31578244452e-05,1793250755262125568
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.881524935,746.881524935,722.881524935,689,670,642,886,787,819.118475065,656,632,656,0.410461846512,0.00456553725781,0.0597558997867,0.999999880748,0.0002833667067,-0.000396482401051,3.17593171198e-05,1793250755278792192
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.531808076,746.531808076,723,688.531808076,670.468191924,642,886.468191924,787,819,656,632,656,0.409856496264,0.00456163441302,0.0597951558107,0.999999906153,0.000268861660418,-0.00033809157101,3.31894988376e-05,1793250755295459328
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,746,723,687.942529969,670.885059938,642,886.942529969,787,819,656,631.942529969,655.942529969,0.409257268891,0.00455749431147,0.0598362454299,0.99999992743,0.000255248321659,-0.000280624789562,3.51773406353e-05,1793250755312126208
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,746,723,687.361864506,669.723729012,642,886.361864506,787,819,656,631.361864506,655.361864506,0.408671138748,0.00455711882275,0.0598502162014,0.999999935225,0.000247114056713,-0.000259270738069,3.55299076517e-05,1793250755328792832
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669.431673082,642,886.215836541,787,819,656,631.215836541,655.215836541,0.408093517592,0.00455594838849,0.0598518912653,0.999999938843,0.000236630383943,-0.000255105419413,3.52200041431e-05,1793250755345459200
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,723,687,670.577269651,642,886.788634825,787,819,656,631.788634825,655.788634825,0.407529969101,0.00455346323181,0.0598332310444,0.999999935705,0.000222261138672,-0.000279367726935,3.38144722547e-05,1793250755362125824
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,723,686.636512893,670.636512893,642,887,787,819.363487107,656,632,655.636512893,0.407002128854,0.00455096863983,0.0598212190078,0.99999993399,0.000210309871919,-0.00029441541212,3.32923916808e-05,1793250755378792448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,723,686.060459384,670.060459384,642,887,787,819.939540616,656,632,655.060459384,0.40649517065,0.00454846852986,0.0598130948121,0.999999933261,0.00019977263196,-0.00030407441027,3.3286951221e-05,1793250755395458560
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746.531720573,723,686.531720573,670.531720573,642,886.468279427,787,819.468279427,655.468279427,632,655.531720573,0.406031543314,0.00454787607952,0.0598215287963,0.999999939399,0.000192928500863,-0.000287871846676,3.33368798824e-05,1793250755412124928
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.122081371,747,723,687,671,642,886,787,819,655.122081371,632,656,0.405578992425,0.00454714368699,0.0598281770886,0.999999944295,0.00018673258183,-0.000274630813357,3.34392277783e-05,1793250755428791296
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.698630614,747,723,687,671,642,886,787,819,655.698630614,632,656,0.40514876027,0.00454505759478,0.0598209497875,0.999999942746,0.00018133760072,-0.000283703785062,3.37125448751e-05,1793250755445458176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.7252129,747,723,687,670.7252129,642,886,787,819.2747871,656,632,656,0.404726859984,0.00454436955525,0.0598050734947,0.999999935612,0.000178384331856,-0.000309522586313,3.39204235822e-05,1793250755462124800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.149486584,747,723,687,670.149486584,642,886,787,819.850513416,656,632,656,0.404314084553,0.00454521262442,0.0597797250663,0.999999921014,0.000178105158651,-0.000353680954987,3.40566359166e-05,1793250755478791424
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.435106924,747,723,686.564893076,670,642,886,787,819.564893076,656,632,656,0.403960577037,0.00454353394384,0.0597667218164,0.999999914569,0.000174114912541,-0.000373307819014,3.44476959108e-05,1793250755495458304
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,747,723,686,670.022423654,642,886,787,819,656,632,656,0.403630301905,0.0045409539528,0.0597592709257,0.999999912047,0.000168947094435,-0.00038228203785,3.49838341384e-05,1793250755512124672
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,747,723,686,670.600166716,642,886,787,819,656,632,656,0.403360614624,0.00453795525217,0.059782102058,0.999999927427,0.000166848603489,-0.000340508075402,3.68993913347e-05,1793250755528791296
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,746.822412706,723,686,670.822412706,642,886,787,819,656,632,656,0.403102492106,0.00453602493258,0.0598043667855,0.99999994034,0.000165242954113,-0.000300874496959,3.860079831e-05,1793250755545457920
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,746.245716953,723,686,670.245716953,642,886,787,819,656,632,656,0.402870360193,0.00453649568555,0.0598253585761,0.999999950245,0.000164744914185,-0.000266051209255,3.98209253928e-05,1793250755562124544
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,746,723,686,670,642,886,786.670744036,819,656,632.329255964,656,0.402644762856,0.00453559323619,0.0598364483436,0.999999954248,0.00016417998522,-0.000250716243738,4.11107532791e-05,1793250755578791424
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,746,723,686,670,642,886,786.097050083,819,656,632.902949917,656,0.40242401673,0.00453367132832,0.0598401869008,0.99999995451,0.000163565398221,-0.0002498493081,4.24523268484e-05,1793250755595458048
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,746.494350032,723,685.505649968,670.494350032,642,886,786,819,656,632.505649968,655.505649968,0.402221023077,0.00453246950173,0.0598346835003,0.999999951463,0.00016258051045,-0.000262288075055,4.29640681595e-05,1793250755612124672
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,746.913799287,723,685,671,642,886,786.086200713,819.086200713,656,632,655,0.40202729635,0.00453156021517,0.0598281730337,0.999999948057,0.000160888816528,-0.0002759218275,4.32097629031e-05,1793250755628791296
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,746.339799896,723,685,671,642,886,786.660200104,819.660200104,656,632,655,0.401865555298,0.00453147668943,0.0598266123841,0.999999947493,0.000155624062089,-0.000280986890194,4.29060758057e-05,1793250755645458688
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,746.234696095,723,685.234696095,670.765303905,642,886,787,819.765303905,656,632,655.234696095,0.401717329083,0.00452882787877,0.0598259664769,0.999999951031,0.00012223544903,-0.000285855675456,3.58290339842e-05,1793250755662126080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,746.809912565,723,685.809912565,670.190087435,642,886,787,819.190087435,656,632,655.809912565,0.401588711546,0.00452245709828,0.0598266477686,0.999999956489,4.80419517753e-05,-0.000290439680498,1.89245370758e-05,1793250755678792960
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.604317329,746.604317329,723,685.604317329,670,642,886,787,819,656,632,655.604317329,0.401483879957,0.00451888514335,0.0598283097351,0.999999958242,2.2481192424e-05,-0.000287777873537,1.39286442955e-05,1793250755695459328
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.013338302,746.013338302,723,685.013338302,670,642,886,787,819,656,632,655.013338302,0.401390788359,0.0045166945997,0.0598304557314,0.999999960039,2.09240047198e-05,-0.000281539765119,1.48104594874e-05,1793250755712125952
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.566515612,746.566515612,723,685.566515612,670,642,886,787,819,656,632,655.566515612,0.401314485444,0.00451902290353,0.0598328550996,0.999999961261,2.75119174556e-05,-0.000276556160423,1.54485642801e-05,1793250755728792320
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,746.854623312,723,686,670.145376688,642,886,786.854623312,819,656,632,656,0.401241313169,0.00451988792827,0.0598339710031,0.99999996174,3.17514196693e-05,-0.000274308504991,1.6314337864e-05,1793250755745459200
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,746.277945737,723,686,670.722054263,642,886,786.277945737,819,656,632,656,0.401176278706,0.00451610215514,0.0598312617892,0.999999960209,2.84657116176e-05,-0.000280091873504,1.78722505325e-05,1793250755762125312
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768.702891136,746,723,686,670.702891136,642,886,786.297108864,819,656,632.297108864,656,0.40112147708,0.0045151507819,0.0598286606053,0.999999958688,2.84377725468e-05,-0.000285431416035,1.85644252633e-05,1793250755778792192
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768.129346515,746,723,686,670.129346515,642,886,786.870653485,819,656,632.870653485,656,0.401076196272,0.004516836588,0.0598261599343,0.999999957182,3.1440923539e-05,-0.000290358015072,1.84511010726e-05,1793250755795459584
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c955d145183eed12b15f4a2ef5629a9dbf386adc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fbdd727a3bdfb1ed0841dced4d9d32319ba553ee
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+oid sha256:4b594cef5897e3ad772ae10786874cd798d75c15023d926aeb54331ddfe4a8fd
+size 26220665
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66d2ad1619f087a870ffbb3e8214dff746ad46e4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,768,746,723,686,671,642,886,786,819,656,632,656,0.400962654078,0.00451453595633,0.0598378156933,0.999999962536,3.49028493132e-05,-0.000270676852449,2.10539778874e-05,1793250756402237952
+1,0.016666667,BASELINE,768.579795644,746.579795644,723,686,671,642,886,786.579795644,819,656,632,656,0.400962753659,0.00451326358362,0.059838173646,0.999999962572,3.44437542283e-05,-0.00027058212464,2.1351236684e-05,1793250756418904832
+2,0.033333333,BASELINE,769,747,723,686,671,642,886,786.838104234,819,656,632,656,0.400962773065,0.00451246155318,0.059838321155,0.999999962587,3.38156856754e-05,-0.000270604469698,2.13534584622e-05,1793250756435571712
+3,0.050000000,BASELINE,769,747,723,686,671,642,886,786.249936284,819,656,632,656,0.400962581371,0.00451289793546,0.0598379145645,0.999999962549,3.2742709221e-05,-0.000270935068053,2.05788466836e-05,1793250756452238336
+4,0.066666667,BASELINE,769,747,723,686,671,642,886,786.330928681,819.330928681,656,632,655.669071319,0.400962446111,0.00451302919547,0.0598381242615,0.999999962581,3.27559405457e-05,-0.00027082429813,2.04830028713e-05,1793250756468904960
+5,0.083333333,BASELINE,769,747,723,686,671,642,886,786.90639707,819.90639707,656,632,655.09360293,0.400962352552,0.0045129349854,0.0598387893639,0.999999962664,3.35718250396e-05,-0.000270387379153,2.08887346111e-05,1793250756485571584
+6,0.100000000,BASELINE,768.518536408,747,723,686,671,642,886,787,819.518536408,656,632,655,0.400962649939,0.00451258522442,0.0598388557025,0.99999996269,3.30814656971e-05,-0.000270332419622,2.11141069986e-05,1793250756502237952
+7,0.116666667,BASELINE,768.05805693,747,723,686,671,642,886,787,819,656,632,655,0.400962980528,0.00451227564317,0.0598387820966,0.999999962703,3.24739168695e-05,-0.000270347926645,2.12668883464e-05,1793250756518904576
+8,0.133333333,BASELINE,768.649391811,747,723,686,671,642,886,787,819,656,632,655,0.400962918532,0.00451279110476,0.0598384914037,0.999999962691,3.3120637848e-05,-0.00027032917647,2.10747014136e-05,1793250756535571200
+9,0.150000000,BASELINE,768.765354019,746.765354019,723,685.765354019,671,642,886,787,819,656,632,655.234645981,0.40096291365,0.00451289330888,0.0598386861008,0.999999962753,3.37127776986e-05,-0.000270030339162,2.10123883244e-05,1793250756552237824
+10,0.166666667,BASELINE,768.188956195,746.188956195,723,685.188956195,671,642,886,787,819,656,632,655.811043805,0.400962991953,0.00451239362112,0.0598395877479,0.999999962923,3.42254224129e-05,-0.000269323566922,2.11392309537e-05,1793250756568904704
+11,0.183333333,BASELINE,768,746.387854731,723,685,671.387854731,642,886,787,819,656,632.387854731,656,0.40096292752,0.0045115847185,0.0598398420755,0.999999962991,3.26239086692e-05,-0.000269273541415,2.10971080714e-05,1793250756585571328
+12,0.200000000,BASELINE,768,746.964867178,723,685,671.964867178,642,886,787,819,656,632.964867178,656,0.400962793473,0.004510625011,0.0598397807039,0.999999963003,2.99913146313e-05,-0.000269543812857,2.09725802998e-05,1793250756602237952
+13,0.216666667,BASELINE,768,747,723,685.551834533,671.448165467,642,886,787,819,656,632.448165467,655.448165467,0.400963775675,0.00451147368644,0.0598398007093,0.999999963398,3.06527722982e-05,-0.000267999849618,2.09920484056e-05,1793250756618904576
+14,0.233333333,BASELINE,768,746.862757248,723,686,671,642,886,787,819,656,632,655.137242752,0.400964362927,0.00451233439706,0.0598398292683,0.999999963617,3.17640133329e-05,-0.000267052243952,2.09904023709e-05,1793250756635571200
+15,0.250000000,BASELINE,768,746.284434062,723,686,671,642,886,787,819,656,632,655.715565938,0.400963448264,0.00451285697176,0.0598398683613,0.999999963197,3.36344131818e-05,-0.000268399288929,2.08908935736e-05,1793250756652237824
+16,0.266666667,BASELINE,768.294426099,746.294426099,723,686,671,642,886,786.705573901,819,656,632,656,0.400962337026,0.00451364912796,0.0598394541376,0.999999962793,3.47664128091e-05,-0.000269765204693,2.07778745184e-05,1793250756668904448
+17,0.283333333,BASELINE,768.873805924,746.873805924,723,686,671,642,886,786.126194076,819,656,632,656,0.400961035536,0.00451470219258,0.0598386011814,0.999999962407,3.51837681588e-05,-0.000271149384047,2.0651779868e-05,1793250756685571072
+18,0.300000000,BASELINE,769,747,723,686,671,642,886,786,819,656.448381113,632.448381113,655.551618887,0.400961524028,0.00451397691212,0.0598392561979,0.999999962763,3.47470006604e-05,-0.000269869415323,2.09162778207e-05,1793250756702237952
+19,0.316666667,BASELINE,768.977805541,746.977805541,723,686,671,642,886,786.022194459,819,656.977805541,632.977805541,655.022194459,0.400962458679,0.00451281234429,0.0598402782323,0.999999963292,3.40903891169e-05,-0.000267958334412,2.12718554708e-05,1793250756718904576
+20,0.333333333,BASELINE,768.389293262,746.389293262,723,686,671,642,886,786.610706738,819,656.389293262,632.389293262,655.610706738,0.400962059387,0.00451307439814,0.0598399506663,0.999999963055,3.38929397449e-05,-0.000268873075959,2.11761873849e-05,1793250756735571200
+21,0.350000000,BASELINE,768,746,723,686,671,642,886,787,819.195995236,656,632.195995236,656,0.400962588444,0.00451324913137,0.0598400351188,0.999999963148,3.37612715735e-05,-0.000268559058032,2.09777950947e-05,1793250756752238080
+22,0.366666667,BASELINE,768,746,723,686,671,642,886,787,819.774984083,656,632.774984083,656,0.400964931587,0.00451325323168,0.0598409246951,0.999999963882,3.37581462407e-05,-0.000265843925377,2.05786698045e-05,1793250756768904448
+23,0.383333333,BASELINE,768.35265021,746.35265021,723,686,671,642,886,786.64734979,819.64734979,656,632.64734979,656,0.40096490375,0.00451359261631,0.0598411700103,0.999999963797,3.49837645337e-05,-0.000265996006398,2.07132079645e-05,1793250756785571072
+24,0.400000000,BASELINE,768.929475558,746.929475558,723,686,671,642,886,786.070524442,819.070524442,656,632.070524442,656,0.400963368712,0.00451414513682,0.0598410057773,0.999999963187,3.69904791172e-05,-0.000267970737478,2.11869889778e-05,1793250756802237952
+25,0.416666667,BASELINE,768.493718036,747,723,686,671,642,886,786.506281964,819,656,632,655.493718036,0.400962963051,0.00451305363244,0.059840156327,0.999999963189,3.41437347977e-05,-0.000268350260059,2.10842824106e-05,1793250756818904576
+26,0.433333333,BASELINE,768,746.915123157,723,686,671.084876843,642,886,787,819,656,632,655.084876843,0.400962780533,0.00451188948009,0.0598393542022,0.999999963232,3.13221762535e-05,-0.000268542083738,2.09725915765e-05,1793250756835571200
+27,0.450000000,BASELINE,768,746.325884759,723,686,671.674115241,642,886,787,819,656,632,655.674115241,0.40096298918,0.00451165442607,0.0598394004665,0.999999963076,3.26675844781e-05,-0.000268938935758,2.12846842696e-05,1793250756852237824
+28,0.466666667,BASELINE,768.258973176,746.258973176,723,686,671.741026824,642,886.258973176,786.741026824,819,656,632,656,0.40096246817,0.004512107017,0.0598389049586,0.99999996274,3.43238638697e-05,-0.00026997450721,2.1342398291e-05,1793250756868904704
+29,0.483333333,BASELINE,768.838410508,746.838410508,723,686,671.161589492,642,886.838410508,786.161589492,819,656,632,656,0.400961044252,0.00451341052836,0.0598377390392,0.999999962179,3.63648280665e-05,-0.000271800456574,2.10853335664e-05,1793250756885571328
+30,0.500000000,BASELINE,768.587507458,746.587507458,723,686,671,642,886.175014916,786.412492542,819,656,632,656,0.400962311715,0.0045126745968,0.0598385097881,0.999999962691,3.45553817154e-05,-0.000270157653231,2.09566382049e-05,1793250756902238464
+31,0.516666667,BASELINE,768.015496431,746.015496431,723,686,671,642,885.030992861,786.984503569,819,656,632,656,0.400964619985,0.00451114997497,0.0598400294826,0.999999963603,3.1256910436e-05,-0.000267173419097,2.08775856527e-05,1793250756918906112
+32,0.533333333,BASELINE,768,746.561373472,723,685.438626528,671,642,885.561373472,786.438626528,819,656,632,656,0.400963178337,0.00451214454605,0.0598400310727,0.999999963409,3.26463263927e-05,-0.000267727649059,2.09352684419e-05,1793250756935572736
+33,0.550000000,BASELINE,768.141604517,747,723,685.141604517,671,642,886,786,819,656.141604517,632,655.858395483,0.40096206876,0.00451317481323,0.0598400700703,0.999999963257,3.40814621254e-05,-0.000268108740739,2.10369655554e-05,1793250756952238848
+34,0.566666667,BASELINE,768.732060584,747,723,685.732060584,671,642,886,786,819,656.732060584,632,655.267939416,0.400962342743,0.00451409587557,0.0598403616335,0.99999996334,3.52477490811e-05,-0.000267628709527,2.12661085294e-05,1793250756968905216
+35,0.583333333,BASELINE,768.683838082,747,723,685.683838082,671,642,886,786.316161918,819,656.683838082,632,655.316161918,0.400963088258,0.00451436760815,0.0598407396139,0.999999963585,3.5106598425e-05,-0.000266731201378,2.12734578712e-05,1793250756985572096
+36,0.600000000,BASELINE,768.10501605,747,723,685.10501605,671,642,886,786.89498395,819,656.10501605,632,655.89498395,0.400964225511,0.00451409989249,0.0598411893875,0.999999963962,3.38792585357e-05,-0.000265486862853,2.10965461451e-05,1793250757002239488
+37,0.616666667,BASELINE,768.455780972,746.544219028,723,685,671,642,886,787,819,656.455780972,632,656,0.40096340631,0.00451359730401,0.0598400887782,0.999999963437,3.35646079195e-05,-0.000267512229218,2.08796950455e-05,1793250757018906112
+38,0.633333333,BASELINE,768.98620196,746.01379804,723,685.01379804,671,642,886,787,819,656.98620196,632,655.98620196,0.400962223359,0.00451307462351,0.0598387163211,0.999999962743,3.34739451158e-05,-0.000270124391284,2.06563667594e-05,1793250757035572224
+39,0.650000000,BASELINE,768.375625988,746.624374012,723,685.624374012,671,642,886,787,819,656.375625988,632,655.375625988,0.400964063024,0.00451393450108,0.0598404486111,0.999999963617,3.43216584771e-05,-0.00026677168061,2.05357639528e-05,1793250757052238848
+40,0.666666667,BASELINE,768,746.777164808,723,685.777164808,671,642.222835192,886,787,819,656,632,655,0.400964169413,0.00451402252709,0.0598408677563,0.999999963843,3.48729209093e-05,-0.000265836700924,2.07011614388e-05,1793250757068905472
+41,0.683333333,BASELINE,768,746.19807217,723,685.19807217,671,642.80192783,886,787,819,656,632,655,0.400961504728,0.00451287655643,0.0598391875129,0.999999963044,3.495023279e-05,-0.000268767065417,2.1323801493e-05,1793250757085571584
+42,0.700000000,BASELINE,768.378921001,746.378921001,723,685.378921001,671,642.621078999,886.378921001,786.621078999,819,656,632.378921001,655.378921001,0.400961862374,0.00451208043171,0.0598393844124,0.999999963169,3.43720979937e-05,-0.000268372891677,2.13526606868e-05,1793250757102238720
+43,0.716666667,BASELINE,768.954822754,746.954822754,723,685.954822754,671,642.045177246,886.954822754,786.045177246,819,656,632.954822754,655.954822754,0.400963791167,0.00451146617321,0.0598405571381,0.999999963774,3.3453231541e-05,-0.000266250468316,2.10728449655e-05,1793250757118906112
+44,0.733333333,BASELINE,768.473812232,747,723,685.473812232,671,642,886.473812232,786,819,656,632.473812232,656,0.400964097473,0.00451208604172,0.0598409993334,0.999999963892,3.40271489125e-05,-0.000265742013527,2.09615414833e-05,1793250757135572992
+45,0.750000000,BASELINE,768.100971473,747,723,685.100971473,671,642,886,786.100971473,819,656,632.100971473,656,0.400964145724,0.00451263185175,0.0598412705857,0.999999963943,3.44224348648e-05,-0.00026550608931,2.08884395221e-05,1793250757152239616
+46,0.766666667,BASELINE,768.694308655,747,723,685.694308655,671,642,886,786.694308655,819,656,632.694308655,656,0.400963609108,0.00451230426051,0.0598410115053,0.999999963866,3.33270268498e-05,-0.000265929163765,2.09316717733e-05,1793250757168905728
+47,0.783333333,BASELINE,769,747,723,686,671,642,886,787,819.28097333,656,632.71902667,656,0.400963911465,0.00451317940012,0.0598411480779,0.999999963892,3.50206076456e-05,-0.000265620572602,2.08721063855e-05,1793250757185572608
+48,0.800000000,BASELINE,769,747,723,686,671,642,886,787,819.86054697,656,632.13945303,656,0.400965105431,0.00451533272435,0.0598417051249,0.999999964009,3.96781454859e-05,-0.000264534414524,2.07032943114e-05,1793250757202239744
+49,0.816666667,BASELINE,769,747,723,686,671,642.436891789,886,787,819.563108211,656,632,656,0.40096485382,0.00451381034493,0.0598415802202,0.99999996403,3.65245401002e-05,-0.000264898798905,2.08533506037e-05,1793250757218905856
+50,0.833333333,BASELINE,769,746.987817801,723,685.987817801,671,642.987817801,886,787,819,656,632,656,0.400964159443,0.00451120670641,0.0598412489396,0.999999963997,3.10610156936e-05,-0.000265699289175,2.11010773421e-05,1793250757235571712
+51,0.850000000,BASELINE,769,746.413971258,723,685.413971258,671,642.413971258,886,787,819,656,632,656,0.400964169002,0.00451244798713,0.0598413649584,0.999999964001,3.3207445444e-05,-0.000265416252509,2.11937255331e-05,1793250757252238336
+52,0.866666667,BASELINE,769,746.165484929,723,685.165484929,671,642,886,787,819,656,632,656,0.400963912199,0.00451311835123,0.0598412171802,0.999999963918,3.4196003994e-05,-0.000265597971188,2.12595358473e-05,1793250757268904960
+53,0.883333333,BASELINE,769,746.759466348,723,685.759466348,671,642,886,787,819,656,632,656,0.400962965692,0.00451231041893,0.0598403863426,0.999999963616,3.21864419858e-05,-0.000266983098772,2.12558538096e-05,1793250757285572096
+54,0.900000000,BASELINE,768.655824401,746.655824401,723,686,671,642,886,787,819.344175599,656,632.344175599,656,0.400963674145,0.00451216658841,0.0598411795507,0.999999963934,3.13965202404e-05,-0.000265892398917,2.11321919319e-05,1793250757302239232
+55,0.916666667,BASELINE,768.077425208,746.077425208,723,686,671,642,886,787,819.922574792,656,632.922574792,656,0.400965508857,0.00451247470251,0.0598430779791,0.999999964672,3.14366066441e-05,-0.000263116811413,2.09268795561e-05,1793250757318906112
+56,0.933333333,BASELINE,768,746.4955902,723,686,671,642,886,786.5044098,819.5044098,656,632.5044098,656,0.400965252567,0.00451299373087,0.0598424276022,0.999999964417,3.2558079723e-05,-0.000263961398127,2.07357166078e-05,1793250757335572224
+57,0.950000000,BASELINE,768,747,723,686,671,642,886,786.069866194,819,656,632,656,0.40096458911,0.00451335995541,0.0598414444159,0.999999964013,3.37740582715e-05,-0.000265343463235,2.06267359974e-05,1793250757352238592
+58,0.966666667,BASELINE,768,747,723,686,671,642,886,786.659716566,819,656,632,656,0.400963300444,0.00451234632315,0.0598409160222,0.999999963656,3.44495405926e-05,-0.000266561662935,2.11131281428e-05,1793250757368905216
+59,0.983333333,BASELINE,768,747,723,685.755328646,671,642,886,787,819,656,632.244671354,656,0.400963099575,0.00451196299231,0.059840971995,0.999999963611,3.51590035832e-05,-0.000266616834441,2.13946879437e-05,1793250757385571840
+60,1.000000000,BASELINE,768,747,723,685.177048882,671,642,886,787,819,656,632.822951118,656,0.400964381911,0.00451243907479,0.0598418247492,0.999999963991,3.59147991758e-05,-0.000265086221846,2.13969597341e-05,1793250757402238464
+61,1.016666667,BASELINE,768.399774702,746.600225298,723,685,671.399774702,642,886.399774702,786.600225298,819.399774702,656,632.600225298,655.600225298,0.400963042782,0.00451241120001,0.0598406689123,0.999999963539,3.5581281137e-05,-0.000266843105479,2.12404244449e-05,1793250757418905088
+62,1.033333333,BASELINE,768.97595569,746.02404431,723,685,671.97595569,642,886.97595569,786.02404431,819.97595569,656,632.02404431,655.02404431,0.400960546894,0.00451216094687,0.0598386267559,0.999999962711,3.47670878831e-05,-0.000270050643779,2.10138132674e-05,1793250757435571712
+63,1.050000000,BASELINE,768.449139369,746,723,685.550860631,671.449139369,642,886.449139369,786.550860631,819.449139369,656,632,655.550860631,0.400961829377,0.00451400404098,0.0598401902066,0.999999963196,3.49333352298e-05,-0.000268244475732,2.07867516643e-05,1793250757452238080
+64,1.066666667,BASELINE,768,746.129127972,722.870872028,685.870872028,671,642,886,787,819.129127972,656,632,656,0.400962829253,0.00451509144074,0.0598413660718,0.999999963616,3.46267154037e-05,-0.00026672718434,2.06228365315e-05,1793250757468904448
+65,1.083333333,BASELINE,768,746.719607077,722.280392923,685.280392923,671,642,886,787,819.719607077,656,632,656,0.400962231548,0.00451315317939,0.0598405961731,0.999999963608,3.24780806811e-05,-0.000267022071784,2.0684602529e-05,1793250757485571072
+66,1.100000000,BASELINE,768,746.695193745,722.304806255,685,671,642,886,786.695193745,819.695193745,656,632,655.695193745,0.400962544112,0.00451215016411,0.0598406806305,0.999999963771,3.13439782834e-05,-0.000266542421815,2.07532246175e-05,1793250757502237696
+67,1.116666667,BASELINE,768,746.114768929,722.885231071,685,671,642,886,786.114768929,819.114768929,656,632,655.114768929,0.400963679781,0.00451199283754,0.0598415376323,0.99999996409,3.11272585509e-05,-0.000265362402715,2.08280462669e-05,1793250757518904320
+68,1.133333333,BASELINE,768,746.461385992,723,685,671.461385992,642,886,786.461385992,819,656,632,655.461385992,0.400963140751,0.00451176920573,0.05984073432,0.999999963775,3.13773101997e-05,-0.000266505536111,2.09601950888e-05,1793250757535571200
+69,1.150000000,BASELINE,768.036318419,747,723,685,671.963681581,642,886,787,819,656,632,656,0.40096228922,0.00451153506146,0.0598396935229,0.999999963362,3.17757560516e-05,-0.00026799561518,2.11059595861e-05,1793250757552237824
+70,1.166666667,BASELINE,768.608739259,747,723,685,671.391260741,642,886,787,819,656,632,656,0.400962917619,0.0045113869693,0.0598411876389,0.999999963822,3.26664916244e-05,-0.000266155050212,2.12441426502e-05,1793250757568904448
+71,1.183333333,BASELINE,769,747,723,685.188261746,671,642,885.811738254,787,819,655.811738254,632,655.811738254,0.40096296171,0.00451140482589,0.0598416235302,0.99999996398,3.32234562282e-05,-0.000265479000892,2.13652905227e-05,1793250757585571072
+72,1.200000000,BASELINE,769,747,723,685.783122138,671,642,885.216877862,787,819,655.216877862,632,655.216877862,0.400961743845,0.00451178109056,0.059839773919,0.999999963494,3.30595585488e-05,-0.000267318015993,2.14496466359e-05,1793250757602237952
+73,1.216666667,BASELINE,768.6343361,747,723,686,671,642,885.3656639,787,819,655.3656639,632,655,0.400962543358,0.00451188595694,0.0598400765413,0.999999963636,3.31654710398e-05,-0.000266780534692,2.13355455898e-05,1793250757618905088
+74,1.233333333,BASELINE,768.058862524,747,723,686,671,642,885.941137476,787,819,655.941137476,632,655,0.400964500399,0.00451183510109,0.0598416140668,0.999999964138,3.34261945135e-05,-0.0002648794734,2.11075743095e-05,1793250757635572480
+75,1.250000000,BASELINE,768.517767648,747,723,686,671,642,886,786.482232352,819,656,632,655,0.400962560067,0.00451307325269,0.0598407220991,0.999999963401,3.44396756154e-05,-0.000267526436549,2.10233939847e-05,1793250757652239360
+76,1.266666667,BASELINE,769,747,722.903551578,686,671,642,886,786,819,656,632,655.096448422,0.400960734301,0.00451411321915,0.0598397394027,0.999999962741,3.50133723793e-05,-0.000269916531838,2.08940405503e-05,1793250757668905984
+77,1.283333333,BASELINE,769,747,722.315082166,686,671,642,886,786,819,656,632,655.684917834,0.400961758334,0.0045133929291,0.0598397060091,0.999999963243,3.29060167097e-05,-0.000268352700371,2.04506628482e-05,1793250757685572096
+78,1.300000000,BASELINE,769,746.730970611,722.269029389,685.730970611,671,642,886,786.269029389,819,656,632,656,0.400962519493,0.00451269326013,0.0598400577366,0.999999963608,3.16865491335e-05,-0.000267130535483,2.05150035332e-05,1793250757702238720
+79,1.316666667,BASELINE,769,746.15188158,722.84811842,685.15188158,671,642,886,786.84811842,819,656,632,656,0.400962977688,0.00451201735726,0.0598408533205,0.999999963822,3.14903835239e-05,-0.000266302145591,2.11644958616e-05,1793250757718905600
+80,1.333333333,BASELINE,768.576120223,746.423879777,723,685.423879777,671,642,886,787,819,656,632,656,0.4009621661,0.00451208391035,0.0598406330908,0.999999963605,3.31508595873e-05,-0.000266916647575,2.11522620289e-05,1793250757735571968
+81,1.350000000,BASELINE,768.001541881,746.998458119,723,685.998458119,671,642,886,787,819,656,632,656,0.400960903076,0.00451241442279,0.0598400517171,0.999999963229,3.54714125081e-05,-0.000268044129228,2.09047700717e-05,1793250757752238080
+82,1.366666667,BASELINE,768,747,723,685.425617223,671,642,886,787,819,656,632,655.425617223,0.400960999685,0.00451330316914,0.0598395352155,0.999999963173,3.49313047669e-05,-0.000268338209239,2.07197035464e-05,1793250757768904704
+83,1.383333333,BASELINE,768,747,723,685,671,642,886,787,819,656,632,655.154774558,0.400961437702,0.00451353119002,0.0598394851015,0.99999996328,3.39726289245e-05,-0.000268063782182,2.06700656633e-05,1793250757785571328
+84,1.400000000,BASELINE,768,747,723,685,671,642,886,787,819,656,632,655.747805214,0.400962832086,0.00451188406279,0.0598407551058,0.999999963845,3.1850540417e-05,-0.000266185933248,2.10034287658e-05,1793250757802237952
+85,1.416666667,BASELINE,768.332157326,747,723,685.332157326,671,642,886,787,819,656,632,656,0.400963393802,0.0045119171534,0.0598410899424,0.999999964098,3.17845476124e-05,-0.000265257812175,2.07678965646e-05,1793250757818904320
+86,1.433333333,BASELINE,768.910087883,747,723,685.910087883,671,642,886,787,819,656,632,656,0.400963339401,0.004513193488,0.0598407328203,0.999999964124,3.32399222159e-05,-0.000265032423529,2.01114215341e-05,1793250757835570688
+87,1.450000000,BASELINE,768.516475032,747,723,686,671.483524968,642,885.516475032,787,819,656,632,656,0.400962572345,0.00451335901116,0.059840859367,0.999999963846,3.39180630747e-05,-0.000265955493149,2.05993001287e-05,1793250757852237568
+88,1.466666667,BASELINE,768,746.942177337,723,686,671.942177337,642,885.057822663,787,819,656,632.057822663,655.942177337,0.400961939207,0.00451336033485,0.0598411933153,0.999999963606,3.44793954617e-05,-0.000266737077868,2.12137821648e-05,1793250757868904448
+89,1.483333333,BASELINE,768,746.352344347,723,686,671.352344347,642,885.647655653,787,819,656,632.647655653,655.352344347,0.400963746254,0.00451373387857,0.0598426156244,0.999999964237,3.52835205572e-05,-0.000264270108911,2.10532750699e-05,1793250757885571328
+90,1.500000000,BASELINE,768,746,723,685.767212622,671,642,886,787,819,656,632.767212622,655,0.400964542532,0.00451417525696,0.0598431022289,0.999999964469,3.57643983094e-05,-0.0002633327371,2.09520810848e-05,1793250757902237696
+91,1.516666667,BASELINE,768,746,723,685.189055867,671,642,886,787,819,656,632.189055867,655,0.400963839208,0.00451471727661,0.0598422005977,0.999999964117,3.57656978669e-05,-0.000264664715417,2.09388855785e-05,1793250757918904576
+92,1.533333333,BASELINE,768.387518034,746,723,685,671,642,886,787,819,656,632,655.387518034,0.400963060128,0.00451387782121,0.0598414545093,0.999999963961,3.4567475082e-05,-0.00026540639809,2.10541161554e-05,1793250757935571456
+93,1.550000000,BASELINE,768.963322911,746,723,685,671,642,886,787,819,656,632,655.963322911,0.400962244239,0.00451236713625,0.0598407839956,0.999999963896,3.27864296766e-05,-0.00026586126867,2.12317462578e-05,1793250757952238336
+94,1.566666667,BASELINE,768.461172499,746.538827501,723,685,671,642,886,787,819,656,632.538827501,656,0.400962386169,0.0045136645339,0.0598411726892,0.999999963896,3.2923192843e-05,-0.000265894142451,2.05832994978e-05,1793250757968904704
+95,1.583333333,BASELINE,768,747,722.882911042,685.117088958,671,642.117088958,886,787,819,656,632.882911042,656,0.400962755472,0.00451452895776,0.0598416910646,0.999999963957,3.31910088163e-05,-0.00026566343798,2.01807750462e-05,1793250757985571584
+96,1.600000000,BASELINE,768,747,722.29344484,685.70655516,671,642.70655516,886,787,819,656,632.29344484,656,0.400963779197,0.0045128759153,0.0598424419133,0.999999964244,3.34611788659e-05,-0.000264485188401,2.09971093364e-05,1793250758002237952
+97,1.616666667,BASELINE,768,747,722.291430376,685.708569624,671,642.708569624,886,787,819,656,632,656,0.400963426367,0.00451189484736,0.0598421098913,0.999999964157,3.29370298484e-05,-0.000264857099966,2.12794250427e-05,1793250758018904576
+98,1.633333333,BASELINE,768,747,722.871754531,685.128245469,671,642.128245469,886,787,819,656,632,656,0.400961708964,0.00451157990522,0.0598407044239,0.999999963697,3.16254754651e-05,-0.000266765680211,2.10323701902e-05,1793250758035571456
+99,1.650000000,BASELINE,768.447156903,747,723,685.447156903,671,642,886,787,819,656,632,656,0.400961439173,0.00451230080173,0.059840437611,0.99999996358,3.22877293742e-05,-0.000267142214063,2.08090773545e-05,1793250758052238080
+100,1.666666667,BASELINE,768.978266285,747,723,685.978266285,671,642,886,786.978266285,819,656,632,656,0.400961619645,0.00451323892033,0.0598405512868,0.999999963579,3.34059857142e-05,-0.000267021380884,2.06113381391e-05,1793250758068904448
+101,1.683333333,BASELINE,768.388782147,747,723,685.388782147,671,642,886,786.388782147,819,656,632,656,0.400962834708,0.00451217538506,0.0598421664009,0.999999964094,3.1809365809e-05,-0.000265261149315,2.09050467034e-05,1793250758085571072
+102,1.700000000,BASELINE,768.197121958,746.802878042,723,685.197121958,671,642,886,786,819,656,632,656,0.40096392664,0.00451144032902,0.0598430924785,0.999999964462,3.10430220964e-05,-0.00026394524534,2.10812485993e-05,1793250758102237696
+103,1.716666667,BASELINE,768.776091075,746.223908925,723,685.776091075,671,642,886,786,819,656,632,656,0.400964780052,0.00451134157388,0.0598426838154,0.999999964557,3.18850158999e-05,-0.000263490053546,2.10298269753e-05,1793250758118904576
+104,1.733333333,BASELINE,768.646261638,746.353738362,723,685.646261638,671,642,886,786,819,656,632,655.646261638,0.400964206176,0.00451126431191,0.0598421676024,0.99999996436,3.18921343866e-05,-0.000264234618693,2.10503150895e-05,1793250758135571200
+105,1.750000000,BASELINE,768.069447869,746.930552131,723,685.069447869,671,642,886,786,819,656,632,655.069447869,0.400962732219,0.00451120060402,0.0598415835659,0.999999963977,3.13727617103e-05,-0.000265735777638,2.11161511049e-05,1793250758152237824
+106,1.766666667,BASELINE,768,746.494296282,723,685,671,642,886.505703718,786.505703718,819,656,632.505703718,655.505703718,0.400962973653,0.00451301447577,0.0598416585413,0.999999963963,3.31968101501e-05,-0.000265581330348,2.09526854892e-05,1793250758168904704
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,747,723,685,671,642,886,786,819,656,632,656,0.40096127263,0.00451516145319,0.0598414174017,0.99999996338,3.98443407012e-05,-0.000266840788706,2.11596577468e-05,1793250758211544064
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.578615677,747,723,685,671,642,886,786,819,656,632,655.421384323,0.40096083824,0.00451315423433,0.0598401582262,0.999999963231,3.75346336688e-05,-0.000267738616605,2.109743362e-05,1793250758228211968
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.843348111,746.843348111,723,685,671,642.156651889,886,786.156651889,819,656,632,655.156651889,0.400961003565,0.00451198515174,0.0598398330664,0.999999963289,3.6193686151e-05,-0.000267707220053,2.10773817727e-05,1793250758244879360
+110,1.833333333,POSE1_TO_POSE2_PRESS,768.266864758,746.266864758,723,685,671,642.733135242,886,786.733135242,819,656,632,655.733135242,0.400962776143,0.00451306229744,0.0598420110947,0.999999963913,3.74490408573e-05,-0.000265185476048,2.11703528065e-05,1793250758261545984
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746,723,685,671,642.693130258,886,787,819,656,632,656,0.400963033316,0.00451344591056,0.0598424470918,0.999999964079,3.61932982677e-05,-0.000264746531244,2.10082272541e-05,1793250758278212864
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,746,723,685,671,642.121765069,886,787,819,656,632,656,0.400961984339,0.00451323175789,0.0598413816071,0.999999963845,3.2773204707e-05,-0.000266102781194,2.06262302771e-05,1793250758294880000
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,746.465980454,723,685,671.465980454,642,886.465980454,787,819,656,632,656,0.400962106387,0.00451252572774,0.0598411141759,0.999999963813,3.14598059911e-05,-0.000266375118892,2.07063539246e-05,1793250758311546112
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.056845527,746.943154473,723,685.056845527,671.943154473,642,886.943154473,787,819,656,632.056845527,656,0.400962531225,0.00451186761641,0.0598411054388,0.99999996384,3.09427686066e-05,-0.000266322557895,2.0872867847e-05,1793250758328211712
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.635621032,746.364378968,723,685.635621032,671.364378968,642,886.364378968,787,819,656,632.635621032,656,0.40096282423,0.00451287259434,0.0598414874455,0.999999963885,3.24989779922e-05,-0.000265982219083,2.0683452451e-05,1793250758344878080
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.785947368,746.214052632,723,686,671,642,886,787,819,656,632.785947368,655.785947368,0.400966069141,0.00451360077367,0.0598430775552,0.99999996445,3.34907259296e-05,-0.000263728742707,2.06264682596e-05,1793250758361544448
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.208100311,746.791899689,723,686,671,642,886,787,819,656,632.208100311,655.208100311,0.400974330979,0.0045138585182,0.0598467209037,0.999999965882,3.3523139895e-05,-0.000258223782031,2.07945583289e-05,1793250758378211072
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.376409436,746.623590564,723,686,671.376409436,642,886.376409436,787,819,656,632,655.376409436,0.400999067592,0.00451363792734,0.059856980153,0.999999970394,3.28364702103e-05,-0.000240197956457,2.09493343194e-05,1793250758394877952
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.964669124,746.035330876,723,686,671.964669124,642,886.964669124,787,819,656,632,655.964669124,0.401033076518,0.00451314812042,0.059870962955,0.999999976134,3.17450868223e-05,-0.000215125153954,2.10966169032e-05,1793250758411544320
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746,723,686,671.459039351,642,886.459039351,787,819,656.540960649,632,656,0.401088701305,0.00451225312096,0.0598880606725,0.999999982327,3.08218398408e-05,-0.000184222092481,2.14035699346e-05,1793250758428210944
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746.116971332,723,686,671,642,886,787.116971332,819,656.883028668,632,656,0.40114975095,0.00451146837094,0.0599049571131,0.999999987287,2.98432119086e-05,-0.000155132407609,2.16503211569e-05,1793250758444877568
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746.694889059,723,686,671,642,886,787.694889059,819,656.305110941,632,656,0.401226735352,0.00451122010579,0.0599202760549,0.999999990291,2.86040084934e-05,-0.000134656708692,2.16196315109e-05,1793250758461544192
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746.731651016,723,686,671,642,886,787.731651016,819,656,632,656,0.401307447104,0.00451122867225,0.0599301591459,0.999999992302,2.78281903429e-05,-0.000119055354298,2.1169221273e-05,1793250758478211072
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746.163176792,723,686,671,642,886,787.163176792,819,656,632,656,0.401392327573,0.00451152448278,0.0599339627049,0.999999993485,2.7570628805e-05,-0.000108905535933,2.02493896906e-05,1793250758494877696
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,685.573727768,671,642,886,787,819,656,632,656,0.401493847519,0.00451083958892,0.0599373635591,0.99999999422,2.56429935089e-05,-0.00010254014397,1.97177235163e-05,1793250758511544320
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.976589568,746.023410432,723,685.023410432,671,642,886,787,819,656,632,656,0.401603258854,0.00450982705335,0.0599406676957,0.999999994802,2.3097226603e-05,-9.74179596556e-05,1.93045358212e-05,1793250758528210688
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.397387251,746.602612749,723,685.602612749,671,642,886,787,819,656,632,656,0.401740973792,0.00451040991828,0.0599455248772,0.999999995933,2.18395791904e-05,-8.56377843574e-05,1.79939116144e-05,1793250758544877568
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.180327161,747,722.819672839,685.819672839,671,642.180327161,886,787,819,656,632,655.819672839,0.401884875481,0.00451087433432,0.0599477059835,0.999999996583,2.01462741038e-05,-7.84864852048e-05,1.63772974304e-05,1793250758561544192
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.75478943,747,722.24521057,685.24521057,671,642.75478943,886,787,819,656,632,655.24521057,0.402042299332,0.00451107986047,0.0599440380803,0.99999999643,1.75007666271e-05,-8.14523690298e-05,1.40918912556e-05,1793250758578211072
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.661965601,746.661965601,722.338034399,685.338034399,671,642.661965601,886,787,819,656,632,655,0.402221714545,0.00451067406179,0.0599450605483,0.999999996979,1.35964798965e-05,-7.55226269857e-05,1.23592096223e-05,1793250758594877952
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.072179644,746.072179644,722.927820356,685.927820356,671,642.072179644,886,787,819,656,632,655,0.402417507872,0.00450981297818,0.0599495761758,0.999999997918,8.75471540178e-06,-6.29678563145e-05,1.1038170069e-05,1793250758611544576
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,746,723,686,671,642,886.508339371,787,819.508339371,656,632.508339371,655,0.402644608653,0.00451001327229,0.059950464258,0.99999999834,5.36726893627e-06,-5.67414623108e-05,8.48317940553e-06,1793250758628211200
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,746.087019378,723,686,671,642.087019378,886.912980622,787,819.912980622,656,633,655.087019378,0.40288132529,0.00451016118973,0.0599508842107,0.99999999865,1.48407625666e-06,-5.16082852793e-05,5.81847972781e-06,1793250758644878080
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,746.662629807,723,686,671,642.662629807,886.337370193,787,819.337370193,656,633,655.662629807,0.403147519757,0.00450918399989,0.0599515159946,0.999999998838,-6.32128929838e-06,-4.7658309255e-05,3.503937307e-06,1793250758661544704
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.237855458,747,723,686,671,643,886,786.762144542,819,656,632.762144542,656,0.403430767578,0.00450863321955,0.0599506841795,0.999999998813,-1.28340386552e-05,-4.70036387865e-05,8.61196439723e-07,1793250758678211328
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.812536194,747,723,686,671,643,886,786.187463806,819,656,632.187463806,656,0.403738164505,0.00450868627448,0.059947779773,0.999999998543,-1.75163237287e-05,-5.10154253058e-05,-2.24630357381e-06,1793250758694877696
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,747,723,686,671.397324897,642.602675103,886,786.397324897,819,656,632,656,0.404052480864,0.00450827984516,0.0599375755043,0.999999997436,-2.32199077901e-05,-6.75100178696e-05,-5.55422686994e-06,1793250758711544320
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,723,686,671.987007165,642.012992835,886,786.987007165,819,656,632,656,0.404370147127,0.00450765096519,0.0599238371447,0.999999995473,-2.94179343892e-05,-9.0047925906e-05,-8.9591812336e-06,1793250758728211200
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.434496067,746.434496067,723,686.565503933,671.434496067,642.565503933,886,786.434496067,819,656,632,655.434496067,0.404727696792,0.0045070417501,0.0599094355493,0.999999992436,-3.78007854401e-05,-0.000116362888242,-1.26287231621e-05,1793250758744877824
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.142980336,746,723,687,671.142980336,643,886.142980336,786.142980336,819,656,632,655.142980336,0.405104063752,0.00450664226176,0.059898633451,0.999999989421,-4.59352954256e-05,-0.000137057704577,-1.62146231186e-05,1793250758761544704
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.718134194,746,723,687,671.718134194,643,886.718134194,786.718134194,819,656,632,655.718134194,0.40553459192,0.00450687535614,0.0598987563907,0.999999988525,-5.3170380807e-05,-0.000140507801985,-1.95296872426e-05,1793250758778211328
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.706887096,746.293112904,723,687,671.706887096,643,886.706887096,787,819.293112904,656,632,656,0.406013509718,0.00450650869032,0.059914935308,0.999999991351,-6.05263002776e-05,-0.000114477857025,-2.30095248419e-05,1793250758794878208
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.132076644,746.867923356,723,687,671.132076644,643,886.132076644,787,819.867923356,656,632,656,0.406538932652,0.00450556562213,0.0599465448988,0.999999995526,-6.7998348643e-05,-6.01159775066e-05,-2.66477191124e-05,1793250758811544832
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.458124693,747,723,687.458124693,671.458124693,642.541875307,886.458124693,787,819.541875307,656.458124693,632,656,0.407080804672,0.00450354494791,0.0599756721958,0.999999996581,-7.62423242373e-05,-1.19431049216e-05,-2.97070751651e-05,1793250758828211200
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,723,688,671.94884888,642.05115112,887,787,819,656.94884888,632,656,0.407625859165,0.0045013491119,0.0600011415023,0.999999995471,-8.47937603703e-05,2.8362453828e-05,-3.26088297249e-05,1793250758844877568
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,723,688,671.373909302,642.626090698,887,787,819,656.373909302,632,656,0.408153253777,0.00450065149506,0.0599967358678,0.999999994909,-9.41355145837e-05,7.01283411458e-06,-3.56649847056e-05,1793250758861544448
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.799182592,723,688,671,642.799182592,887,787,819,656,632,656,0.408699475718,0.00449933124259,0.059989563302,0.999999993684,-0.000104092886642,-1.62078290912e-05,-3.91605598608e-05,1793250758878211072
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.224851842,723,688,671,642.224851842,887,787,819,656,632,656,0.4092807158,0.00449685290969,0.059977244341,0.999999991499,-0.000115195285783,-4.29085663361e-05,-4.34734409673e-05,1793250758894877440
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.640178691,746,723,688.359821309,671,642.359821309,887,787.359821309,819,656,632,656,0.40991114339,0.00449325791445,0.0599764834116,0.999999989651,-0.000128092481617,-4.4818980012e-05,-4.776582332e-05,1793250758911544576
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.048851348,746,723,688.951148652,671,642.951148652,887,787.951148652,819,656,632,656,0.410573217793,0.00448894446805,0.0599831588239,0.999999988069,-0.000142144434271,-3.0779504921e-05,-5.20450167801e-05,1793250758928211456
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.531189336,746,723,689,671.531189336,643,887.531189336,787.468810664,819,656,632.531189336,656,0.411269860936,0.00447600106226,0.0599884012574,0.999999985039,-0.000163665169348,-1.58143340258e-05,-5.3718554696e-05,1793250758944878080
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746.109872373,723,689,672,642.890127627,888,787.109872373,819,656,632.890127627,656,0.411965879705,0.00446306665293,0.0599887211692,0.999999983056,-0.000176027747662,-1.13622830978e-05,-5.26582278562e-05,1793250758961544448
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.687103667,723,689,672,642.312896333,888,787.687103667,819,656,632.312896333,656,0.412646000767,0.0044534762409,0.0599686512867,0.999999987068,-0.000146573766904,-5.19839880736e-05,-4.09670916271e-05,1793250758978211072
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.738150701,723,689.261849299,671.476301403,642.261849299,888,787.738150701,819.261849299,656,632,656,0.41333245234,0.00445807684582,0.059941881799,0.999999990175,-8.95785242887e-05,-0.000103795673,-2.9201202397e-05,1793250758994877696
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746.166347303,723,689.833652697,670.332694606,642.833652697,888,787.166347303,819.833652697,656,632,656,0.414026397505,0.00447947552343,0.0599071819069,0.999999985594,1.76390277826e-08,-0.000168853073726,-1.73468254257e-05,1793250759011544320
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.419555691,723,690.419555691,670.839111382,643,888,787.419555691,820.419555691,656,632.419555691,656,0.414842552038,0.00447984843842,0.0599269354479,0.999999991601,8.83877245349e-06,-0.000128079106415,-1.77642536279e-05,1793250759028210944
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,723,691,672.01099549,643,888.01099549,788,821,656,633,656,0.415708600158,0.00447166929233,0.0599688988832,0.999999998625,-1.52853265348e-05,-4.4480547384e-05,-2.31756490538e-05,1793250759044877568
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,723,691,672.589640959,643,888.589640959,788,821,656,633,656,0.416561976788,0.00446732186504,0.060004108396,0.999999999183,-2.93680678446e-05,8.39784838149e-06,-2.64801466046e-05,1793250759061544448
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.832162416,723,691,672.664324832,643,889,788,821,656,632.832162416,656,0.417410183106,0.00446627471378,0.0600261448898,0.999999998046,-3.5826462455e-05,4.18239872011e-05,-2.95680911279e-05,1793250759078211328
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.255060314,723,691,671.510120628,643,889,788,821,656,632.255060314,656,0.418245781797,0.00447327513977,0.0600160595577,0.999999998816,-2.36932244877e-05,2.78166554518e-05,-3.21279806417e-05,1793250759094878464
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,723,691,671.319479201,642.680520799,889.319479201,788,821.638958402,656,632,655.680520799,0.419087780737,0.00447311833765,0.0599978594203,0.999999999253,-1.92068104999e-05,-2.81808168142e-06,-3.34178626658e-05,1793250759111545088
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,723,691,671.891989095,642.108010905,889.891989095,788,822.78397819,656,632,655.108010905,0.419934848697,0.00446729293963,0.0599732322773,0.999999998129,-2.07767574228e-05,-4.66218879646e-05,-3.37018860093e-05,1793250759128211456
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.517356009,746.482643991,723,691.482643991,671.034712017,642.482643991,890,787.517356009,822.517356009,656,632.482643991,655.482643991,0.420779841071,0.00447144361342,0.0599379281254,0.999999994138,-1.07854985893e-05,-0.000101545375502,-3.60096198318e-05,1793250759144878080
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.074846863,746.925153137,723,692.074846863,670.074846863,643,890.074846863,787.074846863,822.074846863,656,632.925153137,656,0.421628874512,0.00447655907293,0.0599027682867,0.999999987062,6.63742226407e-07,-0.00015621964838,-3.83443925467e-05,1793250759161544448
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.649221073,746.350778927,723,692.649221073,670.649221073,643,890.649221073,787.649221073,822.649221073,656,632.350778927,656,0.422508098715,0.00447263146542,0.059885141444,0.999999980854,3.90150418349e-06,-0.000191973815213,-3.77189910731e-05,1793250759178211072
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.224082534,723,693,671,643,891.224082534,787.775917466,823.224082534,656,632,656,0.423436987852,0.00446935850713,0.0599018940252,0.999999985241,4.74900382918e-06,-0.000167583843775,-3.75690127669e-05,1793250759194877696
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746.799708489,723,693,671,643,891.799708489,787.200291511,823.799708489,656,632,656,0.424443792077,0.00446711256995,0.0599725814645,0.999999998077,1.84663116264e-06,-4.88390160654e-05,-3.81648837413e-05,1793250759211544576
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,723,693,671.385053574,643,891.614946426,787,824,655.614946426,632,656,0.425431782626,0.00446814411731,0.0600158185101,0.999999998912,4.60010408155e-06,2.45182928001e-05,-3.94294941626e-05,1793250759228211200
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,723,693,671.975585088,643,891.024414912,787,824,655.024414912,632,656,0.426409733482,0.00447092464422,0.0600444070693,0.999999996391,1.03717325201e-05,7.3655240374e-05,-4.1050967224e-05,1793250759244878080
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,723,692.445061814,670.890123628,643,891.554938186,787,824,655.554938186,632,656,0.427358223208,0.00446617724007,0.0600292773781,0.999999995776,-5.06214885456e-05,6.32789272703e-05,-4.33653181399e-05,1793250759261544448
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,723,692.132995985,670.132995985,643,892,787,824,656,632,656,0.428291027919,0.00446250977678,0.060008878504,0.999999993244,-9.88082149397e-05,4.12949538216e-05,-4.5214721841e-05,1793250759278210816
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,723,692.708348954,670.708348954,643,892,787,824,656,632,656,0.429175888801,0.00446351413688,0.0599772249783,0.999999994415,-9.48223048607e-05,-1.07603286085e-05,-4.54182788513e-05,1793250759294877696
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,723,693.283420325,670.43315935,643,892,787,824.283420325,656,632,656,0.430057701957,0.00446369838971,0.0599446373007,0.999999992678,-8.89690637716e-05,-6.81637268843e-05,-4.56337310376e-05,1793250759311544576
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,723,693.858202172,669.283595656,643,892,787,824.858202172,656,632,656,0.43093638194,0.0044630395565,0.059911089299,0.999999987063,-8.11961708113e-05,-0.00013106508736,-4.58614116394e-05,1793250759328211456
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.55493529,723,694,669.890129419,643,892.44506471,787,824.55493529,656,632,656,0.431934006105,0.00445956591012,0.0599438536502,0.999999993461,-7.94457226778e-05,-6.75889177175e-05,-4.68893648351e-05,1793250759344878080
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.035247305,723,694,671.035247305,643.035247305,893.035247305,787,824.035247305,656,632,656,0.432964242767,0.00445556450596,0.0599957289634,0.999999995224,-7.90853487487e-05,3.1331508329e-05,-4.81212775421e-05,1793250759361544448
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.615589722,723,694,671.615589722,643.615589722,893.615589722,787,824.615589722,656,632,656,0.433896423079,0.00445765726756,0.0600073081011,0.99999999566,-6.97211075785e-05,3.83426724083e-05,-4.84543522447e-05,1793250759378211328
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,694,671.613019517,643.806509758,894,787,825.193490242,656,632,656,0.434815872405,0.00445660525985,0.0600062555768,0.999999996212,-6.57594807954e-05,2.92562467836e-05,-4.89431888496e-05,1793250759394877952
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,694,670.466800064,643.233400032,894,787,825.766599968,656,632,656,0.435710344257,0.00444938335117,0.0599804202801,0.999999996077,-7.23975480387e-05,-1.14129523652e-05,-4.97376235842e-05,1793250759411544320
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,694,670,643,894.349758196,787,826,656,632,656,0.436571382166,0.00444699578554,0.0599558065168,0.999999994758,-7.13016121594e-05,-5.2990558976e-05,-5.09146591585e-05,1793250759428210944
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723,694,670,643,894.939820285,787,826,656,632,656,0.43740944899,0.00444792969063,0.0599320320183,0.999999991993,-6.48919731767e-05,-9.51922909993e-05,-5.23545633203e-05,1793250759444877568
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,694.52020992,670,643,894.47979008,787,826,656,632,656,0.438252196917,0.00444841225135,0.0599044821289,0.999999985286,-5.55780191558e-05,-0.000154042689946,-5.10909905493e-05,1793250759461544448
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,695,670.098703038,643,894.197406077,787,826,656,632.098703038,656,0.439108814162,0.00444751278188,0.0598898038229,0.999999979659,-4.89625572774e-05,-0.000189205648776,-4.98536607215e-05,1793250759478210816
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,723,695,670.673348227,643,895.346696455,787,826,656,632.673348227,656,0.440029745137,0.00444019639118,0.0599392593353,0.999999992014,-5.69496347031e-05,-0.000101031249193,-5.02234030893e-05,1793250759494877440
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+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747.845117096,723,694,668.845117096,642,895.154882904,785.845117096,827,656,632,656,0.444633109198,0.00445155621133,0.0598340232757,0.999999964728,-9.45205239293e-06,-0.000260232949311,-5.22868520011e-05,1793250759594877696
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747.270286798,723,694,668.270286798,642,895.729713202,785.270286798,827,656,632,656,0.44531534258,0.00445911677662,0.059825915859,0.999999958823,5.0871578396e-06,-0.000282157449916,-5.2114081516e-05,1793250759611544576
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,694,667.688415364,642,896,785.311584636,827,656,632,656,0.445957335175,0.00446880494743,0.0598040331076,0.999999946102,1.87455352478e-05,-0.000323587428711,-5.23072112686e-05,1793250759628211200
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,723,694,667.100294853,642,896,785.899705147,827,656,632,656,0.446563613448,0.0044803813985,0.0597699245477,0.999999925017,3.1622159859e-05,-0.000382328799712,-5.28250826681e-05,1793250759644877568
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,723,694,666.520108332,641.040216664,895.520108332,786,827,656,632,656.479891668,0.447210340193,0.00450959892689,0.0597621076664,0.999999922325,6.48732257941e-05,-0.000384583537861,-5.68912431172e-05,1793250759661544704
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747.636938905,723,694,665.363061095,640,895.636938905,786,827,656,632,656.363061095,0.448494698038,0.00455552429735,0.059777948263,0.999999931066,0.000110958506062,-0.000347847753869,-6.75109015466e-05,1793250759694877696
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+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747.21061543,723.78938457,694,665,640,896,785.21061543,827.78938457,656,632,656,0.449582157425,0.00458545834709,0.0597401726501,0.99999990324,0.000136530793195,-0.000410821716647,-7.8138450328e-05,1793250759728210944
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.627858608,747,723.627858608,694,664.627858608,639.627858608,896.744282784,785,828,656,632,656,0.450063334923,0.0045912416055,0.059707185528,0.999999881165,0.000143229567587,-0.000458878481287,-8.11556027625e-05,1793250759744877824
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+234,3.900000000,POSE1_TO_POSE2_PRESS,768.684175194,748,723,694.684175194,658,635,898,784,828,656,631,656,0.456187077175,0.00461927948679,0.0596061278969,0.999999801019,0.00024335950781,-0.000577270659627,-7.41357511661e-05,1793250760328212224
+235,3.916666667,POSE1_TO_POSE2_PRESS,768.741161859,747.741161859,723,694.741161859,657.741161859,635,897.741161859,784.258838141,828,656,631.258838141,656.258838141,0.456186893337,0.00461983315817,0.0596048140524,0.999999799409,0.000244468789364,-0.000579583321496,-7.41601744212e-05,1793250760344878592
+236,3.933333333,POSE1_TO_POSE2_PRESS,768.169469082,747.169469082,723,694.169469082,657.169469082,635,897.169469082,784.830530918,828,656,631.830530918,656.830530918,0.456184794821,0.00461975457182,0.0596023625237,0.999999797301,0.00024258660144,-0.000583946729337,-7.45363410303e-05,1793250760361545216
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.416446805,747.416446805,723,694.416446805,657.416446805,635,897,784.583553195,828,656,631.583553195,656.583553195,0.45618496722,0.00462068392925,0.0596016297543,0.999999796789,0.000243182942909,-0.000584536820076,-7.48371945646e-05,1793250760378211840
+238,3.966666667,POSE1_TO_POSE2_PRESS,768.991822378,748,723,694.991822378,658,635,897,784.008177622,827.991822378,656,631,656,0.456186121597,0.00462199924774,0.0596016485622,0.999999796976,0.000244786214107,-0.000583513777334,-7.50948534352e-05,1793250760394878208
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.412499995,748,723,694.412499995,658,635,897,784.587500005,827.412499995,656,631,656,0.456189034067,0.00462061053182,0.0596035818701,0.999999798806,0.000243780870041,-0.000580861993594,-7.45519118273e-05,1793250760411545088
+240,4.000000000,POSE1_TO_POSE2_PRESS,768,747.833947786,723,694,657.833947786,635,897,784.833947786,827.166052214,656,631.166052214,656,0.456190611857,0.00461916453954,0.0596045104184,0.999999799671,0.000243087394071,-0.000579732958509,-7.40002059742e-05,1793250760428211968
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,747.257300015,723,694,657.257300015,635,897,784.257300015,827.742699985,656,631.742699985,656,0.456188889398,0.00461757692072,0.0596029545077,0.999999798163,0.000243165071118,-0.000582369208127,-7.34268288983e-05,1793250760444878592
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,747.316807515,723,694.316807515,657,635,897,784,828,656,631.683192485,656,0.456188310964,0.0046186356341,0.0596021734047,0.999999797302,0.000243671045849,-0.00058360348612,-7.36709133725e-05,1793250760461544960
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,747.888868333,723,694.888868333,657,635,897,784,828,656,631.111131667,656,0.456188654276,0.00462182650983,0.0596020165679,0.999999796966,0.00024452210203,-0.000583708188864,-7.45736304859e-05,1793250760478211840
+244,4.066666667,POSE1_TO_POSE2_PRESS,768,747.522925456,723,695,657.477074544,635,897,784,828,656,631.477074544,656.477074544,0.456189124299,0.00462151434687,0.0596022095417,0.999999796703,0.000245105687888,-0.000583949724034,-7.42911239207e-05,1793250760494878464
+245,4.083333333,POSE1_TO_POSE2_PRESS,768.0676089,747.0676089,723,694.9323911,658,635,897,784,828,656,632,656.9323911,0.456189621896,0.00462040556669,0.0596023172928,0.999999796529,0.000245394672404,-0.00058419659146,-7.37451515138e-05,1793250760511545088
+246,4.100000000,POSE1_TO_POSE2_PRESS,768.646315389,747.646315389,723,694.353684611,658,635,897,784,828,656,632,656.353684611,0.456190096989,0.00461965948216,0.0596011432109,0.999999796889,0.000243944087629,-0.000584234370724,-7.33677274035e-05,1793250760528212224
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,748,723,694,658,635,897,784,828,655.775623547,632,656.224376453,0.456190383171,0.00461931865358,0.0596004823735,0.999999796884,0.000243700151164,-0.000584358519525,-7.32665361593e-05,1793250760544878848
+248,4.133333333,POSE1_TO_POSE2_PRESS,769,748,723,694,658,635,897,784,828,655.198576857,632,656.801423143,0.456190372424,0.00461961479777,0.0596006282428,0.999999796303,0.000245352799165,-0.000584618422168,-7.35995219242e-05,1793250760561544704
+249,4.150000000,HOLD_POSE2,769,747,723,694,657,635,897,785,828,656,632,657,0.456190092894,0.00461757511088,0.0596016146504,0.999999797184,0.000244237407399,-0.000583605230644,-7.33835389172e-05,1793250760596321024
+250,4.166666667,HOLD_POSE2,769,747.594448234,723,694.594448234,657.594448234,635,897,785,828,656,632,656.405551766,0.45619052041,0.00461848513318,0.0596012096788,0.999999796908,0.000243491796032,-0.000584353648995,-7.3665426721e-05,1793250760612987392
+251,4.183333333,HOLD_POSE2,769,748,723,695,657.815995433,635,897.184004567,784.815995433,828,656,632,656.184004567,0.456191191967,0.0046190561719,0.059601110191,0.999999796769,0.000243791549705,-0.000584463761931,-7.36905253925e-05,1793250760629654016
+252,4.200000000,HOLD_POSE2,769,748,723,695,657.236941672,635,897.763058328,784.236941672,828,656,632,656.763058328,0.456192387468,0.00461889942891,0.0596016665624,0.99999979692,0.000246335653063,-0.000583203463148,-7.31643098654e-05,1793250760646320384
+253,4.216666667,HOLD_POSE2,768.662216896,747.662216896,723,695,657,635,897.662216896,784,828,656,631.662216896,656.662216896,0.456192573067,0.00461824453636,0.0596018343165,0.999999797068,0.00024587621849,-0.000583162831739,-7.30002503301e-05,1793250760662987008
+254,4.233333333,HOLD_POSE2,768.090490344,747.090490344,723,695,657,635,897.090490344,784,828,656,631.090490344,656.090490344,0.456192059224,0.004617244633,0.0596017329201,0.999999797214,0.000243336579004,-0.000583966923506,-7.30870145661e-05,1793250760679653632
+255,4.250000000,HOLD_POSE2,768.496638363,747,723,694.503361637,657,635,897,784,828,656,631.496638363,656,0.456191371352,0.00461853830813,0.0596011541272,0.999999796347,0.000244469498518,-0.00058494849963,-7.3317426621e-05,1793250760696320512
+256,4.266666667,HOLD_POSE2,768.914963862,747,723,694.085036138,657,635,897,784.085036138,828,656,632,656,0.456191025251,0.0046202139782,0.0596007215639,0.999999795541,0.000246291952726,-0.000585540316457,-7.34929619268e-05,1793250760712987392
+257,4.283333333,HOLD_POSE2,768.336016742,747,723,694.663983258,657,635,897,784.663983258,828,656,632,656,0.456192854309,0.00462160339858,0.0596016597348,0.999999796205,0.000248108347309,-0.000583674472051,-7.31928720438e-05,1793250760729654016
+258,4.300000000,HOLD_POSE2,768,747,723,694.758230769,657,635,897,785,828,656,632,656.241769231,0.456193435056,0.00462168626803,0.0596015148338,0.999999796295,0.000248079738795,-0.000583543813654,-7.30954715859e-05,1793250760746320640
+259,4.316666667,HOLD_POSE2,768,747,723,694.182050922,657,635,897,785,828,656,632,656.817949078,0.456192289164,0.00461996194086,0.0595998718483,0.999999795592,0.00024549915682,-0.000585813231798,-7.32784273234e-05,1793250760762987520
+260,4.333333333,HOLD_POSE2,768,747,723,694,657,635,897,784.599210045,827.599210045,656,632,656.599210045,0.456192159583,0.00461957239258,0.0596001089705,0.999999795628,0.000245715209253,-0.000585685079665,-7.30767086165e-05,1793250760779653888
+261,4.350000000,HOLD_POSE2,768,747,723,694,657,635,897,784.01329234,827.01329234,656,632,656.01329234,0.456192499443,0.00461979938809,0.0596012145279,0.999999796007,0.000247223046912,-0.000584449472855,-7.26973060459e-05,1793250760796320512
+262,4.366666667,HOLD_POSE2,768,747.566012515,723,694.566012515,657,635,897,784,827.566012515,656,632,656.566012515,0.456192387075,0.00461878790925,0.0596009281237,0.99999979616,0.000245944267196,-0.000584736876481,-7.2629109248e-05,1793250760812987136
+263,4.383333333,HOLD_POSE2,768,747.854901695,723,695,657.145098305,635,897.145098305,784.145098305,828,656,632,657,0.456192606595,0.00461876008118,0.0596009573551,0.999999796216,0.000245527170856,-0.000584807453381,-7.26895454639e-05,1793250760829653760
+264,4.400000000,HOLD_POSE2,768,747.27601177,723,695,657.72398823,635,897.72398823,784.72398823,828,656,632,657,0.456193849722,0.00462175896217,0.059602026823,0.999999796005,0.000247879583703,-0.000584124102079,-7.31129508066e-05,1793250760846320384
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,723,695,657,635,897,784,828,656,632,656,0.4561920743,0.0046220905953,0.0596003101452,0.999999794768,0.000249160089602,-0.000585664105129,-7.3360442026e-05,1793250760883315200
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,748,723,694.412390098,657,635,897.587609902,784,828,656,632,656.587609902,0.456191996169,0.00462121068046,0.0595995582608,0.999999794658,0.00024848876313,-0.000586167752806,-7.31130120621e-05,1793250760899982336
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.827307004,748,723,694,657,635,897.827307004,784.172692996,828,656,631.827307004,656.827307004,0.456192551558,0.0046206562307,0.0595996670432,0.999999795004,0.000247771168404,-0.000585899649386,-7.29556579697e-05,1793250760916648960
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.248170787,748,723,694,657,635,897.248170787,784.751829213,828,656,631.248170787,656.248170787,0.456194597972,0.00462086778213,0.0596018014558,0.999999796424,0.000246944678457,-0.00058381518403,-7.30103027401e-05,1793250760933315328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.330404552,748,723,694,657,635,897.330404552,784.669595448,828,656,631.330404552,656.330404552,0.456194131651,0.00462028725305,0.0596014803973,0.999999796203,0.000246749670955,-0.000584291564896,-7.28840245695e-05,1793250760949981952
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.908559286,748,723,694,657,635,897.908559286,784.091440714,828,656,631.908559286,656.908559286,0.456191781183,0.00461911279117,0.059599318131,0.99999979475,0.000247028173601,-0.00058668816798,-7.26220833379e-05,1793250760966648320
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.518157084,747.518157084,723,694.481842916,657,635,897.518157084,784.481842916,828,656,631.518157084,657,0.456190872742,0.00461990979157,0.0595987238391,0.999999793853,0.000248642993691,-0.000587523010536,-7.27172552453e-05,1793250760983315200
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747.055951271,723.055951271,695,657,635,897,784.944048729,828,656,631.055951271,656.944048729,0.456190302772,0.00462089446045,0.0595984887862,0.999999793194,0.000250132971032,-0.000587995579451,-7.28532152253e-05,1793250760999981824
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,747.646689563,723.646689563,695,657,635,897,784.353310437,828,656,631.646689563,656.353310437,0.456190378459,0.0046201327026,0.0595988717387,0.999999793835,0.000248030049773,-0.000587809977953,-7.27377587938e-05,1793250761016648448
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.233412056,748,723.766587944,695,657,635,897,784,828,656,632,656.233412056,0.456188188717,0.00461873153137,0.0595978097399,0.999999793378,0.000245873542294,-0.00058951157041,-7.25680852012e-05,1793250761033315328
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.814158689,748,723.185841311,695,657,635,897,784,828,656,632,656.814158689,0.456182627847,0.00461637886533,0.0595945975457,0.999999791275,0.000243637294699,-0.00059402144847,-7.23177324319e-05,1793250761049981952
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.609062664,748,723,695,657,635,897.390937336,784.390937336,828,656,631.609062664,657,0.456163896783,0.00461677522327,0.0595855618756,0.999999782501,0.000244748339165,-0.000608155154951,-7.24076270513e-05,1793250761066648320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.034151287,748,723,695,657,635,897.965848713,784.965848713,828,656,631.034151287,657,0.456138967861,0.00461846526416,0.0595737856933,0.999999770298,0.00024743460984,-0.000626817808952,-7.26576411168e-05,1793250761083314944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.540261926,748,723,694.459738074,657.540261926,635,897.459738074,785,828,656,631.540261926,657,0.456089152091,0.00462023733484,0.0595557455783,0.999999750808,0.000248598860106,-0.000656702743408,-7.29684457399e-05,1793250761099981568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.881691143,747.881691143,723.118308857,694.118308857,657.881691143,635,897,784.881691143,828,656,631.881691143,656.881691143,0.456035190518,0.00462176728323,0.0595378328855,0.999999731893,0.000249607755841,-0.000684498300888,-7.32933034695e-05,1793250761116648448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.288946121,747.288946121,723.711053879,694.711053879,657.288946121,635,897,784.288946121,828,656,631.288946121,656.288946121,0.455970906436,0.00462230551099,0.0595220175596,0.999999720191,0.000250379121482,-0.000701073025243,-7.36591208825e-05,1793250761133315328
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.295136207,747.295136207,723.704863793,694.704863793,657,635,897,784,828,656,631,656.295136207,0.455898663408,0.00462265362297,0.0595111720872,0.999999710081,0.000252615266965,-0.000714594517909,-7.3330018992e-05,1793250761149982208
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.870979326,747.870979326,723.129020674,694.129020674,657,635,897,784,828,656,631,656.870979326,0.455818850555,0.00462282091398,0.0595050534917,0.999999701587,0.000256244578767,-0.000725212051325,-7.23399725861e-05,1793250761166649600
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.552551575,747.552551575,723,694.447448425,657,635,897,784,828,656,631,657,0.455727065899,0.00462445422047,0.0595051766108,0.999999700343,0.000258320094107,-0.000726213775615,-7.21042040601e-05,1793250761183316224
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,657,635,897,784,828,656,631.02456342,657,0.455630988282,0.00462642805848,0.059507161726,0.99999970124,0.000259949815599,-0.000724400158868,-7.20391455185e-05,1793250761199982848
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,657,635,897,784,828,656,631.612343963,657,0.455515739963,0.00462650376385,0.0595105155088,0.999999702834,0.000261645281874,-0.000721697780523,-7.08943803348e-05,1793250761216649216
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.197144224,747.197144224,723,694.802855776,657.197144224,635,897,784,828,656,631.802855776,657,0.455389545532,0.00462621094872,0.0595146701679,0.999999705025,0.000263946650894,-0.000717939893633,-6.96047430028e-05,1793250761233316096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.77617139,747.77617139,723,694.22382861,657.77617139,635,897,784,828,656,631.22382861,657,0.455242147685,0.00462520428214,0.0595203761836,0.999999708359,0.000267421698142,-0.000712137408934,-6.80344777377e-05,1793250761249982976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,723,694,658,635,897,784,828,656,631.353675675,657,0.455073610642,0.00462587860431,0.0595252580636,0.999999709785,0.000270820783996,-0.000708979090184,-6.65887094024e-05,1793250761266649856
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748,723,694,658,635,897,784,828,656,631.93022037,657,0.454891752702,0.00462761220283,0.0595296206144,0.999999710019,0.000274172003056,-0.000707486994246,-6.52213927577e-05,1793250761283316736
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,748,723,694,658,635,897,785.028652989,828,656,632,656.485673505,0.454690186181,0.00462808436841,0.0595333525724,0.999999709926,0.000279426929645,-0.000705777158015,-6.28254696617e-05,1793250761299982592
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747.901561677,723,694,658,635,897,785.901561677,827.901561677,656,632,656,0.45447724864,0.00462860463613,0.0595357638127,0.999999708045,0.000285079821366,-0.000706389875483,-6.04343132521e-05,1793250761316648448
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747.32250528,723,694,658,635,897,785.32250528,827.32250528,656,632,656,0.454222042749,0.00463020781041,0.0595321506868,0.999999697705,0.000291395904181,-0.000718488679769,-5.87579527489e-05,1793250761333315072
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.743307349,747.256692651,723,694,658,635,897,785,827.256692651,656,632,656,0.453954190121,0.00463122331006,0.0595318750282,0.999999693736,0.000297122271239,-0.000721821528001,-5.67379323187e-05,1793250761349981952
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.163931532,747.836068468,723,694,658,635,897,785,827.836068468,656,632,656,0.453670439549,0.00463150005565,0.0595357948329,0.999999697898,0.000302107318143,-0.00071413486867,-5.42859040188e-05,1793250761366648576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.412608686,747.587391314,723.412608686,694,658.412608686,635.412608686,897,785,827.587391314,656,632,656.412608686,0.453343973432,0.00463347312679,0.0595309712354,0.999999691607,0.000309898333035,-0.000719742569342,-5.21541834464e-05,1793250761383315200
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.988029983,747.011970017,723.988029983,694,658.988029983,635.988029983,897,785,827.011970017,656,632,656.988029983,0.453000652054,0.00463611555655,0.0595226975501,0.999999681042,0.000318796563839,-0.000730596135048,-5.01488541973e-05,1793250761399982080
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.423441821,747,723.423441821,694,659,636,896.423441821,785,827,656,631.423441821,656.423441821,0.45266055782,0.00463702795885,0.0595315872902,0.999999690921,0.000325168486945,-0.00071427308122,-4.72906971041e-05,1793250761416648448
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.162567944,747,723,694,659.162567944,636,896,785.162567944,827,656,631,656,0.452308147741,0.00463797364454,0.0595428485217,0.999999702096,0.000332197265125,-0.000695340590498,-4.42044458094e-05,1793250761433315072
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.741415788,747,723,694,659.741415788,636,896,785.741415788,827,656,631,656,0.451924025574,0.0046390986686,0.0595592486465,0.999999715763,0.000341045447534,-0.000671204617478,-4.05805179178e-05,1793250761449981952
+300,5.000000000,POSE2_TO_POSE3_RETREAT,769,747,723,694.319334856,660,636,895.680665144,785.680665144,827,656,631.319334856,656,0.45150715348,0.00464031293815,0.0595732567708,0.999999725338,0.000350796268385,-0.000651853650462,-3.67842222172e-05,1793250761466648320
+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.896504083,660,636,895.103495917,785.103495917,827,656,631.896504083,656,0.451063838703,0.00464159926559,0.05958533357,0.999999731719,0.000361275890141,-0.000636366145819,-3.28487545199e-05,1793250761483314944
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.529714484,747,723,694.529714484,660.470285516,636.470285516,895.470285516,785,826.529714484,656,632,656,0.450561966834,0.00464330483984,0.0595799345961,0.999999722093,0.000371464568834,-0.000645737088265,-2.91747611644e-05,1793250761499981824
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,723,693.365041349,661,637,895.365041349,785.634958651,826.634958651,656,632,656,0.449496684048,0.00464759739798,0.0595519516966,0.999999687472,0.000394913084608,-0.000684555157203,-2.19918936552e-05,1793250761533315072
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,723,693.221573387,661.443146775,637,894.778426613,785.778426613,827,656,631.778426613,656,0.448936866142,0.00464869672885,0.0595405417695,0.999999672573,0.000406065862076,-0.00069974101931,-1.80872031175e-05,1793250761549981696
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,723,693.80217588,662.60435176,637,894.19782412,785.19782412,827,656,631.19782412,656,0.448358043803,0.00464761348033,0.0595399630418,0.999999668012,0.000414065721672,-0.000701668829245,-1.36395131651e-05,1793250761566648320
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.621652685,747,723,694,663,637.378347315,894.378347315,785.378347315,826.621652685,656,631,656,0.44778102496,0.00464468751953,0.0595624936003,0.999999689676,0.000421432454564,-0.000665560673445,-8.43591738145e-06,1793250761583315200
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.047771287,747,723,694,663,637.952228713,894.952228713,785.952228713,826.047771287,656,631,656,0.4472049382,0.00464080922466,0.0595969672939,0.999999722277,0.000428471979215,-0.000609795107505,-2.84166120738e-06,1793250761599982080
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,664.095568968,639,893.904431032,786,826,655.904431032,631.095568968,656,0.44592562569,0.00463728241298,0.0596632559133,0.999999762262,0.00044174189478,-0.000529406249166,8.35201567679e-06,1793250761633316608
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747,723,693.141419223,665.858580777,639.858580777,893,786.858580777,826,655,632,656,0.443781184632,0.00464013894264,0.0596435253061,0.999999737483,0.000470952295287,-0.000550335066017,1.92352013856e-05,1793250761683315712
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.512276752,722.512276752,693,669,641,890.512276752,787,825,656,632,655.512276752,0.437347900114,0.00463268802587,0.0597947469861,0.999999881455,0.000348434671009,-0.000340120012726,8.33206784275e-07,1793250761816649472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746.066311193,722,693,669,641,890,787.066311193,824.933688807,656,632,655.066311193,0.43640452209,0.00462378037619,0.0597604312284,0.999999857017,0.000353774484041,-0.000400928495899,8.10711740433e-06,1793250761833315584
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,746.655679278,722,693,669,641,890,787.655679278,824.344320722,656,632,655.655679278,0.435498720112,0.00462442911127,0.0597362888476,0.99999984813,0.000366175411982,-0.000411783053979,9.52480304191e-06,1793250761849981952
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746.75879994,722.24120006,693,669.24120006,641.24120006,890,788,824,656,632,655.75879994,0.434594875645,0.00461162091234,0.0597315674208,0.999999854518,0.000361993795998,-0.000399686131653,1.32114318195e-05,1793250761866649088
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,722.600956924,693,669.600956924,641.600956924,890,787.600956924,823.600956924,655.600956924,632,655,0.432777786681,0.00456598463742,0.059773127852,0.999999892545,0.00032131907536,-0.00033327757073,2.43093053917e-05,1793250761899983104
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,722.024291335,693,669.024291335,641.024291335,890,787.024291335,823.024291335,655.024291335,632,655,0.431855159154,0.0045599871264,0.059790529989,0.999999898611,0.000314486947754,-0.000321134772808,2.73521051897e-05,1793250761916649728
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747.126287233,722,693,669,641.563143617,889.436856383,787.563143617,823,655.563143617,631.436856383,655.563143617,0.430944572423,0.00456978885778,0.0598124414066,0.99999991151,0.000315734969343,-0.000276864911457,2.52380333043e-05,1793250761933316096
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,747.702608243,722,692.851304122,669.297391757,642,889.148695878,787.851304122,822.851304122,655.851304122,631.148695878,655.851304122,0.430012840859,0.00457711525355,0.0598234330897,0.999999916528,0.000316321605022,-0.000257477727963,2.42986108741e-05,1793250761949982720
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746.281928323,722.281928323,692.281928323,670.436143355,642,890,787.281928323,822,655,632,655,0.428049194499,0.00457618928797,0.0597759487377,0.999999887817,0.000311001354436,-0.00035617046458,2.80640441129e-05,1793250761983316224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746.8148411,722.8148411,692.8148411,669.370317799,642,890,787.8148411,822,655,632,655,0.427102384529,0.00457956034679,0.0597450342891,0.999999878193,0.000307489523781,-0.000385176474935,2.65242080908e-05,1793250761999982848
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.407108407,747,722.592891593,692.592891593,669.814216814,641.592891593,889.592891593,788,821.185783186,655.407108407,632,655,0.426184787309,0.00458014730025,0.059753020091,0.999999885489,0.000302409994547,-0.000369925065681,2.694486079e-05,1793250762016649728
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.970668555,746.970668555,722,692,670.970668555,641.029331445,889,788,820,656,632,655.029331445,0.425281499903,0.00457923378872,0.0597817500954,0.99999990069,0.000296475107159,-0.000331527774943,2.84769296095e-05,1793250762033316608
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,747,722.151446498,691,671,642,887,787,819.151446498,656,632,655.151446498,0.416415968428,0.00457901311702,0.0598231631999,0.999999932341,0.000226815355181,-0.000287560588601,3.43900595682e-05,1793250762199983104
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746.575919174,722.424080826,690.575919174,670.575919174,642,886.575919174,787,819,655.575919174,632,655.424080826,0.415622476263,0.00457672157726,0.0598350379969,0.999999936974,0.00021588392531,-0.000279588694394,3.57298517379e-05,1793250762216649472
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746.001389041,722.998610959,690.001389041,670.001389041,642,886.001389041,787,819,655.001389041,632,655.998610959,0.414828608794,0.00457335643196,0.0598347836946,0.999999936926,0.000202913273099,-0.000289207679327,3.65142319775e-05,1793250762233315840
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746.5864335,722.4135665,689.4135665,670.5864335,642,886.5864335,787,819.5864335,655,632,655.4135665,0.414086178949,0.00457351824439,0.0598343808579,0.999999939459,0.000199278677936,-0.000282906807528,3.6520424291e-05,1793250762249982464
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,747,722.17243773,688.82756227,671,642,887,787.17243773,819.82756227,655.17243773,632,655.17243773,0.413319611923,0.00457298190688,0.0598221232232,0.999999935577,0.000192915661221,-0.000300519583119,3.62924064728e-05,1793250762266648576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,747,722.754050986,688.245949014,671,642,887,787.754050986,819.245949014,655.754050986,632,655.754050986,0.412495474096,0.00457076865439,0.0597817363272,0.999999912864,0.000180024712487,-0.000374968330566,3.55131092004e-05,1793250762283315200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,746.669098815,722.669098815,688,670.338197629,642,887,787.669098815,819,656,632,655.669098815,0.411745332702,0.00456906034174,0.0597518946133,0.999999897004,0.000168387864861,-0.000420091905597,3.40577424534e-05,1793250762299982336
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,746.095738652,722.095738652,688,669.191477304,642,887,787.095738652,819,656,632,655.095738652,0.411049410262,0.00456772201036,0.0597297796014,0.999999888607,0.000157669927425,-0.000443728242746,3.2107004046e-05,1793250762316649216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.480254499,746,722,687.519745501,669.960508998,642,886.519745501,787,819,656,632,655.480254499,0.410428944676,0.00456560426361,0.0597599650453,0.999999911172,0.000147394059332,-0.000393528434049,3.2642430696e-05,1793250762333316608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.941782878,746,722.058217122,687,671,642,886,787,819,656,632,656,0.409826446181,0.00456327863839,0.059800133639,0.999999935622,0.000137718977258,-0.000329624772122,3.37116608221e-05,1793250762349984000
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.350622379,746,722.649377621,687,671,642,886,787,819,656,632,656,0.40924996317,0.00456048022795,0.0598357212481,0.999999952553,0.000132732547745,-0.000275759044316,3.51054589838e-05,1793250762366650112
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,746,722.764894161,687,670.764894161,642,886.235105839,787,819,656,632,656,0.408664584426,0.0045583084891,0.0598540250292,0.999999958028,0.000146191134597,-0.000247607074097,3.55392457837e-05,1793250762383316224
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,722.187084406,687,670.187084406,642,886.812915594,787,819,656,632,656,0.408066238797,0.00455705022337,0.0598471348963,0.999999948996,0.000186536248621,-0.000256936974767,3.45736642556e-05,1793250762399982848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.388122332,746,722,687,670,642,887,787,819,656,632,655.611877668,0.407502475126,0.0045559543513,0.0598319742984,0.999999935504,0.00022149221969,-0.000280688186946,3.38696019833e-05,1793250762416648960
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.962082763,746,722,687,670,642,887,787,819,656,632,655.037917237,0.4069552697,0.00455493623536,0.059812853692,0.999999918754,0.000253867801267,-0.000311344514034,3.32907584608e-05,1793250762433315584
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.450406272,746.549593728,722.549593728,686.450406272,670,642,886.450406272,787,819,656,632,655.549593728,0.406489108921,0.00455385339534,0.0598176522303,0.999999924351,0.000247732888534,-0.000298005215242,3.34457155613e-05,1793250762449982464
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,747,723,686,670.135813497,642,886,787,819,656,632,656,0.406032312122,0.00455273860751,0.0598239135079,0.999999930662,0.000239643508908,-0.000283047305972,3.36240058899e-05,1793250762466649088
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,747,723,686,670.714694172,642,886,787,819,656,632,656,0.405587361514,0.00455153453122,0.0598294270919,0.999999934785,0.000234064772847,-0.000272961467447,3.37090837567e-05,1793250762483315968
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.292995111,746.707004889,723,685.707004889,670.414009779,642,886,787,819,656,632,656,0.405146416107,0.00454935671222,0.0598230945545,0.999999934173,0.000226976558159,-0.00028103828586,3.39615536851e-05,1793250762499983104
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.870732605,746.129267395,723,685.129267395,669.258534789,642,886,787,819,656,632,656,0.404709363114,0.00454623257777,0.0598052495624,0.999999928502,0.000218421382216,-0.000306766178287,3.43767007602e-05,1793250762516649728
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746.443946928,723,685.443946928,669.443946928,642,886,786.556053072,819,656,632,656,0.404310551293,0.00454575632181,0.0597822898379,0.999999916208,0.00021411662436,-0.000347162940364,3.48745693889e-05,1793250762533316352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.983608378,747,723,686,670,642,886,786.016391622,819,656,632,656,0.403925431279,0.00454600547035,0.059758793413,0.999999901116,0.000210987818994,-0.000389870484427,3.53861615441e-05,1793250762549982976
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.392433599,747,723,686,670,642,886,786.607566401,819,656,632,656,0.403633906201,0.00454492835874,0.0597681736423,0.999999911385,0.00020613408937,-0.000365343681758,3.55428843013e-05,1793250762566649344
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.195642137,746.804357863,723,686,670.195642137,642,886,787,819,656,632,656,0.403355563709,0.00454319315294,0.0597819038369,0.999999922482,0.000201160855716,-0.000336544405831,3.6155243537e-05,1793250762583315712
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.777598442,746.222401558,723,686,670.777598442,642,886,787,819,656,632,656,0.403103251535,0.00454015847716,0.0598042234541,0.999999935299,0.00019595165048,-0.000299308724502,3.76673006972e-05,1793250762599982336
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.644801343,746,723,686,670.644801343,642,886,786.644801343,819,656,632,655.644801343,0.402864404798,0.0045379928161,0.059823109883,0.999999944017,0.000193576473821,-0.000270086310425,3.93491799813e-05,1793250762616648960
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.069895519,746,723,686,670.069895519,642,886,786.069895519,819,656,632,655.069895519,0.402633887046,0.00453636468144,0.0598398727247,0.999999950324,0.000192954277375,-0.00024582047751,4.11361024311e-05,1793250762633315840
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,746,723,686,670,642,886,786.504448056,819,656,632,655.504448056,0.402418981734,0.00453503795101,0.0598400212289,0.999999949663,0.000191609402513,-0.000249360960584,4.21782023832e-05,1793250762649982720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,746.081065964,723,686,670.081065964,642,886,787,819,656,632,656,0.402210218413,0.00453386501739,0.0598370350131,0.999999947639,0.0001900471953,-0.000258369214439,4.29973935782e-05,1793250762666649600
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,746.67249237,723,686,670.67249237,642,886,787,819,656,632,656,0.402026518898,0.00453339770389,0.0598287905263,0.999999942925,0.000187746444151,-0.000277571724604,4.30622300038e-05,1793250762683315968
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,747,723,685.742029928,671,642,886,787,819,656,632,656,0.401860134007,0.00453218907453,0.0598245015697,0.99999994116,0.000180169287386,-0.000288849224718,4.22395612185e-05,1793250762699982336
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,747,723,685.163934251,671,642,886,787,819,656,632,656,0.401715235551,0.00453006051608,0.0598251211925,0.999999943267,0.000166044423468,-0.000290292254936,4.0315550957e-05,1793250762716648704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,747,723,685.411408221,670.588591779,642,886,786.588591779,819,656,632.411408221,656,0.401591155997,0.00452435643444,0.0598254347418,0.999999951338,0.000115152969565,-0.000288486423499,2.89781523881e-05,1793250762733315328
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,747,723,685.985660899,670.014339101,642,886,786.014339101,819,656,632.985660899,656,0.401475317028,0.00451723708181,0.0598256271404,0.999999957943,4.9708487385e-05,-0.00028539461974,1.39147268015e-05,1793250762749981952
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.572441014,747,723,686,670.572441014,642,886,786,819,656,632.427558986,655.427558986,0.401392189853,0.00451961511928,0.0598319425353,0.99999996041,5.13706989855e-05,-0.000276277844473,1.45737569637e-05,1793250762766649344
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,747,723,686,670.842508621,642,886,786,819,656,632,655.157491379,0.401313007391,0.00452087464789,0.0598362596162,0.999999961937,5.35599761497e-05,-0.000270212589478,1.55570935246e-05,1793250762783316480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,747,723,686,670.262953704,642,886,786,819,656,632,655.737046296,0.401242151381,0.00451848484943,0.0598348011551,0.999999961292,5.25561269589e-05,-0.000272738652868,1.63304916353e-05,1793250762799982848
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,746.684695741,723,685.684695741,670.315304259,642,886,786.315304259,819,656,632,656,0.401177302135,0.00451591506443,0.0598314053847,0.999999959508,5.18808525528e-05,-0.000279273832918,1.72734729152e-05,1793250762816649216
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,746.107514901,723,685.107514901,670.892485099,642,886,786.892485099,819,656,632,656,0.401117441809,0.00451319579099,0.0598264005779,0.999999956706,5.1478476475e-05,-0.000289138793053,1.83573019181e-05,1793250762833315584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.531172613,746,723,685.468827387,670.531172613,642,886,786.531172613,819,656,632,655.531172613,0.401075005145,0.00451493205654,0.0598242908167,0.99999995521,5.54031150469e-05,-0.00029354671327,1.8480464148e-05,1793250762849982208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.046116147,746,722.953883853,685.953883853,670.046116147,642,886,786,819,656,632,655,0.401038019884,0.00451724679114,0.0598231012513,0.999999954183,5.97364281561e-05,-0.000296183716424,1.84463636319e-05,1793250762866648576
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768.636849867,746,722.363150133,685.363150133,670.636849867,642,886,786,819,656,632,655,0.401018310013,0.00451434774618,0.0598249523069,0.999999955356,5.71982013688e-05,-0.00029265956468,1.91521521051e-05,1793250762883315200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,746,722.222620331,685.222620331,670.777379669,642,886,786,819.222620331,656,632,655.222620331,0.401001163796,0.00451309125651,0.0598264985766,0.999999956269,5.5954805378e-05,-0.000289739973747,1.95206035225e-05,1793250762899982080
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,746,722.800470999,685.800470999,670.199529001,642,886,786,819.800470999,656,632,655.800470999,0.400988108348,0.00451445575614,0.0598275585061,0.999999956791,5.67775424067e-05,-0.000287785067349,1.93507736186e-05,1793250762916649216
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,746.376264547,723,685.623735453,670.752529094,642,886,786.376264547,819.623735453,656,632,656,0.400978495521,0.00451480109384,0.0598286686756,0.999999957307,5.70340462375e-05,-0.00028592749935,1.94786911939e-05,1793250762933316096
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,746.95097314,723,685.04902686,671.901946279,642,886,786.95097314,819.04902686,656,632,656,0.400970698352,0.00451460891973,0.059829805342,0.999999957818,5.69919154582e-05,-0.000284121268232,1.97636424753e-05,1793250762949982976
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,746.461915581,723,685,670.923831162,642,886.538084419,786.461915581,819,656,632,656,0.400967946609,0.00451284526187,0.0598312515109,0.999999958403,5.52166243986e-05,-0.000282367954174,2.03547124175e-05,1793250762966649088
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.875722864,746,723,685,670.124277136,642,886.875722864,786,819.124277136,656,632,656,0.400965668543,0.0045118970466,0.0598323432288,0.999999958791,5.45672903835e-05,-0.00028109155525,2.06943158513e-05,1793250762983315456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.297117029,746,723,685,670.702882971,642,886.297117029,786,819.702882971,656,632,656,0.400963401904,0.00451446569957,0.0598320336303,0.999999958449,5.86251177011e-05,-0.000281540607016,2.00102442518e-05,1793250762999982080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,746,722.719830517,685,671,642,886,786.280169483,819.719830517,656,632.280169483,656,0.400962864854,0.00451482783963,0.0598326133561,0.999999958731,5.9792874267e-05,-0.000280298855234,1.99075524416e-05,1793250763016648704
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,746,722.143936505,685,671,642,886,786.856063495,819.143936505,656,632.856063495,656,0.400964153419,0.0045128609612,0.0598341317815,0.999999959675,5.79101034717e-05,-0.000277272426323,2.04185186189e-05,1793250763033315328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.431649526,746,722.431649526,685,671,642,886,787,819,656,632.568350474,655.568350474,0.40096295383,0.00451417978396,0.0598339084946,0.999999959456,5.90434945998e-05,-0.000277823183441,2.03886650499e-05,1793250763049982464
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768.99268957,746.00731043,723,685.00731043,671,642,885.99268957,786.99268957,819,656,632,655,0.40096096898,0.00451655061499,0.0598331327868,0.999999958865,6.11478014637e-05,-0.000279504950727,2.01799979715e-05,1793250763066649600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768.402882867,746.597117133,723,685.597117133,671,642,885.402882867,786.402882867,819,656,632,655,0.400962477196,0.00451550714532,0.0598345842207,0.999999959788,6.05328644047e-05,-0.000276328096881,2.00827208281e-05,1793250763083316224
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746.816556238,723,685.816556238,671,642,885.183443762,786,819,656,632,655,0.400963090116,0.0045148793131,0.0598357409127,0.999999960359,6.03692484522e-05,-0.00027429290406,2.00309607658e-05,1793250763099982592
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,746.237730361,723,685.237730361,671,642,885.762269639,786,819,656,632,655,0.400961773376,0.00451514731742,0.0598362623378,0.999999960192,6.11783791286e-05,-0.000274718369383,2.00773051078e-05,1793250763116648960
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d02521b1f7707eb74230587e75119af7d7d6998
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+266,4.433333333,pose2_to_pose3_retreat,0.622804090382,0.010149970794,1.05003353518,0.593374767499,0.0188226085352,1.04970492914
+267,4.450000000,pose2_to_pose3_retreat,0.622803958249,0.0101500353092,1.05003359742,0.593374634591,0.0188226703496,1.04970498947
+268,4.466666667,pose2_to_pose3_retreat,0.622803939423,0.0101500445009,1.05003360628,0.593374615655,0.0188226791565,1.04970499806
+269,4.483333333,pose2_to_pose3_retreat,0.622803867271,0.0101500797298,1.05003364027,0.593374543079,0.0188227129106,1.049705031
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+271,4.516666667,pose2_to_pose3_retreat,0.622803110661,0.0101500485412,1.05003357086,0.593373787194,0.0188226841915,1.04970496209
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+274,4.566666667,pose2_to_pose3_retreat,0.622797410216,0.0101501359867,1.05003373114,0.593368086613,0.0188227711597,1.04970512234
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+277,4.616666667,pose2_to_pose3_retreat,0.622749604123,0.0101501545969,1.05003356453,0.593320280569,0.0188227898511,1.04970495634
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+340,5.666666667,pose2_to_pose3_retreat,0.59171629409,0.0101501825049,1.05003340803,0.56228697141,0.0188228125526,1.04970480658
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+342,5.700000000,pose2_to_pose3_retreat,0.590235560504,0.0101501359452,1.05003364761,0.560806239528,0.0188227715929,1.04970504125
+343,5.716666667,pose2_to_pose3_retreat,0.589529613653,0.010150176289,1.05003375355,0.560100292141,0.018822810171,1.04970514854
+344,5.733333333,pose2_to_pose3_retreat,0.588840815683,0.0101500912442,1.05003354843,0.559411495605,0.018822730064,1.04970494533
+345,5.750000000,pose2_to_pose3_retreat,0.588167813648,0.0101501651004,1.05003350189,0.558738492678,0.0188228008818,1.0497048984
+346,5.766666667,pose2_to_pose3_retreat,0.587503031729,0.0101501669332,1.05003363744,0.558073709706,0.0188227990655,1.04970503195
+347,5.783333333,pose2_to_pose3_retreat,0.586832899695,0.0101501593575,1.05003366629,0.557403577098,0.0188227894162,1.04970505744
+348,5.800000000,pose2_to_pose3_retreat,0.586170241598,0.0101501104059,1.05003349105,0.556740919842,0.0188227432971,1.04970488166
+349,5.816666667,pose2_to_pose3_retreat,0.58552429397,0.0101499484116,1.05003341916,0.556094974444,0.0188225890234,1.04970481375
+350,5.833333333,pose2_to_pose3_retreat,0.584899332735,0.0101501004492,1.05003351927,0.555470012605,0.0188227389028,1.04970491097
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+352,5.866666667,pose2_to_pose3_retreat,0.583747724558,0.0101499595132,1.05003350564,0.554318405671,0.0188226023719,1.04970490231
+353,5.883333333,pose2_to_pose3_retreat,0.58322141153,0.0101500002438,1.0500334296,0.553792091426,0.0188226388224,1.04970482227
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+355,5.916666667,pose2_to_pose3_retreat,0.582211836177,0.010149987505,1.05003366642,0.552782517132,0.0188226295734,1.04970505631
+356,5.933333333,pose2_to_pose3_retreat,0.581721482434,0.0101499878282,1.05003368209,0.552292162222,0.0188226258649,1.04970507004
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+359,5.983333333,pose2_to_pose3_retreat,0.580377309197,0.0101501141836,1.0500336172,0.550947986671,0.0188227445612,1.04970501065
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+361,6.016666667,pose2_to_pose3_retreat,0.579592017585,0.0101501807888,1.05003372471,0.550162695761,0.018822813409,1.04970511433
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+366,6.100000000,pose2_to_pose3_retreat,0.577949091319,0.010150046812,1.05003340561,0.548519769663,0.0188226803462,1.04970480429
+367,6.116666667,pose2_to_pose3_retreat,0.5777027394,0.0101501972154,1.05003363595,0.548273416528,0.0188228263634,1.04970502782
+368,6.133333333,pose2_to_pose3_retreat,0.577482933087,0.0101500534423,1.05003353893,0.548053611594,0.018822687232,1.04970492982
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+372,6.200000000,pose2_to_pose3_retreat,0.576728039731,0.0101500562044,1.05003343637,0.547298719567,0.0188226948529,1.0497048366
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+375,6.250000000,pose2_to_pose3_retreat,0.576307646569,0.0101501450932,1.05003370032,0.546878325618,0.0188227803642,1.04970508195
+376,6.266666667,pose2_to_pose3_retreat,0.576200397102,0.0101501253595,1.05003346769,0.546771075372,0.0188227583266,1.04970485831
+377,6.283333333,pose2_to_pose3_retreat,0.576108186752,0.0101501106357,1.0500335415,0.546678865106,0.0188227438991,1.04970493281
+378,6.300000000,pose2_to_pose3_retreat,0.576028595882,0.0101501254166,1.05003356014,0.546599274609,0.0188227601616,1.04970495729
+379,6.316666667,pose2_to_pose3_retreat,0.575959051359,0.0101501718978,1.05003346752,0.546529729907,0.0188228062644,1.04970487057
+380,6.333333333,pose2_to_pose3_retreat,0.575899102956,0.0101501964707,1.05003356106,0.546469781108,0.0188228289681,1.04970495023
+381,6.350000000,pose2_to_pose3_retreat,0.575846263777,0.0101501238675,1.05003379559,0.546416943045,0.0188227599557,1.04970517961
+382,6.366666667,pose2_to_pose3_retreat,0.57580045278,0.0101501975948,1.05003354907,0.546371129866,0.0188228265391,1.04970493991
+383,6.383333333,pose2_to_pose3_retreat,0.575763496696,0.0101502688757,1.0500335155,0.5463341719,0.0188228915082,1.04970490832
+384,6.400000000,pose2_to_pose3_retreat,0.575734695555,0.0101500877764,1.05003362553,0.546305373127,0.0188227183093,1.04970501477
+385,6.416666667,pose2_to_pose3_retreat,0.575713743463,0.0101502098314,1.05003355787,0.546284420154,0.0188228375856,1.04970495273
+386,6.433333333,pose2_to_pose3_retreat,0.575698323637,0.0101501596527,1.05003356907,0.546269001562,0.0188227916046,1.04970496419
+387,6.450000000,pose2_to_pose3_retreat,0.575687704712,0.0101500254706,1.05003362283,0.54625838462,0.0188226639835,1.04970501354
+388,6.466666667,pose2_to_pose3_retreat,0.575679816476,0.0101501468717,1.05003354529,0.546250494786,0.0188227798938,1.04970493422
+389,6.483333333,pose2_to_pose3_retreat,0.575674519011,0.0101501874179,1.0500335409,0.546245196248,0.0188228166926,1.04970492709
+390,6.500000000,pose2_to_pose3_retreat,0.575670900554,0.0101501700243,1.05003353497,0.546241577612,0.0188227987253,1.04970492206
+391,6.516666667,pose2_to_pose3_retreat,0.575668661301,0.0101500906143,1.05003351235,0.546239339238,0.0188227225211,1.04970490537
+392,6.533333333,pose2_to_pose3_retreat,0.575667723672,0.0101500573634,1.05003350289,0.546238401978,0.0188226906125,1.04970489838
+393,6.550000000,pose2_to_pose3_retreat,0.575667108059,0.0101500886392,1.05003349457,0.546237786474,0.018822722337,1.04970489212
+394,6.566666667,pose2_to_pose3_retreat,0.575666548733,0.0101501295213,1.05003348651,0.546237227215,0.0188227635252,1.04970488604
+395,6.583333333,pose2_to_pose3_retreat,0.575666438677,0.0101501375655,1.05003348493,0.546237117173,0.0188227716296,1.04970488485
+396,6.600000000,pose2_to_pose3_retreat,0.575666411867,0.010150139525,1.05003348454,0.546237090366,0.0188227736038,1.04970488456
+397,6.616666667,pose2_to_pose3_retreat,0.575666128602,0.0101501602293,1.05003348046,0.546236807136,0.0188227944631,1.04970488148
+398,6.633333333,pose2_to_pose3_retreat,0.575665975803,0.0101501713977,1.05003347826,0.546236654355,0.0188228057151,1.04970487982
+399,6.650000000,pose2_to_pose3_retreat,0.575665804031,0.0101501839528,1.05003347579,0.546236482603,0.0188228183642,1.04970487795
+400,6.666666667,pose2_to_pose3_retreat,0.575665799649,0.0101501842731,1.05003347573,0.546236478222,0.0188228186869,1.0497048779
+401,6.683333333,pose2_to_pose3_retreat,0.575665724175,0.0101501897896,1.05003347464,0.546236402758,0.0188228242447,1.04970487708
+402,6.700000000,pose2_to_pose3_retreat,0.575665687651,0.0101501924592,1.05003347411,0.546236366237,0.0188228269343,1.04970487669
+403,6.716666667,pose2_to_pose3_retreat,0.575665663839,0.0101501941996,1.05003347377,0.546236342429,0.0188228286878,1.04970487643
+404,6.733333333,pose2_to_pose3_retreat,0.575665460725,0.0101502015388,1.05003346004,0.546236139173,0.0188228355376,1.04970486247
+405,6.750000000,pose2_to_pose3_retreat,0.575665312226,0.0101502021663,1.05003344317,0.546235990465,0.0188228354285,1.04970484486
+406,6.766666667,pose2_to_pose3_retreat,0.575665284922,0.0101502022817,1.05003344007,0.546235963122,0.0188228354084,1.04970484162
+407,6.783333333,pose2_to_pose3_retreat,0.575665183924,0.0101502027085,1.0500334286,0.546235861983,0.0188228353342,1.04970482964
+408,6.800000000,pose2_to_pose3_retreat,0.575664948056,0.0101502037053,1.05003340181,0.546235625783,0.0188228351608,1.04970480166
+409,6.816666667,pose2_to_pose3_retreat,0.575664601616,0.0101502175212,1.05003340452,0.546235278745,0.0188228468402,1.04970480151
+410,6.833333333,pose2_to_pose3_retreat,0.575664330472,0.0101502626403,1.05003352346,0.546235006827,0.0188228891269,1.04970491508
+411,6.850000000,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a67480ec721b7268340054e07745ff5a579217b9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08c7cdc2ac853e41a61afa158929dcfc510cfe82ae14003b9bc3e7feb525e5d9
+size 25913212
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22ed2fdd56b12769aa18b929aad74421b04d7499
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
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+17,0.283333333,BASELINE,769.162690063,746.162690063,723,685,674,642,886,787.162690063,819,657,633,656,0.400937173857,0.00456037260771,0.0499280507665,0.999999973488,7.93163733825e-05,-0.000214737675795,-2.49168522059e-05,1793250764842926592
+18,0.300000000,BASELINE,769.426556132,746.426556132,723,685,674,642,886,787,819,657,632.573443868,656,0.400937606988,0.00455912291125,0.0499284372466,0.999999973659,7.90825682944e-05,-0.000214070243303,-2.4524581161e-05,1793250764859593216
+19,0.316666667,BASELINE,769.977649248,747,723,685,674,642,886,787,819,657,632,655.977649248,0.400938197527,0.00455697602809,0.0499291463247,0.999999973962,7.83135993105e-05,-0.000212995236357,-2.39854324925e-05,1793250764876259840
+20,0.333333333,BASELINE,769.400580155,747,723,685,674,642,886,787,819,657,632,655.400580155,0.400936843041,0.00455767232792,0.0499285755325,0.999999973652,7.81489145416e-05,-0.000214461411867,-2.43879867318e-05,1793250764892926464
+21,0.350000000,BASELINE,769,747,723,685,674,642,886,787,819,657,632,655.176298161,0.400936391126,0.00455837367149,0.049928391169,0.999999973501,7.85036504029e-05,-0.000215005070101,-2.46423070344e-05,1793250764909592832
+22,0.366666667,BASELINE,769,747,723,685,674,642,886,787,819,657,632,655.752743392,0.400937987792,0.00455908646282,0.0499290838899,0.999999973714,8.0037324522e-05,-0.000213454874283,-2.45601780821e-05,1793250764926259712
+23,0.383333333,BASELINE,769,747,723,685,674,642.335177569,886,787,819,657,632,656,0.400938773822,0.00455897443229,0.049929129023,0.999999973904,7.9298250007e-05,-0.000212822061292,-2.47053228236e-05,1793250764942926592
+24,0.400000000,BASELINE,769,747,723,685,674,642.922110161,886,787,819,657,632,656,0.400938950977,0.00455824287038,0.049928687747,0.999999974075,7.68520927955e-05,-0.000212878303002,-2.50211749638e-05,1793250764959593216
+25,0.416666667,BASELINE,769.501940446,747,722.498059554,685,674,642.498059554,886,787,819,657,632,656,0.400939466365,0.00455678105049,0.0499294491111,0.999999974366,7.53924135611e-05,-0.0002121037946,-2.44126416576e-05,1793250764976259584
+26,0.433333333,BASELINE,770,747,722.080537635,685,674,642,886,787,819,657,632,656,0.400939752476,0.00455563325152,0.0499300790984,0.999999974565,7.46623181878e-05,-0.000211491028811,-2.38280255115e-05,1793250764992926208
+27,0.450000000,BASELINE,770,747,722.65823163,685,674,642,886,787,819,657,632,656,0.400938303783,0.00455711365177,0.0499287621582,0.99999997409,7.75041525206e-05,-0.000212661372128,-2.42641686065e-05,1793250765009593088
+28,0.466666667,BASELINE,769.529752269,747,723,685,674,642,886,787,819,657,632.235123865,656,0.400937952886,0.00455791203838,0.0499280817616,0.999999973843,7.87037807522e-05,-0.000213361314147,-2.44344295366e-05,1793250765026259712
+29,0.483333333,BASELINE,768.378290768,747,723,685,674,642,886,787,819,657,632.810854616,656,0.400939192287,0.00455772244123,0.0499283234798,0.999999973936,7.75244639755e-05,-0.000213379819866,-2.42195262376e-05,1793250765042926080
+30,0.500000000,BASELINE,768.396277633,747,723,685,674,642,886,787,819,657,632.603722367,656,0.400939548406,0.00455701647324,0.0499289082461,0.999999974125,7.61325039006e-05,-0.00021300820952,-2.41272588893e-05,1793250765059592704
+31,0.516666667,BASELINE,768.986442785,747,723,685,674,642,886,787,819,657,632.013557215,656,0.400939472359,0.0045560578595,0.0499296608563,0.999999974358,7.46365034642e-05,-0.000212445726333,-2.40949938749e-05,1793250765076259328
+32,0.533333333,BASELINE,769,747,723,685,674,642,886,786.434316731,819,657,632,656,0.400939724775,0.0045568562618,0.0499299549003,0.999999974351,7.65133521037e-05,-0.000211815364209,-2.40515532953e-05,1793250765092926208
+33,0.550000000,BASELINE,769.143074247,747,723,685,674.143074247,642,886,786.143074247,819,657,632,656,0.400940120136,0.00455724961442,0.049930088927,0.999999974434,7.74204807692e-05,-0.000211098279738,-2.40105650633e-05,1793250765109592832
+34,0.566666667,BASELINE,769.715683708,747,723,685,674.715683708,642,886,786.715683708,819,657,632,656,0.400940921462,0.00455630291,0.0499297749216,0.99999997481,7.51782506597e-05,-0.000210125630347,-2.39777280914e-05,1793250765126259712
+35,0.583333333,BASELINE,769.703190914,747,723,685,674.703190914,642,886,787.296809086,819,657,632,656,0.400940677254,0.00455642658125,0.0499295991914,0.999999974727,7.54483206411e-05,-0.000210411324082,-2.4076249056e-05,1793250765142926336
+36,0.600000000,BASELINE,769.113667019,747,723,685,674.113667019,642,886,787.886332981,819,657,632,656,0.400939401934,0.00455760586297,0.049929559829,0.999999974188,7.81960349812e-05,-0.000211938002841,-2.43043159598e-05,1793250765159592960
+37,0.616666667,BASELINE,769,747,723,685,674,642.467127314,886.467127314,787.532872686,819,657.467127314,632,656,0.400939662578,0.00455713298746,0.0499299477978,0.999999974309,7.76525270852e-05,-0.000211583034969,-2.41920093377e-05,1793250765176259584
+38,0.633333333,BASELINE,769,747,723,685,674,643,886.954383172,787,819,657.954383172,632,656,0.400940078758,0.00455635960517,0.0499302254757,0.999999974529,7.63651681573e-05,-0.000211028881849,-2.40197214769e-05,1793250765192926464
+39,0.650000000,BASELINE,769,747,723,685,674,643,886.378446274,787,819,657.378446274,632,656,0.400938037804,0.00455668066003,0.049928034277,0.999999974088,7.55697650273e-05,-0.000213384368165,-2.40953263164e-05,1793250765209593088
+40,0.666666667,BASELINE,769,747,722.802343694,685,674,642.802343694,886,787,819,657,632,656,0.400936611916,0.00455706307687,0.0499268690094,0.999999973745,7.58046270816e-05,-0.000214905513854,-2.40875879935e-05,1793250765226259456
+41,0.683333333,BASELINE,769,747,722.225923658,685,674,642.225923658,886,787,819,657,632,656,0.400936364662,0.00455756308008,0.0499276697072,0.999999973595,7.80137600407e-05,-0.000214827833768,-2.39201412927e-05,1793250765242926336
+42,0.700000000,BASELINE,769,747,722.357659929,685,674,642,886,787,819,657,632,656,0.400937267749,0.00455672453154,0.0499280080667,0.999999973837,7.72937985561e-05,-0.000213981085734,-2.37489327137e-05,1793250765259592960
+43,0.716666667,BASELINE,769,747,722.945860987,685,674,642,886,787,819,657,632,656,0.400938912323,0.00455502317669,0.0499280484112,0.999999974326,7.46857956121e-05,-0.000212638610395,-2.35752993024e-05,1793250765276259840
+44,0.733333333,BASELINE,769,747,723,685.525774238,674,642,886,787,819,657,632,656,0.400939242579,0.0045553134613,0.0499287145821,0.999999974342,7.49582863954e-05,-0.000212441858674,-2.37745468205e-05,1793250765292926464
+45,0.750000000,BASELINE,769,747,723,685.895532394,674,642,886,787,819,657,632,655.895532394,0.400939304264,0.00455584324019,0.0499292225236,0.999999974309,7.54530304249e-05,-0.00021239909013,-2.39982327443e-05,1793250765309593088
+46,0.766666667,BASELINE,769,747,723,685.318556721,674,642,886,787,819,657,632,655.318556721,0.400938753825,0.00455654307292,0.0499287278457,0.999999974264,7.56323007902e-05,-0.000212527466547,-2.41614851527e-05,1793250765326259712
+47,0.783333333,BASELINE,769,747,722.743278164,685,674,642,886.256721836,787,818.743278164,657,632,655.256721836,0.40093870352,0.00455681569544,0.0499285404128,0.999999974225,7.66035328434e-05,-0.000212365447826,-2.4135949424e-05,1793250765342926336
+48,0.800000000,BASELINE,769,747,722.170091588,685,674,642,886.829908412,787,818.170091588,657,632,655.829908412,0.400939269739,0.00455656168983,0.0499287317253,0.999999974191,7.85510276053e-05,-0.000211845454813,-2.38776918361e-05,1793250765359593216
+49,0.816666667,BASELINE,769,747,722,685,674,642,886.585163618,787,818,657,632,655.585163618,0.400939243995,0.00455606870221,0.0499286986165,0.999999974255,7.76274171035e-05,-0.000211894228503,-2.37459842943e-05,1793250765376259584
+50,0.833333333,BASELINE,769,746.995352839,722.004647161,685,674,642,886.004647161,787,818.004647161,657,632.004647161,655.004647161,0.400938974358,0.00455548777449,0.0499285756573,0.999999974361,7.54999128753e-05,-0.000212172881247,-2.36708314371e-05,1793250765392926208
+51,0.850000000,BASELINE,769,746.414421413,722.585578587,685,674,642,886.585578587,787,818.585578587,657,632.585578587,655.585578587,0.400939435572,0.00455650675676,0.0499290537943,0.999999974649,7.4316022911e-05,-0.000211196572151,-2.39869370409e-05,1793250765409593088
+52,0.866666667,BASELINE,769,746.164715749,723,685,674,642,886.835284251,787,818.835284251,657,632.835284251,656,0.400939882122,0.00455711700795,0.0499293672902,0.999999974824,7.36050620132e-05,-0.000210591705318,-2.41911105687e-05,1793250765426259968
+53,0.883333333,BASELINE,769,746.739387191,723,685,674,642,886.260612809,787,818.260612809,657,632.260612809,656,0.400940292178,0.00455670998154,0.0499292710163,0.999999974724,7.40711590251e-05,-0.000210911309165,-2.41166999588e-05,1793250765442926592
+54,0.900000000,BASELINE,769,747,723,685,674.313434762,642,886,787,818,657.313434762,632,656,0.400940683116,0.00455681864373,0.0499292845211,0.999999974718,7.5073067028e-05,-0.000210584832827,-2.41375370406e-05,1793250765459592960
+55,0.916666667,BASELINE,769,747,723,685,674.886964601,642,886,787,818,657.886964601,632,656,0.400941058191,0.00455735523573,0.0499293891226,0.999999974787,7.65196027834e-05,-0.00020972222489,-2.42374127611e-05,1793250765476259328
+56,0.933333333,BASELINE,769,747,722.522615604,685,674.522615604,642,886,787,818.477384396,657.522615604,632,656,0.400940748445,0.00455764917549,0.0499294011606,0.999999974658,7.71102855271e-05,-0.000210120243344,-2.42520648276e-05,1793250765492926208
+57,0.950000000,BASELINE,769,746.930289569,722.069710431,685,674,642,886,787,819,657,632,656,0.400940388168,0.00455764568171,0.0499293991803,0.99999997453,7.72404845307e-05,-0.000210685655982,-2.42031640232e-05,1793250765509592832
+58,0.966666667,BASELINE,769,746.354231799,722.645768201,685,674,642,886,787,819,657,632,656,0.400940881855,0.00455591439381,0.0499294604136,0.999999974766,7.55518715843e-05,-0.000210219306875,-2.38445919234e-05,1793250765526259456
+59,0.983333333,BASELINE,769,746.221626389,723,685.221626389,674,642,886,787,819,657,632,656,0.400940630842,0.00455544741839,0.0499294687057,0.999999974777,7.52219812783e-05,-0.000210292101409,-2.37779334568e-05,1793250765542926080
+60,1.000000000,BASELINE,769,746.797165956,723,685.797165956,674,642,886,787,819,657,632,656,0.400939190626,0.00455699941187,0.0499293924566,0.99999997443,7.70618226116e-05,-0.000211225849478,-2.41774291763e-05,1793250765559593216
+61,1.016666667,BASELINE,769.381708819,747,723,685.618291181,674,642,886,787,819,657,632,655.618291181,0.400939498393,0.00455626767892,0.0499295863847,0.999999974566,7.64103120237e-05,-0.000210850271132,-2.39206995391e-05,1793250765576259584
+62,1.033333333,BASELINE,769.971151428,747,723,685.028848572,674,642,886,787,819,657,632,655.028848572,0.400940757447,0.004554293095,0.0499299273488,0.99999997496,7.44029563766e-05,-0.000209762130367,-2.33068385439e-05,1793250765592926208
+63,1.050000000,BASELINE,769.449248757,747,723,685,674,642.550751243,886,786.449248757,819,657,632,655,0.400943078597,0.00455507631267,0.049931253277,0.999999975567,7.37365312138e-05,-0.000207043241294,-2.36954375418e-05,1793250765609592832
+64,1.066666667,BASELINE,769,747,723,685,674,642.870533774,886,786.129466226,818.870533774,657,632,655.129466226,0.4009445775,0.00455596194396,0.0499319886329,0.99999997594,7.36829560954e-05,-0.000205207489661,-2.40861486426e-05,1793250765626259456
+65,1.083333333,BASELINE,769,747,723,685,674,642.293127754,886,786.706872246,818.293127754,657,632,655.706872246,0.40094304241,0.00455671089252,0.0499305052981,0.999999975488,7.55110279479e-05,-0.000206717655428,-2.43056805991e-05,1793250765642926080
+66,1.100000000,BASELINE,769,747,723,685,674,642,886,787,818.281197771,657.281197771,632,656,0.400941283093,0.00455701837445,0.0499293973147,0.999999975011,7.64640087338e-05,-0.000208657291986,-2.43396730717e-05,1793250765659592704
+67,1.116666667,BASELINE,769,747,723,685,674,642,886,787,818.852346869,657.852346869,632,656,0.400939292567,0.00455687064706,0.0499286763673,0.999999974511,7.65146571597e-05,-0.000211039768467,-2.41823502881e-05,1793250765676259328
+68,1.133333333,BASELINE,769.440832134,747,723,685,674,642,886,787,819,657.559167866,632,655.559167866,0.400939945107,0.00455603710835,0.0499289887715,0.999999974703,7.59904181145e-05,-0.000210352402268,-2.38825951794e-05,1793250765692926208
+69,1.150000000,BASELINE,769.965603614,747,723,685,674,642.034396386,886,787,819,657.034396386,632,655.034396386,0.400941374922,0.00455515165316,0.0499296013703,0.999999975083,7.54593716097e-05,-0.000208767460911,-2.35766738299e-05,1793250765709592832
+70,1.166666667,BASELINE,769.387304507,747,723,685,674,642.612695493,886,787,819,657.612695493,632,655.612695493,0.40094052391,0.00455722625306,0.0499292638345,0.99999997464,7.79901365117e-05,-0.000209913937851,-2.39585018473e-05,1793250765726259456
+71,1.183333333,BASELINE,769,747,723,685,674,643,886,787,819,657.810460926,632,656,0.400939858217,0.00455824469034,0.0499288304744,0.999999974358,7.86371540279e-05,-0.000210975713573,-2.42657700066e-05,1793250765742926080
+72,1.200000000,BASELINE,769,747,723,685,674,643,886,787,819,657.236568798,632,656,0.400939568318,0.00455712140954,0.049928202799,0.999999974411,7.54642522047e-05,-0.000211865729823,-2.44218435053e-05,1793250765759592704
+73,1.216666667,BASELINE,769,747,723,685,674,643,886,787,819,657,632,656,0.400940561374,0.00455593195731,0.04992901416,0.999999974778,7.4023546024e-05,-0.000210682837026,-2.4019163658e-05,1793250765776259584
+74,1.233333333,BASELINE,769,747,723,685,674,643,886,787,819,657,632,656,0.40094245418,0.00455469609835,0.0499308347341,0.999999975366,7.37976489293e-05,-0.000208046189018,-2.3224623599e-05,1793250765792926208
+75,1.250000000,BASELINE,769,747,723,685,674,643,886,787,819,657,632,655.486174188,0.400942221945,0.00455446870248,0.0499305943439,0.999999975276,7.39643719661e-05,-0.000208400976038,-2.33827533012e-05,1793250765809592832
+76,1.266666667,BASELINE,769,746.907188351,722.907188351,685,674,642.907188351,886,787,819,657,632.092811649,655,0.400941532272,0.00455460004404,0.0499299036004,0.999999975029,7.42234440044e-05,-0.000209462151716,-2.3647727973e-05,1793250765826259200
+77,1.283333333,BASELINE,769,746.328589984,722.328589984,685,674,642.328589984,886,787,819,657,632.671410016,655,0.400939860421,0.0045559389242,0.0499282251876,0.999999974404,7.47049811767e-05,-0.000212232807209,-2.38388827005e-05,1793250765842926080
+78,1.300000000,BASELINE,769,746.247530888,722.247530888,685,674,642,886,787,819,657,632.752469112,655.247530888,0.400939406021,0.00455654920648,0.0499277258421,0.99999997417,7.54977717676e-05,-0.000213044484704,-2.39207588314e-05,1793250765859592704
+79,1.316666667,BASELINE,769,746.820395501,722.820395501,685,674,642,886,787,819,657,632.179604499,655.820395501,0.400940551733,0.00455620188101,0.0499287761631,0.999999974454,7.66996475683e-05,-0.000211281446489,-2.3859008375e-05,1793250765876259328
+80,1.333333333,BASELINE,769.406030692,747,723,685,674,642,886,787,819,657,632,656,0.40094011943,0.00455693711579,0.0499284331146,0.99999997431,7.73491440877e-05,-0.000211705447642,-2.40518263708e-05,1793250765892926208
+81,1.350000000,BASELINE,769.99749834,747,723,685,674,642,886,787,819,657,632,656,0.400938966436,0.00455816676311,0.0499274537047,0.999999973969,7.77463653663e-05,-0.00021312828428,-2.43609074916e-05,1793250765909593088
+82,1.366666667,BASELINE,769.422927722,747.577072278,723,685,674,642.577072278,886.577072278,787,819,657,632,656,0.400939637797,0.00455730529378,0.0499280758413,0.999999974371,7.61952012466e-05,-0.000211804504028,-2.43083351771e-05,1793250765926259712
+83,1.383333333,BASELINE,769,747.844808741,723,685,674,643,886.844808741,787,819,657,632,656,0.400939906377,0.00455674754761,0.0499285255224,0.999999974607,7.52730052413e-05,-0.00021102247366,-2.42665500121e-05,1793250765942926336
+84,1.400000000,BASELINE,769,747.270482686,723,685,674,643,886.270482686,787,819,657,632,656,0.40093906621,0.00455703407397,0.0499284910699,0.999999974396,7.60718537652e-05,-0.000211735089113,-2.42580471166e-05,1793250765959592960
+85,1.416666667,BASELINE,769,747,723,685,674,642.689513524,886,787,819,657.310486476,632,656,0.400939572035,0.00455686844527,0.0499286710201,0.999999974491,7.6677260865e-05,-0.00021108858017,-2.40850218819e-05,1793250765976259328
+86,1.433333333,BASELINE,769,747,723,685,674,642.102630673,886,787,819,657.897369327,632,656,0.400941276067,0.00455630030622,0.0499290418323,0.999999974856,7.71104655426e-05,-0.000209232172897,-2.37655381652e-05,1793250765992925952
+87,1.450000000,BASELINE,769,747,723,685,673.52244299,642,886,787,818.52244299,657.52244299,632,656,0.400940152731,0.00455602273963,0.0499290078016,0.999999974722,7.64308072681e-05,-0.000210115535266,-2.37900433578e-05,1793250766009592576
+88,1.466666667,BASELINE,769,747,723,685,673.056328442,642,886,787,818.056328442,657,632.056328442,656,0.400938672464,0.00455594920033,0.0499288723885,0.999999974497,7.57112452013e-05,-0.000211428197871,-2.39034207015e-05,1793250766026259200
+89,1.483333333,BASELINE,769,747,723,685,673.635124931,642,886,787,818.635124931,657,632.635124931,656,0.400939439542,0.00455719688784,0.0499285924523,0.999999974427,7.6809217236e-05,-0.000211336968405,-2.41649108759e-05,1793250766042925824
+90,1.500000000,BASELINE,769,747,723,685,674,642.211746615,886.211746615,787,818.788253385,657,632.788253385,656,0.400940322791,0.00455769939721,0.0499285954707,0.999999974468,7.7056122707e-05,-0.000211038702656,-2.42855080699e-05,1793250766059592960
+91,1.516666667,BASELINE,769,747,723,685,674,642.784658785,886.784658785,787,818.215341215,657,632.215341215,656,0.400941404187,0.00455693089357,0.0499290811107,0.9999999747,7.58514066185e-05,-0.000210387305538,-2.41657911645e-05,1793250766076260608
+92,1.533333333,BASELINE,769,747,722.640993566,685,674,642.640993566,886.640993566,787,818.359006434,657.359006434,632,656,0.40094164149,0.00455570670739,0.0499293448828,0.999999974895,7.43393223663e-05,-0.000210029757439,-2.39024180384e-05,1793250766092927488
+93,1.550000000,BASELINE,769,747,722.065781369,685,674,642.065781369,886.065781369,787,818.934218631,657.934218631,632,656,0.400941370451,0.00455420809376,0.0499294750385,0.999999975066,7.26421305396e-05,-0.000209849175052,-2.3552530287e-05,1793250766109593344
+94,1.566666667,BASELINE,769,746.472416072,722.527583928,685,674.527583928,642,886,787,819,657.472416072,632.527583928,656,0.400939947031,0.00455453143565,0.0499286156459,0.999999974713,7.34484243198e-05,-0.000211246534885,-2.35624032683e-05,1793250766126259712
+95,1.583333333,BASELINE,769,746.119233166,723,685,674.880766834,642,886.119233166,787,819,657,632.880766834,656,0.400938804646,0.00455508021762,0.0499278303806,0.999999974371,7.46011128584e-05,-0.00021244133902,-2.36900975744e-05,1793250766142926336
+96,1.600000000,BASELINE,769,746.695325642,723,685,674.304674358,642,886.695325642,787,819,657,632.304674358,656,0.400939309249,0.00455559135804,0.049927818743,0.999999974345,7.5842415088e-05,-0.000212079303861,-2.4091242823e-05,1793250766159592960
+97,1.616666667,BASELINE,769,747,723,685,674,642,886.731382186,787,819,657,632,656,0.400940376392,0.00455633061592,0.049928432322,0.999999974548,7.60512144227e-05,-0.00021102731915,-2.42474612396e-05,1793250766176259584
+98,1.633333333,BASELINE,769,747,723,685,674,642,886.161233468,787,819,657,632,656,0.400942075002,0.00455732594189,0.0499297477237,0.999999975006,7.51010007078e-05,-0.000209200847059,-2.41287425084e-05,1793250766192926464
+99,1.650000000,BASELINE,769,747,723,685,674,642,886,787,819,657,632,656,0.40094103389,0.00455659453532,0.049928845682,0.999999974738,7.5057295349e-05,-0.000210531076669,-2.38230966992e-05,1793250766209593088
+100,1.666666667,BASELINE,769,747,723,684.979095257,674,642.020904743,886,787,819,657,632,656,0.400939019326,0.00455527444765,0.0499271429204,0.999999974203,7.54065389896e-05,-0.000212969830094,-2.34692385018e-05,1793250766226259456
+101,1.683333333,BASELINE,769,747,723,684.400710913,674,642.599289087,886,787,819,657,632,656,0.400939853066,0.00455641209648,0.0499274031132,0.99999997435,7.67029304903e-05,-0.000211777798554,-2.37951943394e-05,1793250766242926080
+102,1.700000000,BASELINE,769,747,723,684.35356366,674,643,886,787,819,657,632,656,0.400940490748,0.00455717427343,0.049927967511,0.999999974516,7.72920804356e-05,-0.000210760735689,-2.39417125304e-05,1793250766259592960
+103,1.716666667,BASELINE,769,747,723,685.504527292,674,643,886,787,819,657,632,656,0.400940686256,0.00455708964014,0.0499292179891,0.999999974731,7.62861726193e-05,-0.00021013828372,-2.36835409677e-05,1793250766276259584
+104,1.733333333,BASELINE,769,747,723,685.665895154,674,642.665895154,886.334104846,786.665895154,819,657,632.334104846,656,0.400940041721,0.00455569400998,0.0499291104759,0.999999974616,7.57578685816e-05,-0.000210906930004,-2.34089844119e-05,1793250766292926464
+105,1.750000000,BASELINE,769,747,723,685.079246959,674,642.079246959,886.920753041,786.079246959,819,657,632.920753041,656,0.400938762212,0.00455330742281,0.0499279764836,0.999999974249,7.55905758356e-05,-0.000212727080305,-2.31220427313e-05,1793250766309592832
+106,1.766666667,BASELINE,769,746.499362797,722.499362797,685,674,642.500637203,886.499362797,786.500637203,819,657,632.499362797,656,0.400938970958,0.00455448445735,0.0499279560742,0.999999974311,7.60720299311e-05,-0.000212229231736,-2.34512058628e-05,1793250766326259712
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,722,685,674,643,886,787,819,657,632,656,0.400942282698,0.00455500867868,0.0499304438768,0.99999997536,7.42125361502e-05,-0.00020787702437,-2.36478020524e-05,1793250766369752064
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,722.57964439,685,674,642.42035561,886,787,819,657,632,656,0.400941547363,0.00455552231773,0.0499297635732,0.999999975008,7.47204242891e-05,-0.000209382226632,-2.36836245564e-05,1793250766386418688
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,722.838262107,685,674,642,886,786.838262107,818.838262107,657.161737893,632,656,0.400941503082,0.00455605676456,0.0499295098882,0.99999997486,7.57116219006e-05,-0.000209735821899,-2.36546206491e-05,1793250766403085568
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,722.24970538,685,674,642,886,786.24970538,818.24970538,657.75029462,632,656,0.400943282465,0.00455664612229,0.0499303820302,0.99999997525,7.79782510173e-05,-0.000207050379785,-2.34545428419e-05,1793250766419752192
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.335505528,747,722.335505528,685.335505528,674,642,886,786.335505528,818.335505528,657.664494472,632,656,0.400944129583,0.00455708328158,0.0499307203599,0.999999975469,7.77881528446e-05,-0.000206034432981,-2.36969397984e-05,1793250766436418816
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.91825081,747,722.91825081,685.91825081,674,642,886,786.91825081,818.91825081,657.08174919,632,656,0.4009442897,0.00455740828321,0.049930665314,0.999999975564,7.57876502366e-05,-0.000206248765948,-2.42654039777e-05,1793250766453085440
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.506378052,747,723,685.506378052,674,642,886,787,819,657,632.493621948,656,0.40094729751,0.00455512452471,0.0499316100995,0.999999976169,7.29418245878e-05,-0.000204378490233,-2.39058632143e-05,1793250766469752064
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642,886,787,819,657,633,656,0.400951637079,0.00455291996961,0.0499328316409,0.999999976919,7.03671750778e-05,-0.000201640864173,-2.3499998078e-05,1793250766486418944
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642,886,787,819,657,633,656,0.40096245367,0.00455448680495,0.0499349018304,0.999999978199,7.08485075297e-05,-0.000194965162823,-2.38792209005e-05,1793250766503085568
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.759663691,723,685,674,642,886,787,819,657,632.759663691,656,0.400980621981,0.00455587856148,0.0499393633666,0.999999980443,7.21474338613e-05,-0.000182522269251,-2.43652506799e-05,1793250766519752192
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746.180602023,723,685,674,642,886,787,819,657,632.180602023,656,0.401009151665,0.00455702356517,0.0499471952207,0.999999983791,7.45986611783e-05,-0.000161951206718,-2.50018120859e-05,1793250766536418816
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746.397152997,723,685,674,642,886,787,819,657,632,656,0.401047481193,0.0045568707537,0.0499534186037,0.999999987142,7.47871397417e-05,-0.000139504205667,-2.57272792255e-05,1793250766553085440
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.974315827,723,685,674,642,886,787,819,657,632,656,0.40109025251,0.00455612970682,0.049958912947,0.999999990163,7.39500262628e-05,-0.000116206932519,-2.6493042989e-05,1793250766569752320
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642,886,787,818.450360093,657,632,655.450360093,0.401145231181,0.00455586859088,0.0499646185718,0.999999992911,7.16353689194e-05,-9.12854517661e-05,-2.67087338324e-05,1793250766586418688
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642,886,787,818.127685867,657,632.127685867,655.127685867,0.40120166827,0.00455566584697,0.049969166685,0.999999994599,6.9899029224e-05,-7.20981910675e-05,-2.67774160131e-05,1793250766603085312
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642,886,787,818.715856993,657,632.715856993,655.715856993,0.401261314638,0.00455559300553,0.0499695048727,0.999999994439,7.04964995043e-05,-7.38635719228e-05,-2.64083185469e-05,1793250766619752192
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,723,685.29923097,674,642,886.29923097,787.29923097,819,657,633,656,0.401333274379,0.00455491957479,0.0499707723726,0.999999994702,6.95530030314e-05,-7.12269539616e-05,-2.61577791718e-05,1793250766636418560
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,723,685.878121524,674,642,886.878121524,787.878121524,819,657,633,656,0.401416742125,0.00455368483669,0.0499729084024,0.999999995327,6.71693276537e-05,-6.447625254e-05,-2.60180435436e-05,1793250766653085184
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,723,685.543340216,674,642.456659784,886.543340216,787.543340216,819,657.456659784,632.543340216,656,0.401519115637,0.00455288549571,0.0499735404637,0.999999995406,6.55270283656e-05,-6.53356925485e-05,-2.50203377667e-05,1793250766669752064
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642.965245566,886,787,819,657.965245566,632,656,0.401627873804,0.00455216929003,0.049973621957,0.999999995342,6.40380000153e-05,-6.8169304658e-05,-2.38274612766e-05,1793250766686418944
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642.392562809,886,787,819,657.392562809,632,656,0.401757415223,0.00455094263935,0.0499713897789,0.999999995358,6.18610792635e-05,-7.01463357269e-05,-2.31552242237e-05,1793250766703085568
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,722.814673007,685.185326993,674,642.185326993,886,787,819,657,632.185326993,656,0.401897248575,0.00454927659307,0.0499707102674,0.99999999551,5.89812335178e-05,-7.07392491717e-05,-2.22839822234e-05,1793250766719752192
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,722.225434776,685.774565224,674,642.774565224,886,787,819,657,632.774565224,656,0.40205951268,0.0045466529054,0.0499734147182,0.999999995958,5.45693969484e-05,-6.83155447791e-05,-2.097901863e-05,1793250766736418816
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.35961043,747,722,685.64038957,674,643,886.35961043,787.35961043,819,657,633,656,0.402242257148,0.00454469731224,0.0499735724874,0.99999999612,5.17036167115e-05,-6.86222395063e-05,-1.94157770812e-05,1793250766753085440
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.942057439,747,722,685.057942561,674,643,886.942057439,787.942057439,819,657,633,656,0.402437692515,0.00454315571096,0.0499721521774,0.99999999611,4.97958669499e-05,-7.06208560075e-05,-1.76924906145e-05,1793250766769751808
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.485370041,747,722.514629959,685,674,643,887,787.485370041,819,657,632.485370041,656,0.40266467246,0.00453965611943,0.0499700868249,0.999999996172,4.37468188695e-05,-7.40583704016e-05,-1.60430554003e-05,1793250766786419200
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,747,723,685.08707892,674,643,887,787,819,657,632.08707892,656,0.402902252585,0.00453627268804,0.0499688052913,0.999999996296,3.76436680622e-05,-7.60439349016e-05,-1.44051318157e-05,1793250766803086336
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,747,723,685.664980235,674,643,887,787,819,657,632.664980235,656,0.403179939028,0.00453476318174,0.0499723434216,0.99999999697,3.38142369294e-05,-6.894958836e-05,-1.27861079942e-05,1793250766819752448
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,723,685.751556068,674,642.751556068,887,787,819,657.248443932,633,656,0.403476181336,0.00453269228193,0.0499793369776,0.999999998031,3.00857207716e-05,-5.39852614952e-05,-1.09256310379e-05,1793250766836418816
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,747,723,685.160419912,674,642.160419912,887,787,819,657.839580088,633,656,0.403798018741,0.00452984702162,0.0499910967897,0.999999999214,2.64964023442e-05,-2.81654432073e-05,-8.73210473542e-06,1793250766853085696
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.420924884,747,723,685.420924884,674,642.420924884,887,787,819,658,632.579075116,656,0.404151832983,0.00452742963327,0.0499996537367,0.99999999963,2.37264037448e-05,-1.1744288652e-05,-6.25995818676e-06,1793250766869752320
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.998622884,747,723,685.998622884,674,642.998622884,887,787,819,658,632.001377116,656,0.404517556965,0.00452517160554,0.050007017779,0.999999999766,2.12615601987e-05,1.17634101724e-06,-3.68403981389e-06,1793250766886418944
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.428748475,747,723,686,674,643,887,787,819,657.428748475,632.571251525,656,0.404933894704,0.00452038956088,0.050012669724,0.999999999737,1.25607100884e-05,1.91606182425e-05,-1.43137629727e-06,1793250766903085824
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,722.851587667,686,674,643,887,787.148412333,819,657,633,656,0.405346529676,0.0045160464554,0.0500124996573,0.999999999687,5.51649917207e-06,2.43880075197e-05,9.25802934594e-07,1793250766919752448
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,722.260884326,686,674,643,887,787.739115674,819,657,633,656,0.405747769344,0.00451302942905,0.0499949913135,0.999999999952,3.45373000502e-06,-8.43810403429e-06,3.59675618196e-06,1793250766936419072
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,722,686,674,642.677098954,887,787.677098954,818.677098954,657,632.677098954,656,0.406172738449,0.00450871353163,0.0499745556994,0.999999998888,-1.17911891938e-06,-4.66845248193e-05,6.50669612533e-06,1793250766953085696
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,722,686,674,642.09878558,887,787.09878558,818.09878558,657,632.09878558,656,0.406616477405,0.00450337023651,0.0499518046345,0.999999995943,-7.8448820519e-06,-8.92183734051e-05,9.60567305018e-06,1793250766969752320
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,722.478261008,686,674,642,887.478261008,787,818.478261008,657,632,656,0.4071169244,0.00449902507392,0.0499401397331,0.999999993918,-8.06676476814e-06,-0.00010921689251,1.30379492993e-05,1793250766986419200
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,723,686.054644443,674,642,888,787.054644443,819,657.054644443,632.054644443,656,0.407638865289,0.00449462579212,0.0499338647218,0.999999992864,-4.44467793853e-06,-0.000118229176689,1.6553594737e-05,1793250767003086080
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,723,686.627216252,674,642,888,787.627216252,819,657.627216252,632.627216252,656,0.408253803119,0.00448776465285,0.049957029495,0.999999997279,2.30290568944e-05,-6.71138652423e-05,2.02086424258e-05,1793250767019753216
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.206617159,747,723,687,674,642,888,787.793382841,819,657.793382841,632.793382841,656,0.408873963223,0.0044807502597,0.0499816683203,0.999999998754,3.92744346537e-05,-1.92510667308e-05,2.40528778747e-05,1793250767036420096
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.798760414,747,723,687,674,642,888,787.201239586,819,657.201239586,632.201239586,656,0.409503867508,0.00447344991114,0.0500090575716,0.999999998749,3.45688660525e-05,2.25428780615e-05,2.82501178391e-05,1793250767053086208
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.616841032,747,723,687,674,642,888,787,819,657,632.383158968,656,0.410131109135,0.00446608453957,0.0500139174341,0.999999999169,1.44107435974e-05,2.53712855937e-05,2.84643678915e-05,1793250767069752576
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.036429516,747,723,687,674,642,888,787,819,657,632.963570484,656,0.410756979989,0.00445868569398,0.0500071790305,0.999999999518,-1.370244664e-05,8.13999821344e-06,2.66281505747e-05,1793250767086418944
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,723,687.537873433,674,642.537873433,887.462126567,787.537873433,819,657,632.462126567,656,0.411382140313,0.00445166099635,0.0499733258005,0.999999996956,-3.09790936564e-05,-6.59698458728e-05,2.78774577559e-05,1793250767103085568
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,723,688,673.88811543,643,887.11188457,788,819,657,632.11188457,656,0.412036455783,0.00444506865613,0.0499469331412,0.99999999141,-4.34500200709e-05,-0.000120207031866,2.90106438607e-05,1793250767119751936
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,723,688,673.313619577,643,887.686380423,788,819,657,632.686380423,656,0.412811516168,0.00444016039463,0.0499588958127,0.999999995894,-3.90512206022e-05,-7.65269571022e-05,2.88093362485e-05,1793250767136418816
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,723,688.269869822,673.539739645,642.730130178,888,788,819,657,632.730130178,656,0.413586404179,0.00443621361465,0.0499744640241,0.999999998181,-3.34515186386e-05,-4.03687731328e-05,2.98180350012e-05,1793250767153085440
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,723,688.864171141,674.728342282,642.135828859,888,788,819,657,632.135828859,656,0.414361085067,0.00443342270572,0.0499943667367,0.999999999042,-2.64081178816e-05,-1.32532332471e-05,3.22813764927e-05,1793250767169752064
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.557414003,722.557414003,689,674.557414003,642.442585997,888.442585997,787.557414003,819.442585997,657,632,656,0.415110111022,0.00444204496704,0.0499759756399,0.999999998226,-2.27542509333e-05,-4.48519984845e-05,3.19094219508e-05,1793250767186418944
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.016292046,746.016292046,722.016292046,689,674,643,889.016292046,787.016292046,820.016292046,657,632.016292046,656,0.415853684538,0.00445388601242,0.0499469462163,0.999999995045,-1.9951319894e-05,-9.2565285132e-05,3.07322712315e-05,1793250767203086080
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.589923347,746.589923347,722.589923347,689,674,643,889.589923347,787.589923347,820.589923347,657,632.589923347,656,0.416670747774,0.00446016715865,0.0499420940863,0.999999994803,-1.19054442527e-05,-9.64767607576e-05,3.07455966486e-05,1793250767219752448
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.830873762,747,722.830873762,689.169126238,674,643,890,788,821,657,632.830873762,656,0.41750709389,0.00446153681527,0.0499473565525,0.999999995999,-7.90326969347e-06,-8.34712218795e-05,3.11757465454e-05,1793250767236419072
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.237701392,747,722.237701392,689.762298608,674,643,890,788,821,657,632.237701392,656,0.418391787453,0.00445059201225,0.0499779791015,0.999999998975,-1.40397696517e-05,-2.80500607538e-05,3.26509903343e-05,1793250767253085696
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.653093822,722,690,674,642.653093822,890,788,821.346906178,656.653093822,632,656,0.41924349008,0.0044456932119,0.0499813910547,0.999999998758,-1.9944971938e-05,-3.03086979087e-05,3.41562791282e-05,1793250767269752320
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.074213508,722,690,674,642.074213508,890,788,821.925786492,656.074213508,632,656,0.420073131825,0.00444483733869,0.0499666074401,0.999999996503,-2.56955065716e-05,-7.11374817278e-05,3.56816587844e-05,1793250767286418944
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.499055944,746.500944056,722,690.500944056,674,642.500944056,890.500944056,788,822.500944056,656.500944056,632,656,0.420974533013,0.00444489980306,0.0499726928549,0.999999998173,-2.6645253869e-05,-4.16498224896e-05,3.47773818619e-05,1793250767303085568
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.074724901,747,722,691,674.074724901,643,891,787.925275099,823,657,632,656,0.421886473754,0.00444475474489,0.049982559256,0.999999999043,-2.74649964123e-05,-4.27165237813e-06,3.37933772857e-05,1793250767319752192
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.643027921,747,722,691,674.643027921,643,891,787.356972079,823,657,632,656,0.42279832826,0.00444234693143,0.0499971292806,0.999999998742,-3.20891925234e-05,1.69246706143e-05,3.46427599408e-05,1793250767336419072
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,722,691,674.553206704,643,891.223396648,787,823,657,632,656,0.423714130955,0.00444270430328,0.0500009387723,0.99999999861,-3.2813908413e-05,2.1319622257e-05,3.53476959236e-05,1793250767353085696
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,722,691,673.351707204,643,891.824146398,787,823,657,632,656,0.424636602927,0.00444773252035,0.0499865719844,0.999999998992,-2.69517717066e-05,-2.66565872668e-06,3.58086382385e-05,1793250767369752064
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.406291882,747,722,691.406291882,673.406291882,643,892.406291882,787,823.406291882,657,632,656,0.425573737175,0.00444719982975,0.0499952881201,0.999999998863,-2.8306039723e-05,1.0853878749e-05,3.68089643754e-05,1793250767386418944
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.980737505,747,722,691.980737505,673.980737505,643,892.980737505,787,823.980737505,657,632,656,0.426516939707,0.00444436562246,0.0500135576839,0.999999997948,-3.26469920197e-05,3.9895695501e-05,3.80325275272e-05,1793250767403085568
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,747,722.553058042,692,674,643,893.553058042,787,824,657,632,656,0.427386961486,0.00444127599485,0.0500029319066,0.999999998938,-2.18612831514e-05,-4.39111755243e-06,4.03308683066e-05,1793250767419752192
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.869652268,747,722.869652268,692,673.869652268,643,893.869652268,787,824,657,632,656,0.428267217879,0.00443901917496,0.0499873051707,0.999999997861,-1.44428378225e-05,-4.81120253327e-05,4.18888618961e-05,1793250767436419072
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.274375461,747,722.274375461,692,673.274375461,643,893.274375461,787,824,657,632,656,0.429193035845,0.00443976445364,0.0499574167489,0.999999995695,-2.09068584128e-05,-8.07397221272e-05,4.06731499781e-05,1793250767453085696
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,722,692,673.311345748,643,893,787,824.311345748,657,632,656,0.430129770949,0.00444174535306,0.0499498690439,0.999999995526,-2.48986929242e-05,-8.20217480691e-05,3.99975860149e-05,1793250767469752320
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,722,692,673.888896747,643,893,787,824.888896747,657,632,656,0.431075840319,0.00444478272658,0.0499614229861,0.999999997254,-2.67767711855e-05,-5.65027568687e-05,3.9783856669e-05,1793250767486418944
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,722,692,674,643,893.462692505,787,825,657,632,656,0.431970714887,0.00444282618905,0.0499493119627,0.999999995847,-2.70255131537e-05,-7.73686587987e-05,3.98744074433e-05,1793250767503085568
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,722,692.036668342,673.963331658,643,894,787,825,657,632,656,0.432855097621,0.00443966969944,0.0499338869579,0.99999999333,-2.70235296699e-05,-0.00010491177876,4.00341525219e-05,1793250767519752192
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,722,692.626864278,673.373135722,643,894,787,825,657,632,656,0.433765175904,0.00443635543934,0.0499535255415,0.999999996562,-2.90951632744e-05,-6.64692469284e-05,4.01443510691e-05,1793250767536418816
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,722,693,673.212784006,643,894.212784006,787,825.212784006,656.787215994,632,656.212784006,0.434675253081,0.0044346188749,0.0499714965212,0.999999998007,-3.12855047854e-05,-3.69143449088e-05,4.05473923648e-05,1793250767553085440
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,722,693,673.791352842,643,894.791352842,787,825.791352842,656.208647158,632,656.791352842,0.435585328507,0.00443559443643,0.0499866008215,0.999999998317,-3.36799106726e-05,-2.26376535068e-05,4.14538429981e-05,1793250767569752320
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,722.368296413,693.368296413,673.263407175,643,895,787,826,656.368296413,632,656.631703587,0.436432780158,0.00443651693476,0.0499732961967,0.999999996626,-3.56205595421e-05,-6.02787004652e-05,4.29644338347e-05,1793250767586419200
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,722.944323248,693.944323248,672.111353503,643,895,787,826,656.944323248,632,656.055676752,0.437244910032,0.00443740950375,0.0499439680696,0.99999999021,-3.73052753261e-05,-0.000127202937924,4.48157779862e-05,1793250767603086080
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,694,673.039044774,643,895,787,826,656.480477613,632,656,0.438129384778,0.00443680766772,0.0499624637866,0.999999995813,-2.89147454437e-05,-7.52305484125e-05,4.33391996979e-05,1793250767619752704
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,694,674,643,895,787,826.094443153,656,632,656,0.439005003799,0.00443584246797,0.0499815056253,0.999999998616,-2.1250517784e-05,-2.35158536574e-05,4.19821236742e-05,1793250767636419328
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,723,694,674,643,895,787,826.668400189,656,632,656,0.43979635766,0.00443384422341,0.0499773394189,0.999999998104,-2.27474207128e-05,-3.77015146156e-05,4.3039726634e-05,1793250767653085696
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,723,694,673.748711451,643.251288549,895.251288549,787,827,656,632,656.251288549,0.44058781511,0.00443199991255,0.0499691646105,0.999999997324,-2.66038966616e-05,-5.2396978176e-05,4.35779891419e-05,1793250767669752320
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,723,694,673.153603056,643.846396944,895.846396944,787,827,656,632,656.846396944,0.44137941423,0.00443036621814,0.0499555051238,0.999999996193,-3.36888046315e-05,-6.77899663918e-05,4.34056757962e-05,1793250767686418944
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,694,673,643.570107806,896,787,826.570107806,656,632,657,0.442148749344,0.00443092175998,0.0499621720591,0.99999999714,-3.35174674503e-05,-5.17855407079e-05,4.37620150959e-05,1793250767703085568
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.009259192,747,723,694.009259192,673,643,896,786.990740808,826.009259192,656.009259192,632,657,0.44290869985,0.00443238362944,0.0499753402294,0.999999998215,-3.05544228743e-05,-2.59623083086e-05,4.42999224687e-05,1793250767719752448
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.583259058,747,723,694.583259058,673,643,896,786.416740942,826.583259058,656.583259058,632,657,0.44356869267,0.00444266961691,0.0499537132847,0.999999996659,-1.12939279714e-05,-6.75109509073e-05,4.46942407682e-05,1793250767736419328
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,747,723,694.839122317,672.678244634,642.839122317,896,786,827,656.839122317,632,656.839122317,0.444206256888,0.00445293757631,0.049921330848,0.999999991185,6.40730793793e-06,-0.000124860209657,4.47151991357e-05,1793250767753086464
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,747,723,694.251913742,671.503827484,642.251913742,896,786,827,656.251913742,632,656.251913742,0.444784384754,0.00446315776302,0.049860446016,0.999999973737,1.99764628954e-05,-0.000224081604421,4.37467420156e-05,1793250767769753344
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.667326981,747.332673019,723,694,671,642,896.332673019,786.332673019,827,656,632,656.332673019,0.445412438503,0.0044740137744,0.0498306329494,0.999999965426,3.05897140577e-05,-0.000257870898556,4.14091935393e-05,1793250767786419712
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.084710078,747.915289922,723,694,671,642,896.915289922,786.915289922,827,656,632,656.915289922,0.446078002531,0.00448534749297,0.0498241647244,0.999999969113,3.89821349498e-05,-0.000242499743577,3.80430196562e-05,1793250767803086080
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747.508979529,723,693.508979529,671,641.508979529,897,786.508979529,827,656,632,656.508979529,0.446678518961,0.00449565577168,0.0498294597889,0.999999971557,4.87963332673e-05,-0.000230796425625,3.51740677372e-05,1793250767819752704
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,693.066988473,670.933011527,640.933011527,897,786,827,656.066988473,632,656,0.447256421939,0.00450686044377,0.0498321922625,0.999999971962,6.03326965551e-05,-0.000226720426379,3.21375948459e-05,1793250767836419328
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+251,4.183333333,HOLD_POSE2,769,747,723,694,667,633,897.496195602,785.496195602,827.496195602,657,632,656,0.454332444553,0.00461632305913,0.0496832852203,0.999999868227,0.000193235788329,-0.000475335744984,1.61571358149e-05,1793250768796552704
+252,4.200000000,HOLD_POSE2,769.085549691,747.085549691,723,694.085549691,667,633.085549691,898,786,828,656.914450309,632,656.085549691,0.454333351141,0.00461633332067,0.0496839190701,0.999999868454,0.000193670267845,-0.00047467973556,1.62235575945e-05,1793250768813219328
+253,4.216666667,HOLD_POSE2,769.664364512,747.664364512,723,694.664364512,667,633.664364512,898,786,828,656.335635488,632,656.664364512,0.454332906132,0.00461905132097,0.0496841177643,0.999999867257,0.000198890628585,-0.000475054773309,1.58889211023e-05,1793250768829885440
+254,4.233333333,HOLD_POSE2,769.758197935,747.758197935,723.241802065,694.758197935,667,634,898,786,828,656,632,657,0.454332413129,0.00461994604378,0.0496837489601,0.999999866686,0.000200358689706,-0.000475640708551,1.57930456521e-05,1793250768846551808
+255,4.250000000,HOLD_POSE2,769.182661329,747.182661329,723.817338671,694.182661329,667,634,898,786,828,656,632,657,0.454331853884,0.00461832428382,0.0496825968965,0.999999867002,0.000196647836872,-0.000476517723905,1.60267075576e-05,1793250768863218432
+256,4.266666667,HOLD_POSE2,769,747.388324009,723.611675991,694,667,633.611675991,897.611675991,786,828,656.388324009,632,657,0.454332375901,0.00461903186383,0.0496827062317,0.999999866925,0.000197171982967,-0.000476468297728,1.58425753151e-05,1793250768879885056
+257,4.283333333,HOLD_POSE2,769,747.957193356,723.042806644,694,667,633.042806644,897.042806644,786,828,656.957193356,632,657,0.454333400634,0.00462082243485,0.0496834020351,0.999999866665,0.00019966512703,-0.000475988136736,1.5464196063e-05,1793250768896551680
+258,4.300000000,HOLD_POSE2,769,747.44818563,723,694,667.55181437,633,897.55181437,785.44818563,828,657,632,656.44818563,0.454332480068,0.00461888563188,0.0496824718796,0.999999866779,0.000196249788933,-0.000477173046907,1.53168195816e-05,1793250768913218816
+259,4.316666667,HOLD_POSE2,769.143990681,747,723,694,667.856009319,633.143990681,897.856009319,785,828,657,632,656,0.454332019788,0.004617669862,0.0496819592536,0.999999866991,0.000193922174011,-0.000477681928996,1.52477140447e-05,1793250768929885696
+260,4.333333333,HOLD_POSE2,769.722467385,747,723,694,667.277532615,633.722467385,897.277532615,785,828,657,632,656,0.45433342604,0.00461954498393,0.0496831057372,0.999999867445,0.000196327463373,-0.00047574208936,1.53580683823e-05,1793250768946552576
+261,4.350000000,HOLD_POSE2,769.700499769,747,723,694.299500231,667,633.700499769,897.299500231,785,828,656.700499769,632,656,0.454333557836,0.00462041407051,0.0496828701422,0.999999867294,0.000197571939048,-0.000475541884725,1.54101488914e-05,1793250768963218944
+262,4.366666667,HOLD_POSE2,769.12479849,747,723,694.87520151,667,633.12479849,897.87520151,785,828,656.12479849,632,656,0.454332514321,0.00462035538467,0.0496813599853,0.999999866591,0.000197745904705,-0.000476945982839,1.54084888932e-05,1793250768979885312
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,748,723,694,667,633,898,786,828,657,632,657,0.454331182031,0.00462060803365,0.0496811011806,0.999999865342,0.000198651607461,-0.000479211752556,1.44964967143e-05,1793250769011923968
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,748,723,694,667,633,897.420987498,786,827.420987498,656.420987498,632,656.420987498,0.454331613746,0.00461980838882,0.0496820308817,0.999999865717,0.000198080807256,-0.000478637540201,1.5334512631e-05,1793250769028590592
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747.842369089,723,694,667,633,897,785.842369089,827,656.157630911,632,656.157630911,0.454331916165,0.00461913886696,0.0496825032879,0.999999866019,0.000197227338747,-0.000478342592894,1.58679167035e-05,1793250769045257216
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747.264800436,723,694,667,633,897,785.264800436,827,656.735199564,632,656.735199564,0.454331874134,0.00461881599992,0.0496817574344,0.999999866124,0.000195620825626,-0.000478791623484,1.55898176286e-05,1793250769061924096
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747.31111508,723,694,667,633,897.31111508,785,827,657,632,656.68888492,0.454331554078,0.00461890450934,0.0496811083479,0.999999865955,0.000194945920448,-0.00047942746161,1.53322689989e-05,1793250769078590720
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747.885630959,723,694,667,633,897.885630959,785,827,657,632,656.114369041,0.454330998636,0.00461934130433,0.0496805411877,0.999999865556,0.000195059746908,-0.000480221457435,1.50921191044e-05,1793250769095257344
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748,723,694.471507532,667,633,898,785.471507532,827.471507532,657,632,656.471507532,0.454331406087,0.00461816393733,0.0496808450412,0.999999865811,0.000195309623256,-0.000479572396238,1.55657107912e-05,1793250769111923968
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747.940495314,723,694.940495314,667,633,898,785.940495314,827.940495314,657,631.940495314,656.940495314,0.454331645461,0.00461681041456,0.0496812020874,0.999999866125,0.000195427640951,-0.000478852479094,1.60743132497e-05,1793250769128590336
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,747.358669877,723,694.358669877,667,633,898,785.358669877,827.358669877,657,631.358669877,656.358669877,0.454328308714,0.0046174322727,0.049680125745,0.99999986553,0.000194091406456,-0.000480658942054,1.5333052419e-05,1793250769145256960
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747.220046465,723,694,667,633,898,785.220046465,827,656.779953535,631.220046465,656,0.454320328355,0.00461764860521,0.0496762117643,0.999999862682,0.000193867497563,-0.000486652164093,1.48886397762e-05,1793250769161923584
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,747.793765617,723,694,667,633,898,785.793765617,827,656.206234383,631.793765617,656,0.454304884487,0.00461721315107,0.0496677369508,0.999999856104,0.000195431389296,-0.000499374611622,1.49213405083e-05,1793250769178589952
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747.632515519,723,694,667,633,898,786,827.367484481,656.367484481,631.632515519,656,0.454269643492,0.00461772519711,0.0496530251899,0.999999843025,0.000195497909653,-0.000524892278895,1.47843421592e-05,1793250769195256832
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747.058796762,723,694,667,633,898,786,827.941203238,656.941203238,631.058796762,656,0.454223292242,0.00461876898532,0.0496348132196,0.999999825482,0.000194724097093,-0.000557590693371,1.45521077605e-05,1793250769211923968
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747,723,694,667,633,897.467256308,785.467256308,828,657,631.532743692,656.532743692,0.454159260983,0.00462031841431,0.0496139017955,0.99999980669,0.000197457507044,-0.000589446977126,1.3533450009e-05,1793250769228590848
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,747.123133757,723,694,667,633,897.123133757,785,827.876866243,656.876866243,632,656.876866243,0.454090511183,0.00462175963318,0.0495942713288,0.999999788984,0.000200614611784,-0.000617760924198,1.25376340088e-05,1793250769245257216
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747.701741238,723,694,667,633,897.701741238,785,827.298258762,656.298258762,632,656.298258762,0.454011774996,0.00462258701158,0.04958051932,0.999999778598,0.000203857608738,-0.00063332741703,1.19584752722e-05,1793250769261923584
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,747.719261948,723,694,667,633,897.719261948,785.280738052,827.280738052,656.280738052,631.719261948,656,0.453930306659,0.00462325901932,0.0495730149826,0.999999772846,0.000204896105588,-0.000642023006983,1.14937031729e-05,1793250769278589952
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747.139850963,723,694,667,633,897.139850963,785.860149037,827.860149037,656.860149037,631.139850963,656,0.453845931633,0.00462376573054,0.0495721574483,0.999999772226,0.000203589268246,-0.000643408747353,1.11506253093e-05,1793250769295256576
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747.441601335,723,694,667,633.441601335,897.883202671,786,828,656.558398665,631.441601335,656.441601335,0.453741030368,0.00462362326591,0.0495735362171,0.999999771955,0.000204016599379,-0.00064369542548,1.11124097657e-05,1793250769311923200
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769.023578593,747.976421407,723,694,667.023578593,634,898.952842815,786,827.976421407,656.023578593,631.976421407,656.976421407,0.453628464078,0.00462340820904,0.0495755664723,0.999999771784,0.000205133181611,-0.000643605477151,1.1119259418e-05,1793250769328589824
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769.602622904,747.397377096,723,694,667.602622904,634,897.794754192,786,827.397377096,656.602622904,631.397377096,656.397377096,0.453489174166,0.0046263487613,0.0495761828043,0.99999977136,0.000209489135401,-0.000642880699438,9.9027352166e-06,1793250769345256704
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769.819079968,747,723,694,667.819079968,633.819079968,897,786,827,657,631.180920032,656,0.453338769451,0.00462856894505,0.0495771271591,0.9999997706,0.000213541299276,-0.000642742100123,9.12652559635e-06,1793250769361923840
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769.242417298,747,723,694,667.242417298,633.242417298,897,786,827,657,631.757582702,656,0.453164052345,0.00462921340166,0.0495787890276,0.999999769133,0.000216928955615,-0.000643885701595,9.31345577367e-06,1793250769378590720
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,723,694,667.321157308,633.321157308,897,785.678842692,827,656.678842692,631.678842692,656.321157308,0.452974162674,0.0046318278122,0.0495818516107,0.999999768689,0.000223120660574,-0.000642462235762,8.96997386324e-06,1793250769395257088
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,723,694,667.875239625,633.875239625,897,785.124760375,827,656.124760375,631.124760375,656.875239625,0.452773268815,0.00463587096669,0.0495859300871,0.999999768932,0.000231346051651,-0.000639176959116,8.24180123852e-06,1793250769411923456
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,723,694,668,634,897,785.475220283,827,656,631,656.524779717,0.452546748642,0.00463797696173,0.0495893325654,0.999999765993,0.000237033683248,-0.000641689713781,7.9061409059e-06,1793250769428590080
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,747.083527551,723,694.083527551,668,634,897,786,827,656.083527551,631,656,0.452306624259,0.00463958947306,0.0495925755799,0.999999762843,0.00024176218474,-0.000644832030908,7.57993784184e-06,1793250769445256448
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747.662132039,723,694.662132039,668,634,897,786,827,656.662132039,631,656,0.452030005156,0.00464161363579,0.0495960377823,0.99999976402,0.000245176881425,-0.000641719248453,6.63372186154e-06,1793250769461923328
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747.759541746,723,695,668,634.240458254,897,786,827,657,631.240458254,656,0.451731291226,0.00464458028425,0.0495964247814,0.999999762927,0.000251151806237,-0.000641123279702,5.42780919038e-06,1793250769478590208
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747.181606118,723,695,668,634.818393882,897,786,827,657,631.818393882,656,0.451401567756,0.00464886968865,0.0495924958065,0.999999758599,0.000260719949424,-0.000644059598604,3.85741851696e-06,1793250769495256832
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,769.021704866,746.021704866,722,685,674,642,886,787,819,657,632,655.021704866,0.40308485033,0.00464030228476,0.0498392470174,0.999999937871,0.000167290452769,-0.000306206415614,-5.01009281606e-05,1793250770678589696
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769.600290198,746.600290198,722,685,674,642,886,787,819,657,632,655.600290198,0.402806755934,0.00463493108423,0.0498234809732,0.999999931137,0.000152713836011,-0.000334513360892,-5.00605560363e-05,1793250770695256576
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,747,722,685.657896977,674,642,885.657896977,786,819,656.657896977,632.342103023,656,0.401572011218,0.00461676201088,0.0498327202331,0.999999942915,0.000134170235114,-0.00030671857359,-4.57440694791e-05,1793250770811923456
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.319186368,747,722,684.319186368,674,642,886,787,819,657,632,655.319186368,0.400983865705,0.00461415905072,0.0498449720318,0.999999954018,0.000130618689261,-0.000269713189648,-4.64423259822e-05,1793250771128590080
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,747,722.414461978,685,674,642,886,786.585538022,819,657,632,656,0.400981885105,0.00461582665784,0.0498460564991,0.999999953974,0.000133101938925,-0.000268714936575,-4.61393859962e-05,1793250771178590464
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,747,722.993469215,685,674,642,886,786.006530785,819,657,632,656,0.400982618022,0.00461473060093,0.0498466113352,0.999999954505,0.000132273667686,-0.000267149702529,-4.60977346407e-05,1793250771195256832
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.419505666,747,722.419505666,685,674,642,885.419505666,786.580494334,819,657,632,656,0.400983084414,0.00461386547426,0.0498475570487,0.99999995496,0.000131935337966,-0.000265637720045,-4.59210599972e-05,1793250771211923200
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,747,722.164707142,685,674,642,885.164707142,787,819,657.164707142,632,656,0.400983454465,0.00461312439826,0.0498482882273,0.999999955344,0.000131148083019,-0.000264610999166,-4.57527926425e-05,1793250771228589824
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,747,722.741652182,685,674,642,885.741652182,787,819,657.741652182,632,656,0.400983591001,0.00461268720938,0.0498484712958,0.999999955552,0.000129223244853,-0.000264797296772,-4.56094227576e-05,1793250771245256448
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.316656199,747,722.683343801,685,674,642,886,787,819,657.683343801,632.316656199,656,0.400983653148,0.0046129364989,0.0498487097702,0.999999955657,0.000129245707039,-0.000264371818629,-4.56974172029e-05,1793250771261923328
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,642,885.535917931,786.535917931,819,657,632.535917931,656,0.400984524154,0.00461270353184,0.0498494060569,0.999999956017,0.000129741113624,-0.000262763826678,-4.56882299984e-05,1793250771295257088
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,642,885.03972798,786.03972798,819,657,632,656,0.400985484655,0.00461156757107,0.0498497979407,0.999999956383,0.000128213859927,-0.000262182035654,-4.53504077338e-05,1793250771311923712
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,642,885.636633543,786.636633543,819,657,632,656,0.400984841361,0.00461520606344,0.0498494646818,0.999999956117,0.0001297848223,-0.000262285807591,-4.61325844244e-05,1793250771328590080
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.77433659,747,722,685,674,642,886,787,819,657,632,655.77433659,0.400983795648,0.00461692791195,0.0498490977497,0.999999955757,0.000131514554288,-0.000262752038158,-4.63886087328e-05,1793250771345256704
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.197560528,747,722,685,674,642,886,787,819,657,632,655.197560528,0.400982123805,0.00461566762977,0.0498486784248,0.999999955249,0.000133491318237,-0.000263782222867,-4.58259857894e-05,1793250771361923328
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769.377368916,747,722.377368916,685,674,642,885.622631084,787,819,657,632,655,0.400982983084,0.00461493393195,0.0498495504022,0.999999955584,0.000133522805511,-0.000262521319139,-4.56659569633e-05,1793250771378589696
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769.951336289,747,722.951336289,685,674,642,885.048663711,787,819,657,632,655,0.400985161005,0.00461447456967,0.0498510951115,0.999999956354,0.000132540858916,-0.00026006682352,-4.57156682406e-05,1793250771395256320
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769.458433908,747,722.458433908,685,674,642,886.083132184,786.458433908,818.458433908,657,632,655.541566092,0.400985481818,0.0046144511628,0.0498509398989,0.999999956526,0.000131456600371,-0.000259934840522,-4.58466360936e-05,1793250771411923200
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8648cb91c30dfdf3d0c05002a3b2b424e4ae78aa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+275,4.583333333,pose2_to_pose3_retreat,0.618459856871,0.0101500015315,1.04003340292,0.589030535431,0.0188226395812,1.03970479733
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+277,4.616666667,pose2_to_pose3_retreat,0.618361357452,0.0101501307984,1.04003359939,0.588932035093,0.0188227655962,1.03970499394
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+390,6.500000000,pose2_to_pose3_retreat,0.575666147437,0.0101501676776,1.04003344772,0.546236825726,0.0188228009073,1.03970484414
+391,6.516666667,pose2_to_pose3_retreat,0.575665962367,0.0101501743712,1.04003343808,0.54623664045,0.0188228068936,1.03970483429
+392,6.533333333,pose2_to_pose3_retreat,0.575665934176,0.0101501753908,1.04003343661,0.546236612227,0.0188228078055,1.03970483279
+393,6.550000000,pose2_to_pose3_retreat,0.575665846859,0.0101501785489,1.04003343206,0.546236524814,0.0188228106299,1.03970482815
+394,6.566666667,pose2_to_pose3_retreat,0.575665827245,0.0101501792583,1.04003343104,0.546236505178,0.0188228112643,1.0397048271
+395,6.583333333,pose2_to_pose3_retreat,0.575665634092,0.0101501862443,1.04003342098,0.546236311809,0.0188228175122,1.03970481682
+396,6.600000000,pose2_to_pose3_retreat,0.575665436496,0.0101501933909,1.04003341069,0.546236113994,0.0188228239036,1.03970480631
+397,6.616666667,pose2_to_pose3_retreat,0.575665322891,0.0101501943192,1.04003340506,0.546236000319,0.0188228245922,1.03970480056
+398,6.633333333,pose2_to_pose3_retreat,0.575665189276,0.0101501611477,1.0400334016,0.546235867239,0.0188227932332,1.03970479704
+399,6.650000000,pose2_to_pose3_retreat,0.575665000864,0.0101501143724,1.04003339672,0.546235679581,0.0188227490136,1.03970479206
+400,6.666666667,pose2_to_pose3_retreat,0.575664884824,0.0101500855642,1.04003339371,0.546235564005,0.0188227217795,1.039704789
+401,6.683333333,pose2_to_pose3_retreat,0.575664871599,0.010150082281,1.04003339337,0.546235550834,0.0188227186757,1.03970478865
+402,6.700000000,pose2_to_pose3_retreat,0.575664729499,0.0101500470031,1.04003338969,0.546235409302,0.0188226853253,1.0397047849
+403,6.716666667,pose2_to_pose3_retreat,0.57566458648,0.010150011497,1.04003338599,0.546235266855,0.0188226517593,1.03970478112
+404,6.733333333,pose2_to_pose3_retreat,0.575664556443,0.0101500040401,1.04003338521,0.546235236939,0.0188226447098,1.03970478033
+405,6.750000000,pose2_to_pose3_retreat,0.575664510707,0.0101500094437,1.04003341772,0.546235191146,0.0188226498802,1.03970481175
+406,6.766666667,pose2_to_pose3_retreat,0.575664432961,0.0101500864498,1.04003360933,0.546235112334,0.0188227230347,1.0397049972
+407,6.783333333,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d8ea4271befa2106b934f0127018974da462002
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f2534bbf5b99aec5ab9d9afa10c90ef98f963b4ef4b4a84e3e6e6d097655c0e
+size 25908930
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a061e6a58878f854a4648d604673a764c9186137
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+0,0.000000000,BASELINE,770,747,722,685,674,642,886,787,819,657,632,656,0.400982809025,0.00461304112321,0.0498498525261,0.999999956095,0.000131324499423,-0.000261714015758,-4.54931457943e-05,1793250771539782144
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+21,0.350000000,BASELINE,769,746.820909144,722,684,674,642,885.179090856,786,818.820909144,656.179090856,632,656,0.400985721582,0.00461144169809,0.049852476754,0.999999957952,0.000127853612855,-0.00025642318454,-4.46919051445e-05,1793250771889782272
+22,0.366666667,BASELINE,769,746.247893721,722,684,674,642,885.752106279,786,818.247893721,656.752106279,632,656,0.400985179588,0.00461241468805,0.0498519876166,0.999999957441,0.000129443815197,-0.000257548429614,-4.50756490547e-05,1793250771906449152
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+27,0.450000000,BASELINE,770,746,722,685,674,642,885.341717467,787,818.658282533,657,632.341717467,656,0.400983990934,0.00461257612357,0.0498521649112,0.999999957176,0.00013107291156,-0.000257801096394,-4.48049482024e-05,1793250771989782016
+28,0.466666667,BASELINE,770,746.237818903,722,684.762181097,674,642,885,786.762181097,819,657,632,656,0.400985268861,0.00461315619955,0.049853427011,0.999999957597,0.000131655121881,-0.000255844143279,-4.49163197373e-05,1793250772006448640
+29,0.483333333,BASELINE,770,746.825587257,722,684.174412743,674,642,885,786.174412743,819,657,632,656,0.400987074195,0.00461351881097,0.0498542047926,0.99999995824,0.000130515943121,-0.000253855778186,-4.51943141977e-05,1793250772023115264
+30,0.500000000,BASELINE,769.592637115,747,722,684.407362885,674,642,885,786,819,657,632,655.592637115,0.400986164852,0.00461386066243,0.0498532039348,0.999999957826,0.000130822470761,-0.000255306616781,-4.53066583817e-05,1793250772039782144
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+47,0.783333333,BASELINE,769.261963727,747,722,684.261963727,674,642,885.261963727,786.738036273,819,657,632.261963727,655.738036273,0.400984705209,0.00461201573813,0.0498525178036,0.999999957433,0.000130299556821,-0.000257269183624,-4.43719910817e-05,1793250772323115264
+48,0.800000000,BASELINE,769.851622879,747,722,684.851622879,674,642,885.851622879,786.148377121,819,657,632.851622879,655.148377121,0.400986488346,0.0046138574009,0.049852616351,0.999999957584,0.000130617667878,-0.000256451945929,-4.4753936126e-05,1793250772339782144
+49,0.816666667,BASELINE,770,747,722,685,674,642,886,786.433486446,819,657,632.566513554,655.433486446,0.400985638017,0.00461297380256,0.0498520814365,0.99999995763,0.000128602241139,-0.000257289363502,-4.47602409799e-05,1793250772356448768
+50,0.833333333,BASELINE,770,747,722,685,674,642,886,787,819,657,632,656,0.400983934682,0.00461124293926,0.0498513544916,0.999999957628,0.000125898925965,-0.000258649548267,-4.46511243485e-05,1793250772373115648
+51,0.850000000,BASELINE,770,747,722,685,674,642,886,787,819,657,632,656,0.400983676628,0.00461258656343,0.0498515606506,0.999999957443,0.000127501282614,-0.000258514506078,-4.50264231491e-05,1793250772389782016
+52,0.866666667,BASELINE,770.165934395,747,722,685,674,642,886,787,818.834065605,657,632,656,0.400983654379,0.00461308607477,0.049851794183,0.999999957468,0.000128157389396,-0.000258065638875,-4.51819089506e-05,1793250772406448640
+53,0.883333333,BASELINE,770.741135838,747,722,685,674,642,886,787,818.258864162,657,632,656,0.40098421373,0.00461150363334,0.04985209523,0.999999958014,0.000126479628597,-0.000256842741458,-4.4795239396e-05,1793250772423115520
+54,0.900000000,BASELINE,770.676118204,747,722,684.676118204,674,642,885.676118204,787,818,657,632,655.676118204,0.400984502647,0.0046110016069,0.0498524386269,0.999999958096,0.000126135545414,-0.000256724881884,-4.4615682235e-05,1793250772439782144
+55,0.916666667,BASELINE,770.087198469,747,722,684.087198469,674,642,885.087198469,787,818,657,632,655.087198469,0.400984570264,0.00461138370236,0.0498528166794,0.9999999578,0.000126882833207,-0.000257511293484,-4.46056086591e-05,1793250772456448768
+56,0.933333333,BASELINE,769.506730054,747,722,684.493269946,674,642,885.493269946,787,818,657,632,655,0.400984042042,0.00461212036632,0.0498517558285,0.999999957343,0.000128580725789,-0.000258443100237,-4.45886064749e-05,1793250772473115136
+57,0.950000000,BASELINE,769,746.928217908,722,684.928217908,674,642,885.928217908,787,818.071782092,657,632,655,0.400983586049,0.00461269672818,0.049850767058,0.999999957,0.000130086449008,-0.000259018406875,-4.45790605032e-05,1793250772489782016
+58,0.966666667,BASELINE,769,746.353123827,722,684.353123827,674,642,885.353123827,787,818.646876173,657,632,655,0.400984362604,0.00461171702149,0.0498520371645,0.999999957669,0.000129086320148,-0.000256916872494,-4.46302383325e-05,1793250772506448640
+59,0.983333333,BASELINE,769,746.221359153,722,684.221359153,674,642,885,786.778640847,818.778640847,657,632,655.221359153,0.400984998485,0.00461151923409,0.0498531137561,0.999999958157,0.000128421064803,-0.000255327322455,-4.47339095982e-05,1793250772523115264
+60,1.000000000,BASELINE,769,746.794870046,722,684.794870046,674,642,885,786.205129954,818.205129954,657,632,655.794870046,0.400985410575,0.00461256537177,0.0498538824922,0.999999958364,0.000128288546667,-0.000254552268237,-4.49210906556e-05,1793250772539781888
+61,1.016666667,BASELINE,769.380408886,747,722,685,674,642,885.380408886,786.380408886,818,657,632,656,0.400986047078,0.00461303418522,0.0498537435932,0.999999958328,0.000128314241454,-0.000254659799903,-4.50415066524e-05,1793250772556448512
+62,1.033333333,BASELINE,769.972645354,747,722,685,674,642,885.972645354,786.972645354,818,657,632,656,0.400986808545,0.00461318152033,0.0498530992849,0.999999958156,0.000128428035824,-0.000255258792362,-4.51247450588e-05,1793250772573115136
+63,1.050000000,BASELINE,769.448635643,747,722,685,674,642,885.448635643,787,818,657,632,656,0.400986126964,0.00461222577617,0.0498530763864,0.999999958476,0.000126830224987,-0.000254848999237,-4.48739914382e-05,1793250772589782016
+64,1.066666667,BASELINE,769.128273201,747,722,685,674.128273201,642,885.128273201,787,818,657,632,656,0.400985172103,0.00461105428513,0.0498528826711,0.999999958665,0.000125231079565,-0.000254937625312,-4.46623665802e-05,1793250772606448640
+65,1.083333333,BASELINE,769.701176495,747,722,685,674.701176495,642,885.701176495,787,818,657,632,656,0.400983512202,0.00460932011453,0.0498519925503,0.999999958321,0.000123914611095,-0.000256923239572,-4.46424352639e-05,1793250772623115264
+66,1.100000000,BASELINE,769.72298237,747,722,685,674.72298237,642,886,787,818.27701763,657,632,656,0.400984063914,0.00460918165229,0.0498522144032,0.999999958334,0.000124659230291,-0.000256522907298,-4.45854819992e-05,1793250772639782144
+67,1.116666667,BASELINE,769.143938205,747,722,685,674.143938205,642,886,787,818.856061795,657,632,656,0.400987026902,0.00461078295766,0.0498536486175,0.999999958727,0.0001276510104,-0.000253521227225,-4.44881644783e-05,1793250772656448512
+68,1.133333333,BASELINE,769.445826508,747,722,685,674,642,885.554173492,787,819,657,632.445826508,656,0.400986099223,0.00461167050396,0.0498531360269,0.999999958344,0.000128804279937,-0.000254384102819,-4.48409880355e-05,1793250772673115392
+69,1.150000000,BASELINE,769.962006555,747,722.037993445,685,674,642,885.037993445,786.962006555,819,657,633,656,0.400983997732,0.00461224171537,0.0498519939422,0.999999957728,0.000129297854205,-0.00025646534875,-4.52948845531e-05,1793250772689782016
+70,1.166666667,BASELINE,769.386042509,747,722.613957491,685,674,642,885.613957491,786.386042509,819,657,633,656,0.400983500055,0.00461167711766,0.0498510576252,0.999999957452,0.000129062292472,-0.000257696020931,-4.50714005703e-05,1793250772706448640
+71,1.183333333,BASELINE,769.189315447,747,723,685,674,642,886,786.189315447,819,657,632.810684553,656,0.400983588778,0.00461144124827,0.0498509139471,0.99999995745,0.000128860662255,-0.000257851085018,-4.48114849517e-05,1793250772723115264
+72,1.200000000,BASELINE,769.763441543,747,723,685,674,642,886,786.763441543,819,657,632.236558457,656,0.400984869442,0.00461187356598,0.0498523814204,0.999999958004,0.000128728002635,-0.000255819822457,-4.44775167962e-05,1793250772739781888
+73,1.216666667,BASELINE,769.652873931,747,722.652873931,685,674,642,885.652873931,787,818.652873931,656.652873931,632.347126069,656,0.400984763807,0.00461203753543,0.0498525201017,0.999999958053,0.000128486457444,-0.000255755108495,-4.4427041696e-05,1793250772756448512
+74,1.233333333,BASELINE,769.062491146,747,722.062491146,685,674,642,885.062491146,787,818.062491146,656.062491146,632.937508854,656,0.400983686689,0.00461201345354,0.0498517276007,0.999999957751,0.000128168608148,-0.000257068499602,-4.45752310078e-05,1793250772773115392
+75,1.250000000,BASELINE,769.517002385,747,722,685,674,642,885.517002385,787,818.517002385,656.517002385,632.482997615,655.482997615,0.400983732689,0.00461194184674,0.0498518766037,0.999999957838,0.000127926688566,-0.00025680450705,-4.48317503879e-05,1793250772789782272
+76,1.266666667,BASELINE,770,747,722,685,674.094388261,642,886,786.905611739,819,657,632.094388261,655.094388261,0.400983690845,0.00461165541381,0.0498519368228,0.999999957899,0.000127590154848,-0.000256708756278,-4.49836052155e-05,1793250772806448896
+77,1.283333333,BASELINE,770,747,722,685,674.667621249,642,886,786.332378751,819,657,632.667621249,655.667621249,0.40098252887,0.00461030767936,0.049850981207,0.999999957589,0.000126728030787,-0.000258413819895,-4.45394244469e-05,1793250772823115520
+78,1.300000000,BASELINE,770,747,722,685,674.7521186,642,885.7521186,786.2478814,819,657,632.7521186,656,0.400982738864,0.00461016482415,0.0498512834844,0.999999957674,0.000126660958367,-0.000258136517771,-4.44345128653e-05,1793250772839782400
+79,1.316666667,BASELINE,770,747,722,685,674.162161013,642,885.162161013,786.837838987,819,657,632.162161013,656,0.400984842175,0.00461168470168,0.0498533216535,0.9999999583,0.000127691056814,-0.000255123551958,-4.47977925982e-05,1793250772856449536
+80,1.333333333,BASELINE,769.580349393,747,722.419650607,685,674,642,885.419650607,787,819,657,632,656,0.400985314117,0.00461242756281,0.0498531603998,0.999999958165,0.000129051826012,-0.000254939858254,-4.49657252907e-05,1793250772873116160
+81,1.350000000,BASELINE,769.001625543,747,722.998374457,685,674,642,885.998374457,787,819,657,632,656,0.40098516767,0.00461287588733,0.0498521654304,0.999999957741,0.000130537939735,-0.000255828631447,-4.50596095393e-05,1793250772889782784
+82,1.366666667,BASELINE,769.573399849,747,722.426600151,685,674.573399849,642,886,787,819,656.426600151,632,656,0.400985727332,0.00461278434324,0.0498530199777,0.999999958096,0.000129812612693,-0.000254739525666,-4.54270858952e-05,1793250772906449408
+83,1.383333333,BASELINE,769.851621419,747,722,685,674.851621419,642,886,786.851621419,819,656.148378581,632.148378581,656,0.400986115813,0.00461271904258,0.0498536435916,0.999999958338,0.000129601342124,-0.000253879463444,-4.55340164206e-05,1793250772923116032
+84,1.400000000,BASELINE,769.276746729,747,722,685,674.276746729,642,886,786.276746729,819,656.723253271,632.723253271,656,0.400986006536,0.00461273354647,0.0498535884415,0.999999958247,0.000130885568661,-0.000253693772425,-4.48898247481e-05,1793250772939782656
+85,1.416666667,BASELINE,769.306684611,746.693315389,722,685,674,642,885.693315389,786.306684611,819,657,632.693315389,656,0.400985521067,0.0046134440466,0.0498531790343,0.99999995795,0.000131922903532,-0.000254338683997,-4.48196009296e-05,1793250772956449024
+86,1.433333333,BASELINE,769.898058897,746.101941103,722,685,674,642,885.101941103,786.898058897,819,657,632.101941103,656,0.400984686385,0.00461480062722,0.0498524407767,0.999999957461,0.00013273105334,-0.000255754628665,-4.52821809331e-05,1793250772973115392
+87,1.450000000,BASELINE,770,746,722,685,674,642,885,787,818.51924628,657,632,656,0.400985417262,0.00461446687871,0.0498532584039,0.999999957875,0.00013200228303,-0.000254542922904,-4.508996377e-05,1793250772989782016
+88,1.466666667,BASELINE,770,746.061089007,722,685,674,642,885.061089007,787,818.061089007,657,632,656,0.40098641509,0.0046136781005,0.0498542039818,0.999999958413,0.000130937698001,-0.000253028269049,-4.47814443055e-05,1793250773006448896
+89,1.483333333,BASELINE,770,746.636776565,722,685,674,642,885.636776565,787,818.636776565,657,632,656,0.400986914829,0.00461202200287,0.0498534975333,0.999999958438,0.000129740869803,-0.00025357195399,-4.46420861613e-05,1793250773023115520
+90,1.500000000,BASELINE,769.788661299,747,722,685,674,642,885.788661299,787,819,657,632.211338701,656,0.400986881065,0.00461100281369,0.0498531177469,0.999999958516,0.00012842287127,-0.000253931829007,-4.46586028881e-05,1793250773039782144
+91,1.516666667,BASELINE,769.216023213,747,722,685,674,642,885.216023213,787,819,657,632.783976787,656,0.40098593524,0.00461107246749,0.0498532964137,0.999999958686,0.000126897723068,-0.000253977467096,-4.49415994303e-05,1793250773056449024
+92,1.533333333,BASELINE,769.370146399,747,722.370146399,685.370146399,674,642,885.370146399,787,819,657.370146399,632.629853601,656,0.400985213325,0.00461235079556,0.0498532339925,0.999999958402,0.000127917019305,-0.000254540673737,-4.51947585401e-05,1793250773073115648
+93,1.550000000,BASELINE,769.964512931,747,722.964512931,685.964512931,674,642,885.964512931,787,819,657.964512931,632.035487069,656,0.400984627047,0.00461436129098,0.0498530255297,0.999999957837,0.000130477639783,-0.000255417403058,-4.54298433336e-05,1793250773089782272
+94,1.566666667,BASELINE,770,747,722.457779572,685.457779572,674,642,885.457779572,787,819,657.457779572,632.542220428,656,0.400985357923,0.00461197482635,0.0498531981932,0.999999958292,0.000128293004767,-0.000254816223643,-4.50025189333e-05,1793250773106449664
+95,1.583333333,BASELINE,769.881394442,747,722,685,674,642,885.118605558,787,818.881394442,657,632.881394442,656,0.40098597934,0.00460999913179,0.0498533669994,0.999999958664,0.000126478604295,-0.000254320562667,-4.46712787976e-05,1793250773123116800
+96,1.600000000,BASELINE,769.306028032,747,722,685,674,642,885.693971968,787,818.306028032,657,632.306028032,656,0.400985857133,0.00461068054733,0.0498534277533,0.999999958488,0.00012725037733,-0.000254592658731,-4.48720481077e-05,1793250773139783168
+97,1.616666667,BASELINE,769.27551622,747,722.27551622,685,674,642,886,787,818,657,632,656,0.400986548349,0.00461148544304,0.0498537968302,0.999999958474,0.000128667220543,-0.000253925503629,-4.49301782738e-05,1793250773156449536
+98,1.633333333,BASELINE,769.864079833,747,722.864079833,685,674,642,886,787,818,657,632,656,0.400988163794,0.00461243063949,0.0498545162301,0.999999958639,0.000130817006174,-0.000252191151343,-4.48262387964e-05,1793250773173116416
+99,1.650000000,BASELINE,769.555044534,747,722.555044534,685,674,642,886,786.555044534,818.444955466,657,632.444955466,655.555044534,0.400986182725,0.0046129049413,0.049853458328,0.999999958309,0.000130132631223,-0.000253832611659,-4.49124604136e-05,1793250773189783296
+100,1.666666667,BASELINE,769,747,722,685,674,642,886.023384877,786,819,657,632.976615123,655.023384877,0.400983289175,0.00461319739222,0.0498519607469,0.999999957853,0.000128698227597,-0.000256325460299,-4.50385764771e-05,1793250773206450176
+101,1.683333333,BASELINE,769,747,722,685,674,642,886.598566032,786,819,657,632.401433968,655.598566032,0.400984347585,0.0046125353675,0.0498526814758,0.999999958085,0.000129647414852,-0.00025498854712,-4.47586643763e-05,1793250773223116544
+102,1.700000000,BASELINE,769,747,722,685,674,642,886.82620506,786,819,657,632,656,0.400985038127,0.00461223228078,0.0498531680805,0.999999958232,0.000130116022112,-0.000254185721355,-4.4661870198e-05,1793250773239782912
+103,1.716666667,BASELINE,769,747,722,685,674,642,886.2508659,786,819,657,632,656,0.400984878728,0.00461275850186,0.0498531137534,0.999999958191,0.000129474274025,-0.000254616877112,-4.49881605455e-05,1793250773256449792
+104,1.733333333,BASELINE,769.333328971,746.666671029,722,684.666671029,674,642,886,786.333328971,819,657,632,656,0.400984981596,0.00461358261405,0.0498531877077,0.999999958192,0.000129326139701,-0.000254639884496,-4.52638205444e-05,1793250773273116416
+105,1.750000000,BASELINE,769.924370682,746.075629318,722,684.075629318,674,642,886,786.924370682,819,657,632,656,0.400985287235,0.00461463704031,0.0498533608426,0.999999958226,0.000129559641969,-0.000254347332688,-4.55003358083e-05,1793250773289783040
+106,1.766666667,BASELINE,769.495710856,746.504289144,722,684.504289144,674,642,886,786.495710856,819,657,632,655.495710856,0.400986286423,0.0046115562575,0.0498540005902,0.999999958814,0.000126949170501,-0.000253436210779,-4.50071962362e-05,1793250773306449664
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,722,685,675,642,886,787,819,657,632,656,0.400985286049,0.00461238219691,0.0498544068927,0.999999958504,0.000128243393429,-0.000254064604074,-4.46881507947e-05,1793250773349809152
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746.588582604,722,684.411417396,674.411417396,642,885.411417396,786.411417396,819,657,632,656,0.400983210359,0.00461384685058,0.049852871165,0.999999957501,0.000130818976937,-0.000256630088455,-4.50007949311e-05,1793250773366476032
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.174470684,747,722,684.174470684,674,642,885,786.174470684,819,657,632,656,0.400982783527,0.00461452079561,0.0498523279403,0.99999995725,0.000131764909748,-0.000257087835564,-4.52127889486e-05,1793250773383142656
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.754101587,747,722,684.754101587,674,642,885,786.754101587,819,657,632,656,0.400986185717,0.00461335853743,0.0498540895306,0.999999958752,0.000128926427141,-0.000252650942558,-4.51910507854e-05,1793250773399809024
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642.333029495,885,787,819,657,632,656,0.400987017293,0.00461281061898,0.0498541622104,0.999999959055,0.000127811617482,-0.000252036955931,-4.50705498504e-05,1793250773416475392
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642.911439391,885,787,819,657,632,656,0.400985954806,0.00461271535399,0.0498529904791,0.999999958486,0.000127966832327,-0.000254239736012,-4.48772792405e-05,1793250773433141504
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.512735269,747,722,685,674,642.512735269,885.487264731,786.512735269,819,657,632.487264731,656,0.400985101732,0.00461250343815,0.0498526880374,0.999999958318,0.000127832473675,-0.000254923066859,-4.51269393554e-05,1793250773449807872
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,722.063916443,684.936083557,674,642,885.936083557,786.063916443,818.936083557,656.936083557,632.936083557,656,0.400984228785,0.00461247501073,0.0498525016831,0.99999995816,0.000127820682813,-0.000255490642052,-4.54519767999e-05,1793250773466473984
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,722.651160052,684.348839948,674,642,885.348839948,786.651160052,818.348839948,656.348839948,632.348839948,656,0.400982883143,0.00461412160109,0.0498519790375,0.999999957485,0.000129241082226,-0.000257359631438,-4.57385256242e-05,1793250773483140608
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.234975491,746.765024509,722.765024509,684.234975491,674,642,885.234975491,786.765024509,818.234975491,656.234975491,632,656,0.400986398162,0.00461442876986,0.04985330652,0.999999957971,0.000129327396028,-0.000255430307924,-4.57031209637e-05,1793250773499807488
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.813774668,746.186225332,722.186225332,684.813774668,674,642,885.813774668,786.186225332,818.813774668,656.813774668,632,656,0.400997025458,0.00461277605377,0.0498573411695,0.999999960117,0.000127461632781,-0.000247943170788,-4.51966235953e-05,1793250773516474624
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746,722.393137386,685,674,642,886,786.393137386,819,657,632,656,0.401025978179,0.00461146242951,0.0498676010526,0.99999996539,0.000126109368374,-0.000226514672345,-4.48044879056e-05,1793250773533141248
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746,722.972767483,685,674,642,886,786.972767483,819,657,632,656,0.401063623939,0.00461030966022,0.049880814002,0.999999971503,0.000125000692332,-0.000198472804956,-4.44666019295e-05,1793250773549807616
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.456403516,746.543596484,722.456403516,685,674,642,885.456403516,787,819,657,632,656,0.40112970298,0.00461039339385,0.049901714387,0.999999978975,0.000126120177239,-0.000155462303723,-4.44323500256e-05,1793250773566474240
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.11895227,746.88104773,722,685,674,642,885,787,818.88104773,657,632,655.88104773,0.401197728323,0.0046102860705,0.0499210371417,0.999999983977,0.000126676386084,-0.000118563721297,-4.40591654673e-05,1793250773583140864
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.714169927,746.285830073,722,685,674,642,885,787,818.285830073,657,632,655.285830073,0.401267934077,0.00460916972023,0.0499325259523,0.999999985401,0.000124537527455,-0.000109090818785,-4.22690178611e-05,1793250773599807232
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746.299192905,722,685,674,642,885.299192905,787,818.299192905,657,632,655.299192905,0.401348104844,0.00460761883413,0.0499409355111,0.999999986789,0.000122533659981,-9.86328750764e-05,-4.0966252821e-05,1793250773616474112
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746.874797415,722,685,674,642,885.874797415,787,818.874797415,657,632,655.874797415,0.401437481858,0.00460566649891,0.0499465002793,0.999999988109,0.000120654505223,-8.72648942489e-05,-4.011375992e-05,1793250773633140992
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.550060923,747,722,685,674,642,886,787,819,657,632,656,0.401542047082,0.00460616601213,0.0499472059285,0.999999988086,0.000121534748163,-8.65529032659e-05,-3.95588422863e-05,1793250773649807872
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,722,685,674.025598093,642,886,786.974401907,818.974401907,657,632,656,0.401651702409,0.00460717934635,0.0499465495548,0.999999987731,0.000122951977812,-8.88590904524e-05,-3.90568452037e-05,1793250773666475008
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,722,685,674.615498513,642,886,786.384501487,818.384501487,657,632,656,0.401780494563,0.00460449483506,0.0499456443768,0.999999987897,0.000119297387785,-9.24004310731e-05,-3.78979306479e-05,1793250773683141376
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.201589565,747,722,685,674.798410435,642,886,786,818.201589565,657,632,656,0.401923163175,0.00460284936245,0.0499471765057,0.999999988251,0.000116257991276,-9.29337038783e-05,-3.66828949825e-05,1793250773699808000
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.78054951,747,722,685,674.21945049,642,886,786,818.78054951,657,632,656,0.402091808139,0.00460314894332,0.0499532712091,0.999999988977,0.000114370221325,-8.78359521877e-05,-3.53628022019e-05,1793250773716474368
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.642010408,747,722,685,674,642.357989592,886.357989592,786.357989592,819,657,632,656,0.402275505851,0.00460171260034,0.0499523809343,0.999999989173,0.000110969669752,-9.04899928415e-05,-3.39444502854e-05,1793250773733140992
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.065498021,747,722,685,674,642.934501979,886.934501979,786.934501979,819,657,632,656,0.402468392026,0.00459921662062,0.0499472269135,0.999999988996,0.000106645690946,-9.78758558722e-05,-3.24661192302e-05,1793250773749807616
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.508215456,746.491784544,722,685,674,643,886.491784544,786.491784544,819,657,632,655.491784544,0.402700435719,0.00459587558999,0.0499469416744,0.999999989464,0.00010164716694,-9.89365855355e-05,-3.08518414832e-05,1793250773766474240
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746.084096698,722.084096698,685,674,642.915903302,885.915903302,786.084096698,818.915903302,657,632,655.168193395,0.402943532122,0.00459263471591,0.0499481879531,0.999999990179,9.66579493734e-05,-9.72020751293e-05,-2.91834037894e-05,1793250773783140864
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746.675210435,722.675210435,685,674,642.324789565,885.324789565,786.675210435,818.324789565,657,632,656.350420871,0.403223006211,0.00459065069448,0.0499549053678,0.999999991886,9.22460923772e-05,-8.35028703061e-05,-2.72934890691e-05,1793250773799807488
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.738954616,747,723,685,674,642.261045384,885.261045384,787,818.261045384,656.738954616,632,656.738954616,0.403522822062,0.00458721213956,0.0499623279492,0.99999999357,8.73058350187e-05,-6.7838465138e-05,-2.51952278125e-05,1793250773816474112
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.159557328,747,723,685,674,642.840442672,885.840442672,787,818.840442672,656.159557328,632,656.159557328,0.403847445224,0.00458199974184,0.0499706104999,0.999999995161,8.17211793924e-05,-4.97774458383e-05,-2.28428824343e-05,1793250773833140736
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.415096179,746.584903821,722.584903821,685,674,643,886,787,818.584903821,656.415096179,632,656,0.404201434162,0.0045777675894,0.0499775902512,0.999999996269,7.54574739645e-05,-3.69546190477e-05,-2.00767117222e-05,1793250773849807360
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.987946833,746.012053167,722.012053167,685,674,643,886,787,818.012053167,656.987946833,632,656,0.404566583357,0.00457390797263,0.0499840748823,0.999999997136,6.8935700411e-05,-2.61225320314e-05,-1.71532695648e-05,1793250773866474240
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.437628448,746.562371552,722,685,674,642.437628448,886,787,818.562371552,657,632,656,0.404988098997,0.00457205438061,0.0499921741362,0.99999999765,6.64791804464e-05,-7.08386119389e-06,-1.51446017465e-05,1793250773883140864
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.14219036,746.85780964,722.14219036,685.14219036,674,642,886,787,819,657,632,656,0.40540635701,0.00456973424363,0.0499937915757,0.999999997902,6.34706700442e-05,-1.48285936875e-06,-1.28328735642e-05,1793250773899807488
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.739152942,746.260847058,722.739152942,685.739152942,674,642,886,787,819,657,632,656,0.405810321249,0.00456578404338,0.0499745670164,0.999999997472,5.841725892e-05,-3.94241441503e-05,-9.48897464503e-06,1793250773916474368
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.675564467,746.324435533,722.675564467,685.675564467,674,642,886.324435533,787,819,657,632,656,0.406241798379,0.00456198699698,0.0499548799605,0.999999995717,5.34263773377e-05,-7.52887687913e-05,-6.51295072558e-06,1793250773933140992
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.099346233,746.900653767,722.099346233,685.099346233,674,642,886.900653767,787,819,657,632,656,0.406694627312,0.00455830880733,0.0499348339758,0.999999992818,4.84840221325e-05,-0.000109541776507,-3.82242095298e-06,1793250773949807872
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.474617209,747,722.474617209,685.474617209,674,642,887,787.474617209,819,657,632,656,0.40719798127,0.00455405919511,0.0499251079622,0.999999990906,4.48792003539e-05,-0.000127174147969,-4.72642087744e-07,1793250773966474752
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.950433613,747,722.950433613,686.049566387,674,642,887,787.950433613,819,657,632,656,0.407720292217,0.00454930865978,0.0499203251238,0.999999989968,4.10566040815e-05,-0.000135535265052,3.04659410578e-06,1793250773983141632
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.359589885,747,722.359589885,686.640410115,674,642,887,787.359589885,819,657,632,656,0.408334673952,0.00454038790442,0.049946045014,0.999999996233,3.18129596007e-05,-8.04639904345e-05,6.9165548687e-06,1793250773999808000
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.226524283,747,722,687,674.226524283,642,887,787,819,657,632,656,0.408960062741,0.00453280193978,0.0499715068834,0.999999998554,4.12215271985e-05,-3.26817753231e-05,1.11696148363e-05,1793250774016474624
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.805284152,747,722,687,674.805284152,642,887,787,819,657,632,656,0.409602566994,0.00452729151826,0.0499965675399,0.999999996694,7.96334885025e-05,3.76626008286e-06,1.60183774815e-05,1793250774033141248
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.619013933,747,722,686.619013933,674.619013933,642,887,787,819,657,632,656,0.410229509054,0.00452022992139,0.0499996673155,0.999999993472,0.000112435984637,3.19264425052e-06,2.00951091012e-05,1793250774049807872
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.044862461,747,722,686.044862461,674.044862461,642,887,787,819,657,632,656,0.41084856084,0.00451238185652,0.0499916326086,0.999999989449,0.000142394400221,-1.61514812263e-05,2.37804097587e-05,1793250774066474496
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746.468723666,722.531276334,686.531276334,674,642,887.531276334,787,819,657,632,656,0.411485545319,0.00450649205498,0.0499605671427,0.999999988023,0.000127505009131,-8.34071394763e-05,2.72130533907e-05,1793250774083141120
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746.110200175,723,687.110200175,674,642.110200175,888,787,819.110200175,657,632,656,0.412148851555,0.00449935108155,0.0499368825911,0.999999986322,9.58056067163e-05,-0.000132090902546,2.70064148892e-05,1793250774099807488
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.700523942,723,687.700523942,674,642.700523942,888,787,819.700523942,657,632,656,0.412920214811,0.00448603580851,0.0499538603496,0.999999996536,7.42942057954e-06,-8.21670456458e-05,1.10373390097e-05,1793250774116474368
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.257575205,746.742424795,722.742424795,688,674,642.742424795,888,787.257575205,819.742424795,657,632.257575205,656,0.413692880413,0.00447725193243,0.0499695572998,0.99999999836,-3.13815789759e-05,-4.7593170577e-05,5.42156063935e-06,1793250774133141248
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.78036696,746.21963304,722.21963304,688,674,642.21963304,888,787.78036696,819.21963304,657,632.78036696,656,0.414466887089,0.00447313388219,0.0499839354466,0.999999999346,-1.91569793057e-05,-2.88246514083e-05,1.04662235513e-05,1793250774149807872
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,746.3732927,722.3732927,688,674.3732927,642,888,787.6267073,819.3732927,657,632.6267073,656,0.415226960188,0.00447900996376,0.0499674482259,0.99999999822,-4.13851614147e-06,-5.77860281565e-05,1.42481162148e-05,1793250774166474752
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.969575959,747,723,688.015212021,674.984787979,642.015212021,888.015212021,787,820.015212021,657,632,656,0.415979103467,0.00449232878449,0.0499297250019,0.999999992645,1.3353221853e-05,-0.000119338781673,1.7005875406e-05,1793250774183141120
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.819489507,747,723,688.590255246,674.409744754,642.590255246,888.590255246,787,820.590255246,657,632,656,0.416810917422,0.00451308788467,0.0499334185722,0.999999992951,4.73753402691e-05,-0.000107726753235,1.57419639023e-05,1793250774199807744
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.169684296,747,722.830315704,689,674,643,889,787.169684296,821,657,632,656,0.417658232287,0.00452432488841,0.0499451034426,0.999999994063,6.80507997853e-05,-8.37218479258e-05,1.52806655203e-05,1793250774216474624
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.759984966,747,722.240015034,689,674,643,889,787.759984966,821,657,632,656,0.418543971023,0.00451195835312,0.0499765972861,0.99999999789,5.56423277163e-05,-2.89972652992e-05,1.68088985516e-05,1793250774233141248
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,722,689,673.657529346,643,889.342470654,788,821.342470654,657,632,656,0.419395897363,0.00450127078356,0.0499784746944,0.999999998545,3.89228764404e-05,-3.26174953543e-05,1.81977829657e-05,1793250774249807872
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,722,689,673.080398493,643,889.919601507,788,821.919601507,657,632,656,0.420224655481,0.00449173363844,0.0499600589799,0.99999999672,1.92495514351e-05,-7.62154753996e-05,1.94911859192e-05,1793250774266474496
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,722,689.492219183,673.492219183,643,890.492219183,788,822,657,632,656,0.42113307006,0.00448996082594,0.0499696503609,0.999999998866,1.54299805102e-05,-4.09894301583e-05,1.87251388607e-05,1793250774283140864
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,722,690,674.066789017,643,891,788,822.066789017,657,632,656,0.422056048498,0.00448965203526,0.0499833105093,0.999999999724,1.49756358549e-05,3.19248357483e-06,1.78256061873e-05,1793250774299807488
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,722,690,674.662607451,643,891,788,822.662607451,657,632,656,0.422992262907,0.00449098546763,0.049993292862,0.999999999462,2.08518439111e-05,1.72577087712e-05,1.85090366874e-05,1793250774316474112
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,722,690.25070271,674.74929729,643,891,787.74929729,823.25070271,657,632,656,0.423912796853,0.00449594354928,0.0499910241573,0.999999999429,2.52380843011e-05,1.2483576817e-05,1.8705344616e-05,1793250774333140736
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,722,690.828714918,674.171285082,643,891,787.171285082,823.828714918,657,632,656,0.424812859014,0.00450563385813,0.0499727608623,0.999999999308,2.76790710129e-05,-1.68866197758e-05,1.82656808679e-05,1793250774349807104
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.403306515,747,722,691,674,643,891.403306515,787,824,657,632.403306515,656,0.425742741196,0.00450476544265,0.0499806121037,0.999999999431,2.55634890294e-05,-9.31599003675e-06,1.99270338452e-05,1793250774366473984
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.976457556,747,722,691,674,643,891.976457556,787,824,657,632.976457556,656,0.426685181435,0.00449945042961,0.0499994609643,0.99999999942,2.15289985222e-05,1.38115364964e-05,2.24731882927e-05,1793250774383141120
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.447342584,747,722,691,674,642.447342584,892,787.552657416,824,657,632.447342584,656,0.42756233691,0.00449379557509,0.0499858033686,0.999999998508,3.64113186701e-05,-3.24227924432e-05,2.46289066704e-05,1793250774399807744
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.867604656,722.132395344,691.264790688,673.867604656,642.132395344,892.132395344,788,824.132395344,657,632,656,0.428451337992,0.0044901260106,0.049968945691,0.999999995792,4.65240637242e-05,-7.46809092558e-05,2.59548999178e-05,1793250774416474368
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746.276049312,722.723950688,692.447901376,673.276049312,642.723950688,892.723950688,788,824.723950688,657,632,656,0.429391119176,0.00449339211178,0.0499458188371,0.999999994696,3.72852551863e-05,-9.28450315356e-05,2.44613268717e-05,1793250774433140992
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,722.692017247,693,673.307982753,643,893,787.692017247,824.692017247,656.692017247,632,656,0.43032991401,0.00449573972998,0.0499399091016,0.999999995039,2.82337350845e-05,-9.24929557141e-05,2.38848333127e-05,1793250774449807360
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,722.11456764,693,673.88543236,643,893,787.11456764,824.11456764,656.11456764,632,656,0.431267845799,0.00449728372925,0.0499490633366,0.999999996639,1.93460818707e-05,-7.59402911075e-05,2.411073062e-05,1793250774466474240
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.461455305,746,722.461455305,693,674,643,893.461455305,787.461455305,824.461455305,656.461455305,632,656,0.432175558594,0.00449717394755,0.0499386828197,0.999999995192,2.53383229638e-05,-9.16737862107e-05,2.38581089613e-05,1793250774483140864
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.923768434,746.038115783,722.961884217,693,673.961884217,643,894.038115783,787.961884217,825,657,632,656,0.433077359272,0.00449638128543,0.0499261518219,0.999999993009,3.43467667163e-05,-0.000110674189751,2.35287557628e-05,1793250774499807488
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.741707732,746.629146134,722.370853866,693,673.370853866,643,894.629146134,787.370853866,825,657,632,656,0.4340018955,0.00449162039792,0.0499525634757,0.99999999728,3.36837660029e-05,-6.11441670106e-05,2.38044038907e-05,1793250774516474112
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.21559087,747,722,693,673,642.78440913,894.78440913,787,825.21559087,656.78440913,632,656.21559087,0.434915675735,0.00448888876566,0.0499711665575,0.999999998717,2.96025704442e-05,-3.28389099429e-05,2.47157093563e-05,1793250774533140736
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.794311927,747,722,693,673,642.205688073,894.205688073,787,825.794311927,656.205688073,632,656.794311927,0.435811339278,0.00448957510593,0.0499766172859,0.999999998637,1.97639430775e-05,-4.0283550111e-05,2.66976835113e-05,1793250774549807616
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.367768274,747,722,693.367768274,673,642.367768274,894.367768274,787.367768274,825.632231726,656.367768274,632,656.632231726,0.436660961851,0.00449179878338,0.0499617819414,0.999999996631,1.55336354438e-05,-7.5658385147e-05,2.77876125408e-05,1793250774566474240
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.938321659,747,722,693.938321659,673,642.938321659,894.938321659,787.938321659,825.061678341,656.938321659,632,656.061678341,0.437485197669,0.00449487013883,0.0499357609837,0.999999991501,1.43957205581e-05,-0.000126433753189,2.83856733285e-05,1793250774583141120
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.487678361,747,722.512321639,693.487678361,673.512321639,643,895,787.487678361,825.512321639,656.487678361,632.512321639,656,0.43837372534,0.00449069618016,0.0499579687722,0.999999996361,3.08193312595e-05,-7.48679008619e-05,2.68846316453e-05,1793250774599807744
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,693.090020091,674,643,895.090020091,787,826,656.090020091,632.909979909,656,0.439254828796,0.00448630243382,0.0499802103416,0.999999998443,4.36686047029e-05,-2.37711514105e-05,2.5324068243e-05,1793250774616474368
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,723,693.686163896,674,643,895.686163896,787,826,656.686163896,632.313836104,656,0.440050378602,0.00448561033975,0.0499697759971,0.999999998377,2.44542996623e-05,-4.50530527548e-05,2.48593030785e-05,1793250774633140736
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.263388251,747,722.736611749,694,673.736611749,643,896,787,826,656.736611749,632,656.263388251,0.440840882659,0.00448567125162,0.0499612703881,0.99999999784,1.24761109541e-05,-5.94931743e-05,2.50029533032e-05,1793250774649807616
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.819580176,747,722.180419824,694,673.180419824,643,896,787,826,656.180419824,632,656.819580176,0.4416257774,0.0044865692658,0.0499549089181,0.99999999743,8.54217544321e-06,-6.63274189248e-05,2.58229673076e-05,1793250774666474496
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,747,722.402847802,694,673,642.597152198,896,787,826.402847802,656.402847802,632,656.597152198,0.442405719607,0.00448783360436,0.0499614027201,0.99999999812,2.0720755814e-05,-5.09029513011e-05,2.7203149142e-05,1793250774683141120
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,747,722.999115366,694,673,642.000884634,896,787,826.999115366,656.999115366,632,656.000884634,0.443183284018,0.00448927382673,0.0499740687374,0.999999998451,4.0635455876e-05,-2.47913841257e-05,2.88522850244e-05,1793250774699808000
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.424665935,747,723,694.575334065,673,642,896,787,827,656.424665935,632,656,0.443823906597,0.00449865986795,0.0499339769506,0.999999992765,5.70795605791e-05,-0.000101615086921,2.97587541029e-05,1793250774716474624
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.155812439,747.155812439,723,694.844187561,672.844187561,642,896,787,827,656.155812439,632,656,0.444457923747,0.00450801891855,0.0498911244264,0.999999981409,7.12906956845e-05,-0.000176590516478,3.02470928965e-05,1793250774733141248
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.748312814,747.748312814,723,694.251687186,672.251687186,642,896,787,827,656.748312814,632,656,0.445073998586,0.00451726923763,0.0498407542056,0.999999966175,7.9258052464e-05,-0.000245957251331,2.95666515131e-05,1793250774749807872
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,748,723,694,672,641.668731489,896.331268511,786.668731489,827,656.668731489,632,656,0.445720922177,0.00452720638886,0.0498204993376,0.999999961066,8.99821977004e-05,-0.000262531009618,2.91377176709e-05,1793250774766474240
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,748,723,694,672,641.092824477,896.907175523,786.092824477,827,656.092824477,632,656,0.446390627227,0.00453765075826,0.0498224843612,0.999999965476,0.000102742203485,-0.000240117676025,2.88945197482e-05,1793250774783140864
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.517785887,747.517785887,723,694,672,641,897,786,827.482214113,656.482214113,632,656.482214113,0.446979723586,0.0045445123888,0.0498166814151,0.999999962686,0.000112104026851,-0.000247417244116,2.90866290411e-05,1793250774799807744
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,694,671.941430427,640.941430427,897,786,828,657,632,656.941430427,0.447546333654,0.00455044378483,0.0498069229151,0.999999957411,0.00012098707498,-0.000263965981721,2.93499634987e-05,1793250774816474368
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,694,671.351616996,640.351616996,897,786,828,657,632,656.351616996,0.44804947608,0.0045541818909,0.0497748596938,0.999999942059,0.000131450049851,-0.00031262201138,2.95006514198e-05,1793250774833141504
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.233852978,747,723,694,670.766147022,639.766147022,897,786,827.766147022,657,632,656,0.448556527152,0.0045588945487,0.049754020962,0.99999993057,0.000140045382427,-0.00034401878124,2.99850077129e-05,1793250774849808640
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.812911246,747,723,694,670.187088754,639.187088754,897,786,827.187088754,657,632,656,0.449069347983,0.00456504580409,0.0497497514177,0.999999927651,0.000145883768595,-0.000349938053951,3.09619132342e-05,1793250774866474752
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.610937705,747.389062295,723,694,670,639,897,786,827.389062295,657,632,656.389062295,0.449571273467,0.00456852012243,0.0497609474826,0.999999933783,0.000140770261853,-0.000334272674087,2.9649002421e-05,1793250774883141120
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.036174233,747.963825767,723,694,670,639,897,786,827.963825767,657,632,656.963825767,0.4500679986,0.00457071672725,0.0497795253518,0.999999943597,0.000130429367967,-0.000308304843119,2.72431520765e-05,1793250774899807744
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769.882913479,747.117086521,724,693.117086521,669.882913479,637.882913479,898,786.882913479,828,656,632,656.117086521,0.450919805254,0.00456995539528,0.0497903328457,0.999999953324,5.83490116738e-05,-0.000299759942461,9.5652074393e-06,1793250774933141248
+203,3.383333333,POSE1_TO_POSE2_PRESS,769.288706385,747.711293615,724,693.711293615,669.288706385,637.288706385,898,786.288706385,828,656,632,656.711293615,0.451276774521,0.00456860183429,0.0497825492989,0.999999946358,5.85631254523e-05,-0.000322035494623,1.21398925438e-05,1793250774949807872
+204,3.400000000,POSE1_TO_POSE2_PRESS,769.295901527,748,723.704098473,694,669,637,898,786,828,656.295901527,632,657,0.451607835517,0.00456891531195,0.0497662963456,0.999999934217,6.11392318041e-05,-0.000357248185899,1.42297961435e-05,1793250774966474752
+205,3.416666667,POSE1_TO_POSE2_PRESS,769.871437919,748,723.128562081,694,669,637,898,786,828,656.871437919,632,657,0.451914412482,0.00457080418587,0.049742039577,0.999999915814,6.59474842783e-05,-0.00040468681818,1.58615680682e-05,1793250774983141376
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747.552786284,723,694,669,636.552786284,898,786,828,657,632,656.552786284,0.452216007605,0.00457806101427,0.0497275244501,0.999999899724,0.000133497439078,-0.000427135551628,1.69177844012e-05,1793250774999807744
+207,3.450000000,POSE1_TO_POSE2_PRESS,769.976373785,747.023626215,723,694,669,636,898,785.976373785,828,657,632,656.023626215,0.452515302623,0.00458721795018,0.0497167511714,0.999999879334,0.00021615888424,-0.000440786072363,1.77313406826e-05,1793250775016474368
+208,3.466666667,POSE1_TO_POSE2_PRESS,769.386348002,747.613651998,723,694,669,636,898,785.386348002,828,657,632,656.613651998,0.45279380828,0.00460491267423,0.0497285100738,0.999999887306,0.000228464692096,-0.000415829211449,1.66962075434e-05,1793250775033140992
+209,3.483333333,POSE1_TO_POSE2_PRESS,769.199927019,748,723.199927019,694,669,636,898,785.199927019,827.800072981,657,632,656.800072981,0.453058416989,0.00461715735561,0.0497388047722,0.999999893742,0.000236021329548,-0.000395657664127,1.62721136578e-05,1793250775049807616
+210,3.500000000,POSE1_TO_POSE2_PRESS,769.779087305,748,723.779087305,694,669,636,898,785.779087305,827.220912695,657,632,656.220912695,0.453296665124,0.00461906407517,0.0497463220813,0.9999998984,0.000234569461548,-0.000384563182943,1.70070749191e-05,1793250775066473984
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,747.644381474,723.644381474,694,668.644381474,635.644381474,898,786,827.355618526,657,632,656,0.453504789919,0.00461790387735,0.0497439462832,0.999999898776,0.000229243577794,-0.000386769971873,1.74570667835e-05,1793250775083140608
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,747.069471407,723.069471407,694,668.069471407,635.069471407,898,786,827.930528593,657,632,656,0.453694339233,0.00461485247048,0.0497354699186,0.99999989643,0.000221528788845,-0.000397178964631,1.7731332838e-05,1793250775099807232
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+221,3.683333333,POSE1_TO_POSE2_PRESS,769.140446544,747,724,694,668,634,898,785.859553456,827.859553456,656.859553456,631.859553456,656.859553456,0.454617000435,0.00461747712036,0.0496842575938,0.99999986464,0.000212975212006,-0.000474409156394,1.72253369206e-05,1793250775249807872
+222,3.700000000,POSE1_TO_POSE2_PRESS,769.735957416,747,724,694,668,634,898,785.264042584,827.264042584,656.264042584,631.264042584,656.264042584,0.454654835177,0.00461939648412,0.0496796066326,0.999999860905,0.000215318013393,-0.000481189365602,1.68603705272e-05,1793250775266474752
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,747,723.678497259,694,668,633.678497259,898,785,827,656.321502741,631.321502741,656.321502741,0.454685804416,0.00462130629086,0.0496749673921,0.999999857565,0.000215900502108,-0.000487841577991,1.63325130644e-05,1793250775283141632
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,747,723.100890275,694,668,633.100890275,898,785,827,656.899109725,631.899109725,656.899109725,0.454711304703,0.00462320848483,0.0496703374876,0.999999854536,0.000215080752503,-0.000494391830768,1.56748989888e-05,1793250775299808512
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,747,723.474664763,694.474664763,668,633,898.474664763,785,827.474664763,657,632,657,0.454731377907,0.00462493170099,0.0496677004833,0.999999852571,0.000216996572022,-0.000497530536132,1.53010107669e-05,1793250775316475136
+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747.050834008,723.949165992,694.949165992,668,633,898.949165992,785,828,657,632,656.949165992,0.454749613569,0.00462642613318,0.0496657052188,0.999999850963,0.00021924487455,-0.000499778227914,1.50543514117e-05,1793250775333141760
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,747.6380671,723.3619329,694.3619329,668,633,898.3619329,785,828,657,632,656.3619329,0.45476057918,0.00462590613272,0.0496660310787,0.999999850801,0.000218892528122,-0.000500242549802,1.5516598158e-05,1793250775349808640
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747.777575573,723,694,668,633,898,785,828,657,632,656.222424427,0.454768999035,0.00462629644268,0.0496652318706,0.99999984985,0.000219653161212,-0.000501807037792,1.55419644321e-05,1793250775366475264
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747.197838047,723,694,668,633,898,785,828,657,632,656.802161953,0.454773329267,0.00462814911829,0.0496626253002,0.99999984762,0.000222201737154,-0.000505138884505,1.48655052654e-05,1793250775383141376
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,747.379507959,723,694,668,633.379507959,898,785.379507959,828,657,631.620492041,657,0.454774633012,0.00462930840439,0.0496599900751,0.999999845247,0.000223767251942,-0.00050914481464,1.43607445651e-05,1793250775399808000
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747.955615051,723,694,668,633.955615051,898,785.955615051,828,657,631.044384949,657,0.454774368926,0.00463010848909,0.049657340006,0.999999842789,0.000224823504677,-0.000513499944767,1.39449300305e-05,1793250775416475136
+232,3.866666667,POSE1_TO_POSE2_PRESS,769.469104537,747.469104537,723,694,667.469104537,633.469104537,898,786,828,656.469104537,631.530895463,656.469104537,0.454774144188,0.0046304964037,0.0496555384041,0.999999841589,0.000223827668027,-0.000516256649424,1.41872135202e-05,1793250775433141760
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.108724541,747.108724541,723,694.108724541,667,633,898.108724541,785.891275459,828,656.108724541,632,656,0.454774334289,0.00463095074614,0.0496542903662,0.999999840689,0.000223449575966,-0.00051815472762,1.44153309709e-05,1793250775449808128
+234,3.900000000,POSE1_TO_POSE2_PRESS,769.698126328,747.698126328,723,694.698126328,667,633,898.698126328,785.301873672,828,656.698126328,632,656,0.454776343902,0.0046318508781,0.0496551765453,0.999999840667,0.000226559876662,-0.000516846657399,1.43379530278e-05,1793250775466474752
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747.717492126,723,694.717492126,667.282507874,633,898.717492126,785.282507874,828,657,632,656.282507874,0.454777620157,0.00463310512126,0.0496552348045,0.999999840327,0.000228835385829,-0.000516506083134,1.42000311989e-05,1793250775483141120
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747.138381223,723,694.138381223,667.861618777,633,898.138381223,785.861618777,828,657,632,656.861618777,0.454778126467,0.00463473114336,0.0496544238367,0.99999983966,0.000230234453635,-0.000517181275904,1.39985447611e-05,1793250775499807744
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,747.43830232,723.43830232,694,668,633,898,786,828,657,632,657,0.454779297657,0.00463367921076,0.0496543230504,0.999999840156,0.000228197345293,-0.000517131093032,1.37667393043e-05,1793250775516474368
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.985916145,748,724,694,667.985916145,633,898,786,828,656.985916145,632,656.985916145,0.454780647059,0.00463183778269,0.0496544513641,0.999999840984,0.000225207184398,-0.000516847460709,1.35355156168e-05,1793250775533141248
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.415656315,748,724,694,667.415656315,633,898,786,828,656.415656315,632,656.415656315,0.454780790094,0.00463202355959,0.0496548211914,0.999999840796,0.000227186683143,-0.000516338950402,1.37031988119e-05,1793250775549808128
+240,4.000000000,POSE1_TO_POSE2_PRESS,769.322474655,748,724,694,667,633,898,785.838762672,828,656.161237328,631.838762672,656.161237328,0.454780523301,0.00463225526533,0.0496546893905,0.999999840302,0.000228454627555,-0.000516730788494,1.39507530354e-05,1793250775566475008
+241,4.016666667,POSE1_TO_POSE2_PRESS,770.511932283,748,724,694,667,633,898,785.244033859,828,656.755966141,631.244033859,656.755966141,0.454779154672,0.00463261045211,0.0496532089471,0.999999838985,0.000227809536263,-0.00051954324082,1.44130429517e-05,1793250775583141632
+242,4.033333333,POSE1_TO_POSE2_PRESS,770.317648456,747.658824228,724,694,667.341175772,633,898,785.341175772,828,656.658824228,631.341175772,656.658824228,0.454778845996,0.00463316041757,0.0496522689898,0.999999838259,0.000228405485876,-0.00052068085087,1.43219541898e-05,1793250775599808256
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.160477241,747.080238621,724,694,667.919761379,633,898,785.919761379,828,656.080238621,631.919761379,656.080238621,0.454779274897,0.00463384592129,0.049651705134,0.999999837945,0.00022986502356,-0.000520653008676,1.38457925169e-05,1793250775616474624
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747.480390855,723.519609145,694,667.519609145,633,898,786,828,656.480390855,632,656.480390855,0.454779805676,0.00463255256579,0.0496521037938,0.999999838657,0.000228005243742,-0.000520096320331,1.41434507065e-05,1793250775633141504
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747.959970195,723.040029805,694,667,633,898,786,828,657,632,656.959970195,0.454780274625,0.00463120654865,0.0496525680229,0.999999839387,0.000225938279512,-0.000519582685976,1.45156649595e-05,1793250775649808384
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,747.374431454,723.625568546,694,667,633,898,786,828,657,632,656.374431454,0.45477967744,0.00463348483369,0.0496518138822,0.999999838207,0.000228331040223,-0.000520816151135,1.42060054079e-05,1793250775666474752
+247,4.116666667,HOLD_POSE2,770,747,723,694,667,633,898,786,827,657,632,656,0.454781039572,0.00463457631482,0.0496526204194,0.99999983836,0.000230445799112,-0.000519596236347,1.39624898066e-05,1793250775706404352
+248,4.133333333,HOLD_POSE2,769.390424949,747,723,694,667,633,898,785.390424949,827.609575051,657,632,656,0.454779945871,0.00463312539233,0.0496513563617,0.999999837588,0.000229197683856,-0.000521622284926,1.42190332883e-05,1793250775723070976
+249,4.150000000,HOLD_POSE2,769.207022693,747.207022693,723,694,667.207022693,633,898,785,828,657,632,656,0.454778773495,0.00463260478752,0.0496503370135,0.999999836853,0.000228281176855,-0.00052343151125,1.42157231998e-05,1793250775739737856
+250,4.166666667,HOLD_POSE2,769.782864952,747.782864952,723,694,667.782864952,633,898,785,828,657,632,656,0.454777460956,0.00463374158223,0.049649753625,0.999999836188,0.00022795544359,-0.000524854460024,1.37494731774e-05,1793250775756404480
+251,4.183333333,HOLD_POSE2,770,748,723.367675145,694,667.632324855,633,898,785.367675145,828,657,632,656,0.454778427365,0.00463393561982,0.0496501145548,0.999999836623,0.000228329723,-0.000523864748251,1.35736544023e-05,1793250775773071104
+252,4.200000000,HOLD_POSE2,770,748,723.957913831,694,667.042086169,633,898,785.957913831,828,657,632,656,0.45478077328,0.00463355898141,0.0496510471055,0.999999837722,0.000229127738716,-0.000521414588812,1.35736414113e-05,1793250775789737472
+253,4.216666667,HOLD_POSE2,769.462320698,747.462320698,723.462320698,694,667,633,898,785.462320698,828,657,631.462320698,656,0.454780539892,0.00463336882545,0.0496509423675,0.999999837402,0.000228745506333,-0.000522192966197,1.36648529989e-05,1793250775806404096
+254,4.233333333,HOLD_POSE2,769,747.115524059,723,694,667,633,897.884475941,785.115524059,827.884475941,657,631.115524059,656.115524059,0.454780120849,0.00463312485458,0.0496506737998,0.999999836958,0.00022850398365,-0.000523145941703,1.37357355139e-05,1793250775823070720
+255,4.250000000,HOLD_POSE2,769,747.688943007,723,694,667,633,897.311056993,785.688943007,827.311056993,657,631.688943007,656.688943007,0.454779750872,0.00463261083071,0.0496500715396,0.999999836457,0.000229179356286,-0.000523808449695,1.36982795402e-05,1793250775839737344
+256,4.266666667,HOLD_POSE2,769,747.736654527,723,694,667,633,897.263345473,786,827.263345473,657,632,656.736654527,0.454779442287,0.00463313029731,0.0496496334656,0.999999836024,0.000229792436576,-0.000524370471147,1.35429189474e-05,1793250775856403968
+257,4.283333333,HOLD_POSE2,769,747.161086041,723,694,667,633,897.838913959,786,827.838913959,657,632,656.161086041,0.454779206489,0.00463487507271,0.0496493900513,0.999999835671,0.000230331662868,-0.000524813355469,1.32477703636e-05,1793250775873070848
+258,4.300000000,HOLD_POSE2,769,747.426146711,723.426146711,694,667,633,898,785.573853289,828,657,632,656,0.45477958627,0.00463565125036,0.049649800493,0.999999835295,0.000231829309465,-0.000524870007336,1.33261561181e-05,1793250775889737472
+259,4.316666667,HOLD_POSE2,769,748,723.982471229,694,667,633,898,785.017528771,828,657,632,656.017528771,0.454780153244,0.00463600934277,0.0496504073971,0.999999834912,0.000233560285407,-0.000524826145795,1.35459125434e-05,1793250775906404096
+260,4.333333333,HOLD_POSE2,769,748,723.403390568,694,667,633,898,785.596609432,828,657,632,656.596609432,0.4547790528,0.00463503327141,0.0496491672716,0.999999834732,0.000230833292387,-0.000526371060798,1.36438949566e-05,1793250775923070720
+261,4.350000000,HOLD_POSE2,769,747.827008486,723,694,667.172991514,633,897.827008486,785.827008486,828,657,632,656.827008486,0.454778809285,0.00463447785629,0.0496487594807,0.999999834958,0.000229220936121,-0.000526645873448,1.36595451048e-05,1793250775939737344
+262,4.366666667,HOLD_POSE2,769,747.256822323,723,694,667.743177677,633,897.256822323,785.256822323,828,657,632,656.256822323,0.454780533306,0.00463488828258,0.0496502627593,0.99999983613,0.00023016782483,-0.00052400448637,1.34861574723e-05,1793250775956403712
+263,4.383333333,POSE2_TO_POSE3_RETREAT,770,747,723,694,668,633,898,786,828,657,632,656,0.454778112564,0.00463455940165,0.0496467831176,0.999999833755,0.000229051822282,-0.000528999773666,1.3601088743e-05,1793250775992119040
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,747.579948591,723.579948591,694.579948591,668,632.420051409,898,786,828,657,632,656,0.454779742999,0.00463365797933,0.0496490699048,0.999999835043,0.000230366767116,-0.000525984113727,1.36255836002e-05,1793250776008786432
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769.841097488,747.841097488,723.841097488,694.841097488,667.841097488,632,898,786,828,657,632,656.158902512,0.454780579913,0.00463293714647,0.0496501872544,0.999999835751,0.000230873763188,-0.000524414401385,1.36200384144e-05,1793250776025453568
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.310127041,747,723.310127041,694,667.310127041,632.310127041,897.689872959,786,828,657,632,657,0.454778975649,0.0046322690652,0.0496479633256,0.999999834848,0.000228140702257,-0.000527321277321,1.37217632401e-05,1793250776058786560
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.88377201,747,723.88377201,694,667.88377201,632.88377201,897.11622799,786,828,657,632,657,0.454779376216,0.00463169850703,0.0496491264586,0.999999835337,0.000227446226988,-0.000526681671357,1.41379194183e-05,1793250776075452672
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,723.528630175,694,667.528630175,633,897.471369825,786,828,657,632,657,0.454778943627,0.00463272619052,0.0496491829235,0.999999835119,0.000227780146126,-0.000526960721091,1.38123853423e-05,1793250776092119296
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769.938655552,747,723.061344448,694,667,633,898,786,828,657,631.938655552,656.938655552,0.454778269461,0.00463391298454,0.0496488468155,0.999999834737,0.000228242456147,-0.000527496968078,1.33684615464e-05,1793250776108785920
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.217996949,747,724,694,667.217996949,633,898,786,828,657,631.217996949,656,0.454773736414,0.00463299800677,0.04964531693,0.999999832886,0.000228512741925,-0.000530871732429,1.36278020055e-05,1793250776142118912
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.788837416,747,724,694,667.788837416,633,898,786,828,657,631.788837416,656,0.454765793316,0.0046344235134,0.0496414883578,0.999999829027,0.000232024254192,-0.000536584936474,1.3677180021e-05,1793250776158786048
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e654cc52bdddf4497c9668fb61eac7dce95da9d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+264,4.400000000,pose2_to_pose3_retreat,0.619549251835,0.0101502357165,1.04003364599,0.590119929266,0.0188228709868,1.03970503966
+265,4.416666667,pose2_to_pose3_retreat,0.61954924347,0.0101502328512,1.04003363271,0.590119920584,0.0188228671015,1.03970502781
+266,4.433333333,pose2_to_pose3_retreat,0.619549163014,0.0101502220397,1.04003356582,0.590119839948,0.0188228557339,1.03970496241
+267,4.450000000,pose2_to_pose3_retreat,0.619549112119,0.0101502152005,1.04003352351,0.590119788938,0.0188228485428,1.03970492103
+268,4.466666667,pose2_to_pose3_retreat,0.619548965014,0.0101501954329,1.0400334012,0.590119641502,0.0188228277584,1.03970480145
+269,4.483333333,pose2_to_pose3_retreat,0.619548776677,0.0101501887662,1.04003337427,0.590119452869,0.0188228200516,1.03970477372
+270,4.500000000,pose2_to_pose3_retreat,0.619548204143,0.0101501840721,1.04003340072,0.590118879539,0.0188228124145,1.03970479417
+271,4.516666667,pose2_to_pose3_retreat,0.61954660696,0.0101501513684,1.04003347622,0.590117282939,0.0188227814616,1.03970486397
+272,4.533333333,pose2_to_pose3_retreat,0.619541961949,0.0101501500435,1.04003361293,0.590112639602,0.0188227859734,1.03970500363
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+274,4.566666667,pose2_to_pose3_retreat,0.61951470765,0.0101502351245,1.04003374634,0.590085383344,0.0188228642037,1.03970513662
+275,4.583333333,pose2_to_pose3_retreat,0.619487451659,0.0101501344779,1.0400336749,0.59005812862,0.0188227678028,1.0397050614
+276,4.600000000,pose2_to_pose3_retreat,0.61945004657,0.0101502213196,1.04003343179,0.590020723204,0.018822853903,1.03970483036
+277,4.616666667,pose2_to_pose3_retreat,0.619404338652,0.0101500180691,1.04003352008,0.589975019098,0.0188226629646,1.03970491059
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+286,4.766666667,pose2_to_pose3_retreat,0.618605236046,0.0101501319807,1.04003366325,0.589175912414,0.0188227625443,1.03970505217
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+334,5.566666667,pose2_to_pose3_retreat,0.592681963323,0.0101500451965,1.04003347281,0.56325264228,0.0188226806601,1.03970486775
+335,5.583333333,pose2_to_pose3_retreat,0.591941312244,0.0101500932635,1.0400335785,0.562511989838,0.0188227240901,1.03970497311
+336,5.600000000,pose2_to_pose3_retreat,0.591207358799,0.010150099266,1.04003357239,0.561778036958,0.0188227318883,1.03970496371
+337,5.616666667,pose2_to_pose3_retreat,0.590481297276,0.0101501143175,1.04003345596,0.561051976286,0.0188227498175,1.03970484699
+338,5.633333333,pose2_to_pose3_retreat,0.589777355863,0.0101500464476,1.04003366245,0.560348034937,0.0188226820514,1.03970505042
+339,5.650000000,pose2_to_pose3_retreat,0.589089975548,0.0101500878956,1.04003357529,0.559660654635,0.0188227233963,1.03970495935
+340,5.666666667,pose2_to_pose3_retreat,0.588416036086,0.0101501262291,1.04003361301,0.558986715127,0.0188227620066,1.03970500843
+341,5.683333333,pose2_to_pose3_retreat,0.587760110585,0.0101501674213,1.04003374342,0.558330788155,0.0188227979428,1.03970513191
+342,5.700000000,pose2_to_pose3_retreat,0.587119272441,0.0101501515237,1.04003354215,0.557689949859,0.0188227816336,1.03970493332
+343,5.716666667,pose2_to_pose3_retreat,0.58648470606,0.0101501030208,1.04003342466,0.557055384516,0.0188227369218,1.03970482286
+344,5.733333333,pose2_to_pose3_retreat,0.585859829356,0.0101501194402,1.04003374197,0.556430507781,0.0188227530267,1.0397051347
+345,5.750000000,pose2_to_pose3_retreat,0.585252728038,0.0101502649072,1.04003364223,0.5558234043,0.0188228910338,1.03970503171
+346,5.766666667,pose2_to_pose3_retreat,0.584663667225,0.0101501838163,1.04003349015,0.55523434547,0.0188228171387,1.0397048919
+347,5.783333333,pose2_to_pose3_retreat,0.584092081275,0.0101501934861,1.04003348734,0.554662758538,0.018822823467,1.03970488879
+348,5.800000000,pose2_to_pose3_retreat,0.583542771908,0.0101500804585,1.04003350484,0.554113450712,0.0188227155173,1.03970490226
+349,5.816666667,pose2_to_pose3_retreat,0.583015680144,0.0101500852859,1.04003337964,0.553586358359,0.0188227183918,1.03970477831
+350,5.833333333,pose2_to_pose3_retreat,0.582506006605,0.0101501499747,1.04003329001,0.553076684203,0.0188227811083,1.03970469204
+351,5.850000000,pose2_to_pose3_retreat,0.582017124496,0.0101501707529,1.04003339125,0.552587803424,0.0188228063541,1.03970479249
+352,5.866666667,pose2_to_pose3_retreat,0.581553530268,0.0101502343492,1.04003350075,0.552124208339,0.018822866857,1.03970489744
+353,5.883333333,pose2_to_pose3_retreat,0.581104528081,0.010149969066,1.04003339513,0.551675208226,0.0188226086539,1.0397047921
+354,5.900000000,pose2_to_pose3_retreat,0.580667126572,0.0101500270632,1.04003358756,0.551237805942,0.0188226637908,1.03970497953
+355,5.916666667,pose2_to_pose3_retreat,0.580244078326,0.0101499741685,1.04003346261,0.550814757895,0.0188226117883,1.03970486019
+356,5.933333333,pose2_to_pose3_retreat,0.579837305751,0.010150043155,1.04003347836,0.550407984692,0.0188226784144,1.03970486932
+357,5.950000000,pose2_to_pose3_retreat,0.579454816523,0.0101501318352,1.04003350285,0.550025494109,0.0188227623849,1.03970489061
+358,5.966666667,pose2_to_pose3_retreat,0.579099397079,0.0101501203517,1.0400334307,0.549670073959,0.0188227488159,1.0397048266
+359,5.983333333,pose2_to_pose3_retreat,0.578775224518,0.0101501294713,1.04003351306,0.549345901652,0.0188227588192,1.03970490962
+360,6.000000000,pose2_to_pose3_retreat,0.578477249146,0.0101501697259,1.04003349162,0.549047926731,0.0188228007324,1.03970489156
+361,6.016666667,pose2_to_pose3_retreat,0.57820259919,0.0101499885157,1.04003351885,0.548773279517,0.0188226285818,1.03970491225
+362,6.033333333,pose2_to_pose3_retreat,0.577940119639,0.0101499794932,1.04003362018,0.548510799759,0.0188226186041,1.03970500698
+363,6.050000000,pose2_to_pose3_retreat,0.577687505552,0.0101500795719,1.04003360744,0.548258183496,0.0188227113695,1.03970499608
+364,6.066666667,pose2_to_pose3_retreat,0.577444535358,0.0101501395586,1.04003351007,0.548015212631,0.0188227693463,1.03970490598
+365,6.083333333,pose2_to_pose3_retreat,0.57721510019,0.0101500782822,1.04003353421,0.547785780314,0.0188227178223,1.03970493224
+366,6.100000000,pose2_to_pose3_retreat,0.577002775647,0.0101500441394,1.04003359585,0.547573457169,0.018822688401,1.039704993
+367,6.116666667,pose2_to_pose3_retreat,0.576814027347,0.0101501136628,1.04003338754,0.547384705999,0.0188227482422,1.03970478626
+368,6.133333333,pose2_to_pose3_retreat,0.576648468338,0.0101502442079,1.04003337894,0.547219144551,0.0188228705385,1.0397047786
+369,6.150000000,pose2_to_pose3_retreat,0.576504398357,0.0101499692437,1.0400334713,0.547075079769,0.018822613297,1.03970487298
+370,6.166666667,pose2_to_pose3_retreat,0.576377668888,0.0101500906771,1.04003364176,0.546948347841,0.0188227257491,1.03970502674
+371,6.183333333,pose2_to_pose3_retreat,0.576266555351,0.0101502065368,1.04003368172,0.546837232482,0.0188228354192,1.03970506657
+372,6.200000000,pose2_to_pose3_retreat,0.576167162615,0.010150129999,1.04003366043,0.546737840297,0.0188227609284,1.03970505019
+373,6.216666667,pose2_to_pose3_retreat,0.576079165135,0.0101499393868,1.04003363992,0.546649843877,0.0188225737234,1.03970502505
+374,6.233333333,pose2_to_pose3_retreat,0.576002441728,0.0101500915872,1.04003338681,0.546573118951,0.0188227212488,1.0397047844
+375,6.250000000,pose2_to_pose3_retreat,0.575935941071,0.0101501450923,1.04003368347,0.546506619122,0.0188227775374,1.03970508034
+376,6.266666667,pose2_to_pose3_retreat,0.575879893787,0.0101502186149,1.04003366,0.546450571227,0.0188228490336,1.03970505805
+377,6.283333333,pose2_to_pose3_retreat,0.575832490092,0.0101501720378,1.0400336407,0.546403167525,0.0188228022688,1.03970503439
+378,6.300000000,pose2_to_pose3_retreat,0.575793432743,0.0101501166866,1.04003360882,0.546364110668,0.0188227485441,1.03970500138
+379,6.316666667,pose2_to_pose3_retreat,0.575761683049,0.0101501553922,1.04003350365,0.54633236133,0.0188227887283,1.03970490333
+380,6.333333333,pose2_to_pose3_retreat,0.575736790205,0.0101500368589,1.04003365922,0.546307469601,0.0188226734455,1.0397050449
+381,6.350000000,pose2_to_pose3_retreat,0.575716560632,0.0101500384887,1.04003349796,0.546287240472,0.0188226767096,1.03970488698
+382,6.366666667,pose2_to_pose3_retreat,0.575700654488,0.0101500264768,1.04003346766,0.546271334549,0.0188226656017,1.03970486077
+383,6.383333333,pose2_to_pose3_retreat,0.575689168196,0.0101500035422,1.04003354846,0.546259848387,0.0188226431713,1.0397049432
+384,6.400000000,pose2_to_pose3_retreat,0.575680766499,0.0101499966709,1.0400336352,0.546251446791,0.0188226366277,1.0397050296
+385,6.416666667,pose2_to_pose3_retreat,0.575674961295,0.0101500246366,1.04003358601,0.546245641903,0.0188226654016,1.03970497348
+386,6.433333333,pose2_to_pose3_retreat,0.575671227319,0.0101500504813,1.04003361418,0.546241907826,0.0188226908799,1.03970500105
+387,6.450000000,pose2_to_pose3_retreat,0.575669009067,0.0101500719407,1.04003370456,0.546239689163,0.018822711109,1.0397050958
+388,6.466666667,pose2_to_pose3_retreat,0.575667456733,0.0101500880653,1.04003368076,0.546238136524,0.0188227263175,1.03970507521
+389,6.483333333,pose2_to_pose3_retreat,0.575666572368,0.0101500988646,1.04003354036,0.546237251959,0.0188227365147,1.0397049369
+390,6.500000000,pose2_to_pose3_retreat,0.575666232436,0.0101501030157,1.0400334864,0.54623691195,0.0188227404343,1.03970488373
+391,6.516666667,pose2_to_pose3_retreat,0.575666176611,0.0101501036974,1.04003347754,0.546236856112,0.018822741078,1.039704875
+392,6.533333333,pose2_to_pose3_retreat,0.575666049945,0.0101501052441,1.04003345743,0.546236729418,0.0188227425386,1.03970485519
+393,6.550000000,pose2_to_pose3_retreat,0.575665931724,0.0101501066878,1.04003343866,0.54623661117,0.0188227439017,1.0397048367
+394,6.566666667,pose2_to_pose3_retreat,0.575665811956,0.0101501081503,1.04003341965,0.546236491374,0.0188227452827,1.03970481797
+395,6.583333333,pose2_to_pose3_retreat,0.575665611889,0.0101501105934,1.04003338789,0.546236291263,0.0188227475896,1.03970478667
+396,6.600000000,pose2_to_pose3_retreat,0.575665425889,0.0101501055238,1.04003335835,0.546236105019,0.0188227417209,1.03970475784
+397,6.616666667,pose2_to_pose3_retreat,0.575665296861,0.0101501004861,1.04003333785,0.54623597578,0.0188227359894,1.03970473789
+398,6.633333333,pose2_to_pose3_retreat,0.575665205591,0.0101500969226,1.04003332335,0.546235884361,0.0188227319353,1.03970472378
+399,6.650000000,pose2_to_pose3_retreat,0.575665188294,0.0101500962473,1.0400333206,0.546235867036,0.018822731167,1.03970472111
+400,6.666666667,pose2_to_pose3_retreat,0.575665065876,0.0101500914677,1.04003330116,0.546235744418,0.0188227257292,1.03970470218
+401,6.683333333,pose2_to_pose3_retreat,0.575664854914,0.0101500832311,1.04003326765,0.546235533112,0.0188227163583,1.03970466956
+402,6.700000000,pose2_to_pose3_retreat,0.57566457864,0.0101500878138,1.040033305,0.546235256506,0.0188227198111,1.03970470678
+403,6.716666667,pose2_to_pose3_retreat,0.575664435975,0.0101501398832,1.04003358701,0.546235114055,0.0188227724461,1.03970498451
+404,6.733333333,pose2_to_pose3_retreat,0.575664387531,0.0101501575638,1.04003368276,0.546235065684,0.0188227903188,1.03970507881
+405,6.750000000,pose2_to_pose3_retreat,0.575664340897,0.0101501427191,1.04003373894,0.546235019175,0.0188227757144,1.0397051302
+406,6.766666667,pose2_to_pose3_retreat,0.575664331979,0.0101501120671,1.04003371826,0.546235010328,0.0188227451566,1.03970510564
+407,6.783333333,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b551e19b055ef3ecd6ab3bdc7b3c3d8d3285b4fe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:481605b10e213c22e898c32cb533fc57aa4945f8f484e862d70ed83dec380b77
+size 25971299
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65513137453ded36debae5d53a0667f4d5e03e01
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+1,0.016666667,BASELINE,770,747,722.577554462,685,674,642,885,787,819,657,632,656,0.400982884839,0.00461016383401,0.0498486860315,0.999999957218,0.000122198008191,-0.000262334843146,-4.25746885853e-05,1793250778565696256
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+3,0.050000000,BASELINE,770,747,722.248291378,684.248291378,674.751708622,642,885,786.248291378,818.248291378,657,632,656,0.400980981271,0.00460892750244,0.0498477699881,0.99999995676,0.000123636726812,-0.000263486638844,-4.20598683543e-05,1793250778599029504
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+7,0.116666667,BASELINE,770,747,722,684.939108202,674,642,885.060891798,786.060891798,818.939108202,657,632.060891798,656,0.400982949818,0.0046106806537,0.0498486333107,0.999999957285,0.000123737484131,-0.000261374395287,-4.24600056418e-05,1793250778665696256
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+9,0.150000000,BASELINE,770,747,722,684.218170374,674,641.781829626,885.781829626,786.781829626,818.218170374,657,632.781829626,656,0.400985452692,0.00461225185168,0.0498504573769,0.999999957956,0.000126355272886,-0.000257506738437,-4.25653400045e-05,1793250778699029760
+10,0.166666667,BASELINE,770,747,722,684.810956654,674,641.189043346,885.189043346,786.189043346,818.810956654,657,632.189043346,656,0.400983474447,0.00461014858806,0.0498489804088,0.999999957509,0.000123874471396,-0.000260449807663,-4.24647838517e-05,1793250778715696384
+11,0.183333333,BASELINE,770,747,722,684.608233835,674,641.391766165,885.391766165,786,818.608233835,657,632.391766165,656,0.400982497268,0.00460979384545,0.0498482185205,0.999999957286,0.000123307049858,-0.000261586988965,-4.23819643748e-05,1793250778732362752
+12,0.200000000,BASELINE,770,747,722,684.03303212,674,641.96696788,885.96696788,786,818.03303212,657,632.96696788,656,0.400981988815,0.00461025780765,0.0498477914518,0.999999957172,0.000123635524521,-0.000261878604791,-4.23074496824e-05,1793250778749029120
+13,0.216666667,BASELINE,770,747,722,684,674,642,885.45664242,786,818.54335758,657,633,655.45664242,0.400982799588,0.00460958374107,0.0498487325241,0.999999957411,0.000123782486328,-0.000260926936425,-4.21105922753e-05,1793250778765695744
+14,0.233333333,BASELINE,770,747,722,684,674,642,885.123105759,786.123105759,819,657,632.876894241,655.123105759,0.400983276016,0.00460921202388,0.049849427434,0.999999957507,0.000124374940721,-0.000260297787434,-4.1963763916e-05,1793250778782362368
+15,0.250000000,BASELINE,770,747,722,684,674,642,885.715377705,786.715377705,819,657,632.284622295,655.715377705,0.400982171912,0.00461025682748,0.0498488665255,0.99999995698,0.000126707350157,-0.000261186468263,-4.20360074745e-05,1793250778799028992
+16,0.266666667,BASELINE,770,747,722,684.300504785,674,642,886,786.699495215,819,657,632,656,0.400981537097,0.00460991669824,0.0498485523362,0.999999956961,0.000125657706966,-0.000261774151702,-4.19764777811e-05,1793250778815695872
+17,0.283333333,BASELINE,770,747,722,684.879021753,674,642,886,786.120978247,819,657,632,656,0.400981336443,0.0046082952975,0.0498484663995,0.999999957404,0.000121479155605,-0.000262083367169,-4.17950379794e-05,1793250778832362752
+18,0.300000000,BASELINE,769.543670238,747,722.456329762,684.543670238,674,642,885.543670238,786,819,657,632,656,0.400981866476,0.00460775549961,0.0498488791405,0.999999957705,0.000120042544182,-0.00026161054802,-4.17125163183e-05,1793250778849029376
+19,0.316666667,BASELINE,769,747,722.966232292,684.033767708,674,642,885.033767708,786.033767708,818.966232292,657,632,656,0.400982602026,0.00460757430919,0.0498494291063,0.999999957958,0.000119467988002,-0.000260909871941,-4.16877650045e-05,1793250778865696000
+20,0.333333333,BASELINE,769,747,722.38145784,684.61854216,674,642,885.61854216,786.61854216,818.38145784,657,632,656,0.400983538523,0.00460857809748,0.0498500666809,0.999999958009,0.000121129856758,-0.000259865247337,-4.21788984888e-05,1793250778882362880
+21,0.350000000,BASELINE,769,746.798694955,722,684.798694955,674,642,885.798694955,787,818.201305045,656.798694955,632,656,0.400983442879,0.00460948863377,0.0498498984339,0.999999957814,0.000122305104157,-0.000260011077553,-4.25211941106e-05,1793250778899029504
+22,0.366666667,BASELINE,769,746.219706188,722,684.219706188,674,642,885.219706188,787,818.780293812,656.219706188,632,656,0.400981410756,0.00461022421279,0.0498482183234,0.999999957158,0.000122567363995,-0.000262390410807,-4.25842436318e-05,1793250778915695872
+23,0.383333333,BASELINE,769,746,722,684,674,642,885,786.640732707,819,656.359267293,632.359267293,656,0.400980886362,0.00460998204945,0.0498482893612,0.999999957153,0.00012264878478,-0.000262404323941,-4.23747053469e-05,1793250778932362496
+24,0.400000000,BASELINE,769,746,722,684,674,642,885,786.061768519,819,656.938231481,632.938231481,656,0.400981283964,0.00460914198326,0.04984943125,0.999999957547,0.00012261962002,-0.000260971750333,-4.19984758709e-05,1793250778949029376
+25,0.416666667,BASELINE,769,746.512597065,722.512597065,684,674,641.487402935,885,786.512597065,818.487402935,657,632.487402935,656,0.400981935176,0.00460946333139,0.0498494017797,0.999999957416,0.000123889210551,-0.000260894206132,-4.18818949978e-05,1793250778965696000
+26,0.433333333,BASELINE,769,747,722.912507157,684,674.087492843,641.087492843,885.087492843,786.912507157,818.087492843,657,632,656,0.400982712464,0.00460986663328,0.0498493920908,0.999999957341,0.000124975745165,-0.000260666409418,-4.18607764016e-05,1793250778982362368
+27,0.450000000,BASELINE,769,747,722.331522917,684,674.668477083,641.668477083,885.668477083,786.331522917,818.668477083,657,632,656,0.400984030026,0.00460994982442,0.0498502830349,0.999999957945,0.000124154902142,-0.000258678349898,-4.22031934073e-05,1793250778999029504
+28,0.466666667,BASELINE,769,746.747104656,722,684.252895344,674.747104656,642,886,786.252895344,819,657,632,656,0.400984490088,0.00460974433253,0.0498505150268,0.999999958207,0.000123051126637,-0.000258176323805,-4.23107614464e-05,1793250779015696128
+29,0.483333333,BASELINE,769,746.158122771,722,684.841877229,674.158122771,642,886,786.841877229,819,657,632,656,0.400983810572,0.00460915519384,0.0498498713008,0.999999958015,0.00012157134663,-0.000259649169438,-4.21062257477e-05,1793250779032362752
+30,0.500000000,BASELINE,769.420747935,746.420747935,722,685,674,642,886,787,819,657,632,656,0.400984212799,0.00460834107619,0.0498501844686,0.999999958333,0.0001203386646,-0.000259020091845,-4.19557145506e-05,1793250779049029376
+31,0.516666667,BASELINE,769.995907887,746.995907887,722,685,674,642,886,787,819,657,632,656,0.40098501202,0.0046074443926,0.0498508488108,0.999999958837,0.000119196666105,-0.000257619620769,-4.18250300322e-05,1793250779065696000
+32,0.533333333,BASELINE,769.430057804,747,722,684.430057804,674,642,885.430057804,786.430057804,818.430057804,657,632,655.430057804,0.400983302542,0.00460882650836,0.0498501421529,0.999999957995,0.000122126726724,-0.000259490423301,-4.1942561431e-05,1793250779082362624
+33,0.550000000,BASELINE,769.148304479,746.851695521,722,684,674,642,885,786.148304479,818.148304479,656.851695521,632,655.148304479,0.400981876532,0.00460980026219,0.0498496210894,0.999999957347,0.000124144648765,-0.000261006472922,-4.2066621272e-05,1793250779099029248
+34,0.566666667,BASELINE,769.739619129,746.260380871,722,684,674,642,885,786.739619129,818.739619129,656.260380871,632,655.739619129,0.400981350988,0.00460950539253,0.0498496837735,0.999999957339,0.000123350697208,-0.000261392793911,-4.22048695249e-05,1793250779115695872
+35,0.583333333,BASELINE,770,746,722,684,674,642,885.323907743,787,819,656.323907743,632,656,0.400981512459,0.00460894308326,0.0498497097792,0.999999957553,0.00012225475157,-0.000261115363341,-4.20375840492e-05,1793250779132362752
+36,0.600000000,BASELINE,770,746,722,684,674,642,885.90266829,787,819,656.90266829,632,656,0.400982214477,0.00460817035067,0.049849706926,0.99999995794,0.000120921194863,-0.000260315688598,-4.16299025846e-05,1793250779149029632
+37,0.616666667,BASELINE,769.522306168,746.477693832,722.477693832,684.477693832,674,642,885.522306168,787,819,656.522306168,632,655.522306168,0.400983776843,0.00460888341419,0.0498505703828,0.99999995828,0.000122041607125,-0.000258453645101,-4.18113847743e-05,1793250779165696000
+38,0.633333333,BASELINE,769,747,722.94699897,685,674,642,885,786.94699897,819,656.05300103,632,655.05300103,0.400985186283,0.00460973864982,0.0498514709026,0.99999995855,0.000123385906008,-0.000256719312683,-4.20870697454e-05,1793250779182362624
+39,0.650000000,BASELINE,769,747,722.361270541,685,674,642,885,786.361270541,819,656.638729459,632,655.638729459,0.400983310333,0.00460900362388,0.0498509835329,0.99999995828,0.00012199386348,-0.000258427465961,-4.21123783561e-05,1793250779199029248
+40,0.666666667,BASELINE,769,747,722,684.777678955,674,642,885,786.222321045,818.777678955,656.777678955,632,656,0.400982380643,0.00460822287848,0.0498506524207,0.999999958187,0.000120998196591,-0.000259265466476,-4.20225148896e-05,1793250779215695616
+41,0.683333333,BASELINE,769,747,722,684.197526706,674,642,885,786.802473294,818.197526706,656.197526706,632,656,0.400982973983,0.00460736854653,0.0498505728087,0.999999958388,0.000120640506145,-0.000258702934573,-4.17472791244e-05,1793250779232362240
+42,0.700000000,BASELINE,769,746.618652269,722,684,674,642,885,786.618652269,818.381347731,656.381347731,632,656,0.400982984085,0.0046085981313,0.0498509906146,0.999999958445,0.000121571883352,-0.000258017727587,-4.19238367788e-05,1793250779249029120
+43,0.716666667,BASELINE,769,746.040437506,722,684,674,642,885,786.040437506,818.959562494,656.959562494,632,656,0.400982693095,0.0046109035177,0.0498516652077,0.999999958425,0.000123168729121,-0.000257269190808,-4.23336283696e-05,1793250779265695744
+44,0.733333333,BASELINE,769.536019317,746.536019317,722,684,674,642,885,786.536019317,818.463980683,657,632.536019317,656,0.400982713445,0.00461085331351,0.0498504565902,0.99999995815,0.00012317822965,-0.000258322046814,-4.23803875968e-05,1793250779282362624
+45,0.750000000,BASELINE,770,746.888631918,722,684,674,642,885,787,818.111368082,657,632.888631918,656,0.400982818354,0.00461055366832,0.0498495266448,0.99999995795,0.000123068909147,-0.000259145853506,-4.2406206841e-05,1793250779299029504
+46,0.766666667,BASELINE,770,746.317313661,722,684,674,642,885,787,818.682686339,657,632.317313661,656,0.400983175803,0.00460995536128,0.0498503324478,0.999999958137,0.000122961808382,-0.000258464263117,-4.24582837695e-05,1793250779315695872
+47,0.783333333,BASELINE,770,746.264174392,722,684,674.264174392,642,885,786.735825608,818.735825608,657,632.264174392,656,0.400983232259,0.00460996437582,0.0498505665203,0.999999958118,0.000123424823544,-0.000258311385086,-4.25013546809e-05,1793250779332362496
+48,0.800000000,BASELINE,770,746.858367081,722,684,674.858367081,642,885,786.141632919,818.141632919,657,632.858367081,656,0.400982912699,0.00461073208316,0.049850086362,0.999999957839,0.000124600052642,-0.000258818997751,-4.25331748863e-05,1793250779349029120
+49,0.816666667,BASELINE,769.559142867,746.559142867,722,684,674.559142867,642,885.440857133,786.440857133,818.440857133,657,632.559142867,655.559142867,0.4009813011,0.0046101260513,0.0498493054792,0.999999957401,0.000124163485837,-0.000260711760331,-4.25547503816e-05,1793250779365695744
+50,0.833333333,BASELINE,769.019517679,746.019517679,722,684.019517679,674,642,885.980482321,787,819,657,632,655.019517679,0.400979414305,0.00460916346897,0.0498484956485,0.999999956943,0.000123305571194,-0.000262865773786,-4.2562274219e-05,1793250779382362624
+51,0.850000000,BASELINE,769.593434055,746.593434055,722,684.593434055,674,642,885.406565945,787,819,657,632,655.593434055,0.400981196294,0.00461028508052,0.0498495368696,0.999999957485,0.00012480751389,-0.000260127178667,-4.22617328402e-05,1793250779399029248
+52,0.866666667,BASELINE,769.828577993,747,722,685,674,642,885,786.828577993,818.828577993,657,632,656,0.400982518677,0.00461105940637,0.0498502369419,0.99999995787,0.000125503436662,-0.000258331251614,-4.21111579149e-05,1793250779415696128
+53,0.883333333,BASELINE,769.240698473,747,722,685,674,642,885,786.240698473,818.240698473,657,632,656,0.40098272448,0.00461099002637,0.0498501082175,0.999999957891,0.000124241191543,-0.000258825469425,-4.23249157891e-05,1793250779432362752
+54,0.900000000,BASELINE,769,747,722,684.65588004,674,642,885,786,818,657,632,656,0.400982509389,0.00461142229452,0.0498499861604,0.999999957815,0.000124218812115,-0.00025910144285,-4.25032436282e-05,1793250779449029120
+55,0.916666667,BASELINE,769,747,722,684.073183865,674,642,885,786,818,657,632,656,0.400982002494,0.0046122023522,0.0498498687257,0.999999957672,0.000125056023866,-0.000259226108787,-4.26570080366e-05,1793250779465695744
+56,0.933333333,BASELINE,769,746.497288789,722.502711211,684,674,642,885.502711211,786.502711211,818,657,632,656,0.400982463471,0.0046112655821,0.0498496642054,0.999999957861,0.000123636427901,-0.000259147771804,-4.28368615284e-05,1793250779482362368
+57,0.950000000,BASELINE,769,746.079206367,722.920793633,684.079206367,674,642,885.920793633,786.920793633,818.079206367,657,632,656,0.40098288531,0.00461015434496,0.0498494772,0.999999958047,0.000122173566202,-0.000259104214004,-4.29477857111e-05,1793250779499028992
+58,0.966666667,BASELINE,769,746.665803149,722.334196851,684.665803149,674,642,885.334196851,786.334196851,818.665803149,657,632,656,0.400982165877,0.00460950516634,0.0498494825221,0.999999957926,0.000122510074047,-0.000259470235594,-4.25931485112e-05,1793250779515695616
+59,0.983333333,BASELINE,769,747,722.249100406,685,674,642,885,786,819,657,631.750899594,656,0.400981998893,0.00460927417911,0.0498498459879,0.999999958091,0.000121936583581,-0.000259150562757,-4.23160748854e-05,1793250779532362240
+60,1.000000000,BASELINE,769,747,722.828028918,685,674,642,885,786,819,657,631.171971082,656,0.400982563395,0.00460959690937,0.0498506836635,0.999999958631,0.000120158185369,-0.000257922977785,-4.21417013511e-05,1793250779549029376
+61,1.016666667,BASELINE,769.404530024,747,722.595469976,685,674.404530024,642,885.404530024,786.404530024,818.595469976,657,631.404530024,656,0.400983613231,0.00461003403053,0.049850912487,0.999999958707,0.00012079350459,-0.000257284541546,-4.24215823657e-05,1793250779565696256
+62,1.033333333,BASELINE,769.980005328,747,722.019994672,685,674.980005328,642,885.980005328,786.980005328,818.019994672,657,631.980005328,656,0.400984868158,0.00461051949071,0.0498508840231,0.999999958586,0.000122448806556,-0.000256895066371,-4.28934211347e-05,1793250779582362880
+63,1.050000000,BASELINE,770,746.443888711,722,684.443888711,674.443888711,642,886,787,818,657,632,656,0.400985636849,0.00460994123996,0.0498517600862,0.999999958839,0.000122991873088,-0.000255716237403,-4.24862227703e-05,1793250779599029504
+64,1.066666667,BASELINE,769.864829726,746.135170274,722.135170274,684,674.135170274,642,885.864829726,787,818.135170274,657,632,656,0.400985770673,0.00460959146454,0.0498521269213,0.9999999589,0.000123456419674,-0.000255305701875,-4.21603359641e-05,1793250779615696128
+65,1.083333333,BASELINE,769.275934581,746.724065419,722.724065419,684,674.724065419,642,885.275934581,787,818.724065419,657,632,656,0.400983832191,0.00461013713315,0.0498506751456,0.999999958276,0.000123791784846,-0.000257569463907,-4.22135966214e-05,1793250779632362496
+66,1.100000000,BASELINE,769.307778241,747,722.692221759,684,674.692221759,642,885.307778241,786.692221759,819,657,632,656,0.400983510488,0.00461000568729,0.0498504165542,0.999999958292,0.000123316113591,-0.000257730395129,-4.22500637195e-05,1793250779649029120
+67,1.116666667,BASELINE,769.886921824,747,722.113078176,684,674.113078176,642,885.886921824,786.113078176,819,657,632,656,0.400984614285,0.00460927723558,0.0498512099828,0.999999958872,0.000122125358701,-0.000256037278979,-4.22717240829e-05,1793250779665696256
+68,1.133333333,BASELINE,769.538867021,747,722,684,674,642,886,786,819,657,632.461132979,656,0.400984861569,0.00460917368001,0.0498517150706,0.999999959005,0.000122896900953,-0.000255138826963,-4.23218559316e-05,1793250779682362624
+69,1.150000000,BASELINE,769.034414017,747,722,684.034414017,674,642,886,786.034414017,818.965585983,657,632.965585983,656,0.400984918716,0.00460917254069,0.0498521042638,0.99999995902,0.000124025794611,-0.000254527097586,-4.23439149041e-05,1793250779699029504
+70,1.166666667,BASELINE,769.611901539,747,722,684.611901539,674,642,886,786.611901539,818.388098461,657,632.388098461,656,0.40098525474,0.00460839502923,0.0498517685514,0.999999958913,0.000123280789538,-0.000255397464154,-4.18139575088e-05,1793250779715696384
+71,1.183333333,BASELINE,770,747,722,685,674.194594931,642,885.805405069,787,818,657,632.194594931,656,0.40098497329,0.00460805769741,0.0498515257896,0.999999958819,0.000122569808918,-0.00025615543266,-4.15140542186e-05,1793250779732363264
+72,1.200000000,BASELINE,770,747,722,685,674.787956363,642,885.212043637,787,818,657,632.787956363,656,0.400983426503,0.00460862238739,0.0498514735031,0.999999958755,0.000121928551516,-0.000256683073732,-4.16855807407e-05,1793250779749029888
+73,1.216666667,BASELINE,770,747,722,685,674.628982851,642,885.371017149,786.628982851,818.371017149,657,632.628982851,656,0.400982918809,0.00460960306906,0.0498515602022,0.999999958623,0.000122632333688,-0.00025683450512,-4.18468450261e-05,1793250779765696256
+74,1.233333333,BASELINE,770,747,722,685,674.051650096,642,885.948349904,786.051650096,818.948349904,657,632.051650096,656,0.400982988936,0.00461081507581,0.0498517241885,0.999999958452,0.000124084066923,-0.000256776733397,-4.20024026659e-05,1793250779782362624
+75,1.250000000,BASELINE,770,747,722,684.476938863,674,642,885.476938863,786.523061137,819,656.476938863,632,656,0.400983866458,0.00461015841151,0.0498515388585,0.999999958578,0.000123496178252,-0.000256541440812,-4.21795552103e-05,1793250779799029504
+76,1.266666667,BASELINE,769.900035213,747,722,684,674,642,885,786.900035213,819,656.099964787,632,656,0.40098455678,0.00460945760312,0.0498513664275,0.999999958701,0.000122853148843,-0.00025634823279,-4.2315515546e-05,1793250779815696128
+77,1.283333333,BASELINE,769.311148828,747,722,684,674,642,885,786.311148828,819,656.688851172,632,656,0.40098394352,0.00460943888076,0.0498514249492,0.999999958671,0.000122920572236,-0.000256446165638,-4.22396298709e-05,1793250779832362752
+78,1.300000000,BASELINE,769.273015378,747,722,684.273015378,674,642,885,786,819,657,632,656,0.400983522112,0.00460973054874,0.0498514537162,0.99999995852,0.000123545049524,-0.000256741786575,-4.21928045183e-05,1793250779849029376
+79,1.316666667,BASELINE,769.851889299,747,722,684.851889299,674,642,885,786,819,657,632,656,0.400983315637,0.00461036994634,0.0498514491491,0.999999958233,0.000124793593088,-0.000257258877045,-4.21785353877e-05,1793250779865696256
+80,1.333333333,BASELINE,770,747,722,684.570586912,674.429413088,642,885.429413088,786.429413088,819,657,632,656,0.400983186773,0.00460961880588,0.0498511858889,0.99999995842,0.00012284909189,-0.000257468219429,-4.21632358235e-05,1793250779882362880
+81,1.350000000,BASELINE,769.99354464,747,722,684,675,642,885.99354464,787,819,657,632.00645536,656,0.400983098675,0.00460841882167,0.0498508451696,0.999999958762,0.000119850151221,-0.000257557626186,-4.2150965481e-05,1793250779899029760
+82,1.366666667,BASELINE,769.418031286,747,722,684,675,642,885.418031286,787,819,657,632.581968714,656,0.400984251893,0.00460979902761,0.0498515171624,0.999999958947,0.000120680180759,-0.000256402172944,-4.24369619107e-05,1793250779915696384
+83,1.383333333,BASELINE,769,747,722,684.161010023,674.838989977,642,885,787,819,657,633,656,0.400984752786,0.00461098428831,0.0498517832073,0.999999958922,0.000121931476774,-0.000255878070811,-4.26002901059e-05,1793250779932362752
+84,1.400000000,BASELINE,769,747,722,684.749416313,674.250583687,642,885,787,819,657,633,656,0.400983522103,0.00461165207299,0.0498509716761,0.999999958342,0.000124301012168,-0.000257029870965,-4.24379992223e-05,1793250779949029376
+85,1.416666667,BASELINE,769.332338907,747,722.332338907,684.667661093,674,642,885,787,819,657,632.667661093,656,0.400983167928,0.00461056972444,0.0498508468811,0.999999958343,0.00012399309136,-0.000257238480903,-4.20406729442e-05,1793250779965696000
+86,1.433333333,BASELINE,769.911193873,747,722.911193873,684.088806127,674,642,885,787,819,657,632.088806127,656,0.400983463911,0.00460818919517,0.0498512314803,0.999999958775,0.000121699137657,-0.000256747468995,-4.14690065725e-05,1793250779982362880
+87,1.450000000,BASELINE,770,746.510593164,722.510593164,684.489406836,674,642,885,787,819,657,632.489406836,656,0.400983287044,0.00460759010402,0.0498510489193,0.999999958889,0.000119877462844,-0.000257133576918,-4.16287445078e-05,1793250779999029504
+88,1.466666667,BASELINE,770,746.066557654,722,684.933442346,674,642,885,787,819,657,632.933442346,656,0.400983036233,0.00460764610512,0.0498508279976,0.999999958898,0.000118630131283,-0.000257627177296,-4.19341493567e-05,1793250780015696128
+89,1.483333333,BASELINE,770,746.636554474,722,684.363445526,674,642,885,787,819,657,632.363445526,656,0.400982874272,0.00461021532101,0.0498510943423,0.999999958561,0.000121079739013,-0.00025773154964,-4.23388130385e-05,1793250780032363008
+90,1.500000000,BASELINE,770,747,722,684,674,642,885.214816029,787,819,657,632,656,0.400982512763,0.00461152968492,0.0498511603832,0.999999958314,0.000122715519619,-0.000257890126022,-4.24913151659e-05,1793250780049029888
+91,1.516666667,BASELINE,770,747,722,684,674,642,885.807620062,787,819,657,632,656,0.40098180013,0.00461063602432,0.0498508739717,0.999999958236,0.000122919298404,-0.000258144079243,-4.22001164577e-05,1793250780065696512
+92,1.533333333,BASELINE,770,746.609483691,722,684.390516309,674,642,885.609483691,787,818.609483691,657,632.390516309,656,0.400983015909,0.00461023032672,0.0498513995272,0.999999958636,0.000122620153037,-0.000256748158995,-4.2109122455e-05,1793250780082363392
+93,1.550000000,BASELINE,770,746.031347492,722,684.968652508,674,642,885.031347492,787,818.031347492,657,632.968652508,656,0.400985158176,0.00461005906627,0.0498523151846,0.999999959261,0.000122079382509,-0.000254559572574,-4.21143148944e-05,1793250780099030272
+94,1.566666667,BASELINE,769.455683617,746.544316383,722,685,674,642,885,787,818.544316383,657,632.455683617,656,0.400985022348,0.00461029891897,0.0498520059371,0.999999959048,0.000122158504797,-0.000255364711159,-4.20674431575e-05,1793250780115696640
+95,1.583333333,BASELINE,769.11944865,747,722,684.88055135,674,642,885,786.88055135,819,657,632,656,0.400984635962,0.00461023932522,0.0498516840224,0.999999958831,0.000122060533002,-0.000256274566504,-4.19767563933e-05,1793250780132363264
+96,1.600000000,BASELINE,769.693098609,747,722,684.306901391,674,642,885,786.306901391,819,657,632,656,0.400983793448,0.00460895147044,0.0498515809657,0.999999958784,0.000121154029496,-0.000256929982804,-4.17308136059e-05,1793250780149030400
+97,1.616666667,BASELINE,770,747,722,684,674,642,885,786.277172535,819,657,632.277172535,656,0.400982957948,0.00460843814292,0.0498509401018,0.999999958583,0.00012066410702,-0.000257931671865,-4.17676271151e-05,1793250780165697024
+98,1.633333333,BASELINE,770,747,722,684,674,642,885,786.87323948,819,657,632.87323948,656,0.400982130517,0.00460881592979,0.0498496804765,0.999999958207,0.000120653472209,-0.000259331756952,-4.21297593152e-05,1793250780182363392
+99,1.650000000,BASELINE,770,747,722,684,674,642,885,787,819,657,633,656,0.400981981454,0.00460901271333,0.0498503134122,0.999999958272,0.000121615945673,-0.000258624541351,-4.21663039737e-05,1793250780199030016
+100,1.666666667,BASELINE,769.972649457,747,722,684,674,642,885,787,819,657,633,655.972649457,0.400982004881,0.00460917340727,0.0498513748669,0.999999958434,0.000122766515839,-0.000257462524064,-4.21167980312e-05,1793250780215696896
+101,1.683333333,BASELINE,769.395082561,747,722,684,674,642,885,787,819,657,633,655.395082561,0.400981812271,0.00460959159599,0.0498507733272,0.999999958184,0.000122413494311,-0.000258601593588,-4.2105337453e-05,1793250780232363264
+102,1.700000000,BASELINE,769.185879581,747,722,684,674,642,885,787,818.814120419,657,632.814120419,655.185879581,0.400982048347,0.00460969377645,0.0498507959914,0.999999958152,0.000122568439794,-0.000258673464946,-4.19689364691e-05,1793250780249029888
+103,1.716666667,BASELINE,769.774192427,747,722,684,674,642,885,787,818.225807573,657,632.225807573,655.774192427,0.40098321254,0.00460911179219,0.0498521700705,0.999999958591,0.000123823144755,-0.000256434829325,-4.15620368398e-05,1793250780265696256
+104,1.733333333,BASELINE,769.644019884,747,722,684.355980116,674,642,885,787,818.355980116,656.644019884,632.355980116,656,0.400983790178,0.0046090552368,0.0498523890569,0.999999958906,0.000122811971569,-0.000255676230584,-4.16594577243e-05,1793250780282362880
+105,1.750000000,BASELINE,769.066296714,747,722,684.933703286,674,642,885,787,818.933703286,656.066296714,632.933703286,656,0.400984002446,0.00460932597549,0.0498518885263,0.999999959141,0.000120389363653,-0.000255839559238,-4.20710241251e-05,1793250780299030016
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,747,722,685,675,642,885,787,819,657,632,656,0.400982716348,0.00461192498028,0.0498512936627,0.999999958402,0.000124801419077,-0.00025653804793,-4.2521482755e-05,1793250780329892096
+107,1.783333333,POSE1_TO_POSE2_PRESS,769.553749292,747,722,685,675,642,885.553749292,787,819,657.553749292,632,656,0.400983284935,0.00460988847455,0.0498515087859,0.999999958799,0.000122705758291,-0.00025607541342,-4.20678461943e-05,1793250780346558464
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,722,685,674.880462879,642,886,787,819,657.880462879,632,656,0.400983629221,0.00460868421122,0.0498517056391,0.999999959066,0.000121457999273,-0.000255676120768,-4.17842087455e-05,1793250780363224576
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,722,685,674.264700192,642,886,787,819,657.264700192,632,656,0.400983042385,0.00461093477327,0.0498518266499,0.999999958804,0.000123730071179,-0.000255539774321,-4.22062758328e-05,1793250780379890944
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.669920976,747,722,685,674,642.330079024,886,787,819,657,632.330079024,656,0.400983328997,0.00461094852156,0.0498520824888,0.999999958826,0.000123569427311,-0.000255531557136,-4.22132984348e-05,1793250780396557568
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.090963278,747,722,685,674,642.909036722,886,787,819,657,632.909036722,656,0.400984274186,0.00460927571829,0.0498524399878,0.999999959061,0.000121574522311,-0.000255619949069,-4.19073786123e-05,1793250780413224192
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.483623036,747,722,685,674,643,886,787,819,657,633,656,0.400983936944,0.0046091352513,0.0498520444758,0.999999958826,0.000122436271388,-0.00025615796299,-4.17306897228e-05,1793250780429891072
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.940850727,747,722,684.940850727,674,642.940850727,885.940850727,786.940850727,819,657,632.940850727,655.940850727,0.400983437547,0.00460926762097,0.0498516051737,0.999999958546,0.000123655210877,-0.000256684205576,-4.15990883466e-05,1793250780446557696
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.349536952,747,722,684.349536952,674,642.349536952,885.349536952,786.349536952,819,657,632.349536952,655.349536952,0.400983629952,0.00460928488031,0.0498520347349,0.999999958674,0.000123297012704,-0.000256350500236,-4.16564105759e-05,1793250780463224320
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.23685644,747,722.23685644,684,674,642,885,786.23685644,818.76314356,657,632.23685644,655.23685644,0.400984770941,0.00460974162671,0.0498522693055,0.999999958783,0.000123475674412,-0.000255806232316,-4.18446869201e-05,1793250780479890944
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.816136378,747,722.816136378,684,674,642,885,786.816136378,818.183863622,657,632.816136378,655.816136378,0.400987283299,0.00461083373979,0.049852221978,0.999999958865,0.000124430474811,-0.000254957553975,-4.22222837022e-05,1793250780496557568
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,723,684,674,642,885,787,818.393180383,657,632.606819617,656,0.401005621045,0.00461027371865,0.0498591411807,0.999999962343,0.000123549560973,-0.000241439262252,-4.19040978417e-05,1793250780513224448
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,723,684,674,642,885,787,818.969184757,657,632.030815243,656,0.4010313174,0.00460894547572,0.0498692997332,0.999999967081,0.000121815062868,-0.000222029757587,-4.12623817179e-05,1793250780529891328
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,723,684.542558615,674,642,885.542558615,786.457441385,819,657,632,656,0.401086532738,0.00460789405808,0.0498875593539,0.999999975265,0.000119593435385,-0.000182953240171,-4.11670999045e-05,1793250780546557696
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.881150073,747,722.881150073,685,674.118849927,642.118849927,886,786,819,657,632,656,0.401146026149,0.0046071798336,0.0499058790323,0.999999981618,0.000118024574211,-0.000145432433902,-4.10326464092e-05,1793250780563224320
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.292744822,747,722.292744822,685,674.707255178,642.707255178,886,786,819,657,632,656,0.401215829648,0.00460773598263,0.049922626952,0.999999985062,0.000119143459163,-0.000118449781187,-4.06214089161e-05,1793250780579891200
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.291837059,747,722,684.708162941,675,642.708162941,885.708162941,786.291837059,819,657,632,656,0.401291589974,0.00460744114571,0.0499349954248,0.999999987044,0.000120140821894,-9.94673581417e-05,-3.98090915041e-05,1793250780596557824
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.872633239,747,722,684.127366761,675,642.127366761,885.127366761,786.872633239,819,657,632,656,0.40137324838,0.00460630371475,0.0499430276374,0.999999988025,0.000121017860777,-8.84062725314e-05,-3.85996494477e-05,1793250780613224704
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.551679955,747,722,684.448320045,674.551679955,642,885.448320045,786.551679955,819,657,632,655.551679955,0.401469359972,0.00460518553333,0.0499463544486,0.999999988721,0.000118313557869,-8.44837959593e-05,-3.7707027265e-05,1793250780629891072
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.02317146,747,722,684.97682854,674,642,886,786.02317146,819,657,632.02317146,655.02317146,0.401570065792,0.00460401869026,0.0499481756841,0.999999989313,0.000114629068374,-8.29146798631e-05,-3.68822870593e-05,1793250780646557440
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.612683308,747,722,684.387316692,674,642,886,786.612683308,819,657,632.612683308,655.612683308,0.401683832544,0.00460153033614,0.0499455035199,0.999999989107,0.00011157516224,-8.98547939243e-05,-3.55415509961e-05,1793250780663224064
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,746.801346061,722,684.198653939,674,642,886.198653939,787,819,657,633,656,0.401811007963,0.00459933856902,0.049945127336,0.999999989158,0.000108649200373,-9.33145133055e-05,-3.42203079424e-05,1793250780679890944
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,746.222158905,722,684.777841095,674,642,886.777841095,787,819,657,633,656,0.401963868458,0.00459771493188,0.0499491492366,0.999999989783,0.000105968323582,-9.01073327169e-05,-3.29364050433e-05,1793250780696557568
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,746.355166735,722,685,674.355166735,642,886.644833265,787,818.644833265,657,632.644833265,656,0.40213325191,0.00459655916409,0.049949421283,0.999999989966,0.000103914126566,-9.09192739345e-05,-3.16639023519e-05,1793250780713224192
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746.931334113,722,685,674.931334113,642,886.068665887,787,818.068665887,657,632.068665887,656,0.402312916702,0.00459569452539,0.0499473600026,0.999999989871,0.000102249877504,-9.42320923693e-05,-3.03984932551e-05,1793250780729890816
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746.493988409,722,685,674.493988409,642,886,787,818.506011591,657,632,656,0.402533320275,0.00459396744928,0.0499497543287,0.999999990626,9.91642058116e-05,-8.98698446305e-05,-2.89542302991e-05,1793250780746557440
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.917319338,746.082680662,722,685,674.082680662,642,886.082680662,787,819,657,632.082680662,656,0.402762964432,0.0045920256922,0.0499528612891,0.999999991451,9.56070036382e-05,-8.48893228785e-05,-2.73925969466e-05,1793250780763224320
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.32718948,746.67281052,722,685,674.67281052,642,886.67281052,787,819,657,632.67281052,656,0.403015492515,0.00458948251491,0.0499566420368,0.999999992199,9.03361638607e-05,-8.24876154999e-05,-2.52591288897e-05,1793250780779891200
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.257871395,747,722,685,674.742128605,642,886.742128605,787,819,657,633,656,0.403291011421,0.00458610102012,0.0499611569302,0.999999993276,8.5114745204e-05,-7.53325274207e-05,-2.29947679374e-05,1793250780796557824
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.836624651,747,722,685,674.163375349,642,886.163375349,787,819,657,633,656,0.403595138908,0.00458167636642,0.0499665853565,0.999999994654,7.99548239474e-05,-6.22625777301e-05,-2.05675307435e-05,1793250780813224192
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.585303486,747,722,685,674,642,886,787,819,657,632.585303486,656,0.4039336909,0.00457956526626,0.0499745427672,0.999999995835,7.69292934038e-05,-4.5429629558e-05,-1.86599535436e-05,1793250780829890816
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.00749964,747,722,685,674,642,886,787,819,657,632.00749964,656,0.404285782641,0.00457836412692,0.0499834948711,0.999999996695,7.47432558488e-05,-2.71166291171e-05,-1.69567676848e-05,1793250780846557440
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.564922157,747,722,685,674,642,886,787,819,657,632.564922157,656,0.404679004429,0.00457307003957,0.0499904123974,0.999999997519,6.78690770768e-05,-1.2647023995e-05,-1.39867755701e-05,1793250780863224320
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,722.141710738,685.141710738,674,642,886.141710738,787,819,657,632.858289262,656,0.405075522728,0.0045682153081,0.0499936914682,0.999999998012,6.1875500882e-05,-4.95317659079e-06,-1.10606946138e-05,1793250780879891200
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,722.732563745,685.732563745,674,642,886.732563745,787,819,657,632.267436255,656,0.405480774763,0.00456492367445,0.0499855235064,0.99999999806,5.88683303265e-05,-1.85744340042e-05,-8.32658652405e-06,1793250780896557568
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,723,686,674,642,886.683029885,787,818.683029885,657,632.316970115,656,0.405897612605,0.00456130979671,0.0499699180496,0.999999997268,5.53129342141e-05,-4.87254218184e-05,-5.46357499139e-06,1793250780913224192
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,723,686,674,642,886.103954234,787,818.103954234,657,632.896045766,656,0.406324030904,0.00455742945197,0.0499481624582,0.999999994399,5.13042048838e-05,-9.25449988488e-05,-2.49397169532e-06,1793250780929891072
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,722.529313047,686,674,642,886,787,818.470686953,657,632.529313047,656,0.406799964418,0.00455345625083,0.0499309289104,0.99999999174,4.68228516218e-05,-0.000119697528196,4.56315052187e-07,1793250780946557696
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746.955797756,722,686,674.044202244,642,886.044202244,787,819,657,632,656,0.407294106365,0.00454927935829,0.0499171113427,0.999999989454,4.19826586886e-05,-0.000138986344583,3.44496223608e-06,1793250780963224576
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,746.384139432,722,686,674.615860568,642,886.615860568,787,819,657,632,656,0.40787624999,0.0045429142888,0.0499322496203,0.999999993568,3.40944474969e-05,-0.000107954072146,6.9417910631e-06,1793250780979890944
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,746,722,686,674.803480342,642.196519658,887,787,819,657,632,656,0.40847370052,0.00453604724174,0.0499523139008,0.999999997166,2.57564666192e-05,-6.99047801283e-05,1.08369835344e-05,1793250780996557312
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,746,722,686,674.204382885,642.795617115,887,787,819,657,632,656,0.409102507779,0.00452815187538,0.0499824692798,0.99999999959,1.64971163581e-05,-1.74808654675e-05,1.55482384719e-05,1793250781013224448
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746.374361808,722,686,674.374361808,642.625638192,887,787.374361808,818.625638192,657,632,656,0.409725390662,0.00452220576714,0.0499968284694,0.999999998957,4.12007339139e-05,2.77686328028e-06,1.95172429249e-05,1793250781029891328
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746.942567838,722,686,674.942567838,642.057432162,887,787.942567838,818.057432162,657,632,656,0.41034520589,0.00451726898332,0.0500030084048,0.999999996227,8.34903472115e-05,6.37896702209e-06,2.31019105579e-05,1793250781046557952
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.47866885,747,722.52133115,686.52133115,674.47866885,642,887,787.47866885,818.52133115,657,632,656,0.410967237817,0.0045129635072,0.0499769820655,0.999999988043,0.000143564550396,-5.05997564313e-05,2.7250953814e-05,1793250781063224832
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.103650056,747,722.896349944,687,674,642,887,787,819,657,632,656,0.411606195121,0.00450822685913,0.0499508130076,0.999999975737,0.000191787455362,-0.000103783460445,3.11954654927e-05,1793250781079891456
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.697162674,747,722.302837326,687,674,642,887,787,819,657,632,656,0.412323965606,0.00450111695781,0.0499410842492,0.999999978485,0.000174548751495,-0.000106838063175,3.38734201388e-05,1793250781096557824
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,722,687,674,642,887,787,819,657,632,656,0.413080452798,0.0044932837076,0.0499502527919,0.99999998524,0.000147047041554,-8.17994316001e-05,3.47328572768e-05,1793250781113224448
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,722,687,674,642,887,787,819,657,632,656,0.413877276725,0.00448469684207,0.049979109314,0.99999999313,0.000108852909837,-2.7492120404e-05,3.36976887713e-05,1793250781129890816
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.564970991,746.564970991,722,687,674,642,887.435029009,787,819.435029009,656.564970991,632,656,0.414636719746,0.0044806868186,0.0499750030115,0.999999998515,3.31970550393e-05,-3.7575637292e-05,2.13316836191e-05,1793250781146557440
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.010226992,722.010226992,687.020453983,674,642,888.010226992,787.010226992,820,656,632,656,0.415384993309,0.00447860728894,0.0499601727149,0.999999996278,-5.22825201712e-05,-6.8401666349e-05,5.62118160455e-06,1793250781163224064
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.598486181,722.598486181,688.196972362,674,642,888.598486181,787.598486181,820,656,632,656,0.416181596616,0.00450242750957,0.0499385214964,0.999999994815,-1.19044192202e-05,-0.000100900693188,6.88643980921e-06,1793250781179890944
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.183887314,747,722.816112686,688.816112686,674.367774628,642,889,788,820.183887314,656,632,656,0.417000419238,0.00451918575762,0.0499320129606,0.999999993762,2.7003776429e-05,-0.000108021989514,8.85255736968e-06,1793250781196557824
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.76314342,747,722.23685658,688.23685658,675.52628684,642,889,788,820.76314342,656,632,656,0.417867014675,0.00452076033823,0.0499580621053,0.99999999612,6.27515847167e-05,-6.05796362809e-05,1.23255646623e-05,1793250781213224448
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746.659127973,722,688.340872027,675.318255946,642,889.340872027,788,821.340872027,656.340872027,632,656,0.418723142866,0.00451199550688,0.0499716513634,0.999999997179,5.98065630324e-05,-4.26984510267e-05,1.55719653348e-05,1793250781229890816
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746.082456045,722,688.917543955,674.16491209,642,889.917543955,788,821.917543955,656.917543955,632,656,0.419572030253,0.00449607833639,0.0499766214328,0.999999998348,3.00955845255e-05,-4.52663511184e-05,1.86616096316e-05,1793250781246557696
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.505596476,746,722,689,673.505596476,642.494403524,890.494403524,787.505596476,822,657,632,656,0.420440266668,0.00449212528197,0.0499650203096,0.999999998337,1.5645135708e-05,-5.23659221518e-05,1.84137715654e-05,1793250781263224064
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.071110122,746,722,689,673.071110122,642.928889878,891,787,822.071110122,656.928889878,632.071110122,656,0.421321829486,0.00449054148196,0.049955871277,0.999999998442,7.27565611802e-06,-5.24449197994e-05,1.76578099007e-05,1793250781279890688
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.646509606,746,722,689,673.646509606,642.353490394,891,787,822.646509606,656.353490394,632.646509606,656,0.422275004745,0.00449160383564,0.0499837185188,0.99999999956,2.39743024612e-05,2.62548440018e-06,1.72472778414e-05,1793250781296557568
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.772256584,746.227743416,722.227743416,689.455486832,674,642.227743416,891,787.227743416,823,656.227743416,633,656,0.423205701338,0.00449501761614,0.0499948187452,0.999999998992,3.43247161352e-05,2.33054351381e-05,1.71451473796e-05,1793250781313224192
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.181728884,746.818271116,722.818271116,690.636542231,674,642.818271116,891,787.818271116,823,656.818271116,633,656,0.424100590648,0.00450217710637,0.0499792417876,0.999999999191,3.45627038519e-05,-1.07969401879e-05,1.75342857924e-05,1793250781329891072
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.400543224,746.599456776,722.599456776,690.599456776,674,643,891.400543224,788,823,657,632.599456776,656,0.425033706219,0.00450673848098,0.0499808047588,0.999999999302,3.15717325304e-05,-7.94575435633e-06,1.8341358782e-05,1793250781346557696
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.979145328,746.020854672,722.020854672,690.020854672,674,643,891.979145328,788,823,657,632.020854672,656,0.425983814974,0.0045101448798,0.0499899871745,0.99999999938,2.71453485007e-05,1.13328982782e-05,1.93342218406e-05,1793250781363224576
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.445470933,746.554529067,722.554529067,690.554529067,674,642.445470933,892,787.445470933,823,657,632,656,0.42690158115,0.00450112284894,0.0499996488739,0.999999999323,2.86038888944e-05,6.62859695073e-06,2.21809296001e-05,1793250781379891200
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746.867667083,722.867667083,691,673.867667083,642,892,787,823.132332917,656.867667083,632,656,0.427811138479,0.00449342966585,0.049998009275,0.999999999136,3.12781337629e-05,-1.25661711805e-05,2.43296597101e-05,1793250781396557824
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.28114399,722.28114399,691,673.28114399,642,892,787,823.71885601,656.28114399,632,656,0.428696672126,0.00449189229355,0.0499575200964,0.999999995943,3.7369667768e-05,-7.8417020442e-05,2.38448978512e-05,1793250781413224448
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.30213565,746.30213565,722,691.604271299,673.30213565,642.30213565,892.30213565,787.30213565,824,656.30213565,632,656,0.429628450286,0.00449251652538,0.0499428233114,0.999999994817,3.34673711809e-05,-9.33264971222e-05,2.31606319648e-05,1793250781429890816
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.882429208,746.882429208,722,692.764858416,673.882429208,642.882429208,892.882429208,787.882429208,824,656.882429208,632,656,0.430602802905,0.00449513081469,0.0499518720159,0.999999997663,2.03643626046e-05,-6.13373482277e-05,2.22926949354e-05,1793250781446557696
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,747,722.458595783,692.541404217,674,643,893.458595783,787.541404217,824.458595783,657,632,656,0.431514882889,0.00449952926761,0.049943110912,0.999999996459,1.75278449268e-05,-7.9209574655e-05,2.23888057221e-05,1793250781463224576
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,747,723,692.034507204,673.965492796,643,894.034507204,787,825,657,632.034507204,656,0.432412267315,0.00450380917902,0.0499310008045,0.999999993872,1.87820511567e-05,-0.000106710674036,2.27142439239e-05,1793250781479891200
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747,723,692.623159823,673.376840177,643,894.623159823,787,825,657,632.623159823,656,0.433327748437,0.00449890551593,0.0499377790611,0.999999995134,4.38381018306e-05,-8.53906155258e-05,2.2788804108e-05,1793250781496558080
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.79163595,747,723,693,673.20836405,643,894.79163595,787,825,657,632.79163595,656,0.434258114211,0.00449328159054,0.0499532987166,0.999999996816,5.08224274648e-05,-5.68533414479e-05,2.35053325576e-05,1793250781513224704
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.212566737,747,723,693,673.787433263,643,894.212566737,787,825,657,632.212566737,656,0.435214961758,0.00448637622949,0.0499843703924,0.999999999229,2.56549452462e-05,-1.54757534792e-05,2.53640011828e-05,1793250781529890816
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.36444496,747,722.63555504,693,673.63555504,643,894.36444496,787,825.36444496,657,632.36444496,656,0.436083943309,0.00448639141313,0.049975881184,0.99999999844,1.34938925239e-05,-4.71555442063e-05,2.67407764222e-05,1793250781546557440
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.940263291,747,722.059736709,693,673.059736709,643,894.940263291,787,825.940263291,657,632.940263291,656,0.436901963658,0.00449042042373,0.0499444471717,0.999999992227,8.87640241297e-06,-0.000121207673452,2.78380595138e-05,1793250781563224320
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,747,722.516537602,693.516537602,673,643,895,787,826,657,632.483462398,656,0.43780109904,0.00449084471421,0.04995425407,0.999999995904,2.1656633968e-05,-8.38784076667e-05,2.62185202602e-05,1793250781579890944
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,747,723,693.905146387,673.094853613,643,895.094853613,787,826,656.905146387,632,656,0.438696347869,0.00449079176561,0.0499675117286,0.999999998281,3.35880306622e-05,-4.12363852638e-05,2.46666948994e-05,1793250781596557568
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,747,723,693.316475881,673.683524119,643,895.683524119,787,826,656.316475881,632,656,0.439522482339,0.00449042649868,0.0499738822654,0.999999998492,3.06163045685e-05,-3.80549813629e-05,2.51045739495e-05,1793250781613224448
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,896,787,826,656,632,656,0.440345157299,0.00449029939182,0.0499688360637,0.999999998237,2.47768192907e-05,-4.76194822732e-05,2.53693017915e-05,1793250781629891328
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,896,787,826,656,632,656,0.441163809891,0.00449044918946,0.0499505158233,0.999999996963,1.5603041695e-05,-7.20034198328e-05,2.5432709766e-05,1793250781646557952
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.576367387,747,723,693,674,643,896,787,826.423632613,656.423632613,632,656,0.441962447132,0.00449064030245,0.0499563283715,0.999999997743,2.12330182059e-05,-5.80292181941e-05,2.63929409535e-05,1793250781663224320
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.000522303,747,723,693,674,643,896,787,826.999477697,656.999477697,632,656,0.442753892863,0.00449084626018,0.0499708119017,0.999999998641,3.21820273203e-05,-3.02728237526e-05,2.76754034067e-05,1793250781679890688
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+244,4.066666667,POSE1_TO_POSE2_PRESS,770,748,724,693.070129141,667.929870859,632,898.070129141,786,828,657,632,656.070129141,0.455236091591,0.00464239840012,0.0496297666347,0.999999819502,0.000223445806213,-0.000557656261017,9.33388244299e-06,1793250782629890560
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,748,724,693.654848564,667.345151436,632,898.654848564,786,828,657,632,656.654848564,0.455236837552,0.00464266296386,0.0496299985086,0.999999819516,0.000224453725765,-0.000557222021028,9.60081228271e-06,1793250782646557440
+246,4.100000000,HOLD_POSE2,769,748,723,694,668,632,898,785,828,657,632,657,0.455239001208,0.00464385799366,0.0496315471718,0.999999818815,0.00022923948596,-0.000556524538476,9.9894011907e-06,1793250782684943360
+247,4.116666667,HOLD_POSE2,769.574717847,747.425282153,723.574717847,694,667.425282153,632,898,785,828,657,632,656.425282153,0.455237912641,0.00464298673463,0.0496296018603,0.999999818806,0.000226354834864,-0.000557732343266,9.25352878616e-06,1793250782701610240
+248,4.133333333,HOLD_POSE2,770,747,723.850511972,693.850511972,667,632,898,785.149488028,828,656.850511972,632,656.149488028,0.455237448695,0.00464200126986,0.0496284596901,0.999999818926,0.00022414997185,-0.000558412453858,8.90826642632e-06,1793250782718277120
+249,4.150000000,HOLD_POSE2,770,747,723.275592722,693.275592722,667,632,898,785.724407278,828,656.275592722,632,656.724407278,0.45523876237,0.00464069078433,0.0496296031966,0.999999819438,0.000223879731816,-0.000557590788383,9.67464949494e-06,1793250782734943744
+250,4.166666667,HOLD_POSE2,769.692092697,747,723,693,667.307907303,632,898,785.692092697,828,656.307907303,631.692092697,657,0.455238682826,0.00464103251924,0.0496297658112,0.999999819066,0.000224985365825,-0.000557808063261,9.95548538391e-06,1793250782751610368
+251,4.183333333,HOLD_POSE2,769.100692308,747,723,693,667.899307692,632,898,785.100692308,828,656.899307692,631.100692308,657,0.455237320531,0.0046428954688,0.0496290253096,0.999999817876,0.000227357779742,-0.000558981900131,9.78927347026e-06,1793250782768276736
+252,4.200000000,HOLD_POSE2,769,747.477851862,723.477851862,693.477851862,667.522148138,632,898,785.477851862,828,657,631.477851862,657,0.455236938084,0.00464267005602,0.0496285568004,0.999999817803,0.000226498856366,-0.000559465946627,9.47579755138e-06,1793250782784943616
+253,4.216666667,HOLD_POSE2,769.053936168,748,724,693.946063832,667.053936168,632,898,786,828,657,631.946063832,657,0.455236861653,0.00464190688854,0.0496282859464,0.999999817998,0.000225048360224,-0.000559707340572,9.21072394026e-06,1793250782801609984
+254,4.233333333,HOLD_POSE2,769.631751438,748,724,693.368248562,667.631751438,632,898,786,828,657,631.368248562,657,0.455237804613,0.00464008280541,0.0496293928048,0.999999818577,0.000224292253397,-0.000558966668661,9.70928781094e-06,1793250782818276608
+255,4.250000000,HOLD_POSE2,770,748,723.787064579,693,667.787064579,632,898,785.787064579,828,657,631.212935421,656.787064579,0.455238276835,0.004639448034,0.0496296042133,0.999999818776,0.000223721704206,-0.000558838729225,9.83091737964e-06,1793250782834943744
+256,4.266666667,HOLD_POSE2,770,748,723.199961188,693,667.199961188,632,898,785.199961188,828,657,631.800038812,656.199961188,0.455237921879,0.00464090310932,0.0496282421464,0.999999818305,0.000223477215097,-0.000559787477184,9.2902017488e-06,1793250782851610368
+257,4.283333333,HOLD_POSE2,769.618179188,747.618179188,723.381820812,693,667.381820812,632,898,785.381820812,828,657,632,656.381820812,0.455236999866,0.00464165758574,0.0496276451178,0.999999817554,0.000223170156338,-0.000561251976792,9.0859591864e-06,1793250782868276736
+258,4.300000000,HOLD_POSE2,769.039145665,747.039145665,723.960854335,693,667.960854335,632,898,785.960854335,828,657,632,656.960854335,0.455235784963,0.00464205019881,0.0496274432359,0.999999816657,0.000222830779962,-0.000562982865265,9.05550690759e-06,1793250782884943360
+259,4.316666667,HOLD_POSE2,769.53932093,747,723.46067907,693,667.46067907,632,897.46067907,786,827.46067907,657,632,657,0.455237898063,0.00464150197279,0.0496284607445,0.999999817881,0.000224129193923,-0.000560283810509,9.29646778623e-06,1793250782901609984
+260,4.333333333,HOLD_POSE2,770,747.116730025,723,693,667.116730025,632,897.116730025,786,827.116730025,657,632,657,0.45523965945,0.00464115186903,0.0496292253879,0.999999818799,0.000225111044752,-0.000558244993591,9.46207006453e-06,1793250782918276608
+261,4.350000000,HOLD_POSE2,770,747.690162679,723,693,667.690162679,632,897.690162679,786,827.690162679,657,632,657,0.45523910068,0.00464184381101,0.0496286547855,0.999999817956,0.000224389741638,-0.000560046029062,9.2558393174e-06,1793250782934943232
+262,4.366666667,HOLD_POSE2,770,748,723.270773415,693,667.729226585,632,898,785.729226585,828,657,632,657,0.455238424613,0.00464251334843,0.0496281587674,0.999999817046,0.000225175980182,-0.000561353786836,9.26978399266e-06,1793250782951610112
+263,4.383333333,HOLD_POSE2,770,748,723.859821434,693,667.140178566,632,898,785.140178566,828,657,632,657,0.455237610671,0.00464315655087,0.0496277504178,0.999999816055,0.000227734225159,-0.000562081732178,9.54252899503e-06,1793250782968276992
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,748,724,693,667,632,898,785,828,657,631,657,0.455239367584,0.00464364585933,0.0496290021062,0.999999818101,0.000223835654727,-0.000560009258417,9.24166831036e-06,1793250783001044480
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747.423004212,723.423004212,693.576995788,667,632,898,785,828,657,631.576995788,657,0.455239117751,0.00464269731814,0.0496282320122,0.999999817751,0.00022465437386,-0.000560305030938,9.32501684554e-06,1793250783017711104
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.84667325,747.15332675,723.15332675,693.84667325,667,632,898,785,828,657,632,657,0.455238903898,0.00464249148461,0.0496276523026,0.999999817485,0.000225419119915,-0.000560473740978,9.28062463122e-06,1793250783034377728
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.272168387,747.727831613,723.727831613,693.272168387,667,632,898,785,828,657,632,657,0.455238788881,0.00464432581811,0.0496275955658,0.99999981745,0.000226035605795,-0.000560293419123,8.88533731984e-06,1793250783051044608
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747.689421811,723.689421811,693,667,632,898.310578189,785.310578189,828,657,632,657,0.45523898065,0.00464461247265,0.0496277368284,0.999999817605,0.000225842269958,-0.000560092753195,8.97575940374e-06,1793250783067711232
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747.099255941,723.099255941,693,667,632,898.900744059,785.900744059,828,657,632,657,0.455239448594,0.00464350588061,0.0496280563334,0.999999817931,0.000224919919028,-0.000559873773203,9.50342523361e-06,1793250783084377600
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747,723.481619357,693.481619357,667,632,898.518380643,785.518380643,828,657,632,656.518380643,0.45523903234,0.00464305406389,0.0496279008558,0.999999817386,0.000225418439952,-0.000560649988129,9.27261676182e-06,1793250783101044224
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.060218998,747.060218998,724,694,667.060218998,632,898.060218998,785.060218998,828,657,632,656.060218998,0.455238470223,0.00464274195173,0.0496277398743,0.999999816834,0.000226035109175,-0.000561392326997,8.91721962338e-06,1793250783117710848
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.635421712,747.635421712,724,694,667.635421712,632,898.635421712,785.635421712,828,657,632,656.635421712,0.455238189556,0.00464249241398,0.0496283531069,0.999999817733,0.000225205366015,-0.000560124193053,8.80782060991e-06,1793250783134377728
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.788831778,747.788831778,724,693.788831778,667.788831778,632,898.788831778,786,827.788831778,656.788831778,631.788831778,656.788831778,0.455231870633,0.00464193662633,0.0496257465365,0.999999815371,0.000225115902404,-0.000564357508168,9.07118739199e-06,1793250783151044352
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.212144047,747.212144047,724,693.212144047,667.212144047,632,898.212144047,786,827.212144047,656.212144047,631.212144047,656.212144047,0.455215099854,0.00464085073849,0.0496175666803,0.999999807235,0.000226307818289,-0.000578113501232,9.9797893872e-06,1793250783167711232
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,667,632,898,786,827.372778244,656,631,656,0.455184387701,0.00464187859561,0.04960306574,0.999999793053,0.000226138905071,-0.000602213851764,9.66294511408e-06,1793250783184377856
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747,724,693,667,632,898,786,827.962492643,656,631,656,0.455145562446,0.00464413653434,0.0495848862803,0.999999774687,0.00022517806514,-0.000632334042567,8.63295950898e-06,1793250783201044480
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.542755672,747,723.457244328,693,667,632,898,785.457244328,828,656.542755672,631.542755672,656.542755672,0.455082768705,0.00464401700664,0.0495631834787,0.999999752539,0.000226058080137,-0.000666148816393,8.09250395521e-06,1793250783217711104
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747.12061899,723,692.87938101,667,632,898,785.12061899,828,656.87938101,632,656.87938101,0.45501712233,0.00464425051085,0.0495429856385,0.999999731852,0.000227143007885,-0.000696165749077,7.44716821136e-06,1793250783234377472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,747.691914882,723,692.308085118,667,632,898,785.691914882,828,656.308085118,632,656.308085118,0.45494690026,0.00464640643479,0.0495293050492,0.999999721068,0.000228526386692,-0.000711054936922,6.28572653294e-06,1793250783251044096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769.72804177,748,723,692.27195823,667,632,898,785.72804177,828,656.27195823,632,656.27195823,0.454871544303,0.00464758564733,0.0495203863304,0.999999714516,0.0002303380648,-0.000719640111189,5.4259834528e-06,1793250783267710720
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.137759665,748,723,692.862240335,667,632,898,785.137759665,828,656.862240335,632,656.862240335,0.454790179196,0.00464762163066,0.0495170413252,0.999999713115,0.000232651062111,-0.000720846511739,4.91937506715e-06,1793250783284377600
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769.445653684,747.554346316,723.445653684,693.445653684,667,632,898,785,828,657,632,656.554346316,0.454693108626,0.00464909224658,0.0495178831097,0.999999714115,0.000235307836885,-0.000718597034112,4.26626944498e-06,1793250783301044224
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,747,723.973300984,694,667.026699016,632,898,785.026699016,827.973300984,657,631.973300984,656,0.454590028141,0.00465096741951,0.0495201633425,0.99999971591,0.000238112534756,-0.000715171485059,3.59115830014e-06,1793250783317710848
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,747,723.397947479,694,667.602052521,632,898,785.602052521,827.397947479,657,631.397947479,656,0.454461697045,0.00465218125151,0.049525811248,0.999999719279,0.000241806379336,-0.000709197541919,3.38030521916e-06,1793250783334377728
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769.822991638,747,723.177008362,693.822991638,667.822991638,632.177008362,897.822991638,785.822991638,827.177008362,657,631,656,0.454327119106,0.00465327720258,0.0495330739699,0.999999724731,0.000244850299138,-0.0007004108872,3.14581483553e-06,1793250783351044352
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769.248927893,747,723.751072107,693.248927893,667.248927893,632.751072107,897.248927893,785.248927893,827.751072107,657,631,656,0.45417852861,0.00465410872946,0.0495439589577,0.999999734802,0.000246436343049,-0.000685314913931,2.85830258785e-06,1793250783367710976
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,723.664396387,693,667,633,897,785,827.664396387,657,631.335603613,656,0.454007287398,0.00465628402639,0.0495513846561,0.999999739714,0.000250939413453,-0.000676458795173,2.2431695152e-06,1793250783384377600
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,723.071850575,693,667,633,897,785,827.071850575,657,631.928149425,656,0.453818704507,0.00465948813004,0.0495561618817,0.999999740753,0.000257675794921,-0.000672379983193,1.37720593352e-06,1793250783401044736
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769.50714194,747,723.50714194,693.50714194,667.50714194,633,897,785.50714194,827.50714194,657,632,656,0.453592096826,0.00466055601478,0.0495578799069,0.999999739226,0.000261393217905,-0.00067321612177,1.15054931553e-06,1793250783417711360
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,724,693.91597917,668,633,897,786,827.91597917,657,632,656,0.453354733022,0.00466152100155,0.0495600467154,0.999999738129,0.000264863219702,-0.000673490431788,9.32567327741e-07,1793250783434377728
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,747,724,693.340523741,668,633,897,786,827.340523741,657,632,656,0.453085146637,0.0046636082769,0.0495673075105,0.999999741614,0.000269322656359,-0.000666511789942,2.49340518009e-07,1793250783451044096
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769.759687048,747,724,693,668,633.240312952,897.240312952,786,827,656.759687048,631.759687048,656,0.452804256269,0.00466600363979,0.0495744859659,0.999999744225,0.000274977602192,-0.000660255871698,-3.85357714088e-07,1793250783467710720
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747.435594303,723,692.435594303,668,634,898,786,827.435594303,656.435594303,631.564405697,656,0.451438080221,0.00467920457455,0.0495859963214,0.999999738005,0.000302514716869,-0.00065761073089,-4.7690803974e-06,1793250783534377728
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769.140917716,747,723.140917716,692.140917716,668,634.140917716,897.859082284,786,827,656.140917716,631.859082284,656,0.451032432471,0.00468347857551,0.0495815731653,0.999999734903,0.000308195769833,-0.000659668026225,-6.8948706196e-06,1793250783551044352
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,769.628903128,746.371096872,722,685.628903128,674,642,886,787,819,656,632,656,0.406610768895,0.00460539694489,0.049807762483,0.999999934952,0.000124503613608,-0.000335733342347,-4.33255902054e-05,1793250784534377472
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.540960355,747,722.540960355,685.540960355,674,642,885.459039645,787,819,656.540960355,632.540960355,656,0.405612621371,0.00461257250627,0.0497679004109,0.999999909554,0.000129607408885,-0.000402543509834,-4.53157626213e-05,1793250784567711232
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,747,722,685,674.273678041,642,886,786.726321959,819,657,632,655.273678041,0.404446255007,0.00461703301778,0.0498115017976,0.999999934766,0.000137841273975,-0.000330588552754,-4.66691493228e-05,1793250784617711104
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,747,722,685,674.86250692,642,886,786.13749308,819,657,632,655.86250692,0.404122002678,0.0046169327652,0.0498367803965,0.999999945418,0.000138321087034,-0.000296461855992,-4.62738987686e-05,1793250784634377472
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,746.400627484,722,685,674,641.400627484,886,787,819,657,632,655.599372516,0.403170379099,0.00462198903788,0.0498401938753,0.999999942139,0.000146776582576,-0.000303089533656,-4.81108705309e-05,1793250784684377600
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,747,722.494224807,685,674,642,885.494224807,787,819,657,632.494224807,656,0.402018708306,0.0046053184399,0.0498123982595,0.999999937766,7.24287593899e-06,-0.000348605435691,-5.37509113399e-05,1793250784767710976
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.917886431,746.917886431,722,685,674,642,885,787,819,657,632,656,0.401859556391,0.00459121873763,0.0498173421377,0.99999994253,-7.54380969002e-06,-0.000334522990244,-5.45748048238e-05,1793250784784377600
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,769.23728232,746.23728232,722,684.76271768,674,642,885,786.76271768,819,657,632.23728232,656,0.40160183406,0.0045684775431,0.0498285995656,0.999999950682,3.36649573877e-06,-0.000310785955899,-4.51385638086e-05,1793250784817710848
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769.827232604,746.827232604,722,684.172767396,674,642,885,786.172767396,819,657,632.827232604,656,0.40149763768,0.00457814021475,0.0498352451805,0.999999951256,8.75737129842e-05,-0.000298194030158,-2.99972233192e-05,1793250784834377472
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,642,885.409047671,786.409047671,819,657,633,656,0.401403901243,0.00458634157373,0.0498339890143,0.999999948507,0.000119127835846,-0.000296715458458,-2.74572607849e-05,1793250784851044096
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,642,885.987493696,786.987493696,819,657,633,656,0.401314496572,0.00459393776103,0.0498294604942,0.99999994629,0.000128876802575,-0.000299839245804,-3.01358901631e-05,1793250784867710976
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769.43606113,747,722,684.56393887,674,641.43606113,886,786.43606113,819,657,632.43606113,656,0.401246384217,0.00458874669023,0.049830244114,0.999999947133,0.000121175055069,-0.000300283028147,-2.96782960015e-05,1793250784884377856
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,747,722,684.113446356,674,642,886,787,819,657,632.113446356,656,0.401066548007,0.00458641478388,0.0498348862088,0.999999951329,0.000116066469112,-0.000287944695013,-3.09440840298e-05,1793250784951044096
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,747,722,684.046534496,674,642,886,786.953465504,819,657,632,656,0.401021302154,0.00459282741205,0.0498364977151,0.999999951346,0.000124184092356,-0.000284394315821,-3.17275388186e-05,1793250784984377344
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,747,722,684.623361421,674,642,886,786.376638579,819,657,632,656,0.401008622885,0.00459140971939,0.049836628024,0.999999951964,0.000122775211598,-0.000282798253071,-3.19979497973e-05,1793250785001044224
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,642,886,786,819,657,632.19926122,656,0.400997598771,0.0045903401725,0.0498367550114,0.999999952434,0.000121516780549,-0.000281664614348,-3.21157503031e-05,1793250785017711104
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,642,886,786,819,657,632.773416673,656,0.400989688699,0.00458992563442,0.0498368757498,0.999999952631,0.000120541408815,-0.000281400989967,-3.19464262533e-05,1793250785034377728
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769.642823294,747,722,685,674,642,885.642823294,786.357176706,819,657,632.642823294,656,0.400984562116,0.00458943861635,0.0498368631345,0.999999952747,0.000120024925744,-0.000281202212424,-3.20288599067e-05,1793250785051044608
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769.052802029,747,722,685,674,642,885.052802029,786.947197971,819,657,632.052802029,656,0.400981250096,0.00458890434838,0.0498367635856,0.999999952809,0.000119807593598,-0.00028104570874,-3.22754151643e-05,1793250785067711232
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,747,722,685,674,642,885,787,819,657,632,655.475110319,0.400981508064,0.00458988754555,0.0498382453712,0.999999953705,0.000120456569605,-0.000277544535407,-3.24037410016e-05,1793250785084377856
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.101625548,747,722,685,674.101625548,642,885.101625548,786.898374452,819,657,632.101625548,655.101625548,0.400981837365,0.00459088965108,0.0498397431482,0.999999954528,0.000120855869114,-0.000274377553405,-3.24908589441e-05,1793250785101044480
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,769.152339361,747,722,685,674.152339361,642,885.152339361,786,819,657,632.152339361,656,0.40098052501,0.0045919054233,0.0498414475764,0.999999955274,0.000117964691435,-0.000272820838083,-3.32383959778e-05,1793250785151044352
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.428444063,747,722,685,674.428444063,642,885.428444063,786,819,657,632,656,0.400979813347,0.00459118466998,0.0498415066315,0.999999955494,0.000117510653665,-0.000272240756981,-3.29800219055e-05,1793250785167710976
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,747,722,685,674.99274944,642,886,786,819,657,632,656,0.400978816235,0.0045901115699,0.049841508565,0.999999955673,0.000117149910338,-0.000271805011395,-3.24329896868e-05,1793250785184377600
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,747,722,685,674.414527216,642,886,786,819,657,632,656,0.400979071764,0.00458899207827,0.0498428761464,0.999999956073,0.000116179408465,-0.000270783859476,-3.21203561679e-05,1793250785201044480
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.837065325,747,722,684.837065325,674,642,886,786.162934675,818.837065325,657,632.162934675,655.837065325,0.400979062524,0.0045884562634,0.0498436155377,0.99999995627,0.000115855834006,-0.000270204052846,-3.20342813202e-05,1793250785217711104
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.261528873,747,722,684.261528873,674,642,886,786.738471127,818.261528873,657,632.738471127,655.261528873,0.400978382803,0.00458939850152,0.0498427641542,0.999999955956,0.000117170483021,-0.000270741871181,-3.25219242101e-05,1793250785234377472
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,746.087410296,722.912589704,684,674,642,886,786.087410296,818.912589704,657,632.087410296,655.912589704,0.400981934565,0.00458870970835,0.0498443427831,0.999999956984,0.000116412017668,-0.000267288880411,-3.22048977251e-05,1793250785267710720
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.069619035,747,722,684.069619035,674,641.069619035,885,786.069619035,819,657,632,656,0.40098285196,0.00459010612706,0.0498458990812,0.999999957914,0.000114032639245,-0.000264817499229,-3.22393238765e-05,1793250785301043968
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,747,722.219387547,684.780612453,674,642,885,787,818.780612453,657,632,656,0.400978676314,0.00459009763704,0.0498425061568,0.999999955971,0.00011772928156,-0.000270429102448,-3.26606258761e-05,1793250785334377728
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,747,722.79524063,684.20475937,674,642,885,787,818.20475937,657,632,656,0.400980849217,0.00459106462386,0.0498446523857,0.999999956832,0.000119220388756,-0.000266518651782,-3.30087330681e-05,1793250785351044352
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,747,722.619332036,684.380667964,674,642,885.380667964,786.619332036,818.380667964,657,632,656,0.400981555655,0.00459098555799,0.0498453026278,0.999999957149,0.000119504023306,-0.000265213185481,-3.28904596852e-05,1793250785367710720
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,747,722.028621926,684.971378074,674,642,885.971378074,786.028621926,818.971378074,657,632,656,0.400981452937,0.00459032930886,0.0498451274253,0.999999957172,0.00011912140747,-0.000265345078367,-3.25148502675e-05,1793250785384377344
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770,746.451064823,722,684.451064823,674,642,886,786,819,657,632,656,0.400981050699,0.00458912783929,0.0498454328659,0.999999957562,0.000115778357326,-0.00026539942378,-3.21542092054e-05,1793250785401044224
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..513a4a4979290dadd7319e31ee6086d027b98faa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+1,0.016666667,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+2,0.033333333,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+3,0.050000000,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+4,0.066666667,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
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+372,6.200000000,pose2_to_pose3_retreat,0.576279165992,0.0101500378181,1.04003346833,0.546849845039,0.0188226734799,1.03970486036
+373,6.216666667,pose2_to_pose3_retreat,0.576178528504,0.0101501306282,1.04003341022,0.546749206978,0.018822764364,1.03970480284
+374,6.233333333,pose2_to_pose3_retreat,0.576089449781,0.0101502064674,1.04003341602,0.546660127275,0.0188228369963,1.03970481188
+375,6.250000000,pose2_to_pose3_retreat,0.576011424788,0.0101501544858,1.04003350396,0.546582102411,0.0188227854794,1.03970490093
+376,6.266666667,pose2_to_pose3_retreat,0.575943383458,0.0101500847437,1.04003347914,0.546514063877,0.0188227254335,1.03970488159
+377,6.283333333,pose2_to_pose3_retreat,0.575884919325,0.0101500844682,1.04003348771,0.546455598923,0.0188227223435,1.03970488924
+378,6.300000000,pose2_to_pose3_retreat,0.575835455491,0.0101500254737,1.04003343282,0.546406135159,0.0188226634231,1.03970483012
+379,6.316666667,pose2_to_pose3_retreat,0.575795639202,0.0101500742083,1.0400335757,0.546366318546,0.0188227108071,1.03970496639
+380,6.333333333,pose2_to_pose3_retreat,0.575763142188,0.0101501749353,1.04003370523,0.546333820551,0.0188228080705,1.03970509231
+381,6.350000000,pose2_to_pose3_retreat,0.575737340997,0.0101501391485,1.04003342365,0.546308018885,0.0188227708553,1.03970481561
+382,6.366666667,pose2_to_pose3_retreat,0.575717204302,0.0101500934411,1.04003353694,0.546287883349,0.0188227288816,1.03970492356
+383,6.383333333,pose2_to_pose3_retreat,0.575701653529,0.0101500386659,1.04003337205,0.54627233293,0.0188226755551,1.03970476531
+384,6.400000000,pose2_to_pose3_retreat,0.57568983401,0.0101500481528,1.04003336801,0.546260513843,0.0188226866126,1.03970476412
+385,6.416666667,pose2_to_pose3_retreat,0.575681024858,0.0101500806349,1.04003354108,0.54625170542,0.0188227214909,1.03970493502
+386,6.433333333,pose2_to_pose3_retreat,0.575675163689,0.0101499527196,1.04003360561,0.546245845256,0.0188225970538,1.03970500151
+387,6.450000000,pose2_to_pose3_retreat,0.575671321862,0.0101500007881,1.04003356654,0.54624200208,0.0188226405676,1.03970496306
+388,6.466666667,pose2_to_pose3_retreat,0.575669130075,0.0101500729396,1.04003351666,0.546239808843,0.0188227078034,1.03970491331
+389,6.483333333,pose2_to_pose3_retreat,0.575668011919,0.0101501000185,1.04003351261,0.546238690204,0.0188227332077,1.03970490831
+390,6.500000000,pose2_to_pose3_retreat,0.575667513459,0.0101501090563,1.04003351748,0.546238191609,0.0188227417588,1.03970491243
+391,6.516666667,pose2_to_pose3_retreat,0.575667427078,0.0101501106225,1.04003351833,0.546238105204,0.0188227432407,1.03970491314
+392,6.533333333,pose2_to_pose3_retreat,0.575667225182,0.0101501142831,1.0400335203,0.546237903254,0.0188227467042,1.03970491481
+393,6.550000000,pose2_to_pose3_retreat,0.575666865268,0.0101501208089,1.04003352382,0.546237543242,0.0188227528786,1.03970491778
+394,6.566666667,pose2_to_pose3_retreat,0.575666652656,0.0101501246639,1.04003352589,0.546237330572,0.0188227565259,1.03970491954
+395,6.583333333,pose2_to_pose3_retreat,0.575666495936,0.0101501275054,1.04003352742,0.54623717381,0.0188227592144,1.03970492083
+396,6.600000000,pose2_to_pose3_retreat,0.57566624073,0.0101501321327,1.04003352992,0.546236918535,0.0188227635925,1.03970492294
+397,6.616666667,pose2_to_pose3_retreat,0.575666195863,0.0101501329462,1.04003353036,0.546236873655,0.0188227643622,1.03970492331
+398,6.633333333,pose2_to_pose3_retreat,0.57566583635,0.0101501116075,1.04003348426,0.546236514165,0.0188227430581,1.03970487611
+399,6.650000000,pose2_to_pose3_retreat,0.575665415695,0.0101500761769,1.0400334117,0.546236093582,0.0188227078129,1.03970480205
+400,6.666666667,pose2_to_pose3_retreat,0.575664983287,0.0101500397564,1.04003333711,0.546235661246,0.0188226715829,1.03970472591
+401,6.683333333,pose2_to_pose3_retreat,0.575664825961,0.0101500265053,1.04003330997,0.546235503948,0.0188226584011,1.03970469821
+402,6.700000000,pose2_to_pose3_retreat,0.575664751856,0.0101500340715,1.04003332298,0.546235429992,0.0188226665076,1.03970471212
+403,6.716666667,pose2_to_pose3_retreat,0.575664655099,0.010150055458,1.04003336146,0.546235333543,0.0188226890227,1.03970475276
+404,6.733333333,pose2_to_pose3_retreat,0.575664547895,0.0101500791538,1.04003340409,0.546235226681,0.0188227139688,1.03970479778
+405,6.750000000,pose2_to_pose3_retreat,0.575664423174,0.0101501067212,1.0400334537,0.546235102358,0.018822742991,1.03970485016
+406,6.766666667,pose2_to_pose3_retreat,0.575664317201,0.010150127426,1.04003350515,0.546234996672,0.0188227647304,1.03970490319
+407,6.783333333,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+408,6.800000000,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97856422b054632b17a633f614669f03bc680049
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37829de760d7a5bb7e73e86070b34e9d8997fb73bfceb2a614bbc25af1a51a6d
+size 26037721
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd19c86cf08db6d76ed845a5a0d8fba8672074b0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+36,0.600000000,BASELINE,770,747,722.901662811,685,675,642,885,787,818.098337189,657,632,656,0.400981619364,0.00458925215058,0.0498490113824,0.99999995941,0.000112125083766,-0.000259949391707,-3.21672884137e-05,1793250786158120960
+37,0.616666667,BASELINE,769.51324699,746.51324699,722.51324699,684.51324699,675,642,885,786.51324699,818.48675301,657,632,656,0.40098078117,0.00458916826884,0.0498483139543,0.999999959064,0.000112600972763,-0.000261070652827,-3.21800213729e-05,1793250786174787840
+38,0.633333333,BASELINE,769.072757139,746,722,684,674.927242861,642,885.072757139,786,819,657,632.072757139,656,0.400979681348,0.00458862605739,0.0498474643518,0.999999958651,0.000112937866933,-0.000262505773239,-3.2163968406e-05,1793250786191454208
+39,0.650000000,BASELINE,769.651673204,746,722,684,674.348326796,642,885.651673204,786,819,657,632.651673204,656,0.400980556812,0.00458759455894,0.0498479515593,0.999999958912,0.000112270561644,-0.000261798001796,-3.21502153706e-05,1793250786208121088
+40,0.666666667,BASELINE,769.77009952,746.22990048,722,684,674,642,885.77009952,786.22990048,818.77009952,657,633,655.77009952,0.400980354614,0.00458747507652,0.0498477559228,0.999999958893,0.00011189915455,-0.000262007627195,-3.23056457258e-05,1793250786224787968
+41,0.683333333,BASELINE,769.192912758,746.807087242,722,684,674,642,885.192912758,786.807087242,818.192912758,657,633,655.192912758,0.400978524508,0.0045887332801,0.0498465287865,0.999999958452,0.000111974729526,-0.000263603066784,-3.27166434932e-05,1793250786241454592
+42,0.700000000,BASELINE,769.380495684,747,722.380495684,684,674,642,885.380495684,787,818.380495684,657,633,655.380495684,0.400978622433,0.00458945211195,0.0498464271942,0.999999958273,0.000114476698008,-0.000263205788836,-3.27255018164e-05,1793250786258121216
+43,0.716666667,BASELINE,769.952007323,747,722.952007323,684,674,642,885.952007323,787,818.952007323,657,633,655.952007323,0.400979688264,0.00458990016906,0.0498468906463,0.999999958214,0.000118196761433,-0.00026180812934,-3.25324786004e-05,1793250786274787840
+44,0.733333333,BASELINE,769.457477995,747,723,684,674,642,886,787,819,657,633,656,0.400978701826,0.00458898534456,0.0498464621291,0.999999958212,0.00011482999382,-0.000263324956172,-3.24084032858e-05,1793250786291454720
+45,0.750000000,BASELINE,769,747,722.867893094,684,674,642,886,787,819,657,632.867893094,656,0.400978523491,0.00458798300753,0.049846516313,0.999999958428,0.000111825870574,-0.000263808890826,-3.23009441401e-05,1793250786308121344
+46,0.766666667,BASELINE,769,747,722.287377364,684,674,642,886,787,819,657,632.287377364,656,0.400981726687,0.00458710770953,0.0498484864736,0.999999959411,0.00011225784356,-0.000259880004965,-3.22284308814e-05,1793250786324787712
+47,0.783333333,BASELINE,769,746.709189652,722,684,674,642,885.709189652,786.709189652,818.709189652,657,632,656,0.400982432904,0.00458776755997,0.0498489546147,0.999999959681,0.000111837837817,-0.000258983556397,-3.25158145207e-05,1793250786341454336
+48,0.800000000,BASELINE,769,746.133284137,722,684,674,642,885.133284137,786.133284137,818.133284137,657,632,656,0.400980691214,0.00458993238906,0.0498479502553,0.99999995926,0.000110582597,-0.000261059949346,-3.3156022136e-05,1793250786358120960
+49,0.816666667,BASELINE,769,746.441386073,722,684,674,642,885,786,818.441386073,657,632,656,0.400980418934,0.0045903705323,0.0498479979341,0.999999959053,0.000111529435851,-0.000261474741717,-3.29567237219e-05,1793250786374787840
+50,0.833333333,BASELINE,769,747,722,684.016085781,674,642,885,786,818.983914219,657,632,656,0.400980555571,0.00459024206358,0.0498483222357,0.999999958909,0.000113081705464,-0.000261413359183,-3.25119766823e-05,1793250786391454720
+51,0.850000000,BASELINE,769,747,722,684.605085872,674,642,885,786,818.394914128,657,632,656,0.400979496994,0.00458845158025,0.0498472157777,0.999999958762,0.000112580015448,-0.000262212952645,-3.23289079958e-05,1793250786408121088
+52,0.866666667,BASELINE,769.190823932,746.809176068,722.190823932,684.809176068,674,642,885,786.190823932,818,657,632,655.809176068,0.400979224883,0.00458749124291,0.0498468654124,0.999999958795,0.00011197786328,-0.000262353554483,-3.2276092309e-05,1793250786424787712
+53,0.883333333,BASELINE,769.769924578,746.230075422,722.769924578,684.230075422,674,642,885,786.769924578,818,657,632,655.230075422,0.400980553026,0.00458822003528,0.0498480534978,0.999999959192,0.000111171296982,-0.00026115328095,-3.24883073667e-05,1793250786441454592
+54,0.900000000,BASELINE,769.652607616,746.347392384,722.652607616,684.347392384,674,642,885.347392384,787,818.347392384,657,632,655.347392384,0.400981414557,0.0045881055106,0.0498484966315,0.999999959392,0.000110647830357,-0.000260639727006,-3.22643360909e-05,1793250786458121216
+55,0.916666667,BASELINE,769.07621619,746.92378381,722.07621619,684.92378381,674,642,885.92378381,787,818.92378381,657,632,655.92378381,0.4009819685,0.0045874350762,0.0498484486972,0.999999959461,0.000110310981425,-0.000260578854674,-3.17528333113e-05,1793250786474788096
+56,0.933333333,BASELINE,769.507645553,747,722,684.492354447,674,642,885.492354447,787,819,657,632,656,0.400982296118,0.00458814042221,0.049848804268,0.999999959344,0.000112855357115,-0.000259917658116,-3.19123412039e-05,1793250786491454464
+57,0.950000000,BASELINE,769.907973959,747,722,684,674,642,885.092026041,786.907973959,819,657,632,656,0.400982245311,0.00458896087316,0.0498489842254,0.999999959135,0.000115310406077,-0.000259611994922,-3.2172779252e-05,1793250786508121344
+58,0.966666667,BASELINE,769.326886352,747,722,684,674,642,885.673113648,786.326886352,819,657,632,656,0.400980366689,0.00458927892817,0.0498479041467,0.999999958628,0.000114957521435,-0.0002616819149,-3.24262141013e-05,1793250786524788224
+59,0.983333333,BASELINE,769,747,722,684,674,642,886,786,819,657,632.252230999,656,0.400979720318,0.00458909891683,0.0498474675499,0.999999958585,0.000113454127353,-0.000262486201263,-3.25467273566e-05,1793250786541454848
+60,1.000000000,BASELINE,769,747,722,684,674,642,886,786,819,657,632.828814808,656,0.400980658543,0.00458827842431,0.0498478584292,0.999999959136,0.000110471252224,-0.000261662964638,-3.24963120427e-05,1793250786558121472
+61,1.016666667,BASELINE,769.404336575,746.595663425,722,684,674.404336575,642,886,786.404336575,819,656.595663425,632.595663425,656,0.400979933678,0.00458880831273,0.0498475477482,0.999999958978,0.000110586291756,-0.000262207053252,-3.25790425296e-05,1793250786574788096
+62,1.033333333,BASELINE,769.979409846,746.020590154,722,684,674.979409846,642,886,786.979409846,819,656.020590154,632.020590154,656,0.400978506549,0.00458990841818,0.0498469408237,0.999999958521,0.000112009468667,-0.000263328513859,-3.27179956708e-05,1793250786591454720
+63,1.050000000,BASELINE,770,746.56922135,722.56922135,684.56922135,675,642,886,787,819,656.56922135,632,656,0.400981782259,0.00459050938099,0.0498489713951,0.999999959195,0.000113996760919,-0.000259884900469,-3.27754279619e-05,1793250786608121088
+64,1.066666667,BASELINE,770,746.844143865,723,685,674.844143865,642,886.155856135,787,819,657,632,656,0.400983497315,0.00459059457844,0.0498501142788,0.999999959553,0.000115117628137,-0.00025801021078,-3.27627824764e-05,1793250786624787712
+65,1.083333333,BASELINE,770,746.267561886,723,685,674.267561886,642,886.732438114,787,819,657,632,656,0.400980528041,0.00458933752772,0.0498485965083,0.999999958974,0.000113843076541,-0.00026082836121,-3.25691372876e-05,1793250786641454336
+66,1.100000000,BASELINE,770,746.308958124,722.691041876,685,674,642,886.382083752,787,819,657,632,656,0.40097944379,0.00458852922023,0.0498478083319,0.999999958831,0.000112241324992,-0.000262077568192,-3.24807552827e-05,1793250786658121216
+67,1.116666667,BASELINE,770,746.885424449,722.114575551,685,674,642,885.229151101,787,819,657,632,656,0.400979991668,0.00458810945251,0.0498476518671,0.999999959069,0.000110356270808,-0.000261968321545,-3.24835143291e-05,1793250786674788096
+68,1.133333333,BASELINE,770,747,722,684.535504663,674,642,885,787,819,657,632,656,0.400979363522,0.00458800022409,0.0498473267793,0.999999959012,0.000109775946371,-0.000262454210393,-3.23011686062e-05,1793250786691454464
+69,1.150000000,BASELINE,770,747,722,684.043435841,674.043435841,642,885.043435841,787,819,657,632,655.956564159,0.400978670329,0.00458797073122,0.049847098033,0.999999958917,0.000109697166904,-0.000262873728684,-3.20986118698e-05,1793250786708121344
+70,1.166666667,BASELINE,770,747,722,684.612971204,674.612971204,642,885.612971204,787,819,657,632,655.387028796,0.400980722634,0.00458797398812,0.0498485428144,0.999999959252,0.000111773091943,-0.000260701274058,-3.2207404839e-05,1793250786724788224
+71,1.183333333,BASELINE,770,747,722,684.811903257,674.811903257,642,886,786.811903257,818.811903257,657,632.188096743,655.188096743,0.400981763179,0.004587796749,0.0498493013389,0.999999959433,0.000112616232224,-0.000259643782129,-3.21969125898e-05,1793250786741454592
+72,1.200000000,BASELINE,770,747,722,684.224922915,674.224922915,642,886,786.224922915,818.224922915,657,632.775077085,655.775077085,0.400980658155,0.00458723674462,0.0498486045667,0.999999959299,0.000110845092546,-0.000260950713151,-3.19334605473e-05,1793250786758121216
+73,1.216666667,BASELINE,770,747,722,684.360111734,674,642,886,786.360111734,818,657,633,656,0.400979725812,0.00458800129417,0.0498482531291,0.999999959136,0.000111454553837,-0.000261320047726,-3.19019443443e-05,1793250786774787840
+74,1.233333333,BASELINE,770,747,722,684.943937615,674,642,886,786.943937615,818,657,633,656,0.400978900746,0.00458958870352,0.0498481162257,0.999999958953,0.000113542928757,-0.000261106914149,-3.20145149043e-05,1793250786791454208
+75,1.250000000,BASELINE,770,747,722.517420495,685,674.517420495,642,886,787,818,657,633,656,0.400977976125,0.00458933760939,0.0498474597196,0.999999958497,0.000114015024963,-0.000262614739512,-3.22506723695e-05,1793250786808121344
+76,1.266666667,BASELINE,770,747,722.906320246,685,674.906320246,642,886,787,818.093679754,657,633,656,0.400977368946,0.00458870596637,0.0498468912999,0.999999958224,0.000113598376721,-0.000263808149376,-3.24510855021e-05,1793250786824788224
+77,1.283333333,BASELINE,770,747,722.309237659,685,674.309237659,642,886,787,818.690762341,657,633,656,0.400978524422,0.00458707884589,0.0498470928286,0.999999959091,0.000109328531436,-0.000262329633797,-3.23888745009e-05,1793250786841454848
+78,1.300000000,BASELINE,769.723341366,747,722,684.723341366,674,642,886,787,819,656.723341366,633,656,0.400979084163,0.00458671036717,0.0498473102374,0.999999959341,0.000108361106826,-0.000261792594017,-3.22641170014e-05,1793250786858121472
+79,1.316666667,BASELINE,769.149462774,747,722,684.149462774,674,642,886,787,819,656.149462774,633,656,0.400979003895,0.00458769407282,0.0498475447067,0.99999995894,0.000110941539712,-0.000262267000799,-3.20721645404e-05,1793250786874788096
+80,1.333333333,BASELINE,769.423473479,747,722,684.423473479,674,642,886.423473479,786.576526521,818.576526521,656.423473479,633,656,0.40098030239,0.00458909866772,0.0498481871405,0.999999959063,0.000112360787618,-0.000261159927974,-3.23314612059e-05,1793250786891454976
+81,1.350000000,BASELINE,769.996077923,747,722,684.996077923,674,642,886.996077923,786.003922077,818.003922077,656.996077923,633,656,0.400982086432,0.00459065148359,0.0498489732434,0.999999959368,0.000113371111337,-0.000259495919292,-3.27496703286e-05,1793250786908121600
+82,1.366666667,BASELINE,770,747,722.590692475,684.409307525,674,642,885.818615049,786.590692475,818,657,632.409307525,656,0.400979692472,0.00458932989505,0.0498474800525,0.999999958607,0.000114200676877,-0.000262082971517,-3.25163131537e-05,1793250786924788224
+83,1.383333333,BASELINE,769.819510119,747,723,684.180489881,674,642,885.180489881,786.819510119,818.180489881,657,632,655.819510119,0.400978820252,0.00458836718646,0.0498470277541,0.999999958473,0.000113789681351,-0.000262787377078,-3.23836433545e-05,1793250786941454848
+84,1.400000000,BASELINE,769.240679061,747,723,684.759320939,674,642,885.759320939,786.240679061,818.759320939,657,632,655.240679061,0.400981370107,0.00458824027759,0.0498489073988,0.99999995974,0.00011064351901,-0.000259272075648,-3.24831081689e-05,1793250786958121472
+85,1.416666667,BASELINE,769,747,722.664171097,684.664171097,674,642,886,786.335828903,819,657,632,655.335828903,0.400981458933,0.00458792681103,0.0498486564821,0.999999959822,0.00011013023952,-0.000259170849773,-3.25178136108e-05,1793250786974788352
+86,1.433333333,BASELINE,769,747,722.089316626,684.089316626,674,642,886,786.910683374,819,657,632,655.910683374,0.400979796125,0.00458748056242,0.0498468891423,0.999999959066,0.000111490909462,-0.000261499585736,-3.25064266899e-05,1793250786991454976
+87,1.450000000,BASELINE,769,746.513796595,722,684,674.486203405,642,886,786.513796595,819,657,632,656,0.400981607624,0.0045884066505,0.0498484096726,0.999999959596,0.000112237100449,-0.000259129995861,-3.25895597378e-05,1793250787008121600
+88,1.466666667,BASELINE,769.06347309,746.06347309,722,684,674.93652691,642,885.93652691,786.06347309,819,657,632,656,0.400983514154,0.00458930942428,0.0498501989764,0.999999960211,0.000112581447476,-0.000256589772441,-3.26270238175e-05,1793250787024788224
+89,1.483333333,BASELINE,769.654261261,746.654261261,722,684,674.345738739,642,885.345738739,786.654261261,819,657,632,656,0.400980900624,0.00458792125884,0.0498491965338,0.999999959624,0.000110526464888,-0.000259812117327,-3.21406354372e-05,1793250787041454848
+90,1.500000000,BASELINE,770,747,722,684.240113242,674,642,885.240113242,787,818.759886758,657,632,656,0.400979474604,0.00458710555179,0.0498485015832,0.999999959224,0.000109668368141,-0.000261731323535,-3.19473316803e-05,1793250787058121472
+91,1.516666667,BASELINE,770,747,722,684.819000733,674,642,885.819000733,787,818.180999267,657,632,656,0.400979724035,0.00458709752275,0.0498482404711,0.999999959105,0.000110498950216,-0.000261811939374,-3.21675392027e-05,1793250787074788096
+92,1.533333333,BASELINE,770,747,722,684.605990383,674,642,885.605990383,786.605990383,818.394009617,657,632,655.605990383,0.400979423173,0.00458790606054,0.0498483656665,0.999999958947,0.000112304266766,-0.00026164106258,-3.22145549707e-05,1793250787091454976
+93,1.550000000,BASELINE,770,747,722,684.032745826,674,642,885.032745826,786.032745826,818.967254174,657,632,655.032745826,0.400978871983,0.0045890860545,0.0498486665932,0.999999958768,0.00011455299001,-0.000261355781814,-3.21827858446e-05,1793250787108121600
+94,1.566666667,BASELINE,770,747,722,684,674,642,885.554816582,786,818.445183418,657,632.554816582,655.554816582,0.400979192803,0.0045877744871,0.0498486515254,0.999999958739,0.000112709032944,-0.000262263252287,-3.22111170649e-05,1793250787124788480
+95,1.583333333,BASELINE,769.858379024,747,722,684,674,642,885.858379024,786,818.141620976,657,632.858379024,656,0.400979420573,0.00458683065757,0.0498484569721,0.999999958785,0.000111047077601,-0.00026279004045,-3.22466069237e-05,1793250787141455360
+96,1.600000000,BASELINE,769.276626095,747,722,684,674,642,885.276626095,786,818.723373905,657,632.276626095,656,0.400979194974,0.00458749881393,0.0498477641078,0.999999959051,0.000110721341491,-0.000261909160631,-3.22930285067e-05,1793250787158121984
+97,1.616666667,BASELINE,769,747,722,684,674,642,885.301565131,786.301565131,818.698434869,657,632,656,0.400979715174,0.00458729966422,0.0498480325305,0.999999959461,0.00010979861789,-0.000260744549528,-3.21533437099e-05,1793250787174788352
+98,1.633333333,BASELINE,769,747,722,684,674,642,885.876527305,786.876527305,818.123472695,657,632,656,0.400980911511,0.00458631422026,0.0498491724501,0.999999960001,0.00010833466922,-0.00025932270949,-3.18449360419e-05,1793250787191454720
+99,1.650000000,BASELINE,769.45214869,747,722.45214869,684.45214869,674,642,886,787,818,657,632.45214869,656,0.400980730244,0.00458636088874,0.0498489231793,0.999999959788,0.000108956871067,-0.000259873525183,-3.19148482227e-05,1793250787208121088
+100,1.666666667,BASELINE,770,747,722.971438006,684.971438006,674.028561994,642,885.971438006,787,818.028561994,657,632.971438006,656,0.400980223965,0.0045867215723,0.0498483552237,0.999999959391,0.000110111371237,-0.000260891262062,-3.20799906655e-05,1793250787224787456
+101,1.683333333,BASELINE,770,747,722.383035864,684.383035864,674.616964136,642,885.383035864,787,818.616964136,657,632.383035864,656,0.400980731714,0.00458770467094,0.0498489874086,0.999999959452,0.00011051674331,-0.000260486801263,-3.20837766254e-05,1793250787241454336
+102,1.700000000,BASELINE,769.798484915,747,722.201515085,684,675,642,885,786.798484915,819,656.798484915,632,656,0.400981078095,0.00458826337644,0.0498493077762,0.999999959553,0.000110872949301,-0.000259931959088,-3.21852612897e-05,1793250787258121216
+103,1.716666667,BASELINE,769.221117025,747,722.778882975,684,675,642,885,786.221117025,819,656.221117025,632,656,0.400981123506,0.00458803053141,0.0498490465624,0.999999959732,0.000111137453879,-0.000259096635421,-3.2468967211e-05,1793250787274788608
+104,1.733333333,BASELINE,769,747,722.643585868,684.356414132,674.643585868,642,885.356414132,786.356414132,819,656,632,656,0.400981025928,0.00458859569176,0.0498490779806,0.999999959579,0.000112227441181,-0.000259206566121,-3.25263612164e-05,1793250787291455488
+105,1.750000000,BASELINE,769,747,722.065953321,684.934046679,674.065953321,642,885.934046679,786.934046679,819,656,632,656,0.400980839599,0.00458965615648,0.0498492910288,0.99999995922,0.000113829787491,-0.000259903195347,-3.24432884181e-05,1793250787308122112
+106,1.766666667,BASELINE,769.515093169,746.484906831,722,685,674,642,885.484906831,786.484906831,818.484906831,656.515093169,632,656,0.400979961149,0.00458867314416,0.0498486903449,0.99999995914,0.000112060347573,-0.000260977563909,-3.24469481327e-05,1793250787324788224
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,722,684,675,642,886,787,819,657,632,656,0.400980756782,0.00458667838484,0.0498492431374,0.999999959755,0.000108972241623,-0.000259999295342,-3.18691687415e-05,1793250787367108608
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.574004927,746.425995073,722,684.574004927,674.425995073,642,885.425995073,787,818.425995073,656.425995073,632.574004927,656,0.400979821246,0.00458675816405,0.0498488448712,0.999999959687,0.000108469380485,-0.000260436808934,-3.21532708506e-05,1793250787383775232
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746.147735964,722,684.852264036,674,642,885,787,818.147735964,656.147735964,632.852264036,656,0.400979201476,0.00458717981758,0.0498484326704,0.999999959495,0.000108957742249,-0.000260940959454,-3.23667478101e-05,1793250787400441856
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746.720678838,722,684.279321162,674,642,885,787,818.720678838,656.720678838,632.279321162,656,0.400979490526,0.00458858543816,0.0498479803638,0.999999958943,0.000112298996419,-0.000261636901437,-3.23769547531e-05,1793250787417108480
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,722,684,674.304766685,642.304766685,885.304766685,787,819,657,632,656,0.400979524558,0.00458902917657,0.0498478379738,0.999999958859,0.000112813777171,-0.000261732021115,-3.24355909986e-05,1793250787433774848
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,722,684,674.899456665,642.899456665,885.899456665,787,819,657,632,656,0.400979315992,0.00458855788034,0.0498479904063,0.999999959223,0.000110639745187,-0.000261255580965,-3.25402978399e-05,1793250787450441216
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.51902047,747,722,684.48097953,674.51902047,642.51902047,885.51902047,787,819,657,632.48097953,656,0.400979863011,0.00458903843307,0.0498484115055,0.999999959401,0.000110037187659,-0.00026080824044,-3.27071581422e-05,1793250787467108096
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.059442187,746.940557813,722,684.940557813,674,642,885,787,819,657,632.940557813,656,0.400980758313,0.00458946459131,0.0498489980364,0.99999995957,0.000109807515982,-0.000260242831684,-3.27960726575e-05,1793250787483774464
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.634598372,746.365401628,722,684.365401628,674,642,885,787,819,657,632.365401628,656,0.400983341479,0.00458773855674,0.0498505455658,0.999999959993,0.000110038882207,-0.000258601706937,-3.20990201961e-05,1793250787500441088
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,746.213781305,722,684.213781305,674,642,885.213781305,787,819,657,632.213781305,656,0.40099085827,0.00458675125748,0.0498536638076,0.999999961437,0.000109669282663,-0.000253154956306,-3.18024691964e-05,1793250787517107712
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,746.799978946,722,684.799978946,674,642,885.799978946,787,819,657,632.799978946,656,0.401006969648,0.00458705086747,0.0498595182987,0.999999964563,0.000108252774559,-0.000241078639902,-3.22036092438e-05,1793250787533774336
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642,886,787,819,657,632.618769658,656,0.40104337498,0.0045867520303,0.0498721619071,0.999999970695,0.000107208660389,-0.000214664911179,-3.21882832554e-05,1793250787550441472
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642,886,787,819,657,632.040080129,656,0.401090291616,0.00458614322599,0.049888321956,0.999999977485,0.00010635742834,-0.000180825083416,-3.19572476736e-05,1793250787567108352
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.460416225,747,722,684.460416225,674.539583775,642,886,786.460416225,819,656.460416225,632,656,0.401157572897,0.00458741493419,0.0499057237356,0.999999982812,0.000109506146074,-0.00014625498991,-3.15324621336e-05,1793250787583774464
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,722,684.117477767,674.882522233,642,886,786,818.882522233,656.117477767,632.117477767,655.882522233,0.401228695632,0.00458787350014,0.0499219411393,0.999999986609,0.000111265231451,-0.00011596179922,-3.0904532764e-05,1793250787600441344
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,722,684.688262655,674.311737345,642,886,786,818.311737345,656.688262655,632.688262655,655.311737345,0.401308793774,0.0045846544562,0.049933231891,0.99999998865,0.000106513654034,-0.000102381413547,-2.95483729444e-05,1793250787617107968
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,722,684.738202403,674,642,886,786.261797597,818.261797597,657,632.738202403,655.261797597,0.401394183191,0.00458230603077,0.0499403057967,0.999999989891,0.000103200460814,-9.35782015547e-05,-2.84751471949e-05,1793250787633774592
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,722,684.161358084,674,642,886,786.838641916,818.838641916,657,632.161358084,655.838641916,0.401485940114,0.00458100530616,0.0499423051574,0.999999990355,0.000101618216655,-9.05238319515e-05,-2.7742403844e-05,1793250787650441216
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.429153783,747,722.429153783,684.429153783,674,642,886,787,819,657,632,656,0.401591156743,0.00458123670123,0.0499420524121,0.999999990366,0.000100047295488,-9.23688958422e-05,-2.69613812633e-05,1793250787667108096
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,722.975951025,685,674,642,886,787,819,657,632,656,0.401702949677,0.00458199510409,0.0499410521032,0.999999990206,9.85722550834e-05,-9.58480573056e-05,-2.6153030144e-05,1793250787683774720
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,722.402190037,685,674,642,886,787,819,657,632,656,0.401845580383,0.00458119903254,0.0499429562142,0.999999990423,9.9188342914e-05,-9.31865352562e-05,-2.51485834587e-05,1793250787700441600
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.828384922,747,722.171615078,685,674,642,886,787,819,657,632.171615078,656,0.401998218139,0.00457925138927,0.0499446980624,0.999999990711,9.78994358641e-05,-9.17934983522e-05,-2.38151554509e-05,1793250787717108480
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.254476452,747,722.745523548,685,674,642,886,787,819,657,632.745523548,656,0.402174314015,0.00457460427645,0.0499460595399,0.99999999116,9.2144913785e-05,-9.33739953871e-05,-2.17105423573e-05,1793250787733775104
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.330208461,747,723,685,674,642,885.669791539,787,819,657,632.669791539,656,0.40236603471,0.00457177345788,0.0499470001331,0.999999991455,8.842632883e-05,-9.42226122915e-05,-1.98095136177e-05,1793250787750441728
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.923478522,747,723,685,674,642,885.076521478,787,819,657,632.076521478,656,0.402570202982,0.00457038959528,0.0499476054276,0.999999991646,8.6329678909e-05,-9.44881747814e-05,-1.80706707616e-05,1793250787767108096
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.496377407,747,722.496377407,685,674,642,885.503622593,786.496377407,819,657,632.503622593,656,0.402804972882,0.00456906805231,0.0499491818051,0.999999991845,8.29434296959e-05,-9.5733596008e-05,-1.62987008977e-05,1793250787783774720
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.081265003,747,722,685,674,642,886,786.081265003,818.918734997,656.918734997,632.918734997,656,0.403052342615,0.00456752042451,0.0499515863476,0.999999992277,7.9269165959e-05,-9.46157753238e-05,-1.45237133136e-05,1793250787800441344
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.655522984,747,722,685,674,642,886,786.655522984,818.344477016,656.344477016,632.344477016,656,0.40334865847,0.00456454527147,0.0499581425785,0.999999994042,7.50061646533e-05,-7.82811345698e-05,-1.27601773691e-05,1793250787817108224
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,722.235049539,685.235049539,674.235049539,642,886,787,818,656.235049539,632,656,0.403662432291,0.00456159683229,0.0499662002492,0.999999995642,7.03786972004e-05,-6.03451430508e-05,-1.09725013867e-05,1793250787833775104
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,722.82247446,685.82247446,674.82247446,642,886,787,818,656.82247446,632,656,0.404002378268,0.00455868844148,0.0499765088085,0.999999997032,6.52048392388e-05,-4.00084816143e-05,-9.1486358843e-06,1793250787850441728
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.595914658,747,723,686,674.595914658,642,886,787,818.404085342,657,632.404085342,656,0.40436602646,0.00455529588724,0.049983127533,0.999999997744,6.12877248595e-05,-2.66434168423e-05,-6.7828998616e-06,1793250787867108352
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.016821824,747,723,686,674.016821824,642,886,787,818.983178176,657,632.983178176,656,0.404739939964,0.00455169364415,0.0499881482069,0.999999998181,5.79149004437e-05,-1.62977188416e-05,-4.18248227274e-06,1793250787883774976
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.560251176,747,723,686,674,642.560251176,886.560251176,787,819,657,632.439748824,656,0.405150066463,0.00454731393855,0.0499899442019,0.999999998596,5.18256871003e-05,-1.1027127028e-05,-1.16076812433e-06,1793250787900441856
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,723,685.862898951,674.137101049,643,886.725797903,787,819,657,632.137101049,656,0.40556182419,0.00454311055979,0.0499858435169,0.999999998768,4.62588118063e-05,-1.79220532401e-05,1.85797636754e-06,1793250787917107968
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,723,685.28657043,674.71342957,643,885.57314086,787,819,657,632.71342957,656,0.405975336872,0.00453954659318,0.0499631608474,0.999999997076,4.26256963494e-05,-6.33049394306e-05,4.82682665017e-06,1793250787933774592
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,722.704870735,685.295129265,674.704870735,642.704870735,885.295129265,787,818.704870735,657,632.704870735,656,0.406419531559,0.00453542048341,0.0499429846893,0.999999994393,3.7248165153e-05,-9.88436924155e-05,7.46283288475e-06,1793250787950441216
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,722.117858887,685.882141113,674.117858887,642.117858887,885.882141113,787,818.117858887,657,632.117858887,656,0.406894070769,0.00453073841412,0.049925287466,0.99999999173,3.01454079272e-05,-0.000124646611758,9.76965700621e-06,1793250787967108096
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.535034958,746.535034958,722.464965042,686,674,642,886.464965042,787,818.464965042,657,632,656,0.407423598473,0.00452490137906,0.0499240185281,0.999999991862,2.35639057108e-05,-0.000124673385284,1.33362914752e-05,1793250787983775232
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.046251528,746.046251528,723,686,674.046251528,642,887,787.046251528,819,657,632,656.046251528,0.4079727119,0.0045188218636,0.0499289285179,0.999999993162,1.70438529119e-05,-0.000114409219996,1.71877238532e-05,1793250788000442112
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.621982035,746.621982035,723,686,674.621982035,642,887,787.621982035,819,657,632,656.621982035,0.408587899279,0.0045132880136,0.0499573279874,0.999999997911,9.72819088695e-06,-6.04653356875e-05,2.0676411865e-05,1793250788017108992
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,723,686.201262899,674.798737101,642,887,787.798737101,819,657,632.201262899,656.798737101,0.409213761142,0.0045073744379,0.0499819535548,0.999999999566,2.00975134896e-06,-1.63966307013e-05,2.44061304276e-05,1793250788033775872
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,723,686.787331859,674.212668141,642,887,787.212668141,819,657,632.787331859,656.212668141,0.409860032124,0.00450073484323,0.0499993635812,0.999999999531,-6.47878109972e-06,8.79114999736e-06,2.85966889802e-05,1793250788050441984
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,723,687,674,642.369102759,887,787,818.630897241,657,632.630897241,656,0.410487678307,0.0044949024957,0.0499938780078,0.999999996457,7.68719528744e-05,-9.95863038747e-06,3.28408616439e-05,1793250788067108096
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,723,687,674,642.948425706,887,787,818.051574294,657,632.051574294,656,0.411104716829,0.004489529911,0.049975352387,0.999999975283,0.000212529170889,-5.37327770509e-05,3.71155692172e-05,1793250788083774720
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.473397053,747,723,687,674,642.473397053,887,787,818.526602947,657,632,656,0.411767113367,0.00448246401556,0.0499499045542,0.999999972484,0.000208360245739,-9.97797685345e-05,4.07662684377e-05,1793250788100441600
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.104385504,747,723,687.104385504,674.104385504,642,887.104385504,787,819,657,632,656,0.412455191309,0.00447544242946,0.0499331180553,0.999999973006,0.000189749117565,-0.000126689452278,4.39713935417e-05,1793250788117108224
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.680889197,747,723,687.680889197,674.680889197,642,887.680889197,787,819,657,632,656,0.41323937376,0.00446936968301,0.0499585649089,0.999999982739,0.000167620686424,-6.60396931738e-05,4.54370685575e-05,1793250788133775104
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,746.738333467,722.738333467,687.738333467,674.738333467,642,888,787,819.261666533,657,632,656,0.414015995937,0.0044620519242,0.0499716263744,0.99999999425,9.35690615168e-05,-3.85854253641e-05,3.54421869591e-05,1793250788150441728
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,746.152257671,722.152257671,687.152257671,674.152257671,642,888,787,819.847742329,657,632,656,0.414783245131,0.00445319062157,0.0499693326714,0.999999997564,-4.48559699469e-05,-5.22862970043e-05,1.12387218684e-05,1793250788167108352
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,746,722,687.428712258,674,642,888.428712258,787,820,657,632,656,0.415556025682,0.00446760736457,0.0499508583916,0.999999994839,-5.79884373108e-05,-8.30725650948e-05,7.65824026726e-06,1793250788183774720
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.992118353,746.007881647,722.007881647,688.007881647,674,642.007881647,889.007881647,787.007881647,820.007881647,657,632.007881647,656,0.416331777894,0.00449006512928,0.0499272335363,0.999999992491,-2.71086752042e-05,-0.000118978255868,1.12924724639e-05,1793250788200441600
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.413563897,746.586436103,722.586436103,688.586436103,674,642.586436103,889.586436103,787.586436103,820.586436103,657,632.586436103,656,0.417182133698,0.00450318980421,0.0499418632502,0.999999995716,6.53328673707e-06,-9.13803670242e-05,1.32353616874e-05,1793250788217108224
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,723,689,674,643,890,788,821,656.836378452,633,656,0.418036177504,0.00450999089751,0.0499579822528,0.999999997416,3.24478768751e-05,-6.23447605175e-05,1.51365003926e-05,1793250788233774592
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,723,689,674,643,890,788,821,656.262624594,633,656,0.418899465574,0.00450094135685,0.0499778342921,0.999999998655,3.89931039311e-05,-2.97053857431e-05,1.69329875485e-05,1793250788250441216
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.320883777,747,722.679116223,689,674,642.679116223,890.320883777,788,821.320883777,656.320883777,632.679116223,656,0.419759742039,0.00449533934847,0.0499750413296,0.999999998652,3.22198383442e-05,-3.64775940839e-05,1.81025352063e-05,1793250788267107840
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.912625914,747,722.087374086,689,674,642.087374086,890.912625914,788,821.912625914,656.912625914,632.087374086,656,0.420617476362,0.00449264740646,0.0499531336945,0.999999996796,1.42044176878e-05,-7.6517165961e-05,1.87428824184e-05,1793250788283774208
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,747,722,689.493294512,674,642.493294512,891,787.506705488,822,657,632.493294512,656,0.42156024721,0.00448820986075,0.0499729818326,0.999999999424,2.63448923637e-06,-2.83156370614e-05,1.85251922315e-05,1793250788300441344
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.928413738,747,722.071586262,690,674,642.928413738,891.071586262,787,822.071586262,657,633,656,0.422510540717,0.00448474338783,0.0499961379636,0.999999999497,-3.26444452092e-06,2.56804713869e-05,1.83102155816e-05,1793250788317107968
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.353347179,747,722.646652821,690,674,642.353347179,891.646652821,787,822.646652821,657,633,656,0.423410134073,0.00449023349728,0.04999168485,0.999999999472,2.28686997229e-05,1.29185113084e-05,1.91597522903e-05,1793250788333774848
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.226326975,746.773673025,722.773673025,690.226326975,674,642.226326975,892,787.226326975,823,657,633,656,0.424310964617,0.00449673585019,0.0499857437381,0.999999999103,3.75437243866e-05,1.91492644357e-06,1.94988064114e-05,1793250788350441472
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.8133442,746.1866558,722.1866558,690.8133442,674,642.8133442,892,787.8133442,823,657,633,656,0.42521376697,0.00450485138481,0.049977431249,0.999999999223,3.39583049563e-05,-6.28639260107e-06,1.90243204896e-05,1793250788367107840
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.60492521,746,722.39507479,691.39507479,674,642.60492521,892,787.60492521,823.39507479,657,632.60492521,656,0.426170902806,0.00450241238379,0.0499910771984,0.999999999506,2.24583528608e-05,6.23865051259e-06,2.10755960003e-05,1793250788383774720
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.02565938,746,722.97434062,691.97434062,674,642.02565938,892,787.02565938,823.97434062,657,632.02565938,656,0.427153369844,0.00449505266614,0.0500149605709,0.999999999274,7.26850213898e-06,2.84267004687e-05,2.43044273655e-05,1793250788400441600
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.55307106,746.55307106,723,691.44692894,673.44692894,642.55307106,892,787.55307106,824,657,632.55307106,656,0.428025879402,0.00449113716302,0.0499794120766,0.999999998075,3.14751855379e-05,-4.70296404507e-05,2.54301027367e-05,1793250788417108224
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.870104448,747,722.870104448,691,673,643,892.129895552,787.870104448,824,657,633,656.129895552,0.428914202444,0.00448852436981,0.049949489161,0.999999993181,4.71142788284e-05,-0.000103707862608,2.57534794128e-05,1793250788433775104
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.299659972,747,722.299659972,691,673,643,892.700340028,787.299659972,824,657,633,656.700340028,0.429873442875,0.00448978837825,0.0499479882757,0.999999996032,2.75028252808e-05,-8.13494843532e-05,2.36864204166e-05,1793250788450441728
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.280966571,747,722.280966571,691.280966571,673.280966571,643,893.280966571,787.280966571,824,657,632.719033429,656.719033429,0.430808953205,0.00449257694802,0.0499459914484,0.999999996916,1.45376077956e-05,-7.3691746515e-05,2.29383204286e-05,1793250788467108352
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.872860919,747,722.872860919,691.872860919,673.872860919,643,893.872860919,787.872860919,824,657,632.127139081,656.127139081,0.431718202882,0.00449705265245,0.0499434457938,0.999999996294,8.92735701353e-06,-8.23022709816e-05,2.36498283712e-05,1793250788483775232
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,747,723,692,673.545357757,643,894,787.545357757,824.454642243,657,632.454642243,656,0.432657756948,0.00449623630715,0.04993676358,0.999999995155,3.14472935523e-05,-9.01975806871e-05,2.37586216896e-05,1793250788500441600
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747,723,692.032171358,673.032171358,643,894,787.032171358,825,657,632.967828642,656,0.433605273493,0.00449366908178,0.0499312496251,0.999999993521,5.84512351436e-05,-9.47395838268e-05,2.37892228638e-05,1793250788517107968
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,747,723,692.58562682,673.58562682,643,894,787.58562682,825,657,632.41437318,656,0.434547480118,0.0044861893282,0.0499630011686,0.999999997966,3.3420849326e-05,-4.81170145899e-05,2.52244497057e-05,1793250788533774848
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,894,787.848279146,825.151720854,657,632,656,0.435456304764,0.00448153522216,0.0499824991326,0.999999999231,1.329131197e-05,-2.55240709847e-05,2.66412443072e-05,1793250788550441472
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,894,787.24453038,825.75546962,657,632,656,0.436265673395,0.00448529967723,0.0499654895327,0.999999996801,7.76305951822e-06,-7.45235257829e-05,2.8003123497e-05,1793250788567108096
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,747,723,693,673.651634205,643,894.696731591,787,826,657,632,656,0.43713507006,0.00448647936602,0.0499553020595,0.999999995488,4.23191417405e-06,-9.08031747959e-05,2.75997744108e-05,1793250788583774720
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,747,723,693,673.066125736,643,895.867748527,787,826,657,632,656,0.438045329496,0.00448589952943,0.0499497586064,0.999999996064,2.06025773883e-06,-8.48095028219e-05,2.59947833321e-05,1793250788600441344
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,747,723,693,673.51167387,642.48832613,896,787,826,656.48832613,632,656,0.438945731476,0.00448632780676,0.0499640662393,0.999999997675,1.84604227486e-05,-6.02011949757e-05,2.61646270586e-05,1793250788617107968
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,747,723,693,674,642.08851488,896,787,826.08851488,656,632,656.08851488,0.439831087974,0.00448667189539,0.0499755235076,0.999999998279,3.26389537879e-05,-4.08796078077e-05,2.65676054903e-05,1793250788633774848
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,723,693,674,642.665482049,896,787,826.665482049,656,632,656.665482049,0.440640344407,0.00448584313544,0.0499573048337,0.999999997368,2.15098429917e-05,-6.38098328962e-05,2.70101493166e-05,1793250788650441472
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.757513072,747,723,693,674,643,896,787,827,656.242486928,632,657,0.441450746055,0.0044851852838,0.0499510481442,0.99999999708,1.99030694261e-05,-6.84407380056e-05,2.75475087713e-05,1793250788667108096
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.180456213,747,723,693,674,643,896,787,827,656.819543787,632,657,0.44226272774,0.00448476324196,0.0499612959346,0.999999997964,3.14346863389e-05,-4.78232606579e-05,2.82156895107e-05,1793250788683774720
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,693,674,642.592861707,896,787,827,657,632.407138293,656.592861707,0.443020838333,0.00448813450042,0.0499625222299,0.999999997578,4.47041749785e-05,-4.4559673527e-05,2.93342038522e-05,1793250788700441344
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,693,674,642.000472442,896,787,827,657,632.999527558,656.000472442,0.443754437247,0.00449323173889,0.0499596436783,0.999999996593,5.87644092717e-05,-4.91922345924e-05,3.06576234126e-05,1793250788717107968
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.570106471,747,723,693.570106471,672.859787058,642,896.570106471,787,827,656.429893529,633,656,0.444390843612,0.00450419527946,0.0498924112113,0.999999983064,6.95848867044e-05,-0.000167432461676,3.15492323567e-05,1793250788733774848
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.857429526,747,723,694,672,641.857429526,897,787,827,656.142570474,632.857429526,656,0.4450384634,0.00451541457649,0.0498362677155,0.999999962939,8.07674628118e-05,-0.000258051239982,3.17519182566e-05,1793250788750441472
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.279151187,747,723,694,672,641.279151187,897,787,827,656.720848813,632.279151187,656,0.445720589622,0.00452740118104,0.0498141700457,0.999999960381,9.30645519993e-05,-0.000263979368675,2.98502496373e-05,1793250788767107840
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.306384771,747,723,693.693615229,672,641,896.693615229,786.693615229,827,657,632.306384771,656,0.446383370659,0.0045384046643,0.0498075708993,0.999999960328,0.000106393048834,-0.000259180267933,2.91667387138e-05,1793250788783774720
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.898693643,747,723,693.101306357,672,641,896.101306357,786.101306357,827,657,632.898693643,656,0.447028098358,0.00454849067935,0.0498154352713,0.999999962421,0.000120684074158,-0.000244370312098,2.9620035847e-05,1793250788800441344
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.521949302,747,723,693.478050698,671.521949302,640.521949302,896.478050698,786,827,656.521949302,632.521949302,656,0.447608260486,0.00455529019635,0.0497916850637,0.9999999515,0.00013273550124,-0.000280122491796,3.02231666024e-05,1793250788817107968
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.054873298,747,723,694,670.945126702,639.945126702,897,786,827,656,632,656.054873298,0.448174576851,0.00456127411091,0.0497626684783,0.999999936457,0.000144297585619,-0.000324515258018,3.08879809326e-05,1793250788833774592
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.633010304,747,723,694,670.366989696,639.366989696,897,786,827,656,632,656.633010304,0.448735894215,0.00456594671278,0.0497456338558,0.999999925498,0.000155599760085,-0.000351822899063,3.18462051886e-05,1793250788850441216
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.786275017,747,723,694,670,638.786275017,897.213724983,786,827,656.213724983,632,656.786275017,0.449283767009,0.00457029553205,0.0497410919184,0.999999921081,0.000164624328118,-0.000360059099351,3.30828228224e-05,1793250788867108096
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.201080211,747,723,694,670,638.201080211,897.798919789,786,827,656.798919789,632,656.201080211,0.44980827209,0.00457408159276,0.0497582631929,0.999999928835,0.000169690246713,-0.000335147722972,3.48033086554e-05,1793250788883774720
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.380100043,747,723,693.619899957,670,638,897.619899957,786,827.380100043,656.619899957,632,656,0.45031502973,0.00457931193081,0.0497739738552,0.999999934767,0.000175044763951,-0.000313919318735,3.57883526804e-05,1793250788900441600
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.959178772,747,723,693.040821228,670,638,897.040821228,786,827.959178772,656.040821228,632,656,0.450812496804,0.00458529833439,0.0497889199027,0.999999939639,0.000180550360223,-0.000294618912384,3.63884002059e-05,1793250788917108480
+201,3.350000000,POSE1_TO_POSE2_PRESS,769.462858815,747.537141185,723,693,669.462858815,637.462858815,897,786,828,656.537141185,632,656.537141185,0.451235155534,0.00458669606033,0.0497819780311,0.999999932409,0.000182750518302,-0.000316871642316,3.70985659622e-05,1793250788933774848
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,748,723.114819429,693.114819429,669,637,897,786,828,657,632,657,0.451640455311,0.00458744617804,0.0497686930886,0.999999921954,0.000181122201406,-0.000349170471522,3.696425151e-05,1793250788950440960
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,748,723.691694989,693.691694989,669,637,897,786,828,657,632,657,0.451998730361,0.00458699062698,0.0497365624212,0.999999902085,0.000165096141521,-0.000409215053924,3.33979742047e-05,1793250788967107840
+204,3.400000000,POSE1_TO_POSE2_PRESS,769.267689853,748,723.732310147,693.732310147,669,636.732310147,897.267689853,786,827.732310147,657,632,657,0.452355156427,0.00458619500358,0.0497164349848,0.999999894262,0.000129169340715,-0.000440727403662,2.34666468035e-05,1793250788983774464
+205,3.416666667,POSE1_TO_POSE2_PRESS,769.842673687,748,723.157326313,693.157326313,669,636.157326313,897.842673687,786,827.157326313,657,632,657,0.452709459933,0.00458500899491,0.0497100866333,0.999999900929,7.03975289426e-05,-0.000439486235843,6.22857429289e-06,1793250789000441088
+206,3.433333333,POSE1_TO_POSE2_PRESS,769.571703018,748,723.428296982,693.428296982,669,635.571703018,898,786,827.428296982,656.571703018,632.428296982,656.571703018,0.453041705411,0.00458462938832,0.0497192330538,0.999999908892,5.80017097644e-05,-0.000422900583763,2.70505033144e-06,1793250789017107968
+207,3.450000000,POSE1_TO_POSE2_PRESS,769.017553387,748,723.982446613,693.982446613,669,635,898,785.982446613,828,656.017553387,632.982446613,656.017553387,0.45336448039,0.00458481540255,0.0497337966175,0.999999917434,6.54484657092e-05,-0.000401035692994,4.32933267861e-06,1793250789033774848
+208,3.466666667,POSE1_TO_POSE2_PRESS,769.594863345,748,723.405136655,693.405136655,669,635,898,785.405136655,828,656.594863345,632.405136655,656.594863345,0.453650216117,0.00459335179911,0.0497349815046,0.999999910879,0.000148577712447,-0.000395141800389,5.3703416411e-06,1793250789050441472
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,748,723.171782255,693,668.828217745,635,898,785.171782255,828,657,632,656.828217745,0.453919747846,0.00460492772387,0.049731592609,0.999999899148,0.000211137315617,-0.000396349001939,5.75710925177e-06,1793250789067108096
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,748,723.747780916,693,668.252219084,635,898,785.747780916,828,657,632,656.252219084,0.45415115032,0.00462365588312,0.0497174412629,0.999999888802,0.000225295009659,-0.000414265611765,4.60439828436e-06,1793250789083774464
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,748,723.669805322,693.330194678,668.330194678,634.669805322,898,786.330194678,828,656.669805322,632,656,0.454350295789,0.00463586711634,0.0497040171624,0.999999877981,0.000236061942256,-0.000433930221635,4.2254397657e-06,1793250789100440832
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,748,723.082394236,693.917605764,668.917605764,634.082394236,898,786.917605764,828,656.082394236,632,656,0.454524313588,0.00464300176974,0.0496911595733,0.999999866684,0.000244187527059,-0.000454956497624,4.4492219838e-06,1793250789117107712
+213,3.550000000,POSE1_TO_POSE2_PRESS,769.498959447,748,723,694,668.498959447,634,898,785.997918894,828,656.501040553,632,656.501040553,0.454688324427,0.00463847617169,0.0496798143114,0.999999859558,0.000238714906698,-0.000473138738414,6.30545234684e-06,1793250789133774592
+214,3.566666667,POSE1_TO_POSE2_PRESS,769.082479016,748,723,693.917520984,668,633.917520984,898,785.082479016,828,657,632,657,0.454845688442,0.0046334746568,0.0496686335604,0.999999852635,0.000232088290009,-0.000490714727315,7.98161131978e-06,1793250789150440960
+215,3.583333333,POSE1_TO_POSE2_PRESS,769.655896499,748,723,693.344103501,668,633.344103501,898,785.655896499,828,657,632,657,0.454973206746,0.00463696389407,0.0496569633636,0.999999844361,0.000231798296858,-0.000507444051327,7.00062616526e-06,1793250789167107840
+216,3.600000000,POSE1_TO_POSE2_PRESS,769.769505014,748,723.230494986,693.230494986,668,633,898,786,828,657,632,657,0.455091943766,0.00463906742681,0.0496477534263,0.999999837216,0.000232017931589,-0.000521240813217,6.66613327297e-06,1793250789183774464
+217,3.616666667,POSE1_TO_POSE2_PRESS,769.193134374,748,723.806865626,693.806865626,668,633,898,786,828,657,632,657,0.455197503777,0.00463909160194,0.0496422353004,0.99999983204,0.000233002302678,-0.000530637036672,7.30175236734e-06,1793250789200441088
+218,3.633333333,POSE1_TO_POSE2_PRESS,769.392867643,747.607132357,724,693.607132357,668,633,898,785.607132357,828,657,632,656.607132357,0.455289760962,0.00463836219401,0.0496404034059,0.999999829466,0.000231441746233,-0.000536133423373,7.92173576241e-06,1793250789217107968
+219,3.650000000,POSE1_TO_POSE2_PRESS,769.983723436,747.016276564,724,693.016276564,668,633,898,785.016276564,828,657,632,656.016276564,0.455375314098,0.00463725301311,0.0496404292113,0.999999828216,0.000228598657325,-0.00053966446223,8.53383942813e-06,1793250789233774848
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,747,723.438320548,693,668,633,898,785.561679452,828,657,632,656.561679452,0.455444058058,0.00463736137111,0.0496412040192,0.999999829151,0.000228436222658,-0.000537993534961,8.80066909623e-06,1793250789250441216
+221,3.683333333,POSE1_TO_POSE2_PRESS,770.138435249,747.138435249,723,693.138435249,668,633,898,786,828,656.861564751,632,657,0.455506807645,0.00463786692509,0.0496411049563,0.999999829036,0.000228697105021,-0.000538092032123,9.10864052264e-06,1793250789267107840
+222,3.700000000,POSE1_TO_POSE2_PRESS,770.7125636,747.7125636,723,693.7125636,668,633,898,786,828,656.2874364,632,657,0.455552189941,0.00463951401206,0.0496381888087,0.999999825403,0.000230051286038,-0.000544223168476,9.57687910103e-06,1793250789283774464
+223,3.716666667,POSE1_TO_POSE2_PRESS,770.705695517,747.705695517,723,693.705695517,667.705695517,632.705695517,898,785.705695517,828,656,632,657,0.455592377972,0.0046394571726,0.0496357758201,0.999999823535,0.000229875748531,-0.000547718045622,9.64005584975e-06,1793250789300441088
+224,3.733333333,POSE1_TO_POSE2_PRESS,770.116322263,747.116322263,723,693.116322263,667.116322263,632.116322263,898,785.116322263,828,656,632,657,0.455627358256,0.00463769198194,0.0496338672969,0.999999823462,0.0002281665201,-0.000548569818138,9.29711890905e-06,1793250789317107968
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,747.464103888,723.464103888,693,667,632,898,785.464103888,828,656.464103888,632,657,0.455652346698,0.00463873856541,0.0496337977332,0.999999823342,0.000227112684186,-0.000549228392427,9.17803660213e-06,1793250789333774592
+226,3.766666667,POSE1_TO_POSE2_PRESS,769.957754727,748,723.957754727,693.042245273,667.042245273,632,898,785.957754727,828,657,632,657,0.455674102422,0.00464039273649,0.049634062635,0.999999823081,0.000226440580273,-0.000549981462521,9.13881105286e-06,1793250789350441216
+227,3.783333333,POSE1_TO_POSE2_PRESS,769.380685061,748,723.380685061,693.619314939,667.619314939,632,898,785.380685061,828,657,632,657,0.455686037258,0.00464098572604,0.0496328370658,0.99999982119,0.000228560917412,-0.000552532286652,9.41369688532e-06,1793250789367107840
+228,3.800000000,POSE1_TO_POSE2_PRESS,769.195315016,747.804684984,723.195315016,693.804684984,667.804684984,632,898,785.195315016,828,657,632,656.804684984,0.45569656782,0.00464128514899,0.0496314850154,0.999999819681,0.000230352181294,-0.000554516015234,9.40429955941e-06,1793250789383774464
+229,3.816666667,POSE1_TO_POSE2_PRESS,769.769241693,747.230758307,723.769241693,693.230758307,667.230758307,632,898,785.769241693,828,657,632,656.230758307,0.455704376239,0.0046410155028,0.0496298877855,0.999999818929,0.000231505547491,-0.000555400447813,8.84382876973e-06,1793250789400441088
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+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747.94353967,724,693,667,632,898.94353967,786,828,657,631.05646033,656.94353967,0.455711451694,0.0046434685772,0.0496294412308,0.999999815771,0.000233161209627,-0.000560364683297,9.26997669496e-06,1793250789433774336
+232,3.866666667,POSE1_TO_POSE2_PRESS,769.474888878,748,723.474888878,693,667,632,898.474888878,786.525111122,828,657,631.525111122,656.474888878,0.455711547036,0.00464335612619,0.049627205124,0.999999814681,0.000232806021681,-0.000562453219041,9.2735459387e-06,1793250789450440960
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.104518834,748,723,693,667,632,898,786.895481166,828,657,632,656.104518834,0.455711495866,0.0046433698394,0.0496250747676,0.999999813685,0.000232553851741,-0.000564326555001,9.13994678607e-06,1793250789467107584
+234,3.900000000,POSE1_TO_POSE2_PRESS,769.678437028,748,723,693,667,632,898,786.321562972,828,657,632,656.678437028,0.455711911008,0.00464476471103,0.0496245392472,0.999999812794,0.000233287179309,-0.000565611186364,8.58221636965e-06,1793250789483774208
+235,3.916666667,POSE1_TO_POSE2_PRESS,769.746938649,747.746938649,723.253061351,693,667,632,898,786,828,657,632,657,0.455711874653,0.00464572437809,0.0496237197565,0.999999811735,0.00023436734753,-0.000567037928081,8.35102660982e-06,1793250789500441088
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.171414465,747.171414465,723.828585535,693,667,632,898,786,828,657,632,657,0.455711262981,0.00464612948694,0.0496225384173,0.999999810463,0.000235889476737,-0.000568645753759,8.53593043908e-06,1793250789517107968
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.414354682,747,724,693,667,632,898,786,828,657,632,657,0.455712977136,0.00464529233394,0.0496230464245,0.999999811289,0.000234933354062,-0.000567583446724,8.7586277974e-06,1793250789533774592
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747.004385812,724,693,667,632,898,786,828,657,631.995614188,657,0.45571564001,0.0046439660586,0.0496242473949,0.999999812968,0.000232956957484,-0.00056543285497,8.99099689239e-06,1793250789550441216
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747.583453455,724,693,667,632,898,786,828,657,631.416546545,657,0.455713343864,0.00464759512125,0.0496223533632,0.999999810412,0.00023503547523,-0.000569090492014,8.39007650686e-06,1793250789567107840
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747.838741771,724,693,667,632,898,786,828,657,631.161258229,657,0.455712060838,0.00465039057324,0.0496211472859,0.999999808589,0.000237396969811,-0.000571315586764,7.97620255593e-06,1793250789583774464
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747.264173802,724,693,667,632,898,786,828,657,631.735826198,657,0.455713374467,0.00465104945558,0.0496217044566,0.999999808676,0.000240483742497,-0.000569869031913,8.04173433308e-06,1793250789600441088
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.693230218,747,724,693,667,632,898.306769782,786,828,657,632,657,0.455713564564,0.00465117361215,0.0496216513139,0.99999980844,0.000241892045006,-0.000569685099316,8.18678417671e-06,1793250789617107712
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.125371346,747,724,693,667,632,898.874628654,786,828,657,632,657,0.455712798432,0.00465084266823,0.0496210787387,0.999999807935,0.000241871816003,-0.000570575773605,8.39951115133e-06,1793250789633774592
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747.469244114,724,693,667,632,898.530755886,786,828,657,632,656.530755886,0.455713070532,0.0046504462686,0.0496209397072,0.999999808092,0.000239993594706,-0.000571098417621,8.12380235272e-06,1793250789650441216
+245,4.083333333,POSE1_TO_POSE2_PRESS,769.068039549,747.931960451,723.931960451,693,667,632,898,786,828,657,632,656.068039549,0.455713591128,0.00465008845286,0.0496209937387,0.999999808349,0.00023817400548,-0.000571413672664,7.83044414633e-06,1793250789667107840
+246,4.100000000,POSE1_TO_POSE2_PRESS,769.641567138,747.358432862,723.358432862,693,667,632,898,786,828,657,632,656.641567138,0.455713772431,0.00465015507224,0.049621569501,0.999999807997,0.000240701039658,-0.000570962861182,8.43410750065e-06,1793250789683774464
+247,4.116666667,HOLD_POSE2,770,748,723,693,667,632,898,786,828,657,632,657,0.455716708912,0.00465349427283,0.0496238724544,0.999999809603,0.00024244584073,-0.000567402345632,8.2543282684e-06,1793250789723044096
+248,4.133333333,HOLD_POSE2,770,747.410106142,723.589893858,693,667,632,898,785.410106142,828,656.410106142,632,657,0.455714146505,0.00465156652046,0.0496215379201,0.999999807937,0.000240564239622,-0.000571123508063,8.50261501148e-06,1793250789739710720
+249,4.150000000,HOLD_POSE2,770,747.176075507,724,693,667,632,898,785,828,656.176075507,632,657,0.455712997811,0.00465009183468,0.0496201730492,0.999999807128,0.00023921478386,-0.000573102728039,8.54764664327e-06,1793250789756377344
+250,4.166666667,HOLD_POSE2,770,747.753789506,724,693,667,632,898,785,828,656.753789506,632,657,0.455715073882,0.00464965061984,0.0496210200366,0.999999808305,0.000239079182281,-0.000571108476532,8.12904157222e-06,1793250789773043968
+251,4.183333333,HOLD_POSE2,770,748,724,692.67006675,667,632,898,785.32993325,828,657,632,657,0.455715689764,0.00465033625456,0.049621184668,0.999999808071,0.000240418941883,-0.000570956627185,8.1184658384e-06,1793250789789710848
+252,4.200000000,HOLD_POSE2,770,748,724,692.095089283,667,632,898,785.904910717,828,657,632,657,0.455715221152,0.00465185881001,0.0496208425078,0.999999806784,0.000242854464731,-0.000572173145637,8.41093697198e-06,1793250789806377472
+253,4.216666667,HOLD_POSE2,770,747.522084635,724,692.477915365,667,632,898.477915365,786,828,657,632,657,0.455713923443,0.00465223737272,0.0496195761296,0.999999806194,0.000242255688521,-0.00057346505723,7.90059575445e-06,1793250789823044352
+254,4.233333333,HOLD_POSE2,770,747.0524674,723.9475326,693.0524674,667,632,898.9475326,785.9475326,828,657,632,657,0.455712771796,0.0046523917491,0.0496183336338,0.999999805809,0.000241327232788,-0.000574533306348,7.35209989e-06,1793250789839710976
+255,4.250000000,HOLD_POSE2,770,747.647046656,723.352953344,693.647046656,667,632,898.352953344,785.352953344,828,657,632,657,0.455714826748,0.00465257189955,0.0496192300918,0.999999806151,0.000243204665556,-0.000573136239506,8.05300985532e-06,1793250789856377344
+256,4.266666667,HOLD_POSE2,770,748,723,693.765140929,667,632,898,785.234859071,828,657,632,657,0.455714992051,0.00465251047368,0.0496193599397,0.9999998058,0.000243836438947,-0.000573474517071,8.40722540603e-06,1793250789873043712
+257,4.283333333,HOLD_POSE2,770,748,723,693.187213182,667,632,898,785.812786818,828,657,632,657,0.455712397066,0.00465209616697,0.0496183699675,0.999999804438,0.000242648624315,-0.000576347686453,8.25500955511e-06,1793250789889710592
+258,4.300000000,HOLD_POSE2,770,748,723.384983695,693.384983695,667,632,898,786,828,657,632,657,0.455713936053,0.00465277069678,0.0496191669516,0.99999980512,0.000243414938021,-0.000574845265369,7.91818036679e-06,1793250789906377216
+259,4.316666667,HOLD_POSE2,770,748,723.954434643,693.954434643,667,632,898,786,828,657,632,657,0.455717455859,0.00465396694913,0.0496208201665,0.999999806769,0.000245117583968,-0.000571246254043,7.4928925738e-06,1793250789923044096
+260,4.333333333,HOLD_POSE2,770,747.450754224,723.450754224,693.450754224,667,632,898,786,828,657,632,656.450754224,0.455717667882,0.00465222537292,0.0496216323446,0.999999807559,0.000242772979033,-0.000570858695544,7.94842917018e-06,1793250789939710720
+261,4.350000000,HOLD_POSE2,770,747.141520484,723.141520484,693,667,632,898,785.858479516,828,657,632,656.141520484,0.455717400731,0.00465097299395,0.0496218813046,0.99999980777,0.000241165184248,-0.000571166523752,8.31349436329e-06,1793250789956377600
+262,4.366666667,HOLD_POSE2,770,747.719180921,723.719180921,693,667,632,898,785.280819079,828,657,632,656.719180921,0.455716543485,0.00465201569503,0.049620619965,0.999999806438,0.000242912939694,-0.000572756596848,8.16364452015e-06,1793250789973044224
+263,4.383333333,HOLD_POSE2,770,747.703175237,723.703175237,693,667,632,898,785.296824763,828,657,632,657,0.455716760763,0.00465286556368,0.0496204558488,0.99999980622,0.000243954351807,-0.000572694719309,8.12747967154e-06,1793250789989710848
+264,4.400000000,HOLD_POSE2,770,747.125547128,723.125547128,693,667,632,898,785.874452872,828,657,632,657,0.455717994568,0.00465353300818,0.0496213297324,0.999999807058,0.000244327546081,-0.00057107005675,8.19886356371e-06,1793250790006377472
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,748,724,693,667,632,898,785,828,657,632,657,0.455716511537,0.0046541669914,0.0496195744416,0.999999805445,0.000243788905994,-0.00057412504155,7.609257205e-06,1793250790038500096
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,769,746,722,690.618437775,673.618437775,641,890,787.381562225,823,656,631,655,0.430949719977,0.00463781127083,0.0498036547867,0.999999923093,0.000234575321851,-0.000313069670791,-2.78399616315e-05,1793250791055166720
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,747,722,684.010254595,674,641.010254595,885,786.010254595,819,657,632,656,0.400982483348,0.00460868228914,0.0498445191954,0.999999954299,0.00013371361626,-0.000268578401105,-3.72552862902e-05,1793250792221833472
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,746.165587167,722,684.165587167,674,642,885.165587167,786,818,657,632,656,0.400981726589,0.0046081180151,0.0498440119578,0.99999995405,0.000135102114706,-0.000268880307258,-3.67416220653e-05,1793250792255166720
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,746.742961663,722,684.742961663,674,642,885.742961663,786,818,657,632,656,0.400981590175,0.00460748794723,0.0498443027577,0.999999954246,0.000134390621842,-0.000268526837165,-3.66060796295e-05,1793250792271833856
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.679210976,747,722,684.679210976,674,641.679210976,885.679210976,786,818.320789024,657,632,655.679210976,0.40098199774,0.00460719691385,0.0498446328353,0.999999954322,0.000134863526508,-0.000268029536972,-3.64553187654e-05,1793250792288500992
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,769.620247487,747,722,684.620247487,674.379752513,642,885.620247487,787,818,657,632.379752513,656,0.400981306666,0.00460910384956,0.0498450707228,0.999999954679,0.000133788745213,-0.000267123898189,-3.72404042478e-05,1793250792405167104
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769.04432145,747,722,684.04432145,674.95567855,642,885.04432145,787,818,657,632.95567855,656,0.400981656021,0.00460901646235,0.0498449448755,0.9999999549,0.0001321991865,-0.000267073040839,-3.73507146657e-05,1793250792421834240
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,747,722,684.540947937,674.459052063,642,885,787,818.540947937,657,632.459052063,656,0.400983398987,0.00460733846865,0.0498462109095,0.999999955892,0.000130313697004,-0.000264321355146,-3.69975355901e-05,1793250792438500864
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba7db3476a88b72d336f12d949ed205aa3d682e6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+185,3.083333333,pose1_to_pose2_press,0.609601789952,0.0101502091966,1.04003342175,0.580172466305,0.0188228359938,1.03970481984
+186,3.100000000,pose1_to_pose2_press,0.610260497008,0.0101501061721,1.0400335223,0.580831175911,0.0188227414706,1.03970491643
+187,3.116666667,pose1_to_pose2_press,0.610890134948,0.0101500341027,1.04003354847,0.581460815532,0.0188226751458,1.03970494383
+188,3.133333333,pose1_to_pose2_press,0.611492488653,0.0101501614259,1.04003376894,0.582063167894,0.0188227977273,1.03970515953
+189,3.150000000,pose1_to_pose2_press,0.612072932503,0.0101503365448,1.04003347306,0.582643608015,0.0188229599835,1.03970485973
+190,3.166666667,pose1_to_pose2_press,0.612637425828,0.010150139809,1.04003362887,0.583208104083,0.0188227725224,1.03970501488
+191,3.183333333,pose1_to_pose2_press,0.613186796131,0.01015002417,1.04003371426,0.583757475686,0.0188226616552,1.03970510933
+192,3.200000000,pose1_to_pose2_press,0.613726706653,0.0101500036512,1.04003353972,0.584297385927,0.0188226404034,1.03970493808
+193,3.216666667,pose1_to_pose2_press,0.614253005265,0.0101500537437,1.04003350716,0.584823684067,0.0188226889474,1.0397049021
+194,3.233333333,pose1_to_pose2_press,0.614759035767,0.0101500710992,1.04003366062,0.585329714984,0.0188227077761,1.03970505028
+195,3.250000000,pose1_to_pose2_press,0.615245702135,0.0101500641182,1.04003366724,0.585816381127,0.0188227002703,1.03970505437
+196,3.266666667,pose1_to_pose2_press,0.615711958932,0.0101502152603,1.04003363894,0.586282635129,0.0188228425452,1.03970503348
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+198,3.300000000,pose1_to_pose2_press,0.616608284094,0.0101500747211,1.04003353639,0.587178962046,0.018822708688,1.03970492804
+199,3.316666667,pose1_to_pose2_press,0.617027458503,0.0101500591312,1.04003339445,0.587598137584,0.0188226975722,1.03970479185
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+203,3.383333333,pose1_to_pose2_press,0.618449294335,0.0101501057213,1.04003343851,0.589019972379,0.0188227421517,1.03970483665
+204,3.400000000,pose1_to_pose2_press,0.618751862657,0.0101501348083,1.04003342265,0.589322539995,0.0188227692723,1.03970482255
+205,3.416666667,pose1_to_pose2_press,0.61904053431,0.0101501664938,1.04003351203,0.589611209861,0.018822795082,1.03970490846
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+207,3.450000000,pose1_to_pose2_press,0.619578805296,0.0101501581416,1.04003364149,0.590149481868,0.0188227903578,1.03970503028
+208,3.466666667,pose1_to_pose2_press,0.619819807018,0.0101501820365,1.04003350007,0.590390482967,0.0188228127561,1.03970489819
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+218,3.633333333,pose1_to_pose2_press,0.621197883768,0.0101500998009,1.04003326521,0.59176855971,0.0188227320706,1.03970466385
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+221,3.683333333,pose1_to_pose2_press,0.621374597132,0.0101501176804,1.04003354842,0.591945272747,0.0188227491319,1.03970494579
+222,3.700000000,pose1_to_pose2_press,0.621415737274,0.0101501076735,1.04003343799,0.591986414019,0.0188227428081,1.03970483411
+223,3.716666667,pose1_to_pose2_press,0.621449626429,0.0101500786226,1.04003338601,0.592020303663,0.0188227154508,1.0397047822
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+225,3.750000000,pose1_to_pose2_press,0.621498086507,0.0101501153263,1.04003356632,0.592068761379,0.0188227435046,1.03970494955
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+227,3.783333333,pose1_to_pose2_press,0.621526545345,0.010149999368,1.04003353211,0.592097221924,0.0188226338942,1.03970492142
+228,3.800000000,pose1_to_pose2_press,0.621535245481,0.0101501125407,1.04003352032,0.592105921808,0.018822746273,1.03970491495
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+233,3.883333333,pose1_to_pose2_press,0.621547747043,0.0101501534502,1.04003329688,0.59211842429,0.0188227904384,1.03970469812
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+240,4.000000000,pose1_to_pose2_press,0.621548872926,0.0101500962489,1.04003364194,0.592119549568,0.018822730614,1.03970502789
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+242,4.033333333,pose1_to_pose2_press,0.621549202883,0.010150134048,1.04003360466,0.592119878518,0.0188227650069,1.03970498962
+243,4.050000000,pose1_to_pose2_press,0.621549348131,0.0101501553929,1.0400335443,0.592120023393,0.0188227851241,1.03970492954
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+265,4.416666667,pose2_to_pose3_retreat,0.621549346163,0.0101501063601,1.0400334425,0.592120022939,0.0188227411714,1.03970482686
+266,4.433333333,pose2_to_pose3_retreat,0.621549347698,0.0101501660439,1.04003348847,0.592120023215,0.0188227966463,1.03970487449
+267,4.450000000,pose2_to_pose3_retreat,0.621549348021,0.0101501786134,1.04003349815,0.592120023273,0.0188228083294,1.03970488452
+268,4.466666667,pose2_to_pose3_retreat,0.62154934945,0.0101502341854,1.04003354095,0.59212002353,0.0188228599823,1.03970492887
+269,4.483333333,pose2_to_pose3_retreat,0.621549232524,0.0101501902174,1.04003349693,0.59211990732,0.0188228185723,1.03970488819
+270,4.500000000,pose2_to_pose3_retreat,0.621549162324,0.0101501615205,1.04003346873,0.592119837599,0.0188227915737,1.03970486193
+271,4.516666667,pose2_to_pose3_retreat,0.621548529883,0.0101500773477,1.04003338656,0.592119206382,0.0188227116774,1.03970478325
+272,4.533333333,pose2_to_pose3_retreat,0.621546112518,0.0101501633901,1.04003349691,0.592116788361,0.0188227952964,1.03970488815
+273,4.550000000,pose2_to_pose3_retreat,0.621540091732,0.0101501763736,1.04003340428,0.592110766796,0.018822805704,1.0397047984
+274,4.566666667,pose2_to_pose3_retreat,0.621527469385,0.010150185605,1.04003342798,0.592098146485,0.018822822047,1.03970482829
+275,4.583333333,pose2_to_pose3_retreat,0.62150646123,0.0101501757698,1.04003329441,0.592077137059,0.0188228080873,1.03970469536
+276,4.600000000,pose2_to_pose3_retreat,0.621475666834,0.0101501179855,1.04003364745,0.592046344078,0.0188227547217,1.03970504075
+277,4.616666667,pose2_to_pose3_retreat,0.621435156424,0.0101501481639,1.04003357383,0.592005834806,0.0188227891541,1.0397049751
+278,4.633333333,pose2_to_pose3_retreat,0.621385318195,0.010150122522,1.0400335583,0.591955995697,0.0188227599943,1.03970495384
+279,4.650000000,pose2_to_pose3_retreat,0.621328180735,0.010150034134,1.04003364527,0.591898859253,0.0188226747093,1.03970503729
+280,4.666666667,pose2_to_pose3_retreat,0.62126425254,0.0101500484516,1.0400336044,0.591834930965,0.0188226887066,1.03970499669
+281,4.683333333,pose2_to_pose3_retreat,0.621193728018,0.0101500828994,1.04003356281,0.591764406043,0.0188227212483,1.03970495821
+282,4.700000000,pose2_to_pose3_retreat,0.6211162811,0.0101499984906,1.04003378538,0.591686958925,0.0188226365131,1.03970517288
+283,4.716666667,pose2_to_pose3_retreat,0.621027862722,0.0101499585066,1.04003380142,0.591598541993,0.0188226011805,1.03970518615
+284,4.733333333,pose2_to_pose3_retreat,0.62092833222,0.0101499638633,1.04003358495,0.591499010915,0.0188226050163,1.03970498271
+285,4.750000000,pose2_to_pose3_retreat,0.62081491261,0.0101500532671,1.04003348961,0.59138558965,0.0188226888157,1.03970489191
+286,4.766666667,pose2_to_pose3_retreat,0.62068785321,0.0101501732956,1.04003349845,0.591258528858,0.0188228038446,1.03970489826
+287,4.783333333,pose2_to_pose3_retreat,0.620546749243,0.0101502287079,1.0400335224,0.591117424954,0.0188228593194,1.03970492114
+288,4.800000000,pose2_to_pose3_retreat,0.620391245698,0.0101501390914,1.04003361971,0.590961923106,0.0188227753792,1.0397050202
+289,4.816666667,pose2_to_pose3_retreat,0.620221293754,0.0101501431551,1.0400333993,0.590791971338,0.0188227799984,1.03970480391
+290,4.833333333,pose2_to_pose3_retreat,0.620035257084,0.0101501345076,1.0400335585,0.590605933758,0.0188227677033,1.0397049536
+291,4.850000000,pose2_to_pose3_retreat,0.619831350729,0.010150046531,1.04003346664,0.590402028514,0.0188226832483,1.03970486074
+292,4.866666667,pose2_to_pose3_retreat,0.619605978718,0.0101500388735,1.04003336169,0.590176657641,0.0188226792356,1.0397047565
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+294,4.900000000,pose2_to_pose3_retreat,0.619088997765,0.010150147823,1.04003355779,0.58965967529,0.0188227826895,1.03970494708
+295,4.916666667,pose2_to_pose3_retreat,0.618796657506,0.0101501251857,1.04003379771,0.589367336762,0.0188227654711,1.03970518307
+296,4.933333333,pose2_to_pose3_retreat,0.618483825325,0.0101500144521,1.04003358831,0.589054503549,0.0188226510387,1.03970497542
+297,4.950000000,pose2_to_pose3_retreat,0.61815226392,0.0101501124365,1.04003362238,0.588722940724,0.0188227439502,1.03970501162
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+299,4.983333333,pose2_to_pose3_retreat,0.617446934914,0.0101501372347,1.04003369858,0.588017612656,0.0188227712946,1.03970509146
+300,5.000000000,pose2_to_pose3_retreat,0.61707044897,0.0101501963628,1.04003365603,0.587641128062,0.0188228348146,1.03970505395
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ff292225832a0d084caf062b5d1907eab1613c8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:360df4cb6751a4387e1ac22de59f0c37ffe56d92ff63d592263bbe0f10bafd4c
+size 26230728
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be0e5257cf6f04f9725bb7aaa36d8bf9dcb40e7b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,414 @@
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+2,0.033333333,BASELINE,770,747,722,684,674,641.160294463,885.839705537,787,819,657,633,656,0.400984443594,0.00460870313372,0.0498481005197,0.999999956477,0.000132208377756,-0.000261083514065,-3.74554171049e-05,1793250792628727040
+3,0.050000000,BASELINE,770,747,722,684,674,641.736097948,885.263902052,787,819,657,633,656,0.40098327033,0.00460757497793,0.0498477212124,0.999999956349,0.000131627809959,-0.000261871192414,-3.74158029074e-05,1793250792645393664
+4,0.066666667,BASELINE,770,747,722,684.318422923,674.318422923,642,885.318422923,786.681577077,818.681577077,657,632.681577077,656,0.400983619644,0.0046066860246,0.0498485797047,0.999999956644,0.000131401517591,-0.000260918500445,-3.69791535488e-05,1793250792662060288
+5,0.083333333,BASELINE,770,747,722,684.906265743,674.906265743,642,885.906265743,786.093734257,818.093734257,657,632.093734257,656,0.400985257221,0.00460599946224,0.0498504855082,0.999999957292,0.000131474980213,-0.000258493268742,-3.62065699226e-05,1793250792678726912
+6,0.100000000,BASELINE,770,747,722,684.513951251,674.513951251,642,886,786,818.486048749,657,632,656,0.400986111841,0.00460625275051,0.0498503422233,0.999999957311,0.000132195086302,-0.000258062337607,-3.61381272595e-05,1793250792695393536
+7,0.116666667,BASELINE,770,747,722.063872477,684,674.063872477,641.936127523,885.936127523,786.063872477,819,657,631.936127523,656,0.400986642323,0.00460681677366,0.0498498599513,0.999999957195,0.000133051485219,-0.000258062152871,-3.62216822731e-05,1793250792712060416
+8,0.133333333,BASELINE,770,747,722.638256965,684,674.638256965,641.361743035,885.361743035,786.638256965,819,657,631.361743035,656,0.400985769215,0.00460843936024,0.0498497751767,0.999999956949,0.000134016761392,-0.000258480944711,-3.64524582328e-05,1793250792728727040
+9,0.150000000,BASELINE,770,746.780824293,722.780824293,684,674.780824293,641.219175707,885,787,819,657,631.219175707,656,0.400984767705,0.00460897552117,0.0498493124532,0.999999956674,0.000134317612342,-0.000259367057946,-3.66014319024e-05,1793250792745393664
+10,0.166666667,BASELINE,770,746.188789622,722.188789622,684,674.188789622,641.811210378,885,787,819,657,631.811210378,656,0.400983547759,0.00460766346825,0.0498482067678,0.999999956347,0.000133488151332,-0.000261048172434,-3.66112445179e-05,1793250792762060544
+11,0.183333333,BASELINE,770,746,722,684,674,642,885,787,819,657,632,656,0.400983620975,0.00460703191023,0.0498482400579,0.999999956618,0.000132602316778,-0.000260464490377,-3.65855743916e-05,1793250792778727424
+12,0.200000000,BASELINE,770,746,722,684,674,642,885,787,819,657,632,656,0.400984299618,0.00460671894351,0.0498488065889,0.999999957167,0.000131690089405,-0.000258820484964,-3.6543292096e-05,1793250792795394304
+13,0.216666667,BASELINE,770,746.548415905,722,684,674,642,885.548415905,786.451584095,819,657,632,656,0.400985196287,0.00460718678997,0.0498493304458,0.999999957244,0.000131436072297,-0.000258610048193,-3.68456448397e-05,1793250792812060416
+14,0.233333333,BASELINE,770,747,722.123284186,684,674.123284186,641.876715814,885.876715814,786.123284186,819,657,632,656,0.400985446049,0.00460750856757,0.0498495263136,0.99999995712,0.000131569270961,-0.00025899763256,-3.70199692946e-05,1793250792828727296
+15,0.250000000,BASELINE,770,747,722.694070481,684,674.694070481,641.305929519,885.305929519,786.694070481,819,657,632,656,0.400983307841,0.0046071576198,0.0498485394215,0.999999956348,0.000132987861195,-0.000261294275718,-3.66666665767e-05,1793250792845394432
+16,0.266666667,BASELINE,769.72409745,747,722.72409745,684,674.72409745,641.27590255,885,787,818.72409745,657,632,656,0.400983470165,0.00460655886321,0.0498486726003,0.999999956561,0.000132377682006,-0.00026082044784,-3.64361010473e-05,1793250792862061056
+17,0.283333333,BASELINE,769.129506718,747,722.129506718,684,674.129506718,641.870493282,885,787,818.129506718,657,632,656,0.400986289776,0.00460567386883,0.0498500995454,0.999999957902,0.000129424121557,-0.000257146517532,-3.63473062169e-05,1793250792878727680
+18,0.300000000,BASELINE,769,747,722.453773499,684,674,642,885,786.546226501,818,657,632,656,0.400985251393,0.00460597482382,0.0498492400859,0.999999957564,0.000129078156746,-0.000258600353285,-3.65651273343e-05,1793250792895394304
+19,0.316666667,BASELINE,769,747,722.966470664,684,674,642,885,786.033529336,818.033529336,657,632,656,0.400983248151,0.00460653365709,0.0498478245908,0.999999956795,0.000129463084089,-0.000261327425434,-3.68405365635e-05,1793250792912060928
+20,0.333333333,BASELINE,769,747,722.392754174,684,674,642,885,786.607245826,818.607245826,657,632,656,0.400983008004,0.00460592671188,0.0498477081771,0.99999995668,0.000129925090863,-0.000261563192183,-3.66681956994e-05,1793250792928727296
+21,0.350000000,BASELINE,769,747,722,684,674.184994221,642,885,787,818.815005779,657,632,656,0.400982978931,0.00460547701783,0.0498479273818,0.999999956715,0.000129934218328,-0.000261444596922,-3.65230045186e-05,1793250792945393664
+22,0.366666667,BASELINE,769,747,722,684,674.771493241,642,885,787,818.228506759,657,632,656,0.400983407966,0.0046053686161,0.0498488750005,0.999999957076,0.000128960432785,-0.000260556907077,-3.64367380558e-05,1793250792962060544
+23,0.383333333,BASELINE,769.348046895,747,722,684,675,642,885.348046895,787,818.348046895,657,632,656,0.400983634967,0.00460474723142,0.0498492021927,0.99999995742,0.000127932601055,-0.000259747848979,-3.63976195047e-05,1793250792978727424
+24,0.400000000,BASELINE,769.918252468,747,722,684,675,642,885.918252468,787,818.918252468,657,632,656,0.400983733011,0.0046037984092,0.0498491333661,0.999999957752,0.000126870271498,-0.000258988981516,-3.6388595504e-05,1793250792995394048
+25,0.416666667,BASELINE,769.498292689,747,722.501707311,684.501707311,674.498292689,642,885.498292689,786.498292689,819,657,632,655.498292689,0.400983390243,0.00460580103908,0.0498487195701,0.999999957316,0.000129538541004,-0.000259326622851,-3.65657924632e-05,1793250793012060928
+26,0.433333333,BASELINE,769.085736453,747,722.914263547,684.914263547,674,642,885,786.085736453,819,657,632,655.085736453,0.400983223029,0.004607816178,0.0498484937216,0.999999956877,0.000132213194104,-0.000259646240414,-3.67264759003e-05,1793250793028727552
+27,0.450000000,BASELINE,769.660395982,747,722.339604018,684.339604018,674,642,885,786.660395982,819,657,632,655.660395982,0.400984477631,0.0046070858385,0.0498496688997,0.999999957208,0.000131363833834,-0.000258816586669,-3.66152629538e-05,1793250793045394176
+28,0.466666667,BASELINE,770,746.758883599,722,684.241116401,674,642,885,786.758883599,819,657,632,656,0.400984877254,0.00460661853752,0.0498498151278,0.999999957333,0.000130278748574,-0.000258877814023,-3.66654233851e-05,1793250793062061056
+29,0.483333333,BASELINE,770,746.16940655,722,684.83059345,674,642,885,786.16940655,819,657,632,656,0.400984041617,0.00460653126991,0.0498484747472,0.999999957157,0.000128853092129,-0.000260226170453,-3.69487331833e-05,1793250793078727680
+30,0.500000000,BASELINE,770,746.414215207,722,685,674,642,885.414215207,786.414215207,819,657,632.414215207,656,0.400983464703,0.0046087747384,0.0498483769107,0.999999956736,0.000132503243181,-0.000259987393507,-3.71013017024e-05,1793250793095394048
+31,0.516666667,BASELINE,770,746.99547562,722,685,674,642,885.99547562,786.99547562,819,657,632.99547562,656,0.400982992128,0.00461195814896,0.049848780169,0.99999995619,0.000138200372013,-0.000259108555467,-3.72011447132e-05,1793250793112060416
+32,0.533333333,BASELINE,769.429508636,747,722.570491364,684.429508636,674,642,886,786.429508636,819,657,632.429508636,656,0.400983233646,0.00460757778781,0.0498485931714,0.999999956978,0.000131421243792,-0.000259654618206,-3.67569737089e-05,1793250793128727040
+33,0.550000000,BASELINE,769.145472894,747,723,684,674,642,886,786,819,657,632,656,0.400983541543,0.00460467495811,0.0498484640743,0.999999957514,0.000126913396504,-0.000259860718492,-3.65637062418e-05,1793250793145393920
+34,0.566666667,BASELINE,769.720497946,747,723,684,674,642,886,786,819,657,632,656,0.400984028906,0.00460631019012,0.0498485196184,0.99999995739,0.000129401187143,-0.000259029971482,-3.71239080794e-05,1793250793162061056
+35,0.583333333,BASELINE,770,747,723,684,674,642,886,786,819,657,632,656,0.400984916947,0.00460641238162,0.0498493119989,0.999999957631,0.000130203359405,-0.000257721217012,-3.69311793703e-05,1793250793178727936
+36,0.600000000,BASELINE,770,747,723,684,674,642,886,786,819,657,632,656,0.400986183946,0.00460506464192,0.0498508012707,0.99999995822,0.000129411294241,-0.000255960368702,-3.60263380133e-05,1793250793195394560
+37,0.616666667,BASELINE,770,747,722.5249478,684.4750522,674,642,885.5249478,786,818.5249478,657,632,656,0.400985045215,0.00460518325514,0.0498502587355,0.999999957872,0.000129831880653,-0.000257106754669,-3.60042285875e-05,1793250793212061184
+38,0.633333333,BASELINE,769.948382688,746.948382688,722,684.948382688,674,642,885.051617312,786,818.051617312,657,632,656,0.400983589443,0.00460556832255,0.049849392196,0.999999957399,0.000130420525767,-0.000258615873704,-3.61963093467e-05,1793250793228727808
+39,0.650000000,BASELINE,769.37168051,746.37168051,722,684.37168051,674,642,885.62831949,786,818.62831949,657,632,656,0.400984137339,0.00460547684003,0.0498496457749,0.999999957716,0.000130083094143,-0.000257496121443,-3.66486677459e-05,1793250793245394176
+40,0.666666667,BASELINE,769.208992459,746.208992459,722.208992459,684,674,642,885.791007541,786.208992459,819,657,632,656,0.400984234473,0.00460537698373,0.0498495707826,0.999999957832,0.000128952773616,-0.000257571080135,-3.6942841499e-05,1793250793262060800
+41,0.683333333,BASELINE,769.796863976,746.796863976,722.796863976,684,674,642,885.203136024,786.796863976,819,657,632,656,0.400983514426,0.00460526194676,0.0498489001286,0.99999995758,0.000126385037612,-0.000259811911096,-3.69502448321e-05,1793250793278727680
+42,0.700000000,BASELINE,769.621456862,747,722.621456862,684.378543138,674,642,885.378543138,787,818.621456862,657,632.378543138,656,0.400983596949,0.00460563012271,0.0498492163222,0.999999957545,0.000127388644402,-0.000259462794921,-3.68989107477e-05,1793250793295394304
+43,0.716666667,BASELINE,769.043047212,747,722.043047212,684.956952788,674,642,885.956952788,787,818.043047212,657,632.956952788,656,0.400984103219,0.00460625342964,0.0498500535603,0.99999995762,0.000130277880033,-0.000257746215763,-3.68165639682e-05,1793250793312061184
+44,0.733333333,BASELINE,769.535090575,747,722,685,674.535090575,642,885.464909425,787,818.535090575,657,632.464909425,656,0.400983606995,0.00460843867818,0.0498493624164,0.999999957132,0.000132562405251,-0.000258399621746,-3.73320217197e-05,1793250793328728064
+45,0.750000000,BASELINE,770,747,722,685,674.887904086,642,885.112095914,786.887904086,818.887904086,657,632,656,0.400983452377,0.00460985730358,0.0498488966062,0.999999956867,0.000133716642646,-0.000258777624449,-3.76948242757e-05,1793250793345394688
+46,0.766666667,BASELINE,770,747,722,685,674.315459791,642,885.684540209,786.315459791,818.315459791,657,632,656,0.400985031675,0.004607611836,0.0498498608736,0.999999957714,0.000130428768324,-0.000257242018672,-3.7233309278e-05,1793250793362061056
+47,0.783333333,BASELINE,770,747,722.265097412,684.734902588,674,642,886,786.265097412,818,657,632.265097412,656,0.400985204092,0.00460656718712,0.0498502282516,0.999999957839,0.000129556231264,-0.000257250996789,-3.68766942184e-05,1793250793378727680
+48,0.800000000,BASELINE,770,747,722.855613646,684.144386354,674,642,886,786.855613646,818,657,632.855613646,656,0.400983649499,0.00460699659614,0.0498498629214,0.999999957082,0.000131648627292,-0.000259156019882,-3.66488484201e-05,1793250793395394304
+49,0.816666667,BASELINE,770,747,722.56305407,684,674,642,886,787,818.43694593,657,632.56305407,656,0.400983265455,0.00460807691154,0.0498497782979,0.999999956858,0.000132379455147,-0.000259623799128,-3.68182656813e-05,1793250793412060928
+50,0.833333333,BASELINE,769.984724351,747,722,684,674,642,885.984724351,786.984724351,819,657,632,656,0.40098328855,0.00460929044078,0.0498497884453,0.999999956829,0.000132619975538,-0.000259572466629,-3.71077124422e-05,1793250793428728064
+51,0.850000000,BASELINE,769.407506271,747,722,684,674,642,885.407506271,786.407506271,819,657,632,656,0.400984352773,0.00460765495251,0.0498499428916,0.999999957565,0.000131034146991,-0.000257536142961,-3.70829453156e-05,1793250793445394688
+52,0.866666667,BASELINE,769,747,722,684,674,642,885.169091041,786.169091041,819,656.830908959,632,656,0.400985004046,0.00460662785028,0.0498500116313,0.999999958002,0.0001299056829,-0.000256411229687,-3.70671556218e-05,1793250793462061056
+53,0.883333333,BASELINE,769,747,722,684,674,642,885.744197748,786.744197748,819,656.255802252,632,656,0.400984663756,0.00460706158404,0.0498498745752,0.999999957732,0.000129875426911,-0.000257474764243,-3.70729222372e-05,1793250793478727680
+54,0.900000000,BASELINE,769,747,722,684.32889372,674,642,885.67110628,787,819,656.32889372,632,656,0.400985084081,0.00460736323194,0.0498502163901,0.999999957686,0.000130626267761,-0.000257297544729,-3.69180474922e-05,1793250793495394048
+55,0.916666667,BASELINE,769,747,722,684.921271847,674,642,885.078728153,787,819,656.921271847,632,656,0.400986113753,0.00460755906275,0.0498509418398,0.999999957816,0.000132002863453,-0.000256126328228,-3.66344792176e-05,1793250793512060672
+56,0.933333333,BASELINE,769.50031615,747,722,684.49968385,674,642,885,786.49968385,819,657,632.50031615,656,0.400984916257,0.00460683542198,0.0498502174859,0.99999995761,0.000131410632071,-0.000257249567969,-3.6520259699e-05,1793250793528727296
+57,0.950000000,BASELINE,770,747,722,684,674.077110038,642,885.077110038,786.077110038,819,657,632.922889962,656,0.40098375745,0.00460602393893,0.0498495724409,0.999999957438,0.000130661671796,-0.000258303528635,-3.64677500895e-05,1793250793545393920
+58,0.966666667,BASELINE,770,747,722,684,674.652567712,642,885.652567712,786.652567712,819,657,632.347432288,656,0.40098505484,0.0046055555473,0.0498508760846,0.999999957836,0.000130850059664,-0.000256636936176,-3.66463085738e-05,1793250793562060544
+59,0.983333333,BASELINE,769.766836707,747,722,684,674.766836707,642,886,786.766836707,819,657,632.233163293,656,0.400985442511,0.00460602082409,0.0498513268216,0.999999957981,0.000130779652968,-0.00025606953797,-3.69153753336e-05,1793250793578727168
+60,1.000000000,BASELINE,769.178412635,747,722,684,674.178412635,642,886,786.178412635,819,657,632.821587365,656,0.400984444083,0.00460790869082,0.0498504780219,0.999999957743,0.000130314932267,-0.000257176934039,-3.73223456474e-05,1793250793595393792
+61,1.016666667,BASELINE,769.403734927,747,722,684.403734927,674,642,886,786.403734927,819,657,633,656,0.400984838914,0.00460733012133,0.0498507579546,0.999999957972,0.000129533113308,-0.000256692045068,-3.72206326983e-05,1793250793612060416
+62,1.033333333,BASELINE,769.98315129,747,722,684.98315129,674,642,886,786.98315129,819,657,633,656,0.40098584001,0.00460567830534,0.0498515290445,0.999999958405,0.00012861331207,-0.00025551428825,-3.68975710134e-05,1793250793628727296
+63,1.050000000,BASELINE,769.442778118,747,722,684.442778118,674,642,885.442778118,786.442778118,819,657,633,656,0.40098372272,0.00460692806621,0.0498498304584,0.999999957677,0.000128833991171,-0.000258209172899,-3.70932442008e-05,1793250793645394176
+64,1.066666667,BASELINE,769.131637122,747,722,684.131637122,674,642,885.131637122,786.131637122,818.868362878,657,632.868362878,656,0.400982388841,0.004607759702,0.0498488383916,0.999999957186,0.000129325458961,-0.000259843422492,-3.72030707598e-05,1793250793662060800
+65,1.083333333,BASELINE,769.707756666,747,722,684.707756666,674,642,885.707756666,786.707756666,818.292243334,657,632.292243334,656,0.400984015554,0.00460688607922,0.0498504816909,0.999999957632,0.000130615931046,-0.00025750473018,-3.69705716342e-05,1793250793678727424
+66,1.100000000,BASELINE,770,747,722,685,674,642,885.708854791,786.708854791,818,657,632.291145209,656,0.400984670524,0.004606531977,0.0498510845699,0.999999957867,0.000130557353058,-0.000256640458351,-3.68391776727e-05,1793250793695393792
+67,1.116666667,BASELINE,770,747,722,685,674,642,885.117983036,786.117983036,818,657,632.882016964,656,0.400984325107,0.00460671270795,0.0498506163626,0.999999957888,0.000129109962443,-0.000257294064842,-3.6811868906e-05,1793250793712060416
+68,1.133333333,BASELINE,769.536476277,747,722,684.536476277,674,642,885,786,818,657,633,656,0.400984371663,0.0046060066242,0.0498507699655,0.999999957927,0.000129323456125,-0.000257041174253,-3.67555035634e-05,1793250793728727296
+69,1.150000000,BASELINE,769,747,722,684,674,642,885,786.042312048,818.042312048,657,633,656,0.400984454953,0.00460515717123,0.0498509624875,0.999999957962,0.000129754039354,-0.000256695805328,-3.66989932921e-05,1793250793745393920
+70,1.166666667,BASELINE,769,747,722,684,674,642,885,786.616300765,818.616300765,657,633,656,0.400983770983,0.0046052864041,0.0498496946478,0.999999957881,0.000127705532764,-0.000258030301881,-3.67317557177e-05,1793250793762061056
+71,1.183333333,BASELINE,769,747,722,684,674,642,885,787,819,657,633,656,0.400983460963,0.00460591058495,0.0498489975292,0.9999999578,0.000127168192679,-0.000258592602496,-3.68435525214e-05,1793250793778727680
+72,1.200000000,BASELINE,769,747,722,684,674,642,885,787,819,657,633,656,0.400983904974,0.00460753277797,0.0498494512116,0.999999957725,0.000129677965413,-0.000257597848975,-3.71147140967e-05,1793250793795394304
+73,1.216666667,BASELINE,769.351547932,747,722,684,674,642,885,786.648452068,818.648452068,657,632.648452068,656,0.400985008245,0.00460738813175,0.0498502612842,0.999999958042,0.000129611903152,-0.000256403116571,-3.70576772922e-05,1793250793812060928
+74,1.233333333,BASELINE,769.9431219,747,722,684,674,642,885,786.0568781,818.0568781,657,632.0568781,656,0.400986561638,0.00460603714234,0.049851314689,0.999999958628,0.000127787140413,-0.000255071844841,-3.67765567867e-05,1793250793828727296
+75,1.250000000,BASELINE,769.476224191,746.476224191,722,684,674.523775809,642,885.523775809,786,818.523775809,657,632,656,0.400986593009,0.00460666416213,0.0498508294296,0.999999958269,0.000129677449314,-0.000255525587806,-3.67626225323e-05,1793250793845393920
+76,1.266666667,BASELINE,769.101983719,746.101983719,722,684,675,642,885.898016281,786.101983719,818.898016281,657,632,656,0.400986515098,0.00460725270265,0.0498504084481,0.999999957932,0.000131355007129,-0.000255985309139,-3.6787820051e-05,1793250793862060544
+77,1.283333333,BASELINE,769.674268648,746.674268648,722,684,675,642,885.325731352,786.674268648,818.325731352,657,632,656,0.400986679857,0.00460669348179,0.049851038678,0.999999958176,0.000130229027057,-0.00025559696049,-3.68624067213e-05,1793250793878727424
+78,1.300000000,BASELINE,769.746393444,747,722,684.253606556,674.746393444,642,885.253606556,787,818,656.746393444,632,656,0.400986339943,0.00460695972074,0.0498512339387,0.999999958227,0.000130267230636,-0.000255361898753,-3.69571222104e-05,1793250793895394560
+79,1.316666667,BASELINE,769.157737623,747,722,684.842262377,674.157737623,642,885.842262377,787,818,656.157737623,632,656,0.400985333286,0.00460831650607,0.049850854545,0.999999958025,0.000131843481598,-0.000255329350215,-3.70784306412e-05,1793250793912061440
+80,1.333333333,BASELINE,769.425937405,747,722,684.574062595,674.425937405,641.574062595,886,786.574062595,818.425937405,656.425937405,632,656,0.400985331137,0.00460739897907,0.0498508401831,0.999999958216,0.000130658867275,-0.000255217087684,-3.68884107454e-05,1793250793928728064
+81,1.350000000,BASELINE,770,747,722,684,675,641.007687035,885.992312965,786.007687035,819,657,632.007687035,656,0.400985689276,0.00460567701316,0.0498509506829,0.999999958541,0.000128476398497,-0.000255093019011,-3.65921131989e-05,1793250793945394432
+82,1.366666667,BASELINE,770,747,722,684,675,641.581902618,885.418097382,786.581902618,819,657,632.581902618,656,0.400985501121,0.00460602403114,0.0498504157121,0.999999958394,0.000127234373965,-0.000256249340363,-3.68621294091e-05,1793250793962061056
+83,1.383333333,BASELINE,769.844101933,746.844101933,722,684.155898067,674.844101933,642,885.155898067,786.844101933,819,657,632.844101933,656,0.40098548708,0.00460641832605,0.0498502392947,0.999999958358,0.000126739880118,-0.000256607200981,-3.70542803162e-05,1793250793978727424
+84,1.400000000,BASELINE,769.270695892,746.270695892,722,684.729304108,674.270695892,642,885.729304108,786.270695892,819,657,632.270695892,656,0.400985939333,0.00460693923255,0.0498510231132,0.999999958622,0.00012824733527,-0.000254826717685,-3.7037901533e-05,1793250793995394048
+85,1.416666667,BASELINE,769.311782847,746.311782847,722,685,674,642,885.688217153,786.311782847,819,657,632,656,0.400986079326,0.00460663548356,0.0498510370906,0.999999958624,0.000128503044072,-0.00025470360767,-3.69360341418e-05,1793250794012060672
+86,1.433333333,BASELINE,769.902374732,746.902374732,722,685,674,642,885.097625268,786.902374732,819,657,632,656,0.400985940083,0.00460559429372,0.0498503626445,0.999999958395,0.000127639389747,-0.000256062589079,-3.67577193241e-05,1793250794028727296
+87,1.450000000,BASELINE,770,746.515103935,722,684.515103935,674,642,885,786.515103935,818.515103935,657,632.484896065,656,0.400984509281,0.00460574144754,0.0498498784355,0.999999958055,0.000127696633803,-0.000257356634333,-3.67497862362e-05,1793250794045393920
+88,1.466666667,BASELINE,770,746.06509152,722.06509152,684.06509152,674,642,885.06509152,786.06509152,818.06509152,657,633,656,0.400983022124,0.00460608142054,0.049849501489,0.999999957753,0.000127775770673,-0.000258487822431,-3.67633763629e-05,1793250794062060800
+89,1.483333333,BASELINE,770,746.639592645,722.639592645,684.639592645,674,642,885.639592645,786.639592645,818.639592645,657,633,656,0.40098309565,0.00460608866144,0.0498496691468,0.999999957917,0.000126598994806,-0.000258445122815,-3.66813435123e-05,1793250794078727424
+90,1.500000000,BASELINE,770,747,722.780651186,684.780651186,674,642,885.780651186,787,819,657,632.780651186,656,0.400983319458,0.00460631782288,0.049849804454,0.999999957926,0.000126802791264,-0.000258301518463,-3.67438564062e-05,1793250794095394048
+91,1.516666667,BASELINE,770,747,722.192048689,684.192048689,674,642,885.192048689,787,819,657,632.192048689,656,0.400983796254,0.00460692056726,0.0498498853017,0.999999957672,0.000129330655188,-0.000257988050208,-3.70496988592e-05,1793250794112060672
+92,1.533333333,BASELINE,770,747,722,684,674.389835757,642,885,787,818.610164243,657,632,656,0.400985718211,0.0046062220125,0.0498508649586,0.999999958236,0.000129447456673,-0.000255736968038,-3.70043913193e-05,1793250794128727552
+93,1.550000000,BASELINE,770,747,722,684,674.968466741,642,885,787,818.031533259,657,632,656,0.40098834005,0.00460489324605,0.0498522799035,0.99999995919,0.000128396594631,-0.000252547510498,-3.67890238726e-05,1793250794145394432
+94,1.566666667,BASELINE,770,746.455460513,722,684,674.455460513,642,885.544539487,787,818,657,632,656,0.400986602037,0.00460456779457,0.049851254279,0.999999958637,0.000128288645948,-0.00025482767405,-3.64947805316e-05,1793250794162061056
+95,1.583333333,BASELINE,769.880286393,746.119713607,722,684,674,642,885.880286393,787,818,656.880286393,632.119713607,655.880286393,0.400984967615,0.00460453247079,0.0498503518718,0.999999958142,0.000128124823939,-0.00025686281225,-3.6341598479e-05,1793250794178727680
+96,1.600000000,BASELINE,769.307952201,746.692047799,722,684,674,642,885.307952201,787,818,656.307952201,632.692047799,655.307952201,0.400984674941,0.00460537543844,0.049850447178,0.999999958223,0.000127544274044,-0.000256779610887,-3.67389380996e-05,1793250794195394560
+97,1.616666667,BASELINE,769.273892943,747,722,684,674,642,885.273892943,787,818.273892943,656.273892943,632.726107057,655.273892943,0.400985069427,0.00460596220694,0.0498509221427,0.999999958407,0.000127089970669,-0.000256249983812,-3.70280259109e-05,1793250794212061184
+98,1.633333333,BASELINE,769.866816411,747,722,684,674,642,885.866816411,787,818.866816411,656.866816411,632.133183589,655.866816411,0.400986264315,0.00460625055461,0.0498518393337,0.999999958708,0.000126782719285,-0.000255200360035,-3.71910219812e-05,1793250794228727808
+99,1.650000000,BASELINE,770,747,722,684.448873271,674,642,885.551126729,786.551126729,818.551126729,656.551126729,632,655.551126729,0.400985525201,0.00460523895893,0.0498513761193,0.999999958602,0.000126536667368,-0.000255794309024,-3.67950327847e-05,1793250794245394432
+100,1.666666667,BASELINE,770,747,722,684.972381222,674.027618778,642,885,786,818.027618778,656.027618778,632,655.027618778,0.400984401721,0.00460402020398,0.0498506043568,0.999999958412,0.000126382516448,-0.000256686870318,-3.6280150118e-05,1793250794262060800
+101,1.683333333,BASELINE,770,747,722,684.396876369,674.603123631,642,885,786,818.603123631,656.603123631,632,655.603123631,0.400986767677,0.00460616242196,0.049851644671,0.999999958903,0.000127699747029,-0.000254057891952,-3.66190878887e-05,1793250794278727424
+102,1.700000000,BASELINE,770,747,722,684,674.821876739,642,885.178123261,786,819,657,632,656,0.400987807415,0.00460733523159,0.049852292488,0.99999995907,0.000128687891134,-0.000252865902337,-3.68556457426e-05,1793250794295393792
+103,1.716666667,BASELINE,770,747,722,684,674.247999688,642,885.752000312,786,819,657,632,656,0.400985900569,0.00460635421201,0.0498520682554,0.999999958529,0.000128944871599,-0.000254866610884,-3.6864736124e-05,1793250794312060416
+104,1.733333333,BASELINE,770,746.661684351,722,684.338315649,674,642,886,786,818.661684351,657,632.338315649,656,0.400985526628,0.00460590904298,0.0498519727413,0.999999958601,0.00012799575522,-0.000255051237897,-3.69250374466e-05,1793250794328727296
+105,1.750000000,BASELINE,770,746.065903147,722,684.934096853,674,642,886,786,818.065903147,657,632.934096853,656,0.40098631926,0.00460587166775,0.0498519751847,0.999999959139,0.000126128772977,-0.000253853787636,-3.70243114086e-05,1793250794345393920
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,747,722,684,674,642,885,787,819,657,633,656,0.400983489173,0.00460477242596,0.0498496790064,0.999999957935,0.000126782266699,-0.00025829355569,-3.66236978762e-05,1793250794376350976
+107,1.783333333,POSE1_TO_POSE2_PRESS,769.577096322,747,722,684,674,642,885,786.422903678,818.422903678,656.422903678,632.422903678,656,0.40098456168,0.00460730852507,0.0498504862281,0.999999957666,0.000131558291578,-0.000256908275252,-3.68649872447e-05,1793250794393017600
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,746.84203492,722,684,674.15796508,642,885.15796508,786,818.15796508,656.15796508,632,656,0.400985187877,0.00460876656318,0.0498510795494,0.999999957522,0.000134263877049,-0.000256045183153,-3.70252555421e-05,1793250794409684224
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746.25081938,722,684,674.74918062,642,885.74918062,786,818.74918062,656.74918062,632,656,0.400984589979,0.00460726780644,0.0498510862066,0.999999957773,0.000131290874201,-0.000256614295515,-3.69633075902e-05,1793250794426350336
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.667402722,746.332597278,722,684.332597278,674.667402722,642,885.667402722,786,818.667402722,657,632,656,0.400985481849,0.00460650820634,0.0498517640579,0.999999958465,0.000129063648509,-0.00025504120721,-3.69714557875e-05,1793250794443016960
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.08973267,746.91026733,722,684.91026733,674.08973267,642,885.08973267,786,818.08973267,657,632,656,0.400987471447,0.0046062932505,0.0498529364754,0.999999959477,0.00012738594546,-0.000251889648161,-3.70312540135e-05,1793250794459683840
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.48675284,747,722,685,674,642,885.48675284,786,818,656.51324716,632,656,0.400986230647,0.00460593079138,0.049851955717,0.999999958872,0.000127533227391,-0.000254236574233,-3.68240703897e-05,1793250794476350464
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642,885.936997503,786,818,656.063002497,632,656,0.400984555547,0.00460559085655,0.0498507433569,0.999999958061,0.000127940578674,-0.000257237073002,-3.65951612419e-05,1793250794493017344
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642,885.360894527,786,818,656.639105473,632,656,0.400984181693,0.00460565528136,0.0498508696613,0.999999958065,0.000127732648594,-0.000257325151305,-3.65891811523e-05,1793250794509683712
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.779505317,747,722,685,674,642,885.220494683,786.220494683,818.220494683,656.779505317,632,656,0.400985226829,0.00460508108665,0.0498512922796,0.999999958335,0.000126730257362,-0.000256776401148,-3.65379471889e-05,1793250794526350336
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.189251398,747,722,685,674,642,885.810748602,786.810748602,818.810748602,656.189251398,632,656,0.400988651545,0.00460343595697,0.0498522118024,0.999999959047,0.000124395592086,-0.000255159719541,-3.64108246034e-05,1793250794543016704
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,722,684.607260359,674,642,886,786.607260359,818.607260359,656.392739641,632,656,0.401006453888,0.00460350694923,0.0498591398735,0.999999962268,0.00012538430269,-0.000241731777474,-3.61670697848e-05,1793250794559683328
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,722,684.029168899,674,642,886,786.029168899,818.029168899,656.970831101,632,656,0.401031041692,0.00460438785787,0.0498689036538,0.999999966368,0.000127941466299,-0.000222729560559,-3.58682708528e-05,1793250794576349952
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.546008973,747,722.546008973,684.546008973,674,642,886,786,818,657,632,656,0.401085227602,0.00460358644285,0.049887028619,0.999999974488,0.000126046602275,-0.000184022434492,-3.56662038364e-05,1793250794593016576
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,722.876398476,684.876398476,674,642.123601524,885.876398476,786.123601524,818.123601524,657,632,655.876398476,0.401143457307,0.00460292888444,0.0499049555748,0.999999980769,0.000124370185547,-0.000147448939179,-3.54028313905e-05,1793250794609683200
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,722.289167556,684.289167556,674,642.710832444,885.289167556,786.710832444,818.710832444,657,632,655.289167556,0.40121095574,0.00460314625679,0.0499204732315,0.999999984113,0.000124400553552,-0.000122806313374,-3.4890221517e-05,1793250794626350080
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,722,684.294143942,674,642.705856058,885,787,819,657,632,655.294143942,0.401285294069,0.00460260576009,0.0499327822783,0.999999986397,0.000123618126763,-0.000103754160916,-3.40459732761e-05,1793250794643016960
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,722,684.873652959,674,642.126347041,885,787,819,657,632,655.873652959,0.401366268149,0.0046013300133,0.0499419784767,0.99999998795,0.000122047163465,-9.01256329714e-05,-3.28799846146e-05,1793250794659684096
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642,885,786.548289339,819,657,632,656,0.401457569978,0.0045994846994,0.0499433073069,0.999999988271,0.000120244377758,-8.93462105636e-05,-3.18968843963e-05,1793250794676350464
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,722.029212973,685,674,642,885.029212973,786.058425946,819,657,632,656,0.4015529875,0.00459757117405,0.0499423290084,0.999999988246,0.000118421269812,-9.23278181407e-05,-3.09721367095e-05,1793250794693016832
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,722.603900644,685,674,642,885.603900644,787.207801289,819,657,632,656,0.401671487609,0.00459734919,0.0499392293221,0.999999987785,0.000117425582485,-9.86432598182e-05,-3.01848362907e-05,1793250794709683712
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,723,684.817134046,674,642,886,787.817134046,819,657,632,656,0.401800301511,0.0045968266418,0.049938928857,0.999999987732,0.000116310165295,-0.000100745914499,-2.92994522574e-05,1793250794726350080
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,723,684.228681241,674,642,886,787.228681241,819,657,632,656,0.401951990832,0.00459563745851,0.0499448369145,0.999999988627,0.000114929193847,-9.35048333709e-05,-2.81965241483e-05,1793250794743016704
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,746.646923739,723,684.353076261,674.353076261,642,886,787,819,657,632,656,0.402120605018,0.00459427596566,0.0499475205731,0.999999989277,0.000111869704142,-9.06000112577e-05,-2.68874830785e-05,1793250794759683328
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746.069421909,723,684.930578091,674.930578091,642,886,787,819,657,632,656,0.402299977156,0.00459280494771,0.0499481547104,0.999999989781,0.000107743299144,-9.045144113e-05,-2.54474304916e-05,1793250794776350208
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746.507967414,722.492032586,685,675,642,885.492032586,787,819,657,632.507967414,656,0.402507630692,0.00459099867432,0.0499482597115,0.999999989951,0.000104632523448,-9.2654144834e-05,-2.3765534718e-05,1793250794793017088
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,722,685,674.914996636,642,885.085003364,787,819,657,632.914996636,656,0.402726374874,0.00458905088369,0.0499486119271,0.999999990153,0.000101254302872,-9.46383434201e-05,-2.20344429594e-05,1793250794809683712
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,722,685,674.339909182,642,885.660090818,787,819,657,632.339909182,656,0.40298678268,0.00458655128323,0.0499508062869,0.99999999086,9.55340549558e-05,-9.35104978292e-05,-2.02102292992e-05,1793250794826350336
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.758932493,747,722,685.241067507,674.241067507,642,886,787,819,657,632,656,0.403263153137,0.00458389034665,0.0499551746083,0.999999991948,9.16115900244e-05,-8.5896868802e-05,-1.82224379957e-05,1793250794843016960
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.169443977,747,722,685.830556023,674.830556023,642,886,787,819,657,632,656,0.403562594805,0.00458099622702,0.0499626850114,0.999999993422,9.0287506974e-05,-6.89091717764e-05,-1.59982238629e-05,1793250794859683584
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.41309738,747,722.41309738,685.58690262,674.58690262,642,886.41309738,787,819,657,632,656,0.403894138268,0.00457893133538,0.0499708347823,0.999999994597,8.83913676563e-05,-5.29327694649e-05,-1.38086516637e-05,1793250794876350208
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.992836271,747,722.992836271,685.007163729,674.007163729,642,886.992836271,787,819,657,632,656,0.404238631435,0.00457720095043,0.049979242471,0.999999995514,8.62644635899e-05,-3.73643190198e-05,-1.16330539071e-05,1793250794893016832
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,723,685,674,642,886.431977771,786.431977771,818.431977771,657,632,656,0.404624269716,0.00457132849595,0.0499852163516,0.999999996579,7.89760794051e-05,-2.28754341811e-05,-9.051319047e-06,1793250794909683456
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,723,685.14227777,674.14227777,642,886,786.14227777,818.14227777,657,632.14227777,656,0.405017548879,0.00456654199352,0.0499876159369,0.999999997183,7.31794277178e-05,-1.53817498115e-05,-6.43618682532e-06,1793250794926350592
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,723,685.713897451,674.713897451,642,886,786.713897451,818.713897451,657,632.713897451,656,0.405432331907,0.00456518887876,0.049979321502,0.999999996976,7.20791476584e-05,-2.89562479288e-05,-3.73560779626e-06,1793250794943017216
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.701569924,747,722.701569924,686,674.701569924,642,886,787,819,657,632.701569924,656,0.405851495235,0.00456129634763,0.0499660750569,0.999999996225,6.73694875845e-05,-5.48706506577e-05,-8.59773303894e-07,1793250794959683840
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.104097804,747,722.104097804,686,674.104097804,642,886,787,819,657,632.104097804,656,0.406275047896,0.00455485919259,0.0499478664458,0.999999993916,5.90430458272e-05,-9.31502640369e-05,2.19167635975e-06,1793250794976350208
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.475572236,747,722.475572236,686,674,642,886.475572236,787,819,657,632,656,0.406745839345,0.00454922224999,0.0499323499572,0.999999991474,5.18195304186e-05,-0.000119731780052,5.56409142068e-06,1793250794993016832
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.948808987,746.948808987,722.948808987,686,674,642,887,787,818.948808987,657,632,656,0.407233998428,0.00454387298275,0.0499196039764,0.999999989221,4.47733560923e-05,-0.00013954854593,8.91918699817e-06,1793250795009683200
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.376196418,746.376196418,722.376196418,686,674,642,887,787,818.376196418,657,632,656,0.407797539382,0.00453973416528,0.0499292921407,0.999999992563,3.71632194842e-05,-0.000115601511708,1.14080795071e-05,1793250795026350336
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,722,686,674.202857936,642,886.797142064,787,818,657,632.202857936,656,0.408385020171,0.00453370904975,0.0499462368064,0.999999996231,2.75877972457e-05,-8.10189757214e-05,1.46060556025e-05,1793250795043017216
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,722,686,674.794250226,642,886.205749774,787,818,657,632.794250226,656,0.409018352959,0.00452407110272,0.0499770798681,0.999999999375,1.42482585598e-05,-2.60662358417e-05,1.91621412388e-05,1793250795059683840
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.374374009,746.374374009,722.374374009,686,674.625625991,642,886.748748017,787,818.374374009,657,632.625625991,656,0.409651207168,0.0045170545793,0.0499935939256,0.999999999715,3.54027113443e-06,-1.73758962534e-06,2.35479336019e-05,1793250795076350720
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.948485747,746.948485747,722.948485747,686,674.051514253,642,887.896971494,787,818.948485747,657,632.051514253,656,0.410283806025,0.00451143665007,0.0500024631064,0.999999999576,-5.76371861468e-06,6.25234860909e-06,2.78428701955e-05,1793250795093017600
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.474094803,746.474094803,722.474094803,686,674,642,887.474094803,787,818.474094803,657,632,656,0.410893683134,0.00450588207101,0.0499782860762,0.999999989178,0.000134511934909,-4.99375492072e-05,3.24975838288e-05,1793250795109683968
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,722,686.105734943,674,642,887,787,818.105734943,657,632,656,0.411520170364,0.00450060805804,0.0499534523132,0.999999960484,0.000259037084017,-0.000102885900455,3.66920670268e-05,1793250795126350080
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,722,686.695097777,674,642,887,787,818.695097777,657,632,656,0.412232876102,0.0044965887834,0.0499405142845,0.999999963187,0.000244078736615,-0.000112070652978,3.86192614203e-05,1793250795143016704
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,722,687,674,642,887.279653423,787,819,657,632,656,0.412984886185,0.00449100544872,0.0499466912508,0.999999976684,0.000193390375439,-9.03629203663e-05,3.2645828994e-05,1793250795159683328
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,722,687,674,642,887.859056506,787,819,657,632,656,0.41377902516,0.00448374565823,0.0499733568373,0.999999993753,0.000104404394524,-3.55427312496e-05,1.82040210134e-05,1793250795176350208
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,722,687,674,642,887.564716389,787,819,657,632,655.564716389,0.41454668017,0.00447429687779,0.0499742968346,0.999999998773,2.61275148804e-05,-4.06963097988e-05,1.07449548164e-05,1793250795193016832
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,722,687.010511138,674,642,887.010511138,787,819.010511138,657,632.010511138,655.010511138,0.415306145119,0.00446487562641,0.0499666215201,0.999999996753,-4.67593501217e-05,-6.53895113623e-05,5.63097693303e-06,1793250795209683456
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,722,687.586889626,674,642,887.586889626,787,819.586889626,657,632.586889626,655.586889626,0.416083014678,0.00449481760536,0.0499403309764,0.999999994451,-1.47996312437e-05,-0.000104131877022,5.92608341273e-06,1793250795226350336
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746.163147594,722,688,674.163147594,642,888,787.163147594,820.163147594,657,632.836852406,656,0.416887646233,0.00451734193934,0.0499294601595,0.999999993048,1.37195485886e-05,-0.000116887507955,7.3441673783e-06,1793250795243016960
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.739100579,722,688,674.739100579,642,888,787.739100579,820.739100579,657,632.260899421,656,0.417762522735,0.00452109772111,0.0499576052206,0.999999997329,3.35332773548e-05,-6.38900114114e-05,1.16036733367e-05,1793250795259683584
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.324402012,747,722.324402012,688.324402012,674.675597988,642,888.324402012,787.675597988,821.324402012,656.675597988,632,656,0.41862825023,0.004514240219,0.0499727789826,0.999999998093,4.37426245139e-05,-4.07769573751e-05,1.54051988068e-05,1793250795276350208
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.91744497,747,722.91744497,688.91744497,674.08255503,642,888.91744497,787.08255503,821.91744497,656.08255503,632,656,0.419486401285,0.00449859373719,0.049977211065,0.999999997865,4.59984745549e-05,-4.24115483302e-05,1.88274653071e-05,1793250795293016576
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746.503767564,722.503767564,689.496232436,673.503767564,642,889.992464871,787,822,656.496232436,632.496232436,656,0.420358293729,0.00449448587091,0.0499652735381,0.999999997997,2.77669591705e-05,-5.38658953035e-05,1.82789010813e-05,1793250795309683200
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.927365947,746,722.072634053,690,673.072634053,642,891,787.072634053,822.072634053,657,632.927365947,656,0.421241556344,0.0044922887407,0.0499559306013,0.999999998089,8.75655858359e-06,-5.87029353359e-05,1.72837875197e-05,1793250795326350336
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.351522176,746,722.648477824,690,673.648477824,642,891,787.648477824,822.648477824,657,632.351522176,656,0.422188195602,0.00449040154002,0.0499829032715,0.999999999795,7.30375254444e-06,-6.69328021051e-06,1.76438288715e-05,1793250795343016960
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746.229066919,722.770933081,690,674,642.229066919,891.229066919,787.770933081,823,657,632.229066919,656,0.423119133403,0.00449180575069,0.0499932477944,0.999999999642,1.42938098566e-05,1.34606687855e-05,1.81960815053e-05,1793250795359683584
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.817092245,722.182907755,690,674,642.817092245,891.817092245,787.182907755,823,657,632.817092245,656,0.424025466442,0.00449836775416,0.0499775352493,0.99999999909,3.45142224575e-05,-1.63047320469e-05,1.90495381649e-05,1793250795376350208
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,722,690.399366491,674,643,892.399366491,787.399366491,823.399366491,657,633,656,0.424964928008,0.00450352733701,0.0499785450739,0.999999999147,3.45901617119e-05,-1.15591184353e-05,1.93649055675e-05,1793250795393017088
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,722,690.979044131,674,643,892.979044131,787.979044131,823.979044131,657,633,656,0.425919346814,0.00450805373647,0.0499871049311,0.999999999446,2.55710123975e-05,8.76797609295e-06,1.94373294213e-05,1793250795409683968
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,722.554936597,691,674,642.445063403,892.445063403,787.445063403,824,656.445063403,632.445063403,656,0.426854429258,0.00450004247063,0.0499984246226,0.999999999589,1.69871221113e-05,6.75174933092e-06,2.20874007934e-05,1793250795426350336
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,722.86934434,691,673.86934434,642,892.13065566,787.13065566,824,656.13065566,632,656,0.427774650312,0.00449304045547,0.0499977434598,0.999999999521,1.50263090939e-05,-1.20943940433e-05,2.42172448986e-05,1793250795443016704
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,722.293732355,691,673.293732355,642,892.706267645,787.706267645,824,656.706267645,632,656,0.428646729762,0.00449107696877,0.0499558400904,0.999999995427,3.5565219298e-05,-8.54019559951e-05,2.42461733618e-05,1793250795459683328
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.289902732,747,722.289902732,691.289902732,673.579805463,642.289902732,893,787.710097268,824,657,632,656,0.429582337515,0.00449077883443,0.0499398104181,0.999999993514,3.81429520665e-05,-0.000104608084978,2.39690708966e-05,1793250795476349952
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.881898247,747,722.881898247,691.881898247,674.763796494,642.881898247,893,787.118101753,824,657,632,656,0.430584144804,0.00449221607859,0.0499507424025,0.999999997211,2.20042609259e-05,-6.74378783183e-05,2.33730693599e-05,1793250795493016576
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,747,723,692,674.538247134,643,893.461752866,787,824,657,632,656,0.431511160262,0.00449688592983,0.0499422382298,0.999999996161,1.64906768531e-05,-8.2784751226e-05,2.35290381919e-05,1793250795509683200
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.961694124,747,723,692,673.961694124,643,894,787,824.038305876,657,632,656,0.432421463402,0.00450182215991,0.0499302616468,0.999999993757,1.56641674317e-05,-0.000108037724191,2.3828663034e-05,1793250795526350336
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.388990847,747,723,692,673.388990847,643,894,787,824.611009153,657,632,656,0.433358648489,0.00449923559266,0.0499374169832,0.999999994835,4.32851642175e-05,-8.88995293644e-05,2.35179851612e-05,1793250795543016960
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.189659202,747,723,692.189659202,673.189659202,643,894,787,825.189659202,657,632.189659202,656,0.434292906934,0.00449593403861,0.0499519570654,0.999999996305,5.43014789045e-05,-6.22914880916e-05,2.36678654816e-05,1793250795559683584
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.780901001,747,723,692.780901001,673.780901001,643,894,787,825.780901001,657,632.780901001,656,0.435220968712,0.00449111857779,0.0499821335394,0.999999999041,3.01592024139e-05,-1.98668612985e-05,2.47929273029e-05,1793250795576350208
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,894,787,825.635988369,657,633,656.364011631,0.436111249306,0.00448781471834,0.0499757836509,0.99999999838,1.35586556879e-05,-4.84321679265e-05,2.66528340585e-05,1793250795593016832
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,894,787,825.057664996,657,633,656.942335004,0.436979286183,0.00448540081404,0.0499479288753,0.999999992524,1.39830155941e-06,-0.000118792779435,2.89453804004e-05,1793250795609683200
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.480439988,747,723,693,674,643,894.519560012,787.519560012,825.519560012,657,632.480439988,656.480439988,0.437894620804,0.00448552092855,0.0499562520027,0.99999999597,2.07800637588e-05,-8.32862804865e-05,2.629592565e-05,1793250795626350080
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.096100955,747,723,693,674.096100955,643,895,787.903899045,826,656.903899045,632,656,0.438803580345,0.00448631341155,0.0499666419627,0.999999997993,3.8504528191e-05,-4.43344677492e-05,2.38007257864e-05,1793250795643016704
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.669846537,747,723,693,674.669846537,643,895,787.330153463,826,656.330153463,632,656,0.439654818031,0.00448905281524,0.0499673895873,0.999999998141,3.06287211457e-05,-4.65356907482e-05,2.47926515895e-05,1793250795659683584
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,723,693,674.500128993,643,895.249935504,787.249935504,826,656,632,656,0.440484921294,0.0044899319312,0.0499624996719,0.999999997892,2.2818159238e-05,-5.50725227408e-05,2.57358804303e-05,1793250795676350208
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,747,723,693,673.322756098,643,895.838621951,787.838621951,826,656,632,656,0.441286379877,0.00448828969956,0.0499499688972,0.999999996926,1.50960281881e-05,-7.21963439764e-05,2.66131075905e-05,1793250795693016576
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+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,693.000779058,673,642,896.000779058,786.999220942,826.000779058,656,632,656.000779058,0.442954050919,0.00449224622562,0.0499699921894,0.999999997261,6.21894223935e-05,-2.85611447762e-05,2.82082519139e-05,1793250795726349568
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,693.575635982,673,642,896.575635982,786.424364018,826.575635982,656,632,656.575635982,0.443656809614,0.00449996901687,0.04994288871,0.999999994204,6.56686489479e-05,-8.00534166599e-05,2.95230204373e-05,1793250795743016192
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,693.845230346,672.845230346,642,897,786,827,656,631.845230346,657,0.44434178251,0.00450839365959,0.0499067324175,0.999999986677,7.13889266834e-05,-0.000143598716806,3.0490797606e-05,1793250795759682816
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,693.254036846,672.254036846,642,897,786,827,656,631.254036846,657,0.444976602666,0.00451879740469,0.049845048741,0.999999966983,8.34285846825e-05,-0.000241131498302,3.04801190567e-05,1793250795776349440
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.329566841,747,723,693,672,641.670433159,897,786,827,656.329566841,631.329566841,656.670433159,0.445653921375,0.00452712859,0.0498158338958,0.999999958138,9.30976313753e-05,-0.000272328520225,2.99080070089e-05,1793250795793016320
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.907451811,747,723,693,672,641.092548189,897,786,827,656.907451811,631.907451811,656.092548189,0.446363261352,0.00453389816682,0.0498110832857,0.999999962341,0.000100980497568,-0.000253543653235,2.89128728312e-05,1793250795809682944
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.516521791,747.483478209,723,693,671.516521791,640.516521791,897,786.483478209,827,656.516521791,632,656,0.44701828225,0.00454326916127,0.0498044607284,0.999999958868,0.00011472806637,-0.000261213020392,2.94789122772e-05,1793250795826349568
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747.940800106,723,693.059199894,671,640,897.059199894,786.940800106,827,656,632,656.059199894,0.447654841592,0.00455306278901,0.0497947722289,0.999999952537,0.000129855354151,-0.000277755144715,3.0266503975e-05,1793250795843016448
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747.364644434,723,693.635355566,671,640,897.635355566,786.364644434,827,656,632,656.635355566,0.448220637903,0.00456221522152,0.0497614278662,0.999999934992,0.000147265173033,-0.000327726872434,3.03891623217e-05,1793250795859683328
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.216525335,747,723,694,670.783474665,639.783474665,898,786,827,656.216525335,632,656.783474665,0.448782061427,0.00457009456533,0.049741540602,0.999999922656,0.000160977110841,-0.000357542369523,3.06375109205e-05,1793250795876349952
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.806339323,747,723,694,670.193660677,639.193660677,898,786,827,656.806339323,632,656.193660677,0.449335946227,0.00457577910927,0.0497448533154,0.999999923185,0.000168313917942,-0.000352608616452,3.1102549025e-05,1793250795893016576
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.612813637,747.387186363,723,694,670,638.612813637,898,786,827,657,631.612813637,656.387186363,0.449888347055,0.00457929316619,0.0497606572758,0.999999929804,0.000173728468088,-0.000330386828427,3.24911867217e-05,1793250795909683712
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.036350063,747.963649937,723,694,670,638.036350063,898,786,827,657,631.036350063,656.963649937,0.450440022487,0.00458174617453,0.04978256762,0.999999938618,0.000178203317697,-0.000299713732166,3.43313288547e-05,1793250795926351104
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.541654961,748,723,694,670,638,898,786,827.541654961,657,631.541654961,657,0.450933433189,0.00458683001852,0.0497865486129,0.999999936121,0.000184498471004,-0.000304135523203,3.49160012608e-05,1793250795943017472
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+207,3.450000000,POSE1_TO_POSE2_PRESS,770,748,723,693.597078431,668.402921569,635,898,786,827.402921569,657,632,657,0.45361882087,0.00459004983077,0.049727038391,0.999999915629,7.06013580147e-05,-0.000404651026412,3.91716788659e-06,1793250796059683072
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,748,723.176119569,693.823880431,668,634.823880431,898,785.823880431,827.176119569,657,632,657,0.453936814762,0.00459223837744,0.0497320861675,0.99999991948,7.40892753646e-05,-0.00039436932144,4.95494908868e-06,1793250796076349696
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+233,3.883333333,POSE1_TO_POSE2_PRESS,770,748,723.682937807,693,667,632,898,786,828,657,632,656.682937807,0.456182560622,0.00465828979645,0.0496120958701,0.999999794147,0.000264242184416,-0.000584647258816,8.29739269988e-06,1793250796493016576
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747.735013738,724,693,667,632,898,786,828,656.735013738,632,656.735013738,0.456184113415,0.00465840985736,0.0496116642976,0.999999793812,0.000264651224184,-0.000585035009742,8.39134727118e-06,1793250796509683200
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747.145359885,724,693,667,632,898,786,828,656.145359885,632,656.145359885,0.45618392583,0.0046585537667,0.0496104518323,0.99999979298,0.000263316583592,-0.00058705509521,8.34823509239e-06,1793250796526349824
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747,724,693,667,631.56498454,898.43501546,785.56498454,828,656.43501546,631.56498454,656.43501546,0.456184126929,0.00465888673561,0.0496098894738,0.999999792044,0.000264312119286,-0.000588200004464,8.4414623752e-06,1793250796543016448
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.987658638,747,724,693,667,631,898.987658638,785.012341362,828.012341362,657,631.012341362,657,0.456184427312,0.00465926435866,0.0496095168549,0.999999791065,0.000266043644244,-0.000589081653041,8.58240476392e-06,1793250796559683328
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.410961628,747,724,693,667,631,898.410961628,785.589038372,828.589038372,657,631.589038372,657,0.456183452685,0.00465885542199,0.0496080944781,0.99999978978,0.000266569044974,-0.000591018321119,8.86551172394e-06,1793250796576349952
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.168618468,747.168618468,724,693.168618468,667,631,898.168618468,785.831381532,828.831381532,657,631.831381532,657,0.45618329826,0.00465904695175,0.0496072607539,0.999999789184,0.000266639079939,-0.000591994356308,8.82283151938e-06,1793250796593016832
+240,4.000000000,POSE1_TO_POSE2_PRESS,769.755347501,747.755347501,724,693.755347501,667,631,898.755347501,785.244652499,828.244652499,657,631.244652499,657,0.456185177626,0.00466072741312,0.0496078866674,0.999999790305,0.000265579978547,-0.000590588382064,7.97232130466e-06,1793250796609683200
+241,4.016666667,POSE1_TO_POSE2_PRESS,769.660546581,748,724,693.660546581,667,631,898.660546581,785.339453419,828,657,631,657,0.456185417317,0.00466159289877,0.0496076179586,0.99999979007,0.00026620730768,-0.000590707611386,7.67059557733e-06,1793250796626349824
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.078316736,748,724,693.078316736,667,631,898.078316736,785.921683264,828,657,631,657,0.456184484317,0.0046618755153,0.0496067094175,0.999999788864,0.000268040768691,-0.000591917663392,7.76135948585e-06,1793250796643016448
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.497330137,748,724,693.497330137,667,631,898.497330137,786,828,657,631,657,0.456184625939,0.0046606760845,0.0496067068454,0.999999788346,0.000267389815179,-0.00059308052032,8.08981589112e-06,1793250796659683072
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,748,723.928228082,693.928228082,667,631,898.928228082,785.928228082,828,657,631.071771918,657,0.456184920873,0.00465956471777,0.0496067856658,0.99999978805,0.000266529168647,-0.000593963619873,8.36784995273e-06,1793250796676349696
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,748,723.355057926,693.355057926,667,631,898.355057926,785.355057926,828,657,631.644942074,657,0.456185120087,0.00466067768995,0.0496064494446,0.999999788559,0.00026690104482,-0.000592943577088,8.03556057018e-06,1793250796693016576
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,747.77445638,723,693,667,631,898,785.22554362,828,657,632,656.77445638,0.456185556573,0.00466124711537,0.0496066521505,0.999999788978,0.000267295029037,-0.000592057248447,8.08866992605e-06,1793250796709683456
+247,4.116666667,POSE1_TO_POSE2_PRESS,770,747.181757416,723,693,667,631,898,785.818242584,828,657,632,656.181757416,0.456186379309,0.00466093171834,0.0496077321589,0.999999789253,0.000267725002297,-0.000591388588686,8.76915767635e-06,1793250796726350080
+248,4.133333333,HOLD_POSE2,770,747,723,692,667,631,898,785,828,657,632,657,0.456184728172,0.0046590844708,0.0496059423521,0.999999786865,0.000267578721492,-0.000595476355547,8.93284979403e-06,1793250796760381440
+249,4.150000000,HOLD_POSE2,770,747.577323471,723.577323471,692.577323471,667,631,898,785,828,657,631.422676529,657,0.456185563198,0.00466060553248,0.0496062517212,0.999999786938,0.000268945921292,-0.000594741799813,8.57625559667e-06,1793250796777048064
+250,4.166666667,HOLD_POSE2,770,748,724,693,667,631,898,785,828,657,631.157322854,657,0.456186487217,0.00466171933358,0.0496065332489,0.999999787114,0.000269940156178,-0.000594000612767,8.19948127449e-06,1793250796793714944
+251,4.183333333,HOLD_POSE2,770,748,724,693,667,631,898,785,828,657,631.744636092,657,0.456187654468,0.00466172002186,0.049606738681,0.999999787575,0.000269915014195,-0.000593241301043,7.76755112484e-06,1793250796810381568
+252,4.200000000,HOLD_POSE2,770,748,724,693,667,631.32706339,898,785,828,657,632,657,0.456187150385,0.00466175457521,0.0496062727233,0.9999997873,0.000269393583736,-0.00059394150022,7.76755640713e-06,1793250796827048448
+253,4.216666667,HOLD_POSE2,770,748,724,693,667,631.905731968,898,785,828,657,632,657,0.45618536057,0.00466181518048,0.049605290275,0.999999786456,0.000268490365649,-0.000595764480309,8.09984346706e-06,1793250796843714816
+254,4.233333333,HOLD_POSE2,770,747.517803825,723.517803825,693.482196175,667,631.517803825,898.482196175,785,828,657,632,656.517803825,0.456186659074,0.00466279990626,0.0496060032017,0.999999786807,0.000270121701146,-0.00059443615326,8.12678567811e-06,1793250796860381696
+255,4.250000000,HOLD_POSE2,770,747,723.05830245,693.94169755,667,631,898.94169755,785.05830245,828,657,632,656.05830245,0.456188360173,0.00466378735316,0.0496069638507,0.999999787358,0.000271841678007,-0.000592723186881,8.08436906408e-06,1793250796877048064
+256,4.266666667,HOLD_POSE2,770,747,723.635040595,693.364959405,667,631,898.364959405,785.635040595,828,657,632,656.635040595,0.45618829692,0.0046631998198,0.0496071934692,0.999999787678,0.00026996386204,-0.000593043230082,7.95359627267e-06,1793250796893714688
+257,4.283333333,HOLD_POSE2,770,747,724,693,667,631,898.215995584,785.784004416,828,657,631.784004416,657,0.456187743816,0.00466264264137,0.0496070951255,0.999999787533,0.000269314531284,-0.000593583779526,7.91941128229e-06,1793250796910381312
+258,4.300000000,HOLD_POSE2,770,747,724,693,667,631,898.804217423,785.195782577,828,657,631.195782577,657,0.456186346549,0.00466213777381,0.0496064316031,0.999999786588,0.000270782255337,-0.000594504328431,8.05167653879e-06,1793250796927047936
+259,4.316666667,HOLD_POSE2,769.613932297,747.386067703,724,693,667,631,898.613932297,785,828,657,631.386067703,657,0.456185137958,0.00466099783791,0.0496052480993,0.999999786285,0.000268732138317,-0.000595940449373,8.25273214144e-06,1793250796943714560
+260,4.333333333,HOLD_POSE2,769.03526065,747.96473935,724,693,667,631,898.03526065,785,828,657,631.96473935,657,0.456184023495,0.00465954107497,0.0496038051838,0.999999786288,0.000264927018193,-0.00059763378229,8.48810632729e-06,1793250796960381184
+261,4.350000000,HOLD_POSE2,769.540427851,748,724,693,667,631,898.540427851,785,828,657,632,657,0.456184983106,0.00466187815274,0.049604569763,0.9999997858,0.000267768982296,-0.000597185814956,8.29323732175e-06,1793250796977048064
+262,4.366666667,HOLD_POSE2,770,748,724,693,667,631,898.883755363,785.116244637,828,657,631.883755363,657,0.456185854444,0.00466377249939,0.0496052239943,0.999999785234,0.000270549724117,-0.000596882905127,8.13278436748e-06,1793250796993714688
+263,4.383333333,HOLD_POSE2,770,748,724,693,667,631,898.306662418,785.693337582,828,657,631.306662418,657,0.456185842285,0.00466293570624,0.0496048728881,0.999999784517,0.000271377823794,-0.000597705909998,8.2194506438e-06,1793250797010381568
+264,4.400000000,HOLD_POSE2,769.724346686,747.724346686,724,693,667,631,898.275653314,785.724346686,828,657,631.275653314,656.724346686,0.456186300695,0.00466155822585,0.0496052998823,0.999999785379,0.000270008803195,-0.000596881765044,8.37689842361e-06,1793250797027048192
+265,4.416666667,HOLD_POSE2,769.13610846,747.13610846,724,693,667,631,898.86389154,785.13610846,828,657,631.86389154,656.13610846,0.456187292719,0.00465956761785,0.0496066092256,0.999999788015,0.000266148295548,-0.000594189787668,8.61461089608e-06,1793250797043715072
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,724,693,667,631,898,786,828,657,632,656,0.45618553482,0.00465915274585,0.0496044155973,0.999999786637,0.000263392342685,-0.000597725530105,8.69161579717e-06,1793250797076293632
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,747.574759627,724,693,667,631,898,785.425240373,828,657,632,656,0.456186696008,0.00466048235955,0.0496049675286,0.999999786543,0.000265484321496,-0.000596963800996,8.19853239952e-06,1793250797092960512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747.850486468,724,693.149513532,667,631,898,785,828,657,632,656,0.456187216625,0.00466176349124,0.0496052097333,0.999999786086,0.000267756868988,-0.000596717036474,7.88585742736e-06,1793250797109627136
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747.275748703,724,693.724251297,667,631,898,785,828,657,632,656,0.456185915424,0.00466290673786,0.0496045710593,0.999999784607,0.000270542963648,-0.000597934857753,8.08627325209e-06,1793250797126293760
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,724,693.69185285,667,631,898,785,828,657,632,656.30814715,0.456185632821,0.00466275902324,0.0496044898417,0.999999784182,0.000271420136945,-0.000598244366549,8.36309695361e-06,1793250797142960640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,747,724,693.099510802,667,631,898,785,828,657,632,656.900489198,0.45618628964,0.00466142069361,0.0496049227496,0.999999784735,0.000270536769008,-0.000597716165842,8.71038934211e-06,1793250797159627520
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747.480206897,723.519793103,693,667,631,898,785.480206897,828,657,632,657,0.456187335259,0.00466193318983,0.0496052844648,0.999999785428,0.000270323063472,-0.000596652642002,8.68943220063e-06,1793250797176294144
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747.942922622,723.057077378,693,667,631,898,786,828,657,632,657,0.456188219267,0.00466287276844,0.0496056036855,0.999999786035,0.000270432487869,-0.000595586517399,8.53851129326e-06,1793250797192960512
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747.368753225,723.631246775,693,667,631,898,786,828,657,632,657,0.456186927936,0.00466429585163,0.0496056681585,0.999999785615,0.000272244317424,-0.000595476077184,7.88380947463e-06,1793250797209627392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747.211198582,724,693,667,631,898,786,828,657,632,657,0.456181104571,0.00466457361803,0.0496028600925,0.999999782995,0.000272618431022,-0.000599694484722,7.47406940567e-06,1793250797226294016
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747.801530629,724,693,667,631,898,786,828,657,632,657,0.45616714552,0.00466279536707,0.0495948953835,0.999999776332,0.000270411626354,-0.000611683830026,7.50407287449e-06,1793250797242960640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747.616802389,724,693,667,631,898,786,828,657,631.616802389,657,0.456137239878,0.00466215700883,0.049581265988,0.999999762705,0.000268302790586,-0.000634465326809,7.5044342523e-06,1793250797259627264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747.03952401,724,693,667,631,898,786,828,657,631.03952401,657,0.456099257654,0.00466209597986,0.0495647675584,0.999999744935,0.000266243573447,-0.000662712800543,7.48978259152e-06,1793250797276294144
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,747.537743752,723.462256248,693,667,631,897.462256248,786,828,657,631,657,0.456032633746,0.00466439187424,0.049538778679,0.999999716086,0.000269154378573,-0.000703802227542,6.76712958511e-06,1793250797292960512
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,747.885552711,723.114447289,693,666.885552711,631,897.114447289,785.885552711,828,657,631.114447289,657,0.455963625617,0.00466627764872,0.0495146667594,0.999999688996,0.000271718325606,-0.00074036598647,5.97172094261e-06,1793250797309627136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747.311113628,723.688886372,693,666.311113628,631,897.688886372,785.311113628,828,657,631.688886372,657,0.45589349567,0.00466581879827,0.0495009023463,0.999999678181,0.000271419985021,-0.000754946379114,5.09303827679e-06,1793250797326294016
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,747.270752199,724,693.270752199,666.270752199,631,898,785.270752199,828,657,632,656.729247801,0.455819347695,0.00466568709332,0.0494937694836,0.999999671618,0.000271968365655,-0.000763397488981,4.54824583625e-06,1793250797342960896
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,747.861392536,724,693.861392536,666.861392536,631,898,785.861392536,828,657,632,656.138607464,0.455740452508,0.00466594190405,0.0494944716617,0.999999670273,0.000273517130011,-0.000764606976962,4.3979378625e-06,1793250797359627520
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,747.555459727,724,693.555459727,667,631,898,785.555459727,828,657,632,656.444540273,0.455645674565,0.0046681545615,0.0494989444948,0.999999672873,0.000277270888252,-0.000759842377796,3.67115697596e-06,1793250797376294144
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,747.02507249,724,693,667,631,898,785,828,657,631.97492751,656.97492751,0.455544808356,0.00467087174194,0.0495045026786,0.999999676667,0.000281593737353,-0.000753235588839,2.80998399649e-06,1793250797392960512
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,747.598646961,724,693,667,631,898,785,828,657,631.401353039,656.401353039,0.455417293865,0.00467149282867,0.049508510895,0.99999968123,0.000283575142723,-0.000746402436266,2.87578089087e-06,1793250797409627136
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769.82745989,747.82745989,723.82745989,693,667,631,898,785,828,657,631.17254011,656,0.455279412883,0.00467246875292,0.0495104833368,0.999999682903,0.000286423460405,-0.000743067360944,2.65751655199e-06,1793250797426293760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.252824156,747.252824156,723.252824156,693,667,631,898,785,828,657,631.747175844,656,0.455117373356,0.00467427160717,0.0495077115129,0.999999677907,0.000291292071235,-0.000747884371084,1.77726248865e-06,1793250797442960640
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769.331806021,747,723,693,667,631,898,785.331806021,828,656.668193979,632,656,0.454941258952,0.0046762533417,0.0495052603834,0.99999967503,0.000296526697994,-0.000749674105639,9.89456003524e-07,1793250797459627264
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769.924288176,747,723,693,667,631,898,785.924288176,828,656.075711824,632,656,0.454754086912,0.00467837560982,0.0495030612003,0.999999673819,0.000302048877674,-0.000749085527942,2.74278839443e-07,1793250797476293888
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,747.504618267,723,693,667,631.504618267,898,786,828,656.504618267,631.495381733,656.504618267,0.454534198899,0.00467975086466,0.0495039920593,0.999999671505,0.000305282183934,-0.000750860456982,-6.02114044072e-07,1793250797492960512
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,746,722,686,674,641,887,787,818,656.104709217,632,656,0.410712141604,0.00459561543937,0.0498219003554,0.999999949939,9.80994222805e-05,-0.000298544937966,-3.70176273631e-05,1793250798509627392
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,747,722,684.559660043,674,642,886,786.559660043,818,657,632,656,0.401325992084,0.00456828998014,0.0498296492767,0.999999949882,8.77265653007e-05,-0.00030343380994,-2.16531623068e-05,1793250798959627520
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,641.863564915,886,787,818.136435085,657,632,656,0.401249344445,0.00457109689265,0.0498288898203,0.99999995001,8.93935276475e-05,-0.00030238752356,-2.34651324271e-05,1793250798976293888
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,641.289643895,886,787,818.710356105,657,632,656,0.401188281153,0.00457313758904,0.049828961156,0.999999949971,9.50017952947e-05,-0.000300735059962,-2.43021309376e-05,1793250798992960512
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,747,722,685,674.946806619,642,885.053193381,786,819,657,632,656,0.40099287881,0.00457568538091,0.0498434874786,0.999999957964,9.96129253377e-05,-0.000270977329419,-2.68546287824e-05,1793250799142960896
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,642,885.89781597,786.10218403,819,657,632,656,0.400987379184,0.00457357676018,0.0498459572807,0.999999958465,9.83699170419e-05,-0.0002696921089,-2.56825885885e-05,1793250799176294144
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,641.153574642,885,787,819,657,632,656,0.400984332488,0.00457273870167,0.0498459941658,0.999999959362,9.42374785141e-05,-0.000267844740051,-2.55678404463e-05,1793250799226294272
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29d149e6407f997bb29cb3e3cb4ef4b7d6cb2681
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,414 @@
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+223,3.716666667,pose1_to_pose2_press,0.622425554176,0.0101502676362,1.04003353319,0.59299622926,0.018822898123,1.03970492433
+224,3.733333333,pose1_to_pose2_press,0.622455985813,0.0101500114737,1.04003348886,0.593026664175,0.0188226536913,1.03970488869
+225,3.750000000,pose1_to_pose2_press,0.622480719637,0.010150065795,1.04003348236,0.593051396852,0.0188227042704,1.03970488579
+226,3.766666667,pose1_to_pose2_press,0.622500144857,0.0101501487593,1.04003358217,0.593070820973,0.0188227831663,1.03970497772
+227,3.783333333,pose1_to_pose2_press,0.62251525761,0.010150159916,1.0400336646,0.593085933757,0.0188227940041,1.03970505301
+228,3.800000000,pose1_to_pose2_press,0.622526379226,0.0101501209657,1.04003361407,0.593097055917,0.0188227567285,1.0397050026
+229,3.816666667,pose1_to_pose2_press,0.622534461269,0.0101500935503,1.04003341164,0.593105138147,0.0188227300978,1.03970480316
+230,3.833333333,pose1_to_pose2_press,0.622539682572,0.0101501969142,1.04003375855,0.593110358366,0.0188228300591,1.03970515621
+231,3.850000000,pose1_to_pose2_press,0.622543309265,0.0101502383634,1.04003369731,0.593113983912,0.0188228677378,1.03970509575
+232,3.866666667,pose1_to_pose2_press,0.622545704945,0.0101502441588,1.04003349963,0.593116378785,0.0188228708435,1.03970489716
+233,3.883333333,pose1_to_pose2_press,0.622546768775,0.0101502026372,1.04003342906,0.593117443511,0.0188228324308,1.03970482946
+234,3.900000000,pose1_to_pose2_press,0.6225475732,0.0101501712402,1.0400333757,0.593118248612,0.0188228033847,1.03970477826
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+236,3.933333333,pose1_to_pose2_press,0.622548290597,0.0101502073216,1.04003348902,0.593118966602,0.0188228414475,1.03970489152
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+240,4.000000000,pose1_to_pose2_press,0.622548721016,0.0101502367366,1.04003357651,0.593119397376,0.0188228720373,1.03970497873
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+242,4.033333333,pose1_to_pose2_press,0.622548995048,0.0101502432498,1.04003353533,0.593119670783,0.018822876371,1.03970493583
+243,4.050000000,pose1_to_pose2_press,0.622548999289,0.0101502430705,1.04003353247,0.593119674996,0.0188228760908,1.03970493291
+244,4.066666667,pose1_to_pose2_press,0.622549009554,0.0101502426366,1.04003352555,0.59311968519,0.0188228754128,1.03970492584
+245,4.083333333,pose1_to_pose2_press,0.622549149239,0.010150236732,1.04003343138,0.593119823916,0.0188228661863,1.03970482964
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+247,4.116666667,pose1_to_pose2_press,0.622549331661,0.0101501743974,1.04003361353,0.593120008139,0.0188228100092,1.03970501277
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+256,4.266666667,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120008144,0.0188228100081,1.03970501277
+257,4.283333333,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120008144,0.018822810008,1.03970501277
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+263,4.383333333,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120008145,0.0188228100077,1.03970501277
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+266,4.433333333,pose2_to_pose3_retreat,0.622549331661,0.0101501743974,1.04003361353,0.593120008145,0.0188228100074,1.03970501277
+267,4.450000000,pose2_to_pose3_retreat,0.622549318692,0.0101501592896,1.04003358622,0.593119995191,0.0188227949683,1.039704986
+268,4.466666667,pose2_to_pose3_retreat,0.622549315352,0.0101501553996,1.04003357919,0.593119991855,0.0188227910959,1.0397049791
+269,4.483333333,pose2_to_pose3_retreat,0.622549289632,0.0101501254376,1.04003352503,0.593119966163,0.0188227612701,1.039704926
+270,4.500000000,pose2_to_pose3_retreat,0.622549262811,0.0101501091357,1.04003349031,0.593119939352,0.0188227450313,1.0397048921
+271,4.516666667,pose2_to_pose3_retreat,0.622549185642,0.0101501467724,1.04003351348,0.593119862096,0.0188227824022,1.03970491604
+272,4.533333333,pose2_to_pose3_retreat,0.622549107714,0.0101501847796,1.04003353688,0.593119784079,0.018822820141,1.03970494022
+273,4.550000000,pose2_to_pose3_retreat,0.622548699671,0.0101502486246,1.04003358159,0.593119375772,0.0188228830764,1.03970498442
+274,4.566666667,pose2_to_pose3_retreat,0.622546453093,0.0101501422189,1.04003350293,0.593117129021,0.0188227759254,1.03970490217
+275,4.583333333,pose2_to_pose3_retreat,0.622539355823,0.0101501367694,1.04003355005,0.593110032658,0.0188227734937,1.03970494786
+276,4.600000000,pose2_to_pose3_retreat,0.622525742952,0.0101502352768,1.04003362326,0.593096417907,0.0188228653887,1.03970501523
+277,4.616666667,pose2_to_pose3_retreat,0.622501359124,0.0101502112254,1.04003340876,0.593072035502,0.0188228461745,1.03970480547
+278,4.633333333,pose2_to_pose3_retreat,0.622466217263,0.010150117382,1.04003353185,0.593036893117,0.0188227502939,1.03970492461
+279,4.650000000,pose2_to_pose3_retreat,0.622421344197,0.0101500625783,1.0400334372,0.592992020913,0.0188226981792,1.03970483144
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+281,4.683333333,pose2_to_pose3_retreat,0.622309302046,0.0101502193741,1.04003347811,0.592879975603,0.0188228443576,1.03970486575
+282,4.700000000,pose2_to_pose3_retreat,0.622244809026,0.0101501994274,1.04003351299,0.59281548356,0.0188228273418,1.03970489917
+283,4.716666667,pose2_to_pose3_retreat,0.622174728936,0.0101500881619,1.04003341252,0.592745405556,0.0188227233063,1.03970480382
+284,4.733333333,pose2_to_pose3_retreat,0.622094906921,0.010150026397,1.04003331449,0.592665584481,0.0188226649022,1.03970471001
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+286,4.766666667,pose2_to_pose3_retreat,0.62189953589,0.0101499767651,1.04003333675,0.592470212924,0.0188226137185,1.039704745
+287,4.783333333,pose2_to_pose3_retreat,0.621780901455,0.0101500949873,1.04003347616,0.592351576789,0.0188227256725,1.03970487441
+288,4.800000000,pose2_to_pose3_retreat,0.621647594816,0.0101501405601,1.04003342465,0.592218270548,0.0188227724443,1.03970482328
+289,4.816666667,pose2_to_pose3_retreat,0.621498531716,0.0101502110958,1.04003353571,0.592069206697,0.0188228400566,1.03970492973
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+292,4.866666667,pose2_to_pose3_retreat,0.620962707988,0.0101501332927,1.04003340787,0.591533384052,0.0188227655588,1.03970480772
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+295,4.916666667,pose2_to_pose3_retreat,0.620284961772,0.0101501891737,1.04003347515,0.590855639401,0.0188228258424,1.03970487033
+296,4.933333333,pose2_to_pose3_retreat,0.620016040434,0.0101502104818,1.04003354505,0.590586716557,0.0188228416872,1.03970493818
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+304,5.066666667,pose2_to_pose3_retreat,0.617103258316,0.0101500617244,1.04003356092,0.587673937963,0.0188227019467,1.03970495506
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+321,5.350000000,pose2_to_pose3_retreat,0.606805665363,0.0101501554971,1.04003366099,0.577376343817,0.0188227888394,1.03970504675
+322,5.366666667,pose2_to_pose3_retreat,0.606032558786,0.0101500830251,1.04003351004,0.576603238976,0.0188227226685,1.03970490661
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+328,5.466666667,pose2_to_pose3_retreat,0.60134508766,0.0101501288986,1.04003337598,0.571915764912,0.018822758598,1.03970477204
+329,5.483333333,pose2_to_pose3_retreat,0.600546478,0.0101500935443,1.04003358876,0.571117156574,0.0188227277731,1.03970498592
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+331,5.516666667,pose2_to_pose3_retreat,0.598920837232,0.0101500844044,1.04003336143,0.569491516444,0.018822721007,1.03970476399
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+334,5.566666667,pose2_to_pose3_retreat,0.596533537455,0.0101501195582,1.04003338847,0.567104215055,0.0188227504567,1.03970478462
+335,5.583333333,pose2_to_pose3_retreat,0.595757289118,0.0101500783993,1.04003340701,0.566327967952,0.0188227133404,1.03970479926
+336,5.600000000,pose2_to_pose3_retreat,0.594992398721,0.0101501461792,1.04003342792,0.565563076764,0.0188227785803,1.03970482399
+337,5.616666667,pose2_to_pose3_retreat,0.594223967771,0.0101502475331,1.04003350089,0.564794644988,0.0188228772321,1.03970489951
+338,5.633333333,pose2_to_pose3_retreat,0.593447842346,0.0101501179603,1.04003352836,0.564018522342,0.0188227570202,1.03970492514
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+341,5.683333333,pose2_to_pose3_retreat,0.591130380816,0.0101502131034,1.04003348284,0.561701060049,0.0188228495937,1.03970488003
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+343,5.716666667,pose2_to_pose3_retreat,0.589676771659,0.0101501390011,1.04003370667,0.56024745109,0.0188227760167,1.03970509986
+344,5.733333333,pose2_to_pose3_retreat,0.588980562656,0.0101501106627,1.04003375211,0.559551242021,0.0188227471124,1.03970513633
+345,5.750000000,pose2_to_pose3_retreat,0.588295139633,0.0101501016024,1.040033517,0.558865818172,0.0188227353731,1.03970490443
+346,5.766666667,pose2_to_pose3_retreat,0.587620161088,0.0101502684362,1.04003378167,0.558190836435,0.0188228913546,1.03970516853
+347,5.783333333,pose2_to_pose3_retreat,0.586953504679,0.010150204235,1.04003363932,0.557524182692,0.0188228366093,1.03970503697
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+349,5.816666667,pose2_to_pose3_retreat,0.585665486898,0.0101500394023,1.04003329837,0.556236167035,0.0188226791842,1.03970470122
+350,5.833333333,pose2_to_pose3_retreat,0.585060327311,0.010150023159,1.04003346807,0.555631007293,0.0188226623526,1.03970486927
+351,5.850000000,pose2_to_pose3_retreat,0.584471815397,0.0101500187217,1.04003337978,0.555042494817,0.0188226559598,1.03970477978
+352,5.866666667,pose2_to_pose3_retreat,0.583897211568,0.010150045444,1.0400332779,0.554467890592,0.0188226812916,1.03970467658
+353,5.883333333,pose2_to_pose3_retreat,0.583343050198,0.0101500960633,1.04003354711,0.553913728546,0.0188227295168,1.03970494306
+354,5.900000000,pose2_to_pose3_retreat,0.582809987724,0.0101500174788,1.04003358331,0.553380666273,0.0188226516607,1.03970498053
+355,5.916666667,pose2_to_pose3_retreat,0.582300933,0.0101498355875,1.0400332652,0.552871613898,0.0188224777973,1.03970466396
+356,5.933333333,pose2_to_pose3_retreat,0.581816725653,0.0101500080475,1.04003336951,0.552387405529,0.0188226466417,1.03970476429
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+358,5.966666667,pose2_to_pose3_retreat,0.58090064202,0.0101501650841,1.04003351816,0.551471318477,0.0188227920667,1.03970491295
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+360,6.000000000,pose2_to_pose3_retreat,0.580026742677,0.0101500183137,1.04003360948,0.550597421142,0.0188226519301,1.03970499979
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+362,6.033333333,pose2_to_pose3_retreat,0.579257098826,0.0101500132681,1.04003340581,0.549827778799,0.0188226521402,1.0397047994
+363,6.050000000,pose2_to_pose3_retreat,0.578922230531,0.0101500558063,1.04003344131,0.549492909612,0.0188226913996,1.03970482821
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+365,6.083333333,pose2_to_pose3_retreat,0.578327693075,0.0101501546952,1.04003336253,0.548898370357,0.0188227846721,1.03970476246
+366,6.100000000,pose2_to_pose3_retreat,0.578052157953,0.010150108936,1.04003338931,0.548622836374,0.0188227428226,1.03970479043
+367,6.116666667,pose2_to_pose3_retreat,0.577787184409,0.010150076198,1.04003343169,0.548357863214,0.0188227114236,1.0397048337
+368,6.133333333,pose2_to_pose3_retreat,0.57753536292,0.0101500200241,1.04003341561,0.548106041949,0.0188226558937,1.03970481459
+369,6.150000000,pose2_to_pose3_retreat,0.577298706793,0.0101500466595,1.04003350771,0.547869385509,0.0188226810836,1.03970489657
+370,6.166666667,pose2_to_pose3_retreat,0.577081697682,0.0101500747564,1.04003339312,0.547652376568,0.0188227099814,1.03970478801
+371,6.183333333,pose2_to_pose3_retreat,0.57688427632,0.0101501289197,1.04003343847,0.547454954376,0.0188227611928,1.03970482997
+372,6.200000000,pose2_to_pose3_retreat,0.576707435887,0.0101499760616,1.04003365111,0.547278115626,0.0188226140391,1.0397050423
+373,6.216666667,pose2_to_pose3_retreat,0.576550451104,0.0101501664824,1.04003377818,0.547121127729,0.0188227937746,1.03970516623
+374,6.233333333,pose2_to_pose3_retreat,0.576415444377,0.0101500940438,1.04003369592,0.546986122362,0.018822725936,1.03970508357
+375,6.250000000,pose2_to_pose3_retreat,0.576296963966,0.0101500759618,1.04003339344,0.546867640463,0.0188227030499,1.03970478761
+376,6.266666667,pose2_to_pose3_retreat,0.576193739721,0.0101500957484,1.04003339827,0.546764417106,0.0188227258673,1.03970479304
+377,6.283333333,pose2_to_pose3_retreat,0.576103369256,0.0101501641267,1.04003361274,0.546674047363,0.0188227966214,1.0397050058
+378,6.300000000,pose2_to_pose3_retreat,0.576023743942,0.0101502309576,1.0400337398,0.546594420699,0.0188228588964,1.03970513372
+379,6.316666667,pose2_to_pose3_retreat,0.575952833047,0.0101501172955,1.04003363348,0.546523511667,0.0188227514731,1.03970502514
+380,6.333333333,pose2_to_pose3_retreat,0.575891299502,0.0101502112708,1.0400334278,0.546461976687,0.0188228406138,1.03970482031
+381,6.350000000,pose2_to_pose3_retreat,0.575840228001,0.0101501400502,1.04003348896,0.546410906409,0.0188227737385,1.03970488669
+382,6.366666667,pose2_to_pose3_retreat,0.575798522755,0.0101500359097,1.04003343461,0.546369202713,0.0188226747975,1.03970483063
+383,6.383333333,pose2_to_pose3_retreat,0.575765694909,0.0101500034066,1.0400334788,0.54633637466,0.0188226414015,1.03970486976
+384,6.400000000,pose2_to_pose3_retreat,0.575740091512,0.0101500163522,1.04003357549,0.546310771391,0.0188226547398,1.03970496543
+385,6.416666667,pose2_to_pose3_retreat,0.575720154036,0.0101500318648,1.04003362933,0.546290835909,0.0188226772436,1.03970502527
+386,6.433333333,pose2_to_pose3_retreat,0.575704893608,0.010150056668,1.04003353004,0.546275573991,0.0188226970486,1.03970492744
+387,6.450000000,pose2_to_pose3_retreat,0.57569299365,0.0101501337296,1.04003365466,0.54626367223,0.0188227677753,1.0397050464
+388,6.466666667,pose2_to_pose3_retreat,0.575684190762,0.0101501715752,1.04003368547,0.546254868722,0.0188228034332,1.03970507499
+389,6.483333333,pose2_to_pose3_retreat,0.5756777326,0.0101500837319,1.04003331808,0.546248412688,0.0188227232336,1.03970471888
+390,6.500000000,pose2_to_pose3_retreat,0.575673459037,0.0101500633342,1.04003341679,0.546244139351,0.0188227036136,1.03970481763
+391,6.516666667,pose2_to_pose3_retreat,0.575670725239,0.0101500621337,1.04003358727,0.546241405326,0.0188227015665,1.03970498581
+392,6.533333333,pose2_to_pose3_retreat,0.575669003927,0.010150099111,1.04003344425,0.546239682952,0.018822734904,1.03970484214
+393,6.550000000,pose2_to_pose3_retreat,0.575667865504,0.0101501331672,1.04003328596,0.546238543591,0.0188227657625,1.03970468362
+394,6.566666667,pose2_to_pose3_retreat,0.575667266747,0.0101501510792,1.04003320271,0.54623794434,0.0188227819927,1.03970460025
+395,6.583333333,pose2_to_pose3_retreat,0.57566722843,0.0101501522255,1.04003319738,0.546237905992,0.0188227830313,1.03970459492
+396,6.600000000,pose2_to_pose3_retreat,0.575667123164,0.0101501553745,1.04003318275,0.546237800639,0.0188227858847,1.03970458026
+397,6.616666667,pose2_to_pose3_retreat,0.575667006877,0.0101501588533,1.04003316658,0.546237684257,0.0188227890368,1.03970456407
+398,6.633333333,pose2_to_pose3_retreat,0.575666951986,0.0101501604954,1.04003315894,0.546237629321,0.0188227905247,1.03970455643
+399,6.650000000,pose2_to_pose3_retreat,0.575666845737,0.0101501636399,1.04003314648,0.546237522983,0.0188227933675,1.03970454392
+400,6.666666667,pose2_to_pose3_retreat,0.575666470725,0.010150173225,1.04003320551,0.546237147626,0.018822801739,1.03970460187
+401,6.683333333,pose2_to_pose3_retreat,0.575666281123,0.0101501780712,1.04003323535,0.546236957848,0.0188228059716,1.03970463117
+402,6.700000000,pose2_to_pose3_retreat,0.57566620587,0.0101501799946,1.0400332472,0.546236882526,0.0188228076515,1.0397046428
+403,6.716666667,pose2_to_pose3_retreat,0.575665975458,0.0101501858838,1.04003328346,0.546236651901,0.0188228127951,1.0397046784
+404,6.733333333,pose2_to_pose3_retreat,0.575665733998,0.0101501920554,1.04003332147,0.546236410219,0.0188228181853,1.03970471571
+405,6.750000000,pose2_to_pose3_retreat,0.575665660387,0.0101501939369,1.04003333305,0.54623633654,0.0188228198286,1.03970472709
+406,6.766666667,pose2_to_pose3_retreat,0.575665566527,0.0101501963359,1.04003334783,0.546236242593,0.0188228219239,1.03970474159
+407,6.783333333,pose2_to_pose3_retreat,0.575665393838,0.0101502007498,1.04003337501,0.546236069746,0.0188228257789,1.03970476828
+408,6.800000000,pose2_to_pose3_retreat,0.5756653056,0.0101502030051,1.0400333889,0.546235981426,0.0188228277487,1.03970478191
+409,6.816666667,pose2_to_pose3_retreat,0.575665037378,0.0101501747653,1.04003340095,0.546235714028,0.0188228023449,1.03970479503
+410,6.833333333,pose2_to_pose3_retreat,0.575664739139,0.0101501125691,1.0400333879,0.546235417644,0.0188227465525,1.03970478477
+411,6.850000000,pose2_to_pose3_retreat,0.575664424856,0.0101500511749,1.04003340265,0.54623510508,0.0188226910411,1.03970480083
+412,6.866666667,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38494e7510a6b83962b76206a0c3fe87c20f5fdf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48b56e59873f43f04303196b810647508e1ba98a79ab5626e7671a5d0a63c52c
+size 25786439
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..986af465aca9ddb04fbd672b0972b840170e2891
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
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+17,0.283333333,BASELINE,770,746.875101253,723,686,669.124898747,642,887,786.875101253,819,656,632,655.875101253,0.40101877765,0.00449512168585,0.0698485231166,0.999999986106,3.88249630115e-05,-0.000161172505625,1.74525243387e-05,1793250801352769280
+18,0.300000000,BASELINE,770,746.55093397,723.44906603,686,669.44906603,642,887,786.55093397,819,656,632,656,0.401019027573,0.00449488246482,0.0698487575929,0.999999986237,3.85424396481e-05,-0.000160412890816,1.75404336688e-05,1793250801369435648
+19,0.316666667,BASELINE,770,746,723.976863462,686,669.976863462,642,887,786.023136538,819,656,632,655.976863462,0.401019546721,0.00449506191683,0.0698492231676,0.999999986406,3.91670110241e-05,-0.000159201194036,1.75942175707e-05,1793250801386102528
+20,0.333333333,BASELINE,770,746,723.386184295,686,669.386184295,642,887,786.613815705,819,656,632,655.386184295,0.401018359739,0.00449542377868,0.0698487113983,0.999999986219,3.75836681217e-05,-0.0001607756485,1.73178710611e-05,1793250801402769408
+21,0.350000000,BASELINE,770,746,723,686,669,642,887,787,819,656,632,655.199742386,0.401017779193,0.00449608107771,0.0698485869315,0.999999986065,3.8003640119e-05,-0.000161648506462,1.71613345598e-05,1793250801419436288
+22,0.366666667,BASELINE,770,746,723,686,669,642,887,787,819,656,632,655.776694032,0.401018343891,0.00449729630355,0.0698491938773,0.999999985969,4.22068299787e-05,-0.000161196414142,1.72310567484e-05,1793250801436102912
+23,0.383333333,BASELINE,770,746,723,686,669,642,887,786.645626853,819,656,632.354373147,656,0.401018916727,0.00449731080045,0.0698498609122,0.999999986127,4.29021514035e-05,-0.000160015275311,1.7340949366e-05,1793250801452769536
+24,0.400000000,BASELINE,770,746,723,686,669,642,887,786.067488329,819,656,632.932511671,656,0.401019494702,0.00449656710919,0.0698505658897,0.99999998645,4.13824648129e-05,-0.000158373787315,1.7476207206e-05,1793250801469436160
+25,0.416666667,BASELINE,770,746,723,686,670.039878838,642,887,786,819,656,632.480060581,656,0.401019425174,0.00449653044191,0.0698498949528,0.99999998632,4.12150926659e-05,-0.000159250618441,1.73184292915e-05,1793250801486102528
+26,0.433333333,BASELINE,769.893185974,746,723,686,670.893185974,642,887,786,819,656,632.106814026,656,0.401019337892,0.00449676500916,0.0698492197002,0.999999986164,4.13579662382e-05,-0.00016021017609,1.71371649629e-05,1793250801502769408
+27,0.450000000,BASELINE,769.31418357,746,723,686,670.31418357,642,887,786,819,656,632.68581643,656,0.40101955043,0.0044977855393,0.0698493292345,0.999999986159,4.20822525158e-05,-0.000160064134083,1.70232787051e-05,1793250801519435776
+28,0.466666667,BASELINE,769,746,723,686,669.73638281,642,887,786,819,656,632.73638281,655.73638281,0.401019559665,0.00449777034411,0.0698497385474,0.999999986253,4.17297504575e-05,-0.00015955780663,1.7115729552e-05,1793250801536102400
+29,0.483333333,BASELINE,769,746,723,686,669.160007724,642,887,786,819,656,632.160007724,655.160007724,0.401019327701,0.00449652635465,0.0698505035204,0.999999986463,4.00997366257e-05,-0.000158624033172,1.74529806723e-05,1793250801552769024
+30,0.500000000,BASELINE,769.409761915,746,723,686,669,642,887.409761915,786,819,656,632,655.409761915,0.401018780813,0.00449558288874,0.0698496406439,0.999999986321,3.99973691993e-05,-0.000159540750816,1.74875941455e-05,1793250801569435648
+31,0.516666667,BASELINE,769.976993103,746,723,686,669,642,887.976993103,786,819,656,632,655.976993103,0.401018112902,0.00449475491243,0.0698481521935,0.999999986041,4.0482068011e-05,-0.000161168602142,1.74059056102e-05,1793250801586102272
+32,0.533333333,BASELINE,769.426496871,746,723,686,669.573503129,642,887.426496871,786.573503129,819.573503129,656,632,655.426496871,0.40101920739,0.00449569882147,0.0698498622927,0.999999986252,4.10324799158e-05,-0.000159730758114,1.72884345702e-05,1793250801602768896
+33,0.550000000,BASELINE,769,746.165149037,723,686,669.834850963,642,887,786.834850963,820,656,632,655.165149037,0.401019577889,0.0044961210748,0.0698507815161,0.999999986358,4.10039209702e-05,-0.00015907250363,1.72567410022e-05,1793250801619435520
+34,0.566666667,BASELINE,769,746.741598276,723,686,669.258401724,642,887,786.258401724,820,656,632,655.741598276,0.401017959753,0.00449505760395,0.0698493943232,0.999999986158,3.95265286747e-05,-0.000160678569873,1.74424417722e-05,1793250801636102144
+35,0.583333333,BASELINE,769,746.681940959,723,686,669.318059041,642,887.318059041,786,819.681940959,656,632,656,0.40101909641,0.00449494298459,0.06985000261,0.999999986364,3.93229930437e-05,-0.000159441297071,1.74642687791e-05,1793250801652768768
+36,0.600000000,BASELINE,769,746.105470765,723,686,669.894529235,642,887.894529235,786,819.105470765,656,632,656,0.401022471234,0.0044955992717,0.0698522321499,0.999999986892,4.0154418458e-05,-0.000155893917119,1.73529544627e-05,1793250801669435648
+37,0.616666667,BASELINE,769.474307521,746,723,686,669.525692479,642,887.525692479,786,819,656,632,655.525692479,0.4010221542,0.00449532345618,0.0698521461929,0.999999986845,3.99034994601e-05,-0.000156233694322,1.75909559162e-05,1793250801686102272
+38,0.633333333,BASELINE,770,746.05535957,723,686,669,642,887,786,819.05535957,656,632,655.05535957,0.401020901522,0.00449494471037,0.0698514250549,0.99999998665,3.95190231469e-05,-0.000157543584371,1.78275298157e-05,1793250801702769152
+39,0.650000000,BASELINE,770,746.64152237,723,686,669,642,887,786,819.64152237,656,632,655.64152237,0.401018604414,0.00449558035836,0.0698495852284,0.999999986274,4.01778644351e-05,-0.000159809071021,1.73003997274e-05,1793250801719435776
+40,0.666666667,BASELINE,770,747,723,686,669.224315838,642,887,786,819.775684162,656,632.224315838,656,0.401017707383,0.00449628130085,0.0698488225151,0.999999986105,4.09909800702e-05,-0.00016068682588,1.70160919417e-05,1793250801736102400
+41,0.683333333,BASELINE,770,747,723,686,669.801804446,642,887,786,819.198195554,656,632.801804446,656,0.401019014697,0.00449708504583,0.0698497556565,0.999999986269,4.20469920171e-05,-0.00015937967433,1.71140943543e-05,1793250801752769280
+42,0.700000000,BASELINE,770,746.62141964,723.37858036,686,670,642,887,786,819,656,633,656,0.401019655621,0.00449728330644,0.0698503745529,0.999999986356,4.26989084664e-05,-0.000158653008384,1.71290723446e-05,1793250801769435648
+43,0.716666667,BASELINE,770,746.045016154,723.954983846,686,670,642,887,786,819,656,633,656,0.401019948331,0.00449716517763,0.0698508292439,0.999999986405,4.31396690955e-05,-0.000158229669031,1.71006668066e-05,1793250801786102016
+44,0.733333333,BASELINE,770,746.536524116,724,686,670,642,887,786,819.536524116,656,632.463475884,656,0.40101988563,0.00449750351035,0.0698503263768,0.999999986268,4.35738879886e-05,-0.000158964837994,1.72032780795e-05,1793250801802768896
+45,0.750000000,BASELINE,770,746.880646964,724,686,670,642,887,786,820,656,632,656,0.401019668161,0.00449718553101,0.0698498461916,0.999999986172,4.28537379851e-05,-0.000159751056448,1.73169337086e-05,1793250801819435776
+46,0.766666667,BASELINE,770,746.29448002,724,686,670,642,887,786,820,656,632,656,0.401018963126,0.0044941493404,0.0698497719933,0.999999986284,3.76207847352e-05,-0.00016035308506,1.7430375548e-05,1793250801836102656
+47,0.783333333,BASELINE,770,746,723.713766173,686,670,642,887,786.286233827,819.713766173,656,632,656,0.401018387779,0.00449326325944,0.0698495498725,0.99999998625,3.63332583373e-05,-0.000160847715469,1.75371036527e-05,1793250801852769024
+48,0.800000000,BASELINE,770,746,723.138557569,686,670,642,887,786.861442431,819.138557569,656,632,656,0.401017943363,0.00449454787702,0.069849178413,0.999999986085,3.90289392149e-05,-0.000161233919311,1.76370537463e-05,1793250801869435904
+49,0.816666667,BASELINE,770,746.435748633,723.435748633,686,670,642,887,786.564251367,819,656,632,656,0.401018294586,0.00449550697489,0.0698496647922,0.999999986186,4.009015939e-05,-0.000160367562946,1.74263038726e-05,1793250801886102784
+50,0.833333333,BASELINE,770,747,723.989915018,686,670,642,887,786,819.010084982,656,632.010084982,656,0.401018922938,0.00449635807153,0.0698504272365,0.999999986371,4.06517777856e-05,-0.000159095994952,1.71240210775e-05,1793250801902769664
+51,0.850000000,BASELINE,770,747,723.397295,686,670,642,887,786,819.602705,656,632.602705,656,0.401020975585,0.00449693724093,0.06985141245,0.999999986573,4.23133878169e-05,-0.000157376717925,1.72294263515e-05,1793250801919436032
+52,0.866666667,BASELINE,770,747,723,686,670,642,887,786.188854369,819.811145631,656,632.811145631,655.811145631,0.401021760468,0.0044971564896,0.0698518863838,0.999999986611,4.32934043863e-05,-0.000156856795003,1.7323540311e-05,1793250801936102656
+53,0.883333333,BASELINE,770,747,723,686,670,642,887,786.761842277,819.238157723,656,632.238157723,655.238157723,0.401019966693,0.00449664365228,0.0698513203643,0.999999986324,4.28870462191e-05,-0.000158776382253,1.73946875069e-05,1793250801952769280
+54,0.900000000,BASELINE,769.661368643,746.661368643,723,685.661368643,670,642,887,786.661368643,819,656,632,655,0.401018608885,0.00449616745389,0.0698503849195,0.999999986122,4.11620418356e-05,-0.000160512418761,1.72579198379e-05,1793250801969435904
+55,0.916666667,BASELINE,769.081875892,746.081875892,723,685.081875892,670,642,887,786.081875892,819,656,632,655,0.40101756117,0.00449571731602,0.0698491867103,0.999999985974,3.84991120274e-05,-0.000162117899388,1.6973266676e-05,1793250801986102272
+56,0.933333333,BASELINE,769,746.487887551,723.487887551,685.487887551,670,642,887,786,819,656,632.487887551,655.487887551,0.401018608886,0.00449532474577,0.0698496414479,0.99999998623,3.91347193922e-05,-0.000160355224738,1.71457932132e-05,1793250802002769152
+57,0.950000000,BASELINE,769.059083699,746.940916301,724,686,670,642,887,786,819.059083699,656.059083699,632.940916301,656,0.401019837428,0.00449512255946,0.0698503328916,0.999999986496,4.04555557448e-05,-0.000158334848347,1.73567596779e-05,1793250802019436032
+58,0.966666667,BASELINE,769.657995833,746.342004167,724,686,670,642,887,786,819.657995833,656.657995833,632.342004167,656,0.401019568032,0.00449657330709,0.0698507021469,0.999999986279,4.30783749903e-05,-0.00015902332413,1.72316554419e-05,1793250802036102400
+59,0.983333333,BASELINE,770,746,723.752644731,686,670,642,887,786,820,657,632,655.752644731,0.401019247276,0.00449725938857,0.0698507751998,0.999999986182,4.38797603345e-05,-0.000159432320741,1.71032342285e-05,1793250802052769024
+60,1.000000000,BASELINE,770,746,723.176002073,686,670,642,887,786,820,657,632,655.176002073,0.401018858146,0.00449692752178,0.0698504539387,0.999999986248,4.22563939185e-05,-0.000159469265674,1.69703973295e-05,1793250802069435392
+61,1.016666667,BASELINE,769.599107877,746,723,686,669.599107877,642,887,786,819.599107877,656.599107877,632,655.400892123,0.401018399173,0.00449711795209,0.0698502153675,0.999999986069,4.33702990693e-05,-0.000160267129621,1.71655753654e-05,1793250802086102272
+62,1.033333333,BASELINE,769.022103215,746,723,686,669.022103215,642,887,786,819.022103215,656.022103215,632,655.977896785,0.401017909518,0.00449753782835,0.069850013122,0.999999985778,4.56866920146e-05,-0.000161399266483,1.75048508851e-05,1793250802102768896
+63,1.050000000,BASELINE,769.568229722,746.568229722,723.568229722,686,669,642,887,786,819,656,632,655.431770278,0.401018543128,0.00449664374601,0.0698501289938,0.999999986065,4.1804905279e-05,-0.000160700645497,1.72248113672e-05,1793250802119435520
+64,1.066666667,BASELINE,770,746.844974608,724,686,669.155025392,642,887,786,819,656,632.155025392,655,0.401019018493,0.00449609294924,0.0698502553568,0.999999986279,3.95474369615e-05,-0.000159972103246,1.69662001466e-05,1793250802136102144
+65,1.083333333,BASELINE,770,746.269219732,724,686,669.730780268,642,887,786,819,656,632.730780268,655,0.401018942963,0.00449661585218,0.0698503758029,0.999999986263,4.23683150687e-05,-0.000159360267857,1.68326941515e-05,1793250802152768768
+66,1.100000000,BASELINE,770,746,724,686,670,642,887,786,819,656,632.693193187,655.306806813,0.401019012351,0.00449696403385,0.0698504907922,0.99999998629,4.20599511536e-05,-0.000159281149282,1.67344765657e-05,1793250802169435904
+67,1.116666667,BASELINE,770,746,724,686,670,642,887,786,819,656,632.116928073,655.883071927,0.401019209016,0.00449715876357,0.069850600989,0.999999986353,3.90032770826e-05,-0.000159669898339,1.66672516324e-05,1793250802186102784
+68,1.133333333,BASELINE,770,746,724,686,669.541512584,642,887,786,819,656,632,656,0.401018634566,0.00449644835837,0.0698503390335,0.999999986226,3.86327177027e-05,-0.000160542630009,1.67656901461e-05,1793250802202769408
+69,1.150000000,BASELINE,770,746.034609553,724,686,669.034609553,642,887,786,819,656,632.034609553,656,0.40101795473,0.00449559534321,0.0698500245978,0.999999986067,3.9028322269e-05,-0.000161421316682,1.69057136896e-05,1793250802219436288
+70,1.166666667,BASELINE,770,746.625567018,724,686,669.625567018,642,887,786,819,656,632.625567018,656,0.40101873622,0.00449615370739,0.0698503893977,0.999999986158,4.07483611291e-05,-0.000160415261956,1.70363174168e-05,1793250802236102912
+71,1.183333333,BASELINE,770,747,723.787573838,686.212426162,670,642,887,786,819.212426162,656,632.787573838,656,0.401018806556,0.00449655973418,0.0698502790427,0.999999986119,4.17232876888e-05,-0.000160410675337,1.70237098286e-05,1793250802252769792
+72,1.200000000,BASELINE,770,747,723.207801772,686.792198228,670,642,887,786,819.792198228,656,632.207801772,656,0.401017647103,0.00449670232593,0.0698493470083,0.999999985858,4.14097011494e-05,-0.000162137914828,1.67634487255e-05,1793250802269436160
+73,1.216666667,BASELINE,770,746.631065202,723.368934798,686.631065202,669.631065202,642,887,786,820,656,632.368934798,656,0.401017516392,0.00449681919481,0.0698494277846,0.999999985841,4.19096722225e-05,-0.000162119746202,1.6683398798e-05,1793250802286102784
+74,1.233333333,BASELINE,770,746.056024451,723.943975549,686.056024451,669.056024451,642,887,786,820,656,632.943975549,656,0.401017960389,0.00449692169355,0.069850074369,0.999999985961,4.28641384401e-05,-0.000161126502727,1.67040241175e-05,1793250802302769152
+75,1.250000000,BASELINE,770,746.532241756,723.467758244,686,669.532241756,642,887,786,820,656,633,656,0.401017901006,0.00449662932993,0.0698500302997,0.999999986034,4.1919105442e-05,-0.000160921202798,1.67030010986e-05,1793250802319436032
+76,1.266666667,BASELINE,770,747,723,686,670,642,887,786,819.880463823,656,632.880463823,655.880463823,0.401018105074,0.00449641859279,0.0698500769881,0.999999986109,4.1279928953e-05,-0.000160609146106,1.68140675137e-05,1793250802336102656
+77,1.283333333,BASELINE,770,747,723,686,670,642,887,786,819.302373741,656,632.302373741,655.302373741,0.401019528205,0.0044966844897,0.0698507578214,0.999999986212,4.2600602455e-05,-0.000159561284543,1.73640855244e-05,1793250802352769280
+78,1.300000000,BASELINE,770,747,723,686.273785575,670,642,886.726214425,786,819,656,632,655,0.401020635928,0.00449631261803,0.0698514190946,0.999999986428,4.24086539206e-05,-0.000158237888078,1.74997271919e-05,1793250802369435904
+79,1.316666667,BASELINE,770,747,723,686.847827413,670,642,886.152172587,786,819,656,632,655,0.401021397749,0.00449524131573,0.0698520589164,0.999999986766,4.05578368982e-05,-0.00015661231696,1.71809289132e-05,1793250802386103040
+80,1.333333333,BASELINE,770,747,723.422146752,686.577853248,670,642,886.422146752,786,819,656,632.422146752,655.422146752,0.401020351753,0.00449542557344,0.0698512378431,0.999999986526,4.033341467e-05,-0.000158214878733,1.69851575829e-05,1793250802402769920
+81,1.350000000,BASELINE,770,747,723.996566235,686.003433765,670,642,886.996566235,786,819,656,632.996566235,655.996566235,0.401018653658,0.00449606272464,0.0698498898097,0.999999986073,4.06956498367e-05,-0.000160981861538,1.68337633284e-05,1793250802419437056
+82,1.366666667,BASELINE,769.411038794,746.411038794,723.411038794,686.588961206,669.411038794,642,887,786.588961206,819,656,632.411038794,656,0.401019288212,0.0044965197672,0.0698507905577,0.99999998622,4.1499689535e-05,-0.000159838664208,1.70322043426e-05,1793250802436102912
+83,1.383333333,BASELINE,769.177131525,746,723,686.822868475,669.177131525,642,887,786.822868475,819.177131525,656,632,656,0.401019697069,0.00449643975111,0.0698515032853,0.999999986371,4.14518950668e-05,-0.000158887297461,1.71745376926e-05,1793250802452769024
+84,1.400000000,BASELINE,769.755487744,746,723,686.244512256,669.755487744,642,887,786.244512256,819.755487744,656,632,656,0.40101956292,0.0044951456846,0.0698517594914,0.999999986524,3.94685733673e-05,-0.00015842371436,1.71850149056e-05,1793250802469435392
+85,1.416666667,BASELINE,770,746,723,686,669.668283205,642,887,786.331716795,819.668283205,656,632,656,0.401019128522,0.00449528955831,0.0698513609376,0.99999998647,3.87878566742e-05,-0.000158964882914,1.69164705565e-05,1793250802486102016
+86,1.433333333,BASELINE,770,746,723,686,669.093612159,642,887,786.906387841,819.093612159,656,632,656,0.401018474219,0.00449648660063,0.069850482828,0.999999986263,3.90611871318e-05,-0.00016024194636,1.64435667179e-05,1793250802502768640
+87,1.450000000,BASELINE,770,746.482881585,723,686,669.482881585,642,887,786.517118415,819,656,632,655.517118415,0.401018589818,0.00449682982593,0.0698507683427,0.999999986223,4.07733691659e-05,-0.000160049807534,1.66044693215e-05,1793250802519435264
+88,1.466666667,BASELINE,770,747,723,686,669.938898796,642,887,786,819,656,632,655.061101204,0.401018939907,0.00449687618282,0.0698513444415,0.999999986247,4.2299604473e-05,-0.000159477420196,1.68728204823e-05,1793250802536101888
+89,1.483333333,BASELINE,770,747,723,686,669.348807982,642,887,786,819,656,632,655.651192018,0.401020023035,0.00449579082733,0.0698524759026,0.999999986568,3.97919055252e-05,-0.000158088209724,1.70036225895e-05,1793250802552768512
+90,1.500000000,BASELINE,770,746.763059851,723.236940149,686,669,642,887,786,819.236940149,656,632,656,0.401019944443,0.00449522769457,0.0698525247288,0.999999986604,3.87508423917e-05,-0.00015811057167,1.705660648e-05,1793250802569435136
+91,1.516666667,BASELINE,770,746.183589726,723.816410274,686,669,642,887,786,819.816410274,656,632,656,0.401018186423,0.00449541950759,0.0698510084552,0.999999986235,3.9830005755e-05,-0.000160173558209,1.69970932918e-05,1793250802586102016
+92,1.533333333,BASELINE,770,746.391048341,723.608951659,686,669,642,887,786.391048341,819.608951659,656,632,656,0.401017247513,0.0044962508625,0.0698499616,0.999999985922,4.2270786903e-05,-0.000161503432519,1.68925003887e-05,1793250802602768896
+93,1.550000000,BASELINE,770,746.963445591,723.036554409,686,669,642,887,786.963445591,819.036554409,656,632,656,0.401016688466,0.00449737880536,0.0698491324378,0.999999985629,4.53430192265e-05,-0.00016249332576,1.67670017349e-05,1793250802619435520
+94,1.566666667,BASELINE,770,746.459993234,723.540006766,686,669.540006766,641.459993234,887,786.459993234,819.540006766,656,632.540006766,656,0.401017753177,0.00449732823515,0.0698499411447,0.999999985927,4.39940353605e-05,-0.000161039502158,1.66381094118e-05,1793250802636102144
+95,1.583333333,BASELINE,769.879792709,746,724,686,670,641.120207291,887,786,820,656,632.879792709,655.879792709,0.40101838736,0.00449716315233,0.0698504380179,0.999999986132,4.25849287533e-05,-0.00016014753141,1.66034722802e-05,1793250802652768512
+96,1.600000000,BASELINE,769.286383743,746,724,686,670,641.713616257,887,786,820,656,632.286383743,655.286383743,0.401016890697,0.00449686376951,0.0698492675004,0.999999985827,4.21264431567e-05,-0.000162123569516,1.69407864751e-05,1793250802669435136
+97,1.616666667,BASELINE,769,746,723.702468969,686,669.702468969,642,887,786,819.702468969,656,632,655,0.401016706683,0.00449716653562,0.0698491229322,0.999999985745,4.26556188592e-05,-0.000162488805443,1.695557648e-05,1793250802686101760
+98,1.633333333,BASELINE,769,746,723.127410123,686,669.127410123,642,887,786,819.127410123,656,632,655,0.401017747065,0.00449803096778,0.069849935338,0.999999985871,4.41060547403e-05,-0.000161351534411,1.66695257973e-05,1793250802702768384
+99,1.650000000,BASELINE,769.447539075,746,723.447539075,686,669,642,886.552460925,786,819.447539075,656,632,655.447539075,0.401018494346,0.00449691422623,0.069850791809,0.999999986126,4.28264916275e-05,-0.000160098401165,1.68055325131e-05,1793250802719435264
+100,1.666666667,BASELINE,770,746,724,686,669.023056303,642,886,786,819.976943697,656,632,656,0.401019114765,0.00449540675925,0.0698516153618,0.999999986392,4.09540870598e-05,-0.000158899143978,1.70398856166e-05,1793250802736102144
+101,1.683333333,BASELINE,770,746,724,686,669.613315454,642,886,786,819.386684546,656,632,656,0.401018666562,0.00449815910655,0.0698513205589,0.999999986135,4.36124787504e-05,-0.000159836533583,1.6738436124e-05,1793250802752768768
+102,1.700000000,BASELINE,770,746,723.800477306,686,669.800477306,642,886.199522694,786.199522694,819,656,632,656,0.401018004386,0.00449932185854,0.0698507321252,0.999999985911,4.47233469717e-05,-0.000160941345673,1.65870778901e-05,1793250802769435648
+103,1.716666667,BASELINE,770,746,723.221966628,686,669.221966628,642,886.778033372,786.778033372,819,656,632,656,0.401016935775,0.00449746521677,0.0698495859476,0.999999985759,4.28947357398e-05,-0.000162364172154,1.67208139945e-05,1793250802786102272
+104,1.733333333,BASELINE,770,746,723,686,669.355633501,642,887,786.644366499,819,656,632,656,0.401018498302,0.00449719117405,0.0698504667594,0.999999986074,4.18879862312e-05,-0.000160685747259,1.66347012887e-05,1793250802802769152
+105,1.750000000,BASELINE,770,746,723,686,669.932666825,642,887,786.067333175,819,656,632,656,0.401021698845,0.00449790237902,0.0698526094745,0.999999986672,4.13928869914e-05,-0.00015707663683,1.64117216035e-05,1793250802819435776
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,746,723,685,670,642,887,786,820,656,632,656,0.401019167136,0.00449560939061,0.0698519845578,0.999999986343,4.16241462549e-05,-0.000159035516755,1.6992378515e-05,1793250802851086592
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,723.608325558,685.608325558,670,642,887,786,819.391674442,656,632,655.391674442,0.401018331425,0.00449607983959,0.0698511977616,0.999999986224,4.1425384109e-05,-0.000159835181891,1.69670947226e-05,1793250802867753216
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.795459026,746,723.795459026,686,669.795459026,642,887,786,819,656,632.204540974,655,0.401017637287,0.0044964187135,0.0698505291707,0.999999986104,4.11209671873e-05,-0.000160686178198,1.6780670602e-05,1793250802884420096
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.22113693,746,723.22113693,686,669.22113693,642,887,786,819,656,632.77886307,655,0.401017199092,0.0044965197184,0.0698500742783,0.99999998598,4.06255413561e-05,-0.000161629974128,1.63029275779e-05,1793250802901086720
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.353611857,746,723,686,669,642,887,786,819,656,633,655.353611857,0.401017071453,0.00449659285889,0.0698499064719,0.999999985911,4.09212899547e-05,-0.000161973452779,1.63706646008e-05,1793250802917753600
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.928627769,746,723,686,669,642,887,786,819,656,633,655.928627769,0.40101713826,0.00449664855287,0.0698499184163,0.999999985877,4.17124100577e-05,-0.000161941059701,1.67799385436e-05,1793250802934420224
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.48304304,746,723.51695696,686,669,642,887,786,819.51695696,656,632.48304304,655.48304304,0.401018696597,0.00449595170589,0.0698511055335,0.999999986152,4.18088135309e-05,-0.000160188007355,1.69374164745e-05,1793250802951086848
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.105156615,746.105156615,723.894843385,686,669.105156615,642,886.894843385,786,819.894843385,656,632.105156615,655,0.401019863796,0.00449544583116,0.069852030744,0.999999986353,4.16920265293e-05,-0.00015894931332,1.70271418171e-05,1793250802967753472
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.684269033,746.684269033,723.315730967,686,669.684269033,642,886.315730967,786,819.315730967,656,632.684269033,655,0.401018315419,0.0044962813547,0.069851024903,0.999999986032,4.10580857238e-05,-0.000161127916225,1.69723225129e-05,1793250802984419840
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,746.73829698,723,686,669.73829698,642,886.26170302,786.26170302,819.26170302,656,632.73829698,655,0.401018704582,0.00449689596098,0.0698513872506,0.999999985748,4.1398627966e-05,-0.000162784852999,1.7048267145e-05,1793250803001086720
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,746.162875068,723,686,669.162875068,642,886.837124932,786.837124932,819.837124932,656,632.162875068,655,0.401021416389,0.0044972457406,0.0698533897268,0.999999985512,4.29073407344e-05,-0.000163816437562,1.72809662473e-05,1793250803017753600
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,746,723.418645284,686,669,642,887,786.581354716,820,656,632,655,0.401032718996,0.00449637383128,0.0698583583054,0.999999985425,4.24357522065e-05,-0.000164412265235,1.78112460698e-05,1793250803034419968
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746,723.997436326,686,669,642,887,786,819.997436326,656,632,655.002563674,0.401047531312,0.00449502315402,0.0698645311889,0.999999985407,4.11791515256e-05,-0.000164770873462,1.84571445847e-05,1793250803051086592
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746,723.415708535,686,669,642,887,786,819.415708535,656,632,655.584291465,0.401089007472,0.0044944766418,0.0698782214656,0.999999987746,3.92038031608e-05,-0.000150404329427,1.86811833524e-05,1793250803067753472
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746,723,686,669,642,887,786,819.1649997,656,632,655.8350003,0.401136778093,0.00449434916783,0.0698918921602,0.999999989964,3.78088636513e-05,-0.00013525338533,1.87048546946e-05,1793250803084420096
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746,723,686,669,642,887,786,819.743155111,656,632,655.256844889,0.401200309918,0.00449527095656,0.0699055138243,0.999999992139,3.78672550653e-05,-0.000118138317321,1.82268103513e-05,1793250803101086976
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746.319777323,723.319777323,685.680222677,669.319777323,642,887,786,820,656,632,655.319777323,0.401271730574,0.00449625088788,0.0699141636654,0.999999993399,3.86300638726e-05,-0.000106835403665,1.72055045462e-05,1793250803117753600
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746.895173912,723.895173912,685.104826088,669.895173912,642,887,786,820,656,632,655.895173912,0.401349457295,0.00449727729639,0.069918839197,0.99999999406,3.99559603175e-05,-0.000100178532286,1.57499337818e-05,1793250803134420224
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746.528649298,723.528649298,685.471350702,669.528649298,642,887,786,819.528649298,656,632.471350702,656,0.401442975194,0.00449828356144,0.0699182151015,0.999999994004,3.79506240561e-05,-0.000101790151926,1.37923766742e-05,1793250803151086592
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746,723,686,669.04872507,642,887,786,819,656,632.95127493,656,0.401541117673,0.00449918485279,0.0699161701908,0.999999993719,3.52224309919e-05,-0.000105755492478,1.16728624845e-05,1793250803167752960
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,746,723,686,669.637445481,642,887,786,819,656,632.362554519,656,0.401651527125,0.0044989725035,0.0699114627114,0.999999992767,3.27072583619e-05,-0.000115392855973,8.99775293958e-06,1793250803184419840
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.777562608,746.222437392,723,686,670,642,887,786,819.222437392,656,632,655.777562608,0.401778365656,0.00449920338385,0.0699098856491,0.999999992281,2.93610057415e-05,-0.000120573014235,6.15548511992e-06,1793250803201086720
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.198547713,746.801452287,723,686,670,642,887,786,819.801452287,656,632,655.198547713,0.401931540754,0.004500144782,0.0699133267915,0.999999992657,2.46824934176e-05,-0.000118608063909,3.04525505539e-06,1793250803217753344
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.375558542,747,723,686,670,642,887,786,820,656,632,655,0.402104666345,0.00450021543453,0.0699162408407,0.999999993132,2.01201228e-05,-0.000115459499049,-4.64781290887e-07,1793250803234420224
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.947103263,747,723,686,670,642,887,786,820,656,632,655,0.402288203167,0.00449983168633,0.0699188798252,0.999999993632,1.56183605989e-05,-0.000111693261756,-4.18345784434e-06,1793250803251086848
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.460609058,747,723,686.539390942,670,642,887,786,819.460609058,656,632,655,0.402507707859,0.00450144819274,0.0699224192102,0.999999993901,1.19663799928e-05,-0.000109436427143,-8.84248360874e-06,1793250803267753472
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.130098763,746.869901237,723.130098763,686.869901237,670,642,887.130098763,786,819.130098763,656,632,655.130098763,0.402739446363,0.00450313326278,0.0699259538722,0.999999994216,7.74226240684e-06,-0.000106386061165,-1.37655522448e-05,1793250803284420096
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.708084612,746.291915388,723.708084612,686.291915388,670,642,887.708084612,786,819.708084612,656,632,655.708084612,0.403000672975,0.00450435205234,0.0699291561298,0.999999994806,1.25009258594e-06,-0.000100073851559,-1.92674622059e-05,1793250803301086976
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746,724,686.283750626,670,642,887.716249374,786,820,656,632,655.716249374,0.403281363489,0.00450500816977,0.0699355762734,0.999999995711,-4.19952844004e-06,-8.9375928165e-05,-2.39390132109e-05,1793250803317753600
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746,724,686.857049373,670,642,887.142950627,786,820,656,632,655.142950627,0.403581915568,0.00450509011866,0.0699452800495,0.999999996825,-8.58529928226e-06,-7.42026839566e-05,-2.77632393179e-05,1793250803334420224
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746,723.558830587,687,670,642,887,786.441169413,820,656,632,655.441169413,0.403914835049,0.00449429136393,0.0699525757961,0.999999997581,-1.4728529586e-05,-6.23701895215e-05,-2.70368912268e-05,1793250803351086592
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746.028491447,723,687,670,642,887,787,820,656,632.028491447,656,0.404260082065,0.00448036427376,0.0699588754217,0.999999998111,-2.09108864534e-05,-5.21862152954e-05,-2.48465774925e-05,1793250803367753472
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,746.608218628,723,687,670,642,887,787,820,656,632.608218628,656,0.404635819001,0.00447583916339,0.0699613784039,0.999999998211,-1.65555530328e-05,-5.24267905021e-05,-2.35775594445e-05,1793250803384420096
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,723.17986124,687.17986124,669.82013876,642,887.17986124,787,820,656,632.82013876,655.82013876,0.405026396779,0.00447609047606,0.0699639795691,0.999999998416,-1.02767304919e-05,-5.01452434185e-05,-2.34104770418e-05,1793250803401086976
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,723.734651141,687.734651141,669.265348859,642,887.734651141,787,820,656,632.265348859,655.265348859,0.405447910898,0.00448629845308,0.0699667854006,0.999999998766,1.16891239318e-08,-4.26062215262e-05,-2.55404280844e-05,1793250803417753600
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,724,688.314035579,669.314035579,642,888,787,820,656,632,655.314035579,0.405884105011,0.00449158096844,0.0699668312282,0.999999998724,-5.79705439622e-06,-4.2203031382e-05,-2.71617896338e-05,1793250803434420224
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,724,688.915967448,669.915967448,642,888,787,820,656,632,655.915967448,0.406333757254,0.00449234800253,0.069964346786,0.999999998083,-2.63630849792e-05,-4.83417089556e-05,-2.83168952443e-05,1793250803451086848
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,723.507600912,689,669.507600912,642,888,787,820,656,632,656,0.406806316975,0.00450011391172,0.0699479695288,0.999999996691,-9.14152147283e-06,-7.51456345197e-05,-2.97862526977e-05,1793250803467753472
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746.932714987,723.067285013,689.067285013,669.067285013,642,888,787,820.067285013,656,632.067285013,656,0.407293431052,0.00450871387307,0.0699316494549,0.999999994362,1.31525953763e-05,-0.000100588094109,-3.13771269242e-05,1793250803484420096
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,746.33749225,723.66250775,689.66250775,669.66250775,642,888,787,820.66250775,656,632.66250775,656,0.407865579302,0.00451494770311,0.0699334651547,0.999999995106,2.71396138675e-05,-8.90389404606e-05,-3.35213803265e-05,1793250803501086720
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,746,724,690.250373949,670,642,888,787,821,656,633,656,0.408462395639,0.00452034743364,0.0699427062663,0.999999996681,3.23500131756e-05,-6.56906291525e-05,-3.57326718833e-05,1793250803517753344
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,746,724,690.828606892,670,642,888,787,821,656,633,656,0.409091514243,0.00452465492945,0.0699616707859,0.999999998575,2.60676283444e-05,-2.68915897959e-05,-3.80317482232e-05,1793250803534420224
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746,724,690.597200529,669.597200529,642,888,787,821,656,633,656,0.409702988091,0.00453303307914,0.0699635052228,0.999999998609,2.93284977733e-05,-1.95159653847e-05,-3.92510715082e-05,1793250803551086848
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746,724,690.024710084,669.024710084,642,888,787,821,656,633,656,0.410307028557,0.00454312610986,0.0699581231146,0.999999998207,3.66097403317e-05,-2.53783679395e-05,-4.00155174215e-05,1793250803567753472
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746,724,690.565732821,669,642,888.565732821,787,821,656,633,656,0.410973112935,0.00454852796167,0.069953253327,0.999999997145,5.33437856591e-05,-3.47901645105e-05,-4.06632885453e-05,1793250803584420096
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,746,724,691.153512601,669.153512601,642,889,787,821,656,632.846487399,656,0.411661588338,0.00455400821339,0.069956177728,0.999999996442,6.68632102298e-05,-3.04004945487e-05,-4.14829111379e-05,1793250803601086720
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,746,724,691.7316851,669.7316851,642,889,787,821,656,632.2683149,656,0.412404261429,0.0045602907331,0.0699805991619,0.999999996533,7.0310493407e-05,1.26109071239e-05,-4.27924834271e-05,1793250803617753344
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,746.308094636,724,692,670,642,889,787,821,656,632,656,0.413163620194,0.0045671930424,0.0700082537741,0.999999994688,7.48856789208e-05,5.58716154798e-05,-4.3526498473e-05,1793250803634419968
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,746.882977635,724,692,670,642,889,787,821,656,632,656,0.413937427664,0.00457463204674,0.0700387080949,0.999999990872,8.04375491707e-05,9.93482107252e-05,-4.37621214173e-05,1793250803651086592
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,724,692,669.529744443,642,889.470255557,787,821,656,632,656,0.414662173259,0.00458124861465,0.070021408632,0.999999992662,9.33678579822e-05,6.3566164542e-05,-4.37977848722e-05,1793250803667753216
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,723.941050068,692.058949932,669,642,890,787,821.058949932,656,632,656,0.415381172067,0.00458760418976,0.0699897868413,0.999999993321,0.000106706622937,5.26984917718e-06,-4.40914363167e-05,1793250803684420096
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,723.367640832,692.632359168,669,642,890,787,821.632359168,656,632,656,0.416159451542,0.00459351651904,0.0699396883625,0.999999990506,0.000107152370336,-7.27229367934e-05,-4.70825747217e-05,1793250803701086720
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.791578178,747,723,693,669,642,890,787,822.208421822,656,632,655.791578178,0.416970001308,0.00459685075323,0.0699157800259,0.999999986871,0.000108079929824,-0.000110379084837,-4.89175927439e-05,1793250803717753344
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.210774772,747,723,693,669,642,890,787,822.789225228,656,632,655.210774772,0.417838207476,0.00459557877489,0.0699386649052,0.999999989894,0.000109868330673,-7.59668579828e-05,-4.86870022149e-05,1793250803734419968
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,723,693,669,642.363788234,890.363788234,787,823,656,632,655,0.418709307519,0.004595197215,0.0699653459691,0.999999991941,0.000111306413734,-3.67386099774e-05,-4.87815776006e-05,1793250803751086592
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,723,693,669,642.934796581,890.934796581,787,823,656,632,655,0.419582055935,0.00459532285299,0.0699941894051,0.99999999245,0.000112544949511,5.23292638811e-06,-4.90613731131e-05,1793250803767753216
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.524347597,747,723.524347597,692.475652403,669,643,891.524347597,787,823.524347597,656,632,655.524347597,0.420482049172,0.00458724958767,0.0700183990533,0.999999992522,0.000101504890288,4.65692337494e-05,-4.98304681748e-05,1793250803784419584
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,747,724,692.22839678,669,643,892,787,824,656,632.11419839,656,0.421388205208,0.00457938080383,0.0700361605374,0.99999999165,9.05600427402e-05,7.70931802751e-05,-5.05486621937e-05,1793250803801086464
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,724,693.390996145,669,643,892,787,824,656,632.695498072,656,0.4223052029,0.00457667149417,0.0700299906249,0.99999999294,8.64788543297e-05,6.37266722236e-05,-5.08006615422e-05,1793250803817753344
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.727138547,747,723.727138547,694,669,643,892.272861453,786.727138547,824,656,633,656,0.423163093208,0.00458037027705,0.0699854038836,0.999999994841,8.6690668629e-05,-9.18411062962e-06,-5.21345601578e-05,1793250803834419968
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.154105373,747,723.154105373,694,669,643,892.845894627,786.154105373,824,656,633,656,0.423955960283,0.0045911185279,0.0698985552335,0.999999983416,9.16251637239e-05,-0.000147598861867,-5.46586429243e-05,1793250803851086592
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.430445206,746.569554794,723.430445206,694,669,643,892.569554794,786.430445206,824.430445206,656,632.569554794,656,0.424842810974,0.00459465965549,0.0698754073175,0.999999979505,8.97623826437e-05,-0.000171993045548,-5.78921045569e-05,1793250803867753216
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.980998387,746.019001613,723.980998387,694.019001613,669.019001613,643,892,787.019001613,824.980998387,656,632.019001613,656,0.425766138587,0.00459551252007,0.0698776398057,0.999999982826,8.60681362407e-05,-0.000152329634916,-6.11301577631e-05,1793250803884419840
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.399279551,746.600720449,723.399279551,694.600720449,669.600720449,643,892,787.600720449,824.399279551,656,632.600720449,656,0.426745865904,0.00459526744417,0.0699375508409,0.999999990714,0.000102184509448,-7.00507797137e-05,-5.67763731901e-05,1793250803901086464
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.180882906,747,723.180882906,695,669.819117094,643,892.180882906,787.819117094,824.180882906,656,633,656,0.427732216631,0.00459548532616,0.0699912681447,0.999999992396,0.000110630480186,4.77602476262e-06,-5.42704393108e-05,1793250803917753088
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.757639093,747,723.757639093,695,669.242360907,643,892.757639093,787.242360907,824.757639093,656,633,656,0.428733063033,0.00459671641981,0.0700314300859,0.999999991208,0.000102289306946,6.32935555122e-05,-5.58086403598e-05,1793250803934419712
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,747,723.66792616,695,669,643,893,787,825.33207384,656,632.66792616,656,0.429689856419,0.00459715122144,0.0700502128369,0.999999989158,9.69390759537e-05,9.48017674372e-05,-5.74420956794e-05,1793250803951086592
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,747,723.095173957,695,669,643,893,787,825.904826043,656,632.095173957,656,0.430614721298,0.00459700889155,0.0700535005129,0.99999998816,9.37566015711e-05,0.000106734334802,-5.91445888101e-05,1793250803967753216
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,747,723,695,669,643,893.492506548,787,825.507493452,656,632,656,0.431424852383,0.00459743148564,0.069987988241,0.999999993131,0.000101336785282,-9.36863014701e-06,-5.81449335726e-05,1793250803984419840
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,747.081511092,723,695,669,643,894,787,825,656,632.081511092,656,0.432228445987,0.00459753578153,0.0699175515848,0.999999983591,0.000108470676783,-0.000133348169442,-5.71825225019e-05,1793250804001086720
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747.66044057,723,695,669,643,894,787,825,656,632.66044057,656,0.433131675307,0.00459501065547,0.0699007335245,0.999999982034,9.9792340579e-05,-0.000149686758477,-5.97335531989e-05,1793250804017753344
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,747.761985167,723,695,669.476029665,643,894.238014833,787,825.238014833,656,633,656,0.434068352233,0.00459143981946,0.0699189449396,0.999999987538,9.25180715125e-05,-0.000112553909272,-6.0794473823e-05,1793250804034419968
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,747.186333267,723,695,670.627333467,643,894.813666733,787,825.813666733,656,633,656,0.435052476547,0.00458638558628,0.0699868475806,0.99999999441,8.72355464609e-05,4.31100784321e-07,-5.9741591588e-05,1793250804051086592
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.610037253,747,723,695,670.220074506,643,895,786.610037253,826,655.610037253,633,656,0.435981193327,0.0045860069827,0.0700236686744,0.999999992514,8.68421916426e-05,6.22480706233e-05,-5.96231553213e-05,1793250804067752960
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.033432992,747,723,695,669.066865985,643,895,786.033432992,826,655.033432992,633,656,0.436883391243,0.00458786619981,0.0700456137098,0.999999989304,8.87888612407e-05,9.95753087417e-05,-5.9951957931e-05,1793250804084419840
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.554538818,747,723,695,669,643,895,786.554538818,826.554538818,655.554538818,632.445461182,656,0.437712061797,0.00458879331297,0.0700318644837,0.999999990609,8.26310515249e-05,8.98423976271e-05,-6.23028256061e-05,1793250804101086720
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,747,723,695,669,643,895.140568302,786.859431698,827,656,632.140568302,656,0.43851289017,0.00459036917225,0.0700022629237,0.999999993376,8.02087382125e-05,5.23159315229e-05,-6.38574479276e-05,1793250804117753344
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,747,723,695,669,643,895.718379665,786.281620335,827,656,632.718379665,656,0.439241191754,0.00459414143993,0.0699301860348,0.999999991945,9.09574977193e-05,-6.26533955222e-05,-6.2548177133e-05,1793250804134419968
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,723,695,669,643,895.705360255,786,827,656,633,656,0.439973927976,0.00460044326202,0.0698677405635,0.999999979349,0.000103442685723,-0.000163732961672,-6.15939602581e-05,1793250804151086592
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,747,723,695,669,643,895.130575177,786,827,656,633,656,0.44071088064,0.00460915020023,0.069814452709,0.999999959576,0.00011757888059,-0.000251606048771,-6.09773311867e-05,1793250804167753472
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,747.4438907,723,695,669,643,895.4438907,786,827,656,632.5561093,656,0.441499832255,0.00461639392,0.069836996315,0.999999966304,0.000127626832001,-0.00021775531535,-6.07136910737e-05,1793250804184420096
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.981061608,747.981061608,723,694.981061608,668.981061608,642.981061608,896,786,827,655.981061608,632,656,0.442300987983,0.00462320513936,0.0698807998337,0.999999977596,0.000136469592211,-0.000150064997497,-6.05412046452e-05,1793250804201086720
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.385441623,747.385441623,723,694.385441623,668.385441623,642.385441623,896,786,827,655.385441623,632,656,0.443008325904,0.00462994361447,0.0698932183318,0.99999997765,0.000145207136017,-0.000141480418614,-5.99848307576e-05,1793250804217753344
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,694.202961456,667.797038544,642,896,786,827,655,632,656,0.443694238944,0.00463655357161,0.069886951625,0.999999973723,0.000152795080274,-0.000160164878766,-5.96219396229e-05,1793250804234419968
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,694.778129704,667.221870296,642,896,786,827,655,632,656,0.444340861462,0.00464292784345,0.0698464185116,0.99999995951,0.000158274798871,-0.000228857460418,-5.96138722108e-05,1793250804251086592
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.351339934,747,723,695.351339934,667,642,896,786,827,655.351339934,632,656,0.444971204649,0.00464880768209,0.0698057446057,0.999999942005,0.000169518641385,-0.000289453122257,-5.89052665691e-05,1793250804267753216
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.9233205,747,723,695.9233205,667,642,896,786,827,655.9233205,632,656,0.445591324418,0.00465437701751,0.0697649822849,0.999999921834,0.000184382339368,-0.000344963933637,-5.77567245755e-05,1793250804284419840
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,723,695.485569719,666.485569719,641.485569719,896,785.485569719,827,656,632,656,0.446177228192,0.00466044132167,0.0697487915999,0.999999913306,0.000193382345061,-0.000364237266635,-5.76481412284e-05,1793250804301086464
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.894409387,747,723,695.105590613,665.894409387,641,896.105590613,785,827,656,632,656,0.44674819716,0.00466625761379,0.0697363642391,0.999999905329,0.000200620505226,-0.000381774511147,-5.77987411259e-05,1793250804317753344
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+254,4.233333333,HOLD_POSE2,770,747,723,695.645760051,655,637,897.354239949,783.645760051,828,656,632,656,0.45420227536,0.00476731446245,0.0695800102353,0.99999974936,0.000316771466296,-0.000629688265962,-6.65409212938e-05,1793250805338759936
+255,4.250000000,HOLD_POSE2,770,747,723,695.769168557,655,637,897,783.769168557,828,656,632,656,0.454202154461,0.00476682171609,0.0695800724324,0.999999749227,0.000317245553035,-0.000629693386073,-6.62372449453e-05,1793250805355426816
+256,4.266666667,HOLD_POSE2,770,747,723,695.190632316,655,637,897,783.190632316,828,656,632,656,0.454201993833,0.00476602405029,0.0695803142609,0.9999997494,0.000317470489208,-0.000629377911804,-6.55502872428e-05,1793250805372093696
+257,4.283333333,HOLD_POSE2,770,747,723,695,655,637,897,783.385713697,828,655.614286303,632,656,0.45420182013,0.00476653971332,0.06957973999,0.999999748913,0.000317740834009,-0.000630009266097,-6.56010391731e-05,1793250805388760320
+258,4.300000000,HOLD_POSE2,770,747,723,695,655,637,897,783.960983392,828,655.039016608,632,656,0.454201640002,0.0047677008015,0.0695787646534,0.999999748101,0.000318033494544,-0.000631105931895,-6.60143327046e-05,1793250805405426944
+259,4.316666667,HOLD_POSE2,770,747,723,695,655,637,897,783.462883375,828,655.537116625,632,656,0.45420229153,0.00476672070118,0.0695790784483,0.999999748983,0.000315746122176,-0.000630833304045,-6.62370779846e-05,1793250805422093568
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+262,4.366666667,HOLD_POSE2,769.708605669,747.708605669,723,695,655.708605669,637,897,783,828,656,632,656,0.454202506744,0.00476314361573,0.0695785448149,0.999999749208,0.000313491807736,-0.000631689850689,-6.53809741122e-05,1793250805472093696
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769.425433305,747,723,695,655,637,897,783.425433305,828,656,632,656,0.454203729277,0.00476411582915,0.0695797865766,0.999999749978,0.00031381870202,-0.000630285930826,-6.55787808247e-05,1793250805538147328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.153990184,747.153990184,723,695.153990184,655,637,897,783.153990184,828,655.846009816,632,656,0.454204381979,0.00476356828961,0.0695799201441,0.999999749811,0.000313636501303,-0.000630639164464,-6.56012555682e-05,1793250805554814208
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747.67042642,723,695.67042642,655,637,897,783.67042642,828,655.32957358,632,656,0.454204107771,0.00476393245515,0.0695796938046,0.999999749788,0.000313829833928,-0.000630581254654,-6.55976162207e-05,1793250805588147456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747.096265707,723,695.096265707,655,637,897,783.096265707,828,655.903734293,632,656,0.454203013255,0.00476266298017,0.0695789789369,0.999999748855,0.000314487078128,-0.000631739019557,-6.55321052083e-05,1793250805604814336
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.059160346,747,723,695,655,637,897,783,827.059160346,656,632,656,0.454202954212,0.00476423212143,0.0695786509003,0.999999749852,0.000312852130689,-0.000630951146754,-6.5729343566e-05,1793250805638147584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.646116736,747,723,695,655,637,897,783,827.646116736,656,632,656,0.454201108416,0.00476374591811,0.0695772728562,0.999999748402,0.000314364613763,-0.000632561588239,-6.50962220452e-05,1793250805654814208
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747,723,695,655,637,897,783.813174904,828,656,632,656,0.454180257599,0.00476564181433,0.0695690612758,0.99999973805,0.000318402214581,-0.00064675333284,-6.50403322214e-05,1793250805688147200
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747,723,695.952216168,655,637,897,784,828,656,632,656,0.45410894101,0.00476283814481,0.0695423878018,0.999999707132,0.000314306221482,-0.000694770269889,-6.51351320432e-05,1793250805721481216
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747,723,695.47461715,655,637,897,784,828,656,632,656.52538285,0.45404759209,0.00476259245645,0.0695257019326,0.99999968896,0.000314866378934,-0.000720259641277,-6.45344064465e-05,1793250805738147840
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,655.775238942,637,897,783.224761058,828,656,631,656,0.453056355581,0.00475781168222,0.0694968167474,0.999999647643,0.000333169592033,-0.000768997252309,-4.85269794804e-05,1793250805888147200
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769.351901647,747,723,694.648098353,655.648098353,637,897,783,827.648098353,656,631,656.351901647,0.452859367008,0.00475547422237,0.0694924496978,0.999999641522,0.000334295032775,-0.000776643051361,-4.5046634826e-05,1793250805904814080
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.92691303,747,723,694.07308697,655.07308697,637,897,783,827.07308697,656,631,656.92691303,0.452647264992,0.00475235969759,0.0694876574327,0.99999963385,0.000333707096971,-0.000786922277572,-4.11466612185e-05,1793250805921480960
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,748,723,695,656.670938376,637,896,784,828,656,631,656,0.45189095786,0.00474515693672,0.0694891192321,0.999999628735,0.000343977971436,-0.000789563571912,-2.82622054903e-05,1793250805971480832
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,747.743285373,723,695,657.256714627,637.256714627,896.256714627,784,827.743285373,656,631.256714627,656,0.451590545246,0.00474304171452,0.0694882602805,0.999999623952,0.00034879722796,-0.00079367069933,-2.28753205627e-05,1793250805988147200
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,657.559115977,637.440884023,896.440884023,784,827,656,631.559115977,656,0.450180086999,0.00472718248736,0.069508011325,0.999999628784,0.000359813972501,-0.000782921517945,5.7855087741e-07,1793250806054814208
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,769,746.762771937,722.762771937,695,668,641.237228063,891,786.762771937,825,656,632,655,0.436812909328,0.00459575917624,0.0697136482407,0.999999893193,0.000151956623416,-0.000435873096715,2.32022847608e-05,1793250806404814080
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.242077543,746,722.242077543,694.242077543,668,641.757922457,890,786,824.515844915,656,632,655,0.431590526843,0.00456585704564,0.0698203761161,0.999999950275,0.000125741700671,-0.000287599336586,3.04221793467e-05,1793250806504814080
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.351640975,746,723,686.351640975,669,642,886,786,819.648359025,656,632,655,0.402128114618,0.00448391246275,0.0697966950514,0.999999942596,1.50818795143e-05,-0.000337447566632,2.66223207513e-05,1793250807254813952
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.920454739,746,723,687,669,642,886.920454739,786,819,656,632,655.920454739,0.401654421733,0.00450978967955,0.0698004359014,0.999999941091,8.55452172269e-05,-0.000331442537936,2.54291308867e-05,1793250807304814336
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,769.256375076,746,723,686.743624924,669,642,886,786,819.256375076,656,632,655.256375076,0.401427502331,0.0045066556539,0.0697988409233,0.999999942306,7.70604942817e-05,-0.000329925883269,2.44508828356e-05,1793250807338147584
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.431658494,746,723,686.568341506,669,642,886,786,819.568341506,656,632,655.568341506,0.400964174656,0.00450363841389,0.0698211828745,0.999999956274,5.54103566635e-05,-0.000289733847681,2.0884484696e-05,1793250807688147456
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,746.007357352,723,686,669,642,886,786,819,656,632,655,0.400965376072,0.00450271929842,0.0698228308809,0.999999956881,5.37905452608e-05,-0.00028789976061,2.13994853245e-05,1793250807704814336
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,746.579549677,723,686,669,642,886,786,819,656,632,655,0.400965899861,0.00450450395246,0.0698235079983,0.999999957195,5.63258532501e-05,-0.000286343360972,2.10706943055e-05,1793250807721480960
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,746.841908867,723,686,669,642,886.158091133,786,819.158091133,656,632,655,0.400965853592,0.00450591871666,0.0698236851729,0.999999957239,5.80774634725e-05,-0.000285866452838,2.07179688227e-05,1793250807738147584
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,746.245775125,723,686,669,642,886.754224875,786,819.754224875,656,632,655,0.400964227794,0.00450630858134,0.0698224770944,0.99999995655,5.76575854537e-05,-0.000288380625088,2.02989251878e-05,1793250807754814208
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,746,723,686,669,642,886.087696427,786,819.087696427,655.087696427,632,655,0.400966031494,0.00450445495568,0.069824605228,0.999999957788,5.65363454985e-05,-0.000284234394457,2.09569670301e-05,1793250807788147712
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,746,723,686.487275119,669,642,886,786,819,655,632,655.487275119,0.400966366573,0.00450546506396,0.069824634381,0.999999957763,5.82881778191e-05,-0.000283975579843,2.08186611707e-05,1793250807804814336
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.06414737,655.06414737,632.06414737,656,0.400966441934,0.00450641637422,0.0698244226639,0.999999957597,5.99277801029e-05,-0.000284234117051,2.06321509987e-05,1793250807821481216
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.656108612,655.656108612,632.656108612,656,0.400966192934,0.00450350673075,0.0698246371235,0.999999957733,5.71627819337e-05,-0.000284295459377,2.1029447487e-05,1793250807838147840
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.242048824,786,819.757951176,655.757951176,632.757951176,655.757951176,0.400966164585,0.00450243453469,0.0698245718763,0.999999957759,5.62590181921e-05,-0.000284372724761,2.11821281236e-05,1793250807854814464
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.819642357,786,819.180357643,655.180357643,632.180357643,655.180357643,0.400966442119,0.00450390953404,0.0698241188803,0.999999957639,5.79354250748e-05,-0.000284472063792,2.099570552e-05,1793250807871481600
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,746,723,686.605374651,669,642,886.605374651,786,819,655.394625349,632,655,0.400965362174,0.00450511597572,0.0698238719001,0.999999957355,5.80542564155e-05,-0.000285470377622,2.06299547953e-05,1793250807888148480
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,746,723,686.03157696,669,642,886.03157696,786,819,655.96842304,632,655,0.40096366589,0.00450620048365,0.0698237184574,0.999999956996,5.74658992887e-05,-0.000286876854325,2.01827834651e-05,1793250807904815872
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffbe077a4fe6095202f550eb8d325b1d6f83eea5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+392,6.533333333,pose2_to_pose3_retreat,0.575665902642,0.0101501781156,1.06003350313,0.546236579584,0.0188228066086,1.05970489518
+393,6.550000000,pose2_to_pose3_retreat,0.575665696807,0.0101501610948,1.06003350419,0.546236374122,0.0188227908593,1.05970489638
+394,6.566666667,pose2_to_pose3_retreat,0.57566563418,0.0101501559161,1.06003350451,0.546236311608,0.0188227860674,1.05970489675
+395,6.583333333,pose2_to_pose3_retreat,0.57566559089,0.0101501523364,1.06003350473,0.546236268397,0.0188227827551,1.059704897
+396,6.600000000,pose2_to_pose3_retreat,0.575665534481,0.0101501476719,1.06003350502,0.546236212091,0.0188227784391,1.05970489733
+397,6.616666667,pose2_to_pose3_retreat,0.575665502283,0.0101501450094,1.06003350519,0.546236179951,0.0188227759754,1.05970489751
+398,6.633333333,pose2_to_pose3_retreat,0.575665431617,0.0101501391659,1.06003350555,0.546236109413,0.0188227705685,1.05970489793
+399,6.650000000,pose2_to_pose3_retreat,0.575665381297,0.0101501350049,1.06003350581,0.546236059184,0.0188227667183,1.05970489822
+400,6.666666667,pose2_to_pose3_retreat,0.575665317863,0.0101501297595,1.06003350614,0.546235995865,0.0188227618647,1.05970489859
+401,6.683333333,pose2_to_pose3_retreat,0.575665105986,0.010150112239,1.06003350723,0.546235784372,0.0188227456531,1.05970489982
+402,6.700000000,pose2_to_pose3_retreat,0.575664937264,0.0101500966944,1.06003352124,0.546235615798,0.0188227305722,1.05970491283
+403,6.716666667,pose2_to_pose3_retreat,0.575664904811,0.0101500926297,1.0600335328,0.546235583266,0.0188227262062,1.05970492344
+404,6.733333333,pose2_to_pose3_retreat,0.575664825427,0.0101500826871,1.06003356109,0.546235503692,0.0188227155271,1.0597049494
+405,6.750000000,pose2_to_pose3_retreat,0.575664606021,0.010150055207,1.06003363927,0.546235283757,0.0188226860111,1.05970502116
+406,6.766666667,pose2_to_pose3_retreat,0.575664402997,0.0101500177982,1.06003354989,0.546235080805,0.0188226488709,1.05970493244
+407,6.783333333,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95db8deaf69a2e09020822c007d7c65adf0440e5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a5806e7762e118d8ba1e7d69d47733cb1f58539f92c7700c604e655cf77d98
+size 25787483
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16b0e9911dd614562687f0d9ceb96141a4ac39e0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,769,746,723,687,669,642,886,786,819,656,632,655,0.400966659593,0.00450527469358,0.0698269952477,0.999999958119,6.10337684521e-05,-0.000282169156321,2.04536668996e-05,1793250808048829440
+1,0.016666667,BASELINE,769,746,723,687,669,642,886,786,819,655.422895405,632,655,0.40096763808,0.00450418206418,0.069827317749,0.999999958803,5.71468871035e-05,-0.000280545542861,2.05363065686e-05,1793250808065496320
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+3,0.050000000,BASELINE,768.270102484,746,723,686.270102484,669,642,886,786,819,655,632,655,0.400967331636,0.00450361888514,0.0698266252279,0.999999958936,5.4867740539e-05,-0.000280513652317,2.07470763572e-05,1793250808098829824
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+9,0.150000000,BASELINE,768.214749094,746,723,686,669.214749094,642,886.785250906,786,819,656,632,655.785250906,0.400968078647,0.00450387967732,0.0698274348395,0.999999959278,5.43595746508e-05,-0.000279403042033,2.05528357594e-05,1793250808198828544
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+20,0.333333333,BASELINE,769,746,723,686,669,642,886.417676924,786.582323076,819,656,632.582323076,655.417676924,0.40096568818,0.00450471467226,0.0698263319079,0.999999958475,5.86493169855e-05,-0.00028139124482,2.06964228154e-05,1793250808382161664
+21,0.350000000,BASELINE,769,746,723,686.17406868,669,641.82593132,886.17406868,786.82593132,819,656,632.82593132,655,0.400966730713,0.00450510854151,0.0698268402635,0.999999958718,5.89217925008e-05,-0.000280475848619,2.06371301563e-05,1793250808398828288
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+27,0.450000000,BASELINE,769,746,723,686,669,641.661946108,886.338053892,786,820,656,632,655,0.400966047765,0.00450604958209,0.0698266434359,0.999999958784,6.04943480352e-05,-0.00027994081275,2.01444028336e-05,1793250808498828288
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+29,0.483333333,BASELINE,769,746,723,686,669.81340199,642,886,786,819.18659801,656,632,655,0.400965487104,0.00450690443294,0.0698264095737,0.999999958795,5.90856323937e-05,-0.000280230290127,1.97701966361e-05,1793250808532161536
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+39,0.650000000,BASELINE,769,746,723,686.623184306,669.623184306,642,886.623184306,786,819.623184306,655.623184306,632,655,0.400966536358,0.00450383775791,0.0698277309717,0.999999959165,5.74861410231e-05,-0.000279187088579,2.05087302182e-05,1793250808698828032
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+45,0.750000000,BASELINE,769,746,723,686,669,641.108108188,886,786,819.108108188,655,632,655.108108188,0.400966652994,0.0045059926239,0.0698278850067,0.999999959313,5.72105952056e-05,-0.000278763986462,1.97860530049e-05,1793250808798828032
+46,0.766666667,BASELINE,769,746,723,686,669,641.68537441,886,786,819.68537441,655,632,655.68537441,0.400967977395,0.00450587631352,0.0698283520197,0.99999995951,5.8718136882e-05,-0.00027772031932,2.00923511339e-05,1793250808815494656
+47,0.783333333,BASELINE,769,746,723,686,669,642,886,786,819.738120142,655,632,655.738120142,0.400968249563,0.00450583428445,0.0698286652688,0.999999959611,5.9632876632e-05,-0.000277155127588,2.01874015456e-05,1793250808832161280
+48,0.800000000,BASELINE,769,746,723,686,669,642,886,786,819.162525975,655,632,655.162525975,0.400967261228,0.00450588123931,0.0698287943193,0.999999959599,5.98374800738e-05,-0.000277163116814,2.00293915578e-05,1793250808848827904
+49,0.816666667,BASELINE,769,746,723,686,669,642,886,786,819,655.422160937,632,655,0.400966706604,0.00450520480057,0.0698283413263,0.999999959409,5.91834595476e-05,-0.000277983344956,2.01274712618e-05,1793250808865494784
+50,0.833333333,BASELINE,769,746,723,686.010242481,669,642,886.010242481,786,819,656,632.010242481,655,0.400966356287,0.00450427456236,0.0698276817159,0.999999959158,5.82313809365e-05,-0.000279071208976,2.03193509752e-05,1793250808882161664
+51,0.850000000,BASELINE,769,746,723,686.588182974,669,642,886.588182974,786,819,656,632.588182974,655,0.400967871559,0.0045050529485,0.0698282632828,0.999999959586,5.94839413005e-05,-0.000277279817699,2.01254042703e-05,1793250808898828288
+52,0.866666667,BASELINE,769,746,723,686.833900132,669.166099868,642,887,786,819,656,632.833900132,655.166099868,0.400968741539,0.00450571949244,0.0698286784977,0.999999959854,6.00742659086e-05,-0.00027620041295,1.99294307719e-05,1793250808915494912
+53,0.883333333,BASELINE,769,746,723,686.256041769,669.743958231,642,887,786,819,656,632.256041769,655.743958231,0.400968011856,0.0045061087816,0.0698286813294,0.999999959731,5.90229202846e-05,-0.000276886009707,1.97284329015e-05,1793250808932161536
+54,0.900000000,BASELINE,769,746,723,686.319908642,670,642,886.680091358,786,819,655.680091358,632,656,0.400966665379,0.00450516282118,0.0698276882921,0.999999959314,5.70304459823e-05,-0.000278795276544,1.9821070704e-05,1793250808948827904
+55,0.916666667,BASELINE,769,746,723,686.894341033,670,642,886.105658967,786,819,655.105658967,632,656,0.400964828174,0.00450315451767,0.0698259029277,0.999999958652,5.42891967076e-05,-0.000281678112224,2.01473291276e-05,1793250808965494528
+56,0.933333333,BASELINE,769,746,723,686.518811176,670,641.518811176,886,786,819,655.481188824,632,655.518811176,0.40096678725,0.00450370477054,0.0698273850842,0.999999959297,5.62854614602e-05,-0.000278990339311,2.00581855258e-05,1793250808982161152
+57,0.950000000,BASELINE,769,746,723,686,669.930792603,641.069207397,886,786,819,656,632,655,0.400968975548,0.00450493907314,0.0698291517298,0.999999960018,5.90403322282e-05,-0.000275834723659,1.98573400009e-05,1793250808998827776
+58,0.966666667,BASELINE,769,746,723,686,669.354695109,641.645304891,886,786,819,656,632,655,0.400966575656,0.00450695974061,0.0698276078837,0.999999959271,5.95305256077e-05,-0.000278448704505,1.95241270653e-05,1793250809015494656
+59,0.983333333,BASELINE,768.778154722,746,723,686,669.221845278,642,886,786,819,656,632,655,0.400965427204,0.00450739637075,0.0698271139896,0.999999958998,5.9253448956e-05,-0.000279494134908,1.93708791258e-05,1793250809032161792
+60,1.000000000,BASELINE,768.200904715,746,723,686,669.799095285,642,886,786,819,656,632,655,0.400966283606,0.00450529531205,0.0698283021587,0.999999959493,5.77471760676e-05,-0.000278026687149,1.95059420298e-05,1793250809048828672
+61,1.016666667,BASELINE,768.373451369,746,723,686,669.626548631,642,886.373451369,786,819,656,632,655,0.400967191735,0.00450498372021,0.0698288058066,0.999999959752,5.73791949266e-05,-0.000277150411758,1.97645428841e-05,1793250809065495552
+62,1.033333333,BASELINE,768.946262553,746,723,686,669.053737447,642,886.946262553,786,819,656,632,655,0.400968127477,0.00450562740087,0.0698289440361,0.999999959887,5.76188689839e-05,-0.000276589722428,2.00890920837e-05,1793250809082162176
+63,1.050000000,BASELINE,769,746,723,686,669,642,886.46012982,785.46012982,819,656,632,655,0.400968743919,0.00450549328998,0.0698295484821,0.999999960116,5.6920270904e-05,-0.000275919127349,1.99186722867e-05,1793250809098828544
+64,1.066666667,BASELINE,768.869227243,746,723,686,669,642,886,785,819,656,632,655,0.400968878822,0.00450548221565,0.0698297711753,0.999999960193,5.65089259636e-05,-0.000275737223576,1.97522583703e-05,1793250809115495168
+65,1.083333333,BASELINE,768.294805597,746,723,686,669,642,886,785,819,656,632,655,0.40096749224,0.00450616171524,0.0698285350238,0.999999959723,5.74016254107e-05,-0.000277251814015,1.97732738346e-05,1793250809132162048
+66,1.100000000,BASELINE,768,746,723,686,669,642,886,785.279164941,819.279164941,656,632,655,0.400967260688,0.00450582045132,0.0698282127314,0.999999959667,5.75239417884e-05,-0.000277427559907,1.97692872812e-05,1793250809148828672
+67,1.116666667,BASELINE,768,746,723,686,669,642,886,785.85265983,819.85265983,656,632,655,0.400968246909,0.00450440297317,0.0698288539412,0.999999960049,5.68340257193e-05,-0.000276191731451,1.97389405306e-05,1793250809165495552
+68,1.133333333,BASELINE,768.439272404,746,723,686,669,642,886,786,819.560727596,656,632,655.439272404,0.400968284996,0.00450488505884,0.0698290808041,0.999999959956,5.77204909853e-05,-0.000276355700895,1.95918891566e-05,1793250809182162176
+69,1.150000000,BASELINE,769,746,723.029883942,686.029883942,669,642,886,786,819.029883942,655.970116058,632,655.970116058,0.400967974972,0.00450590551846,0.0698291387632,0.999999959704,5.90109520031e-05,-0.000277007123723,1.94350201486e-05,1793250809198828544
+70,1.166666667,BASELINE,769,746,723.610607527,686.610607527,669,642,886,786,819.610607527,655.389392473,632,655.389392473,0.400967290758,0.00450474378072,0.0698287239993,0.999999959573,5.77019004079e-05,-0.000277722737884,1.98409404561e-05,1793250809215495168
+71,1.183333333,BASELINE,769,746,723.810929586,687,669,642,886,786,819.810929586,655,632,655,0.400966840384,0.00450465463632,0.0698285511771,0.999999959522,5.76908472048e-05,-0.000277898142811,1.99970589708e-05,1793250809232161792
+72,1.200000000,BASELINE,769,746,723.237067513,687,669,642,886,786,819.237067513,655,632,655,0.400966865913,0.00450674840843,0.0698288707491,0.99999995963,6.03214495626e-05,-0.000276974126746,1.96447868259e-05,1793250809248828416
+73,1.216666667,BASELINE,769.336889514,746.336889514,723,686.663110486,669,642,886,786,819,655,632,655,0.400967721518,0.00450718682698,0.0698296104771,0.99999995996,6.04487732155e-05,-0.000275752358245,1.96637304269e-05,1793250809265495040
+74,1.233333333,BASELINE,769.910913346,746.910913346,723,686.089086654,669,642,886,786,819,655,632,655,0.400969161408,0.00450646005289,0.0698306459504,0.999999960446,5.88140552664e-05,-0.000274321003818,1.99439703754e-05,1793250809282161920
+75,1.250000000,BASELINE,768.99480054,746.49740027,723.50259973,686,669,642,886,786,819,655,632,655,0.400969048913,0.00450565422907,0.0698306643378,0.999999960292,5.81140336387e-05,-0.000275029760166,1.99586565425e-05,1793250809298828544
+76,1.266666667,BASELINE,768.094866104,746,723.905133896,686,669.094866104,642,886.094866104,786,819,655.094866104,632,655,0.400968665279,0.00450498335568,0.0698303920177,0.999999960063,5.7608318595e-05,-0.000275970058302,1.99020860177e-05,1793250809315495424
+77,1.283333333,BASELINE,768.673542418,746,723.326457582,686,669.673542418,642,886.673542418,786,819,655.673542418,632,655,0.400968353277,0.00450507478086,0.0698295900134,0.999999960057,5.72178402261e-05,-0.00027608614261,1.97309076921e-05,1793250809332162048
+78,1.300000000,BASELINE,768.750121091,746,723,686,669.750121091,642,886.750121091,786,819,655.750121091,632.249878909,655,0.400968404779,0.00450531808095,0.0698292376294,0.999999960161,5.73022112559e-05,-0.000275697348377,1.96135014802e-05,1793250809348828416
+79,1.316666667,BASELINE,768.176813179,746,723,686,669.176813179,642,886.176813179,786,819,655.176813179,632.823186821,655,0.40096892678,0.00450575795925,0.0698294672081,0.999999960409,5.80012002871e-05,-0.000274655068152,1.95656948377e-05,1793250809365495040
+80,1.333333333,BASELINE,768.407056515,746,723,686,669,642,886.407056515,786,819,655.407056515,632.592943485,655,0.400968455707,0.00450648185856,0.0698291588073,0.999999960311,5.86821805085e-05,-0.000274872724178,1.94583722647e-05,1793250809382161664
+81,1.350000000,BASELINE,768.995636188,746,723,686,669,642,886.995636188,786,819,655.995636188,632.004363812,655,0.40096754178,0.00450733241449,0.0698286104993,0.99999996006,5.93551299254e-05,-0.000275652237251,1.93245090981e-05,1793250809398828288
+82,1.366666667,BASELINE,769,746,723,686.574031713,669,642,887,786,819,656,632,655,0.40096794047,0.00450670361479,0.0698289662455,0.999999960001,5.989909325e-05,-0.00027573379423,1.95196503021e-05,1793250809415494912
+83,1.383333333,BASELINE,769,746,723,687,669,642,886.847909177,786,819,656,632,655,0.400968111461,0.00450613808981,0.069828987404,0.999999959891,6.01114571306e-05,-0.000276075786229,1.96652577162e-05,1793250809432161792
+84,1.400000000,BASELINE,769,746,723,687,669,642,886.270577846,786,819,656,632,655,0.400967618401,0.00450578037419,0.0698280541865,0.999999959634,5.93993747495e-05,-0.000277160521733,1.96654993738e-05,1793250809448828160
+85,1.416666667,BASELINE,769.305197812,746,723,686.694802188,669.305197812,642,886.305197812,786,819,656,632.305197812,655,0.400967194081,0.00450521814383,0.0698280346895,0.999999959704,5.72274395023e-05,-0.000277369331819,1.95770838212e-05,1793250809465495040
+86,1.433333333,BASELINE,769.879601226,746,723,686.120398774,669.879601226,642,886.879601226,786,819,656,632.879601226,655,0.400966830395,0.00450447551733,0.0698288211574,0.999999960055,5.37678129953e-05,-0.000276805514973,1.94104664711e-05,1793250809482162432
+87,1.450000000,BASELINE,769.06250508,746,723,686,669.53125254,642,886.53125254,786,819,656,632.53125254,655,0.400966374673,0.00450489229579,0.0698285893968,0.999999959864,5.5121341055e-05,-0.000277226456178,1.94577243399e-05,1793250809498828800
+88,1.466666667,BASELINE,768.060184222,746,723,686,669,641.939815778,886,786,819,656,632,655,0.400966095593,0.00450559699389,0.0698282126733,0.999999959589,5.75654416257e-05,-0.000277716357276,1.95487971837e-05,1793250809515495424
+89,1.483333333,BASELINE,768.637702946,746,723,686,669,641.362297054,886,786,819,656,632,655,0.400967544694,0.00450613367555,0.0698289109809,0.999999959862,5.84120763435e-05,-0.000276554214613,1.95289560819e-05,1793250809532161792
+90,1.500000000,BASELINE,769,746,723,686.213847474,669,641.213847474,886.213847474,786,819.213847474,656,632,655.213847474,0.40096827171,0.00450679930065,0.0698292766187,0.999999960028,5.84709404907e-05,-0.000275946117456,1.94456049884e-05,1793250809548828416
+91,1.516666667,BASELINE,769,746,723,686.787678665,669,641.787678665,886.787678665,786,819.787678665,656,632,655.787678665,0.400967783192,0.00450768198478,0.0698290822508,0.999999960016,5.72036978022e-05,-0.000276270682171,1.92553432917e-05,1793250809565495296
+92,1.533333333,BASELINE,769,746,723,686.62851445,669,642,886.62851445,786,819.62851445,655.62851445,632.37148555,655.62851445,0.400967511314,0.0045071476644,0.0698290410998,0.999999959938,5.76616463831e-05,-0.000276449829702,1.93596689642e-05,1793250809582161664
+93,1.550000000,BASELINE,769,746,723,686.038848601,669,642,886.038848601,786,819.038848601,655.038848601,632.961151399,655.038848601,0.400967366672,0.0045057811113,0.0698290899358,0.999999959821,5.91328314183e-05,-0.000276543571076,1.96370112007e-05,1793250809598828032
+94,1.566666667,BASELINE,769,746.540448913,723,686,669,642,886,786,819,655,632.459551087,655,0.400968204062,0.00450562457132,0.06982959664,0.999999960052,5.91440571556e-05,-0.000275692510791,1.97774965725e-05,1793250809615494656
+95,1.583333333,BASELINE,769,746.881403172,723,686,669,642,886,786,819,655.118596828,632,655,0.400968858315,0.00450564106861,0.069830030766,0.99999996027,5.88488637027e-05,-0.000274957433295,1.987398404e-05,1793250809632161280
+96,1.600000000,BASELINE,769,746.304870383,723,686,669,642,886,786,819,655.695129617,632,655,0.400968537982,0.00450599618583,0.0698300599546,0.999999960342,5.7768093309e-05,-0.00027492749818,1.98378537459e-05,1793250809648827904
+97,1.616666667,BASELINE,768.737089413,746,723,686,669,642,886,786,819,656,632,655.262910587,0.400967967996,0.00450603513011,0.0698295315356,0.999999960192,5.74740698998e-05,-0.000275552003515,1.95838680438e-05,1793250809665494784
+98,1.633333333,BASELINE,768.179130116,746,723,686,669,642,886,786,819,656,632,655.820869884,0.400967117839,0.00450571925251,0.0698283773473,0.999999959792,5.80629652874e-05,-0.000276910947931,1.90853963474e-05,1793250809682161664
+99,1.650000000,BASELINE,768,746,723,686,669,642,886.413156927,786,819,656,632,655.586843073,0.400967409075,0.00450498903954,0.0698289244288,0.999999959907,5.81531842291e-05,-0.000276450999951,1.94630274403e-05,1793250809698828288
+100,1.666666667,BASELINE,768.020557299,746,723,686,669,642,887,786,819,655.979442701,632.020557299,655,0.40096820862,0.0045041652634,0.0698302045421,0.999999960243,5.80826672889e-05,-0.000275193883623,2.02134637019e-05,1793250809715494912
+101,1.683333333,BASELINE,768.59767329,746,723,686,669,642,887,786,819,655.40232671,632.59767329,655,0.400968157998,0.00450611262802,0.0698295511455,0.999999960012,6.0044404506e-05,-0.000275639649973,1.98413847076e-05,1793250809732161536
+102,1.700000000,BASELINE,769,746,723,686,669.174627496,642,886.825372504,786,819,655.174627496,632.825372504,655,0.400968234321,0.00450720839307,0.0698294801711,0.999999959995,6.06945108558e-05,-0.000275577868148,1.95928703056e-05,1793250809748828160
+103,1.716666667,BASELINE,769,746,723,686,669.75120923,642,886.24879077,786,819,655.75120923,632.24879077,655,0.400968602842,0.00450634396223,0.0698307498049,0.999999960473,5.83255300287e-05,-0.000274347821553,1.9628774576e-05,1793250809765494784
+104,1.733333333,BASELINE,769,746,723,686.325559921,669.674440079,642,886.325559921,786,819,656,632,655,0.400968761373,0.0045053390508,0.0698308579482,0.999999960532,5.74226801439e-05,-0.000274315384057,1.97548747484e-05,1793250809782161408
+105,1.750000000,BASELINE,769,746,723,686.898217329,669.101782671,642,886.898217329,786,819,656,632,655,0.400968760522,0.00450422751559,0.0698300845291,0.999999960275,5.76326121611e-05,-0.000275191922561,1.99494329234e-05,1793250809798828032
+106,1.766666667,BASELINE,769,746,723,686.512049821,669,642,886.512049821,786,819,656,632,655.487950179,0.400968418348,0.00450470235881,0.0698295980749,0.999999960194,5.6805824924e-05,-0.000275670765268,1.97673467946e-05,1793250809815494656
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,686,669,642,886,786,819,656,632,656,0.400969660019,0.00450675679378,0.0698308797483,0.99999996083,5.93680525697e-05,-0.000272802896877,1.9872207313e-05,1793250809858651904
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746,723,686.57415343,669,642,886.57415343,786,819,655.42584657,632.57415343,655.42584657,0.400968734127,0.00450629197679,0.0698304705434,0.999999960587,5.78137793595e-05,-0.000274051747384,1.94947157931e-05,1793250809875318784
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,746,723,686.852363105,669,642,886.852363105,786,819,655.147636895,632.852363105,655,0.400968120669,0.00450596520895,0.0698301482268,0.999999960367,5.71823644125e-05,-0.000274997911487,1.93184569828e-05,1793250809891985408
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,746,723,686.280803233,669,642,886.280803233,786,819,655.719196767,632.280803233,655,0.400968404333,0.00450603483382,0.0698300754004,0.99999996022,5.92008342874e-05,-0.000275074945434,1.97200154989e-05,1793250809908651776
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.695364481,746,723,686,669,642,886,786,819.304635519,656,632.304635519,655,0.400968363504,0.00450601169043,0.0698297267972,0.999999960063,5.98555504088e-05,-0.000275494825225,1.98278172992e-05,1793250809925318400
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.096521998,746,723,686,669,642,886,786,819.903478002,656,632.903478002,655,0.400968009289,0.00450589895451,0.0698291118577,0.999999959899,5.91931978909e-05,-0.00027624581425,1.96519185015e-05,1793250809941985536
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.480832668,746,723,686,669.480832668,642,886.480832668,786,819.519167332,656,632.519167332,655,0.400968250402,0.00450650335352,0.069829544498,0.999999960036,6.04084419616e-05,-0.000275486206845,1.96265096689e-05,1793250809958652160
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.94583529,746,723,686,669.94583529,642,887,786,819.05416471,656,632.05416471,655,0.400968754401,0.00450693629647,0.0698302652834,0.999999960249,6.14667693245e-05,-0.000274473907236,1.96743437376e-05,1793250809975318528
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.371482254,746,723,686,669.371482254,642,887,786,819.628517746,656,632.628517746,655,0.400970684497,0.00450439920783,0.0698318201636,0.999999960651,5.75531869646e-05,-0.000273822444932,2.01478761284e-05,1793250809991985152
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.209488168,746,723,686,669,642,886.790511832,786.209488168,819.790511832,656,632.790511832,655,0.400977610046,0.00450292330159,0.0698349684022,0.999999961996,5.47928099905e-05,-0.000269428001021,2.03581490586e-05,1793250810008652032
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.802575803,746,723,686,669,642,886.197424197,786.802575803,819.197424197,656,632.197424197,655,0.400993682905,0.00450339055549,0.0698410342823,0.999999965004,5.41440991011e-05,-0.000258179682029,2.00863603971e-05,1793250810025318400
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746,723,686.385528518,669,642,886,786.614471482,819.385528518,656,632,655.385528518,0.40102816042,0.00450375392954,0.0698539776767,0.999999970596,5.35297335617e-05,-0.000235697405549,1.97466186192e-05,1793250810041985280
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746,723,686.963424262,669,642,886,786.036575738,819.963424262,656,632,655.963424262,0.401071821309,0.00450406547068,0.0698703527461,0.999999976861,5.29325052359e-05,-0.000207609718319,1.93729702271e-05,1793250810058651904
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746,723.538108013,687,669,642,886.538108013,786,819.461891987,656,632,655.461891987,0.401129946586,0.00450494163274,0.0698838979892,0.999999980788,5.40703922641e-05,-0.000187457243952,1.8985030393e-05,1793250810075318528
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,723.887567173,686.887567173,669,642,886.887567173,786,819,656,632,655,0.401191739032,0.00450567791228,0.0698957568163,0.999999983899,5.49636105285e-05,-0.000169829929789,1.84244427338e-05,1793250810091985152
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746,723.31382444,686.31382444,669,642,886.31382444,786,819,656,632,655,0.401264567883,0.00450568372721,0.0699014808221,0.999999985516,5.43719333187e-05,-0.000160363426476,1.71594459989e-05,1793250810108651776
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,723,686.269417859,669,642,886,786,819.269417859,655.730582141,632.269417859,655.269417859,0.401345966457,0.00450604294051,0.069904252641,0.999999986526,5.31529435193e-05,-0.000154546150613,1.54131141048e-05,1793250810125318400
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,723,686.864129865,669,642,886,786,819.864129865,655.135870135,632.864129865,655.864129865,0.40143771208,0.00450682884572,0.0699034600001,0.99999998688,5.11765388122e-05,-0.00015313493933,1.30856199607e-05,1793250810141985024
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,687,669.44429456,642,886,786,820,655.44429456,632.55570544,655.55570544,0.401544342383,0.00450694569539,0.0699025263603,0.999999986558,4.88566992164e-05,-0.000156140697743,1.07930628871e-05,1793250810158651648
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746,723,686.979918726,669.979918726,642,886.020081274,786,819.979918726,655.979918726,632,655,0.401656498474,0.00450689371933,0.0699016430023,0.999999986051,4.64154522613e-05,-0.000160223062228,8.4972223079e-06,1793250810175318272
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746,723,686.406070341,669.406070341,642,886.593929659,786,819.406070341,655.406070341,632,655,0.401799490589,0.004507649505,0.0699032975956,0.99999998657,4.34306477785e-05,-0.00015792629891,5.82554594771e-06,1793250810191985152
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,746,723,686,669,642,886.827011222,786,819.172988778,655.172988778,632,655.172988778,0.401953771879,0.00450877436031,0.0699057345756,0.999999987267,4.01236021684e-05,-0.000154430781597,2.64359780791e-06,1793250810208651776
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,746,723,686,669,642,886.23534074,786,819.76465926,655.76465926,632,655.76465926,0.402135376141,0.00451079246827,0.0699100651524,0.999999988392,3.6036642446e-05,-0.000148033941356,-1.77335177802e-06,1793250810225318144
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746,723,686.348377672,669.348377672,642,886.348377672,786,819.651622328,656,632,655.651622328,0.402336923379,0.00451306362313,0.0699155359567,0.999999989748,3.26294484057e-05,-0.000139285001651,-6.22639597629e-06,1793250810241985024
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746,723,686.926844136,669.926844136,642,886.926844136,786,819.073155864,656,632,655.073155864,0.402551642131,0.00451550190502,0.0699217598337,0.999999991184,2.96712105814e-05,-0.000128982598591,-1.07032795865e-05,1793250810258651648
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746,723,686.499527954,669.499527954,642,886.499527954,786,819,655.499527954,632,655,0.402792155438,0.00451712773742,0.0699227015003,0.999999991668,2.52392524749e-05,-0.000125546631773,-1.62550659014e-05,1793250810275318528
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,723,686,669.073584814,642,886.073584814,786,819,655.073584814,632,655,0.403041688859,0.00451850447701,0.0699231975869,0.999999992057,2.02379500337e-05,-0.000122465207996,-2.18974240307e-05,1793250810291985152
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,723,686,669.647959301,642,886.647959301,786,819,655.647959301,632,655,0.403327195028,0.00451898647533,0.0699258656635,0.999999992935,1.28139301725e-05,-0.00011503133056,-2.70971056046e-05,1793250810308651776
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,723,686.22995335,670.22995335,642,887,786.22995335,819.22995335,656,632,655,0.40363103769,0.00451990017488,0.0699330893852,0.999999994303,7.35987249709e-06,-0.000101546054944,-3.20689947718e-05,1793250810325318400
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,723,686.824012088,670.824012088,642,887,786.824012088,819.824012088,656,632,655,0.403963914119,0.00452149742499,0.0699475264609,0.999999996235,5.025029849e-06,-7.84790681895e-05,-3.66801998454e-05,1793250810341985024
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,723,687,670.593496983,642,887,786.593496983,819.593496983,656,632.406503017,655.406503017,0.404326466822,0.00452547195749,0.0699522049493,0.999999996195,2.98657604523e-05,-7.4437972401e-05,-3.43155750119e-05,1793250810358651392
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,723,687,670.015875566,642,887,786.015875566,819.015875566,656,632.984124434,655.984124434,0.404701511815,0.00453044721256,0.0699527755372,0.999999994318,6.6146112538e-05,-7.84058706557e-05,-2.90144580266e-05,1793250810375318272
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,723.560010894,687.560010894,670,642,887,786.560010894,819,656,632.439989106,656,0.405116441675,0.00453210946253,0.0699582336311,0.999999994231,7.95199579455e-05,-6.5718442097e-05,-2.9928438164e-05,1793250810391985152
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,723.865249031,688,670,642,887,786.865249031,819,656,632,655.865249031,0.405536810509,0.00452701411526,0.0699619247857,0.999999994556,8.25383596297e-05,-5.62053075293e-05,-3.02630304865e-05,1793250810408651520
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,723.294063212,688,670,642,887,786.294063212,819,656,632,655.294063212,0.405971144369,0.00450033533924,0.069959445764,0.999999996429,5.41139826442e-05,-5.84976685682e-05,-2.81522012568e-05,1793250810425318400
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,723,688.29009737,669.70990263,642.29009737,887.29009737,786,819.29009737,656,632,655,0.406426147356,0.00449006197625,0.0699500544668,0.999999996777,7.59532857307e-06,-7.51712278364e-05,-2.71770756743e-05,1793250810441985024
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,723,688.888025942,669.111974058,642.888025942,887.888025942,786,819.888025942,656,632,655,0.406903083042,0.00449719689602,0.0699333283421,0.999999992199,-5.81237204935e-05,-0.000107105116922,-2.74070796545e-05,1793250810458651648
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,723,689,669.467438432,642.532561568,887.532561568,786.467438432,820,655.532561568,632,655.467438432,0.40742890632,0.00450998689405,0.0699236580563,0.999999992083,-4.00284735768e-05,-0.000115403702665,-3.0235201028e-05,1793250810475318272
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.95746656,746.04253344,723,689,670,642.04253344,887,787,820,655.04253344,632,656,0.407971237846,0.00452284010202,0.0699174901406,0.999999992732,-4.74416744859e-06,-0.000115719904276,-3.35084163961e-05,1793250810491985152
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.383008766,746.616991234,723,689,670,642.616991234,887,787,820,655.616991234,632,656,0.408579145491,0.00452018787315,0.0699347904988,0.99999999583,3.98358304244e-06,-8.43168573221e-05,-3.48611285366e-05,1793250810508652032
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.197354094,746.802645906,723.197354094,689.197354094,669.802645906,642.802645906,887.197354094,786.802645906,820,655.802645906,632,656,0.40918882534,0.00452304152365,0.0699471962953,0.999999997463,1.65743342435e-05,-5.89248200973e-05,-3.64320454537e-05,1793250810525318400
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.789530466,746.210469534,723.789530466,689.789530466,669.210469534,642.210469534,887.789530466,786.210469534,820,655.210469534,632,656,0.409802050587,0.00453691011592,0.0699498101379,0.999999997543,3.6893319513e-05,-4.55582792475e-05,-3.84394980326e-05,1793250810541985024
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.372470882,746,723.627529118,690,669.372470882,642.372470882,887.627529118,786.372470882,819.627529118,655.372470882,632,656,0.410444723522,0.00454481642265,0.0699454500965,0.999999996725,4.94392378655e-05,-5.06487248615e-05,-3.92459647053e-05,1793250810558651904
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.95031866,746,723.04968134,690,669.95031866,642.95031866,887.04968134,786.95031866,819.04968134,655.95031866,632,656,0.41110363361,0.00454943518147,0.0699372447219,0.999999995387,5.76991604796e-05,-6.59161774588e-05,-3.93902191205e-05,1793250810575318784
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.474054145,746,723.525945855,690.525945855,670,642.474054145,887.525945855,787,819.525945855,656,632.525945855,656,0.411813747516,0.00455877004353,0.0699503731962,0.999999995781,6.84788160053e-05,-4.53351527638e-05,-4.11561926994e-05,1793250810591985408
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,723.898828757,691,670.101171243,642.101171243,888,787,819.898828757,656,632.898828757,656,0.41253921163,0.00456788939699,0.0699687574608,0.999999995926,7.78652187195e-05,-1.59896493907e-05,-4.27783854676e-05,1793250810608651776
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,723.324505829,691,670.675494171,642.675494171,888,787,819.324505829,656,632.324505829,656,0.413313939291,0.00457392619917,0.0700023366738,0.999999995161,7.96272750507e-05,3.85748667492e-05,-4.30147383829e-05,1793250810625318400
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,723,691.257498949,670.485002101,643,888.257498949,787,819.257498949,655.742501051,632,656,0.414071852641,0.00457949227873,0.0700188575639,0.999999993435,8.63094340724e-05,6.16719809067e-05,-4.33276543126e-05,1793250810641985024
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,723,691.849482332,669.301035336,643,888.849482332,787,819.849482332,655.150517668,632,656,0.414807924748,0.00458444690271,0.070013220141,0.999999993142,9.93826788876e-05,4.38937665552e-05,-4.3740023753e-05,1793250810658651648
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,723.431935649,692,669,642.568064351,889.431935649,787,820.431935649,655,632,655.568064351,0.415557084868,0.00459300542908,0.0699647810943,0.999999992322,0.000108717357748,-3.88206459649e-05,-4.50546684166e-05,1793250810675318016
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,723.988949359,692.011050641,669,642.011050641,890,787,821,655.011050641,632.011050641,655.011050641,0.416312524208,0.00460266700549,0.0699031314323,0.999999982115,0.000116623670764,-0.000141382669606,-4.66843302025e-05,1793250810691984640
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723.41437369,692.58562631,669,642.58562631,890,787,821,655.58562631,632.58562631,655.58562631,0.417160616428,0.00460591857182,0.069911986544,0.999999983936,0.000116692043613,-0.00012704583991,-4.86906928388e-05,1793250810708651520
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.158738582,723,693,669.317477164,642.841261418,890,787,821.158738582,656,632.841261418,656,0.41801359979,0.0046096933247,0.0699269878369,0.999999986181,0.00012029529201,-0.00010331821727,-4.99257104956e-05,1793250810725318400
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.728065644,723,693,670.456131287,642.271934356,890,787,821.728065644,656,632.271934356,656,0.41887923438,0.00461482133614,0.0699578866579,0.999999988412,0.000133041743885,-5.53006505452e-05,-4.91655900691e-05,1793250810741985024
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.688467131,723,693,670.376934263,642,890,787,822.311532869,656,632,656,0.419766024082,0.00461501405589,0.0699868221163,0.999999989667,0.000134532799774,-1.12419611692e-05,-4.94002245347e-05,1793250810758651904
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.092070246,723,693,669.184140493,642,890,787,822.907929754,656,632,656,0.420672157858,0.00461069397059,0.0700139622848,0.999999990392,0.000125731980133,2.91967489033e-05,-5.05444576998e-05,1793250810775318528
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,723,693,669,642.487737511,890.487737511,787,823.487737511,655.512262489,632.487737511,656,0.421593192802,0.00458871660381,0.0700230678777,0.999999993057,9.79977320414e-05,4.14749340724e-05,-5.06263026695e-05,1793250810791985408
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,693,669.064392848,642.935607152,891,787,823.935607152,655.064392848,632.935607152,655.935607152,0.422503755511,0.00456681388044,0.0700195504235,0.999999995678,7.02509660103e-05,3.37978924815e-05,-5.06656549059e-05,1793250810808652288
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,723,693,669.640064115,642.359935885,891,787,823.359935885,655.640064115,632.359935885,655.359935885,0.423309568591,0.0045710985992,0.069941947787,0.999999992027,6.98493987028e-05,-9.15038808118e-05,-5.19075788941e-05,1793250810825318400
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.221869694,746.221869694,723,693.221869694,669.778130306,642.221869694,891,787,823.221869694,656,632.221869694,655.221869694,0.424141815667,0.00457780575872,0.0698773432253,0.999999978498,6.97422135726e-05,-0.000187487499588,-5.46628343854e-05,1793250810841984768
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.813909938,746.813909938,723,693.813909938,669.186090062,642.813909938,891,787,823.813909938,656,632.813909938,655.813909938,0.425018165727,0.00458855455351,0.0698344248236,0.999999968236,7.0126181165e-05,-0.000234556314764,-5.99429548875e-05,1793250810858651392
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.603252365,747,723,694.396747635,669.396747635,643,891.396747635,786.603252365,824,656,632.603252365,656,0.425976919443,0.00459125840969,0.0698680172528,0.99999997822,8.48281006533e-05,-0.000181586838119,-5.82290802729e-05,1793250810875318272
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.024633207,747,723,694.975366793,669.975366793,643,891.975366793,786.024633207,824,656,632.024633207,656,0.426973447442,0.00459027441655,0.0699366827136,0.999999989527,0.000106093455467,-8.27591972442e-05,-5.33091150799e-05,1793250810891985152
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.549444479,746.450555521,723,695,669.450555521,643,892,786.549444479,824,655.450555521,632,656,0.427975521861,0.00459608868816,0.0699882361053,0.999999992914,0.000105079067401,-1.38986576132e-05,-5.41947903806e-05,1793250810908652032
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.876333566,746.123666434,723,694.876333566,669,643,892,786.876333566,824.123666434,655.123666434,632,656,0.428967270228,0.00460113380883,0.0700307213933,0.999999992105,0.000103144549379,4.56620468265e-05,-5.53686202509e-05,1793250810925318656
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.300846756,746.699153244,723,694.300846756,669,643,892,786.300846756,824.699153244,655.699153244,632,656,0.429920390842,0.00460226438479,0.0700428559516,0.999999990351,0.000101467781861,7.61137597083e-05,-5.66520732216e-05,1793250810941985280
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.717887738,723,694,669,643,892.282112262,786.282112262,825,656,632,656,0.430803201474,0.00460340671703,0.0700157558532,0.999999992425,0.000103372927018,3.41796314362e-05,-5.74093554006e-05,1793250810958651648
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.126743537,723,694,669,643,892.873256463,786.873256463,825,656,632,656,0.431608992953,0.0046045619273,0.0699456772533,0.999999988591,0.000109201776708,-8.70475324524e-05,-5.75902579261e-05,1793250810975318272
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,723,694.453598424,669,643,893.453598424,787,825,655.546401576,632,656,0.43246708442,0.00459970646405,0.0698977492334,0.999999979016,0.000107142660955,-0.000164653686999,-5.81098287169e-05,1793250810991984896
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.030750691,723,695,669.030750691,643,894,786.969249309,825.030750691,655.030750691,632,656,0.433346192043,0.00459317390785,0.069861665839,0.999999968741,0.00010232011782,-0.000220452208796,-5.87343118053e-05,1793250811008651776
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.603643384,723,695,669.603643384,643,894,786.396356616,825.603643384,655.603643384,632,656,0.434344170759,0.00458599487908,0.0699278259301,0.999999989296,8.67315778469e-05,-0.000101664532246,-5.95788813545e-05,1793250811025318656
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,694.816982183,670,643,894.183017817,786,826,656,632,656,0.435314924219,0.00457985104378,0.0699835842383,0.999999995346,7.55729095022e-05,-4.7857326117e-06,-5.977670729e-05,1793250811041985280
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,694.223054916,670,643,894.776945084,786,826,656,632,656,0.43622455205,0.00457603141131,0.0700159885986,0.999999994602,7.43601360621e-05,4.29035346549e-05,-5.85224737659e-05,1793250811058651904
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,694.361360249,669.638639751,643,895,786,826,656,632.361360249,656,0.437108708343,0.0045774228412,0.0700239189156,0.99999999331,7.76829308964e-05,6.2066757191e-05,-5.91019767558e-05,1793250811075318528
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723,694.940054485,669.059945515,643,895,786,826,656,632.940054485,656,0.437977545159,0.00458194837635,0.0700171297327,0.999999992594,8.37335664237e-05,6.40734715046e-05,-6.07843495747e-05,1793250811091985152
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669,643,895,786.514309782,826,655.485690218,633,656,0.438751294945,0.00458579153287,0.0699614866236,0.999999994722,8.00749594031e-05,-1.69822632566e-05,-6.20971227247e-05,1793250811108651520
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,695,669,643,895,786.91212007,826,655,632.91212007,656,0.43950898092,0.00459068963765,0.069899763283,0.99999998874,7.94010819859e-05,-0.000110730541865,-6.287867862e-05,1793250811125318656
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,723,695,669,643,895,786.339499744,826,655,632.339499744,656,0.44023866933,0.00460184172857,0.0698356417561,0.999999968462,0.000101379568247,-0.000221545254072,-6.09656608223e-05,1793250811141985280
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642.758394614,895,786,826,655.241605386,632,656,0.441001587395,0.00461073227808,0.0698123555323,0.999999956276,0.00012098926852,-0.000263111726682,-5.98515562419e-05,1793250811158651904
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642.164932886,895,786,826,655.835067114,632,656,0.441812898626,0.00461632928378,0.0698485388508,0.999999968028,0.000137149242153,-0.000203830141584,-5.99009311087e-05,1793250811175318528
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,695,668.582247305,642,895,786,826.417752695,655.582247305,632,656,0.442574326121,0.00462339014269,0.0698719562141,0.999999972432,0.00014581993713,-0.000174012308512,-5.99289115498e-05,1793250811191985152
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,695,668.003709216,642,895,786,826.996290784,655.003709216,632,656,0.443316554343,0.00463101441246,0.0698904601971,0.999999974615,0.000151608146775,-0.000155534531402,-5.99486577072e-05,1793250811208651776
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,695.571892568,667.428107432,642,895.571892568,785.428107432,827,655.571892568,632,656,0.443987016398,0.00463774095362,0.0698598102993,0.999999965662,0.000143041220311,-0.000211462965734,-5.91523759463e-05,1793250811225318400
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,695.849297071,667,641.849297071,896.150702929,785,827,656,632,656.150702929,0.444646286747,0.0046439371668,0.069825190262,0.99999995178,0.000142312435561,-0.000269776022392,-5.83746967395e-05,1793250811241985280
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,695.261117372,667,641.261117372,896.738882628,785,827,656,632,656.738882628,0.44527441306,0.00464861070401,0.0697799660025,0.999999929139,0.000164605951416,-0.000333617679335,-5.76663047472e-05,1793250811258651648
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,695,666.678927427,641,896.678927427,785,827,655.678927427,632.321072573,656.678927427,0.445893157158,0.00465598823651,0.0697528708945,0.999999912721,0.000184989851545,-0.000370160212652,-5.76025954677e-05,1793250811275318016
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,723,695,666.101519565,641,896.101519565,785,827,655.101519565,632.898480435,656.101519565,0.446504410723,0.00466552456229,0.0697402495925,0.999999903461,0.000203849167365,-0.000384907892505,-5.80535828526e-05,1793250811291984640
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,723,695,665.525433256,640.525433256,896,785,827,655.474566744,632.525433256,656,0.447056462037,0.0046711897808,0.0697229321163,0.999999886894,0.000212029218262,-0.00042175145404,-5.81503672057e-05,1793250811308651520
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.050381571,747,723,695,664.949618429,640,896,785,827,656,632,656,0.447595750714,0.00467607531016,0.0697052429078,0.99999986822,0.000218398115502,-0.000460962441187,-5.81023338046e-05,1793250811325318400
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.62630534,747,723,695,664.37369466,640,896,785,827,656,632,656,0.448133649684,0.00468144193344,0.0696941262755,0.999999858845,0.000229638573054,-0.000475699554847,-5.73318662811e-05,1793250811341985536
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.804009914,747,723,695,664,640,896,785,827,656,632,656.195990086,0.448667339005,0.00468570734233,0.0696928453204,0.999999856724,0.000239288181442,-0.000475492270433,-5.65677428796e-05,1793250811358651904
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.245854178,747,723,695,664,640,896,785,827,656,632,656.754145822,0.44919324935,0.00468793784145,0.069709739492,0.999999867981,0.000245998094381,-0.000447669569115,-5.58153427211e-05,1793250811375318528
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,723.34406516,695.34406516,663.65593484,640,896.34406516,784.65593484,827.34406516,656,632,656.65593484,0.449692586096,0.00469245410906,0.0697240778266,0.999999876323,0.000254503219811,-0.000423556763003,-5.64077582062e-05,1793250811391985152
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747,723.95898993,695.95898993,663.04101007,640,896.95898993,784.04101007,827.95898993,656,632,656.04101007,0.45017100327,0.00469876981038,0.0697364041225,0.999999882407,0.000264421597327,-0.000402364507606,-5.80588574975e-05,1793250811408651776
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+218,3.633333333,POSE1_TO_POSE2_PRESS,769.408773836,747.591226164,723,695.591226164,656,637,897.408773836,784,827.408773836,655.408773836,632,656.408773836,0.454338913262,0.00478756025029,0.0695986686484,0.999999761809,0.000326008535898,-0.000604289648742,-7.02490020239e-05,1793250811708651776
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+221,3.683333333,POSE1_TO_POSE2_PRESS,769,747,723,695.865305108,656,637,897,783.134694892,828,655.134694892,631.865305108,656,0.454503086865,0.00478324171231,0.069580616266,0.999999744149,0.000321865103599,-0.000635122881799,-6.8732167202e-05,1793250811758651648
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+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747,722.510097988,695,654.510097988,637,897,784,828,656,632,656.510097988,0.454665303722,0.00479071081014,0.0695678031497,0.999999725836,0.000330653422206,-0.000659376612243,-6.49510029991e-05,1793250812141985280
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747.962267686,723,695.037732314,653.037732314,636.037732314,897,783.037732314,827.962267686,655,631,656,0.454624404118,0.00478817580659,0.0695493403563,0.999999705277,0.000330499267615,-0.00069009684057,-6.31143651877e-05,1793250812701695232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747.44841208,723,695.55158792,653.55158792,636.55158792,897,783.55158792,828,655.55158792,631,656,0.454576038559,0.00478793133626,0.06953147083,0.999999683789,0.000329892569778,-0.000720819170321,-6.33452021923e-05,1793250812718361600
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.861038756,654,636.861038756,897,783.861038756,827.861038756,656,631,656.138961244,0.454523121232,0.00478756988487,0.0695141855629,0.999999663612,0.000329233002197,-0.000748568074207,-6.34681858178e-05,1793250812735028480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.282918661,654,636.282918661,897,783.282918661,827.282918661,656,631,656.717081339,0.454461659578,0.00478682657712,0.0695008255014,0.999999652579,0.000328901932196,-0.000763343225579,-6.30340427624e-05,1793250812751695104
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,654,636,897,783.86850417,827,655.13149583,631,656.13149583,0.454316593586,0.00478943272174,0.0694889037585,0.999999636118,0.000333733599472,-0.000782734604119,-6.09291813907e-05,1793250812785028352
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.443759381,654,636.443759381,896.556240619,783.556240619,827,655.443759381,631,656,0.454228875753,0.00478820432229,0.0694898338561,0.999999637876,0.00033324799125,-0.000780817937049,-5.93054781597e-05,1793250812801694976
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747.801693611,723,695.801693611,654.198306389,636.801693611,897,784,828,656,631.801693611,656,0.453897325159,0.00478369030177,0.0695023562372,0.999999650706,0.000339231687894,-0.000762019031198,-5.3254328246e-05,1793250812851694848
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,722.647523528,695,655,636,897,784,827.647523528,655.647523528,631,656,0.453589247275,0.00478310259049,0.0695088687636,0.99999965494,0.000347189517541,-0.000753220164565,-4.73189993351e-05,1793250812885028096
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,722,695.502322536,655,636,896.497677464,784,827,655,631,656.502322536,0.453194337314,0.00478063910383,0.0695021034645,0.999999645595,0.000350914451577,-0.000764181113603,-4.11953536821e-05,1793250812918361600
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747,722.670748282,695.329251718,655,636.670748282,896.670748282,784,827,655,631,656.329251718,0.452704186144,0.00477827963485,0.0694883635047,0.999999624896,0.000357996981652,-0.00078800263357,-3.31218988146e-05,1793250812951695104
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,723,695,655.255751765,637,896.744248235,784,827,655,631,656,0.452431986253,0.00477688581572,0.0694857170551,0.999999619359,0.000363566627961,-0.000792656058471,-2.82365038333e-05,1793250812968361728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,655.833169468,637,896.166830532,784,827,655,631,656,0.452148075097,0.00477421646025,0.0694881104867,0.999999621775,0.000367452646213,-0.000787959861111,-2.33847947306e-05,1793250812985028352
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,656,637,896,784,827,655.409027414,631.409027414,656,0.451833691782,0.00477045961546,0.0694916887752,0.999999622686,0.00037171557079,-0.000784944181895,-1.78375566975e-05,1793250813001694976
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747.158525668,723,695,657.158525668,637.158525668,895.158525668,784,827,656,631,656,0.450739356319,0.00475399996008,0.0694966006909,0.999999614807,0.000375876564076,-0.000793159287732,-3.25603690464e-07,1793250813051694848
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.804172405,747,723,695,661.608344811,638.804172405,895,784.195827595,827,655,631,656,0.446830969818,0.00467707551708,0.0695707003555,0.999999730727,0.000239703517225,-0.000693500829383,1.20220733922e-05,1793250813185028096
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,722,694.271843965,667.728156035,641,889.271843965,787,822.271843965,655,631.728156035,655,0.427590513953,0.0045362320968,0.0697907500495,0.99999993985,9.93049763596e-05,-0.000330862841537,3.11194887099e-05,1793250813585028352
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,722,694,668,641,889.305339429,787,822,655,632,655,0.426697164794,0.00452892368363,0.0698409684328,0.999999962308,9.06608442015e-05,-0.000256948823921,3.37836563448e-05,1793250813601694720
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722,694,668,641,889.88212591,787,822,655,632,655,0.425774538982,0.00452079941097,0.0698693530791,0.999999971272,8.94987500076e-05,-0.000219269742775,3.69756207414e-05,1793250813618361344
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,722,694,668,641,889.542764049,787,821.542764049,655,632,655,0.424845675697,0.00451310059367,0.069852966134,0.999999966802,7.77366186582e-05,-0.000243151721222,3.50704426118e-05,1793250813635027968
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.032798501,746,722.032798501,693.967201499,668,641.032798501,889,787,820.967201499,655,632,655,0.423912483067,0.00450576613035,0.0698233195388,0.999999956349,6.39845592753e-05,-0.000286664923508,3.21249109036e-05,1793250813651694848
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.623378786,746,722.623378786,693.376621214,668,641.623378786,889,787,820.376621214,655,632,655,0.422932911724,0.00450276953811,0.069763744774,0.999999919404,6.26938648991e-05,-0.000395124158127,3.37519513106e-05,1793250813668361472
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.79158603,746,722.79158603,693.20841397,668.20841397,642,889,787,820,655,632,655,0.421969196536,0.00449630868718,0.0697129512299,0.999999880136,5.88694554442e-05,-0.000484791922873,3.52019073475e-05,1793250813685028352
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.216311511,746,722.216311511,693.783688489,668.783688489,642,889,787,820,655,632,655,0.421033391974,0.00448374987671,0.0696776148139,0.999999851513,5.05850764298e-05,-0.000541382039102,3.63401515069e-05,1793250813701694976
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.362475781,746,722,693.637524219,669,641.637524219,888.637524219,787,820,655,632,655,0.42018426937,0.00447512663117,0.0697185124892,0.999999888774,3.43507669392e-05,-0.000469106946756,3.4793065181e-05,1793250813718361856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.943379837,746,722,693.056620163,669,641.056620163,888.056620163,787,820,655,632,655,0.419387381459,0.00446887496183,0.0698053489079,0.999999948474,1.33258211061e-05,-0.00031917753644,3.16277952896e-05,1793250813735028480
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746,722.519426333,692.480573667,669,641.519426333,888,787,820,655,632,655,0.418585579031,0.00446233838853,0.0698563729907,0.999999969542,9.60953260153e-06,-0.000244086992892,3.52874797868e-05,1793250813751694848
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,746,723,692,669,642,887.903132473,786.903132473,820,655.096867527,631.903132473,655,0.417776602001,0.0044554168225,0.0698891887134,0.999999979611,7.56455554109e-06,-0.000198035507338,3.87598343823e-05,1793250813768361472
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746,723,692,669,642,887.315976933,786.315976933,820,655.684023067,631.315976933,655,0.416933997582,0.004446702375,0.0698494195165,0.999999965988,4.51771410837e-06,-0.000258055445679,3.75534434013e-05,1793250813785028096
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746,722.732110594,691.732110594,669,642,887,786.267889406,820,655.732110594,631.267889406,655,0.416090828516,0.0044386135498,0.0698143545074,0.999999952666,-6.31327572701e-07,-0.000305530850427,3.63214223352e-05,1793250813801694720
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746,722.15207687,691.15207687,669,642,887,786.84792313,820,655.15207687,631.84792313,655,0.415247001583,0.00443125369935,0.0697847708135,0.999999942098,-8.22984949067e-06,-0.000338389380554,3.50595373083e-05,1793250813818361344
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746,722.42462676,691.42462676,668.57537324,642,886.57537324,786.57537324,819.57537324,655,632,655,0.414398487518,0.00442857120494,0.0697568164159,0.999999921534,-1.52434426649e-05,-0.000394300909746,3.50127793986e-05,1793250813835028224
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746,722.999849607,691.999849607,668,642,886.000150393,786.000150393,819,655,632,655,0.413548357906,0.00442755654489,0.0697294578491,0.99999989408,-2.20417435073e-05,-0.000458368275662,3.53972892042e-05,1793250813851694848
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,746,722.411320729,691.411320729,668,642,886.588679271,786.588679271,819,655,632,655,0.412894307849,0.00444887995925,0.0697680345193,0.999999926894,2.48247057294e-07,-0.000380890302661,3.36909258764e-05,1793250813868361472
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,746,722.17460703,690.82539297,668.17460703,642,886.82539297,786.82539297,819,655.17460703,632,655.17460703,0.41224740762,0.00446957424815,0.069812034422,0.999999954551,2.27727677408e-05,-0.000298848344479,3.27032876447e-05,1793250813885028096
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,746,722.754497406,690.245502594,668.754497406,642,886.245502594,786.245502594,819,655.754497406,632,655.754497406,0.411617102846,0.0044888082675,0.0698686222892,0.99999997713,4.58416646388e-05,-0.000206212830132,3.3383894354e-05,1793250813901694976
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.668216998,746,723,690,668.668216998,642,886,786.331783002,819.331783002,655.668216998,632,655.668216998,0.410950714326,0.00448668249246,0.0698826860333,0.999999981121,4.35896752259e-05,-0.000186220366967,3.43499285567e-05,1793250813918361344
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.092843829,746,723,690,668.092843829,642,886,786.907156171,819.907156171,655.092843829,632,655.092843829,0.410257833691,0.00446887467152,0.0698655291924,0.999999975007,2.27474648228e-05,-0.000219561362532,3.55255194762e-05,1793250813935027968
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.964734392,746,723,689.517632804,668.482367196,641.517632804,886,786.517632804,819.517632804,655,632.482367196,655,0.409567036254,0.00446524019941,0.0698203719315,0.999999955335,2.09935410347e-05,-0.00029619567916,3.40194486656e-05,1793250813951694848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769.940898311,746,723,689.059101689,668.940898311,641.059101689,886,786,819,655,632.940898311,655,0.408888300294,0.00446448284468,0.0697737853789,0.999999929438,2.19478202418e-05,-0.000373649455403,3.20560615366e-05,1793250813968361472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.350179638,746,723,689.649820362,668.350179638,641.649820362,886,786,819,655,632.350179638,655,0.408314451288,0.00446507484813,0.0697628034619,0.999999925876,1.42256719452e-05,-0.00038354538474,3.06203580636e-05,1793250813985028096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,746,723,689.764474322,668.471051355,642,886,786,819,655.235525678,632,655,0.407764445545,0.00446473276588,0.0697657961622,0.999999929447,1.08873351952e-05,-0.000374289684037,2.99262049743e-05,1793250814001694720
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,746,723,689.186067563,669.627864875,642,886,786,819,655.813932437,632,655,0.407249151157,0.00446303083052,0.0697891332776,0.999999942608,1.3931004085e-05,-0.000337152811439,3.03116098524e-05,1793250814018361600
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,746,722.611186698,688.611186698,669.611186698,642,886,786,819.388813302,655.611186698,632,655,0.406742953984,0.00446952334341,0.0698010470686,0.999999946655,2.21754577709e-05,-0.000324438777835,3.06123302216e-05,1793250814035028224
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,746,722.037977945,688.037977945,669.037977945,642,886,786,819.962022055,655.037977945,632,655,0.406241071138,0.0044799020889,0.0698075433283,0.999999946719,3.28863938577e-05,-0.000323307319114,3.08728888448e-05,1793250814051694848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.463135671,746,722.536864329,687.463135671,669,642,886,786.536864329,819.463135671,655.536864329,632,655,0.40577126831,0.0044851451694,0.0698039269072,0.999999943792,3.4530503012e-05,-0.000332062231538,3.09669305897e-05,1793250814068361728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.115330556,786.884669444,819.115330556,656,632,655,0.40532122792,0.00448822154497,0.0698030401263,0.999999942954,3.41728013044e-05,-0.000334623071121,3.08524049607e-05,1793250814085028352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.70832625,786.29167375,819.70832625,656,632,655,0.404943609903,0.00448383333691,0.0698164306197,0.99999995153,2.81887458534e-05,-0.000308624487952,2.99229907458e-05,1793250814101694976
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.292563348,745.707436652,723,686.707436652,669,641.707436652,887,786,819.707436652,655.707436652,632,655.292563348,0.404583517074,0.00448028572343,0.0698299797399,0.99999995928,2.73032369064e-05,-0.00028250539724,2.97482299234e-05,1793250814118361344
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.868322261,745.131677739,723,686.131677739,669,641.131677739,887,786,819.131677739,655.131677739,632,655.868322261,0.404240388306,0.00447755178925,0.0698436824068,0.999999966212,3.13530210408e-05,-0.000256269659159,3.03039587956e-05,1793250814135027968
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,745.442590999,723,686.442590999,669,641,886.557409001,786,819,655,632,655.557409001,0.403908778295,0.00447593162956,0.069846749558,0.999999967881,2.79650434614e-05,-0.000250102586482,3.00693538116e-05,1793250814151694848
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,641.016500259,886,786,819,655,632,655.016500259,0.403581002684,0.00447464008312,0.0698462527505,0.999999967921,2.20848389307e-05,-0.000250592101142,2.95527199832e-05,1793250814168361984
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,641.593206933,886,786,819,655,632,655.593206933,0.403267448733,0.00447329285126,0.069831824187,0.999999961778,6.46730545388e-06,-0.000275047256639,2.7417243495e-05,1793250814185028352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819,655.175392267,632,656,0.402970403871,0.00447168517836,0.06981972752,0.999999955743,-7.78875362275e-06,-0.000296290015616,2.57980097294e-05,1793250814201694720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819,655.770694071,632,656,0.402712883738,0.00446945397941,0.0698132136875,0.9999999515,-1.8785281986e-05,-0.000309841919673,2.54147215832e-05,1793250814218361344
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.647385062,746,723,687,669,642,886,786,819,655.647385062,632,655.647385062,0.402480421533,0.00446888696626,0.069806564317,0.999999947815,-2.23225897033e-05,-0.000321245831875,2.59532607983e-05,1793250814235027968
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.073847644,746,723,687,669,642,886,786,819,655.073847644,632,655.073847644,0.40226365875,0.00446936260882,0.0697998300278,0.999999944528,-2.11865017081e-05,-0.000331303972348,2.7069348924e-05,1793250814251694848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.50227059,746,723,687,669,642,886,786,819.50227059,655.50227059,632,655.50227059,0.402076430097,0.00447354676338,0.0697978568578,0.999999943818,-1.4311042635e-05,-0.000333681283064,2.8558801051e-05,1793250814268361472
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.919117082,746,723,687,669,642,886,786,819.919117082,655.919117082,632,655.919117082,0.40189822842,0.00448002346212,0.0697968581195,0.999999943577,-3.62569084303e-06,-0.000334579762661,2.98191782698e-05,1793250814285028096
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.327154978,746,723,687,669,642,886,786,819.327154978,655.327154978,632,655.327154978,0.401749486058,0.00449752306581,0.0697975705008,0.999999943692,2.57738418815e-05,-0.000333306459125,2.92834300843e-05,1793250814301694720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.259225434,746,723,687,669,642,886,786,819.259225434,655.259225434,632,655.259225434,0.401614584677,0.00451092717353,0.0697977777949,0.999999942551,6.30339473587e-05,-0.000331942817198,2.7163600825e-05,1793250814318361600
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.83870993,746,723,687,669,642,886,786,819.83870993,655.83870993,632,655.83870993,0.401496783091,0.00451927151552,0.069797361081,0.999999939079,0.00011000536527,-0.000330467566875,2.30867247307e-05,1793250814335028224
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,820,656,631.586848352,655.586848352,0.401399498331,0.0045138716573,0.0697976219579,0.999999940436,0.000102208302761,-0.000329027529638,2.05412108926e-05,1793250814351694848
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,820,656,631.014351556,655.014351556,0.401310126544,0.00450317090844,0.0697981441694,0.99999994348,7.32880228287e-05,-0.000327601073433,1.85863159828e-05,1793250814368361472
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.425440351,656,631.574559649,655.574559649,0.401236374,0.00450492879719,0.0697966714898,0.999999942558,7.55710622729e-05,-0.000329861796909,1.90720534941e-05,1793250814385028096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.839291108,746,723,686.839291108,669,642,886,786.160708892,819,656,632,655.839291108,0.401169763545,0.00450634389099,0.0697963601188,0.999999942171,7.76877725171e-05,-0.000330509468593,1.96695739252e-05,1793250814401694720
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.261407186,746,723,686.261407186,669,642,886,786.738592814,819,656,632,655.261407186,0.401120650308,0.00450603756898,0.0697991964749,0.999999943431,7.72899975171e-05,-0.00032672380362,2.03943608724e-05,1793250814418361344
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,746,723,686.317618587,669,642,886,786.682381413,819.317618587,656,632,655.317618587,0.401080817624,0.00450494349505,0.0698018034196,0.999999945175,7.44723570239e-05,-0.000321975643775,2.08733068512e-05,1793250814435027968
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,746,723,686.897587581,669,642,886,786.102412419,819.897587581,656,632,655.897587581,0.401048650598,0.00450319874432,0.0698042208728,0.999999947286,6.96559269766e-05,-0.000316432470452,2.11491902385e-05,1793250814451694592
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768.469055871,746,723,686.530944129,669,642,886,786,819.530944129,656,632,655.530944129,0.401027136972,0.00450309531626,0.0698075538337,0.999999949233,6.9626473139e-05,-0.000310198475103,2.1506506203e-05,1793250814468361216
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,746,723,686.040248162,669,642,886,786,819,656,632.040248162,655.040248162,0.401008326009,0.00450327884976,0.0698109924683,0.999999951055,7.04775510074e-05,-0.000304047343834,2.1856176891e-05,1793250814485028352
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.221041387,786,819.221041387,655.778958613,632.778958613,655.778958613,0.400984379506,0.00450284284355,0.0698147576424,0.999999952815,6.85216006857e-05,-0.000298667876971,2.17131114705e-05,1793250814518361344
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d232f32d39f6fba3e49b247bc62ff60896997e8c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98c4e46f1476796d2e3cf071078909e5ab328104
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ab4e07ea80953679459da4c6fce1e1d47d779f595a361154c618ab7cb18600
+size 25917116
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b87c390147ba48ff4e382123fe5af1455ef6e39b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+6,0.100000000,BASELINE,769,747,723,686.520880838,669,642,886,786,819.520880838,655.479119162,632.479119162,655.520880838,0.400969679968,0.00450378748764,0.0698275583738,0.999999959329,6.42245075318e-05,-0.000277108088868,2.06933003521e-05,1793250815157818880
+7,0.116666667,BASELINE,768.940671154,746.940671154,723,686.059328846,669,642,886,786,819.059328846,656,632.940671154,655,0.400970771328,0.00450417822813,0.0698286720128,0.999999959726,6.3977478384e-05,-0.000275732189822,2.0679328033e-05,1793250815174485248
+8,0.133333333,BASELINE,768.364197306,746.364197306,723,686.635802694,669,642,886,786,819.635802694,656,632.364197306,655,0.400971108453,0.00450388849246,0.0698294766434,0.999999959852,6.44432971283e-05,-0.000275154462348,2.0828098962e-05,1793250815191151872
+9,0.150000000,BASELINE,768.215504568,746,723,686.784495432,669,642,886,786,819.784495432,655.784495432,632,655.215504568,0.400970681793,0.00450334807817,0.0698294477813,0.999999959777,6.40151163565e-05,-0.000275525053953,2.08519973573e-05,1793250815207818496
+10,0.166666667,BASELINE,768.800744622,746,723,686.199255378,669,642,886,786,819.199255378,655.199255378,632,655.800744622,0.400968944727,0.00450237758121,0.0698279889175,0.999999959352,6.2053124215e-05,-0.000277522651574,2.06616552341e-05,1793250815224485376
+11,0.183333333,BASELINE,769,746,723,686,669.384239837,641.615760163,886,786,819.384239837,655.384239837,632,655.615760163,0.400968042931,0.00450234630372,0.0698273428097,0.999999959133,6.22529153503e-05,-0.000278267996921,2.06369195509e-05,1793250815241152000
+12,0.200000000,BASELINE,769,746,723,686,669.966834373,641.033165627,886,786,819.966834373,655.966834373,632,655.033165627,0.400967572323,0.0045027998759,0.0698271162677,0.999999959021,6.35686756339e-05,-0.000278366896925,2.06976742456e-05,1793250815257818880
+13,0.216666667,BASELINE,769,746,723,686.54298887,670,641.54298887,886.54298887,786,819.45701113,656,632.54298887,655.54298887,0.400967202472,0.00450224381909,0.069827354423,0.999999959122,6.29337720839e-05,-0.000278146236779,2.07243787185e-05,1793250815274485248
+14,0.233333333,BASELINE,769,746,723,686.881298829,669.881298829,642,887,786,819,656,632.881298829,655.881298829,0.400967100764,0.00450196449843,0.0698275643617,0.999999959233,6.23698045571e-05,-0.000277873543131,2.07295002915e-05,1793250815291151616
+15,0.250000000,BASELINE,769,746,723,686.305792054,669.305792054,642,887,786,819,656,632.305792054,655.305792054,0.400968007558,0.00450298469868,0.0698275577628,0.999999959335,6.25319679132e-05,-0.000277474839915,2.06594729014e-05,1793250815307818496
+16,0.266666667,BASELINE,768.723964501,746,723,686,669,642,887,786,819.276035499,656,632,655.276035499,0.400968705533,0.00450313779604,0.0698274928003,0.999999959479,6.19096083934e-05,-0.000277100450242,2.0612080315e-05,1793250815324485376
+17,0.283333333,BASELINE,768.134970731,746,723,686,669,642,887,786,819.865029269,656,632,655.865029269,0.400969166757,0.00450230780592,0.0698273616676,0.999999959668,6.03977874577e-05,-0.000276753626337,2.05903501894e-05,1793250815341152000
+18,0.300000000,BASELINE,768.446298148,746,723,686,669,642,886.553701852,786,819.553701852,655.553701852,632,655.553701852,0.400969747663,0.00450293708383,0.0698278178128,0.999999959799,6.21369318718e-05,-0.000275889119883,2.06624146994e-05,1793250815357818368
+19,0.316666667,BASELINE,769,746,723,686.025128019,669,642,886,786,819,655.025128019,632,655.025128019,0.400970327203,0.00450385998863,0.0698284350743,0.99999995991,6.45922111952e-05,-0.000274912283768,2.07621151634e-05,1793250815374484992
+20,0.333333333,BASELINE,769,746,723,686.60083415,669,642,886,786,819,655.60083415,632,655.60083415,0.400970097248,0.00450171141357,0.0698287572373,0.999999960117,6.15631169091e-05,-0.000274846187939,2.08564023631e-05,1793250815391151616
+21,0.350000000,BASELINE,768.820708387,746,723,686.820708387,669,642,886,786,819.179291613,656,632,655.820708387,0.400969918074,0.00450043493873,0.0698289405896,0.99999996016,6.02200551979e-05,-0.000274976678693,2.09859663012e-05,1793250815407817984
+22,0.366666667,BASELINE,768.236030113,746,723,686.236030113,669,642,886,786,819.763969887,656,632,655.236030113,0.400969853717,0.0045011303233,0.0698288100841,0.999999959846,6.26891918427e-05,-0.000275551660849,2.11952925708e-05,1793250815424484352
+23,0.383333333,BASELINE,768.345631862,746,723,686.345631862,669,642,886,786,819.654368138,655.654368138,632,655,0.400968893044,0.00450308439296,0.0698281341689,0.999999959359,6.53652124054e-05,-0.000276696360619,2.11666499131e-05,1793250815441151232
+24,0.400000000,BASELINE,768.9252519,746,723,686.9252519,669,642,886,786,819.0747481,655.0747481,632,655,0.400967325575,0.00450589057576,0.0698270890185,0.999999958751,6.81812908788e-05,-0.000278226751694,2.09769054756e-05,1793250815457818112
+25,0.416666667,BASELINE,769,746,723,686.49535088,669.50464912,642,886,786,819,655,632,655.50464912,0.40096889664,0.00450367557924,0.0698279033592,0.999999959358,6.46544622099e-05,-0.000276884485016,2.09318904752e-05,1793250815474484992
+26,0.433333333,BASELINE,769,746.083456637,723,686.083456637,669.916543363,642,886,786.083456637,819.083456637,655.083456637,632.083456637,655.916543363,0.400970267982,0.004501365835,0.0698285572138,0.999999959876,6.12954203581e-05,-0.000275779304814,2.0887879228e-05,1793250815491151360
+27,0.450000000,BASELINE,769,746.658981954,723,686.658981954,669.341018046,642,886,786.658981954,819.658981954,655.658981954,632.658981954,655.341018046,0.40096772199,0.00450288062944,0.069826641606,0.999999958904,6.44626339272e-05,-0.000278579663754,2.07234462688e-05,1793250815507817728
+28,0.466666667,BASELINE,768.760847149,746.760847149,723,687,669,642,886,786.760847149,820,655.760847149,633,655.239152851,0.400966058893,0.00450373811141,0.0698256043786,0.999999958301,6.59152317286e-05,-0.000280398713785,2.07308967607e-05,1793250815524484352
+29,0.483333333,BASELINE,768.173920731,746.173920731,723,687,669,642,886,786.173920731,820,655.173920731,633,655.826079269,0.400965679694,0.00450363973642,0.0698258444831,0.999999958254,6.48744530815e-05,-0.000280790754536,2.0988298374e-05,1793250815541150976
+30,0.500000000,BASELINE,768.407422715,746,723,687,669,642,886,786.407422715,820,655.407422715,632.592577285,655.592577285,0.400967037491,0.00450371929137,0.0698269821304,0.999999958802,6.51988526276e-05,-0.000278757002016,2.09827543256e-05,1793250815557817600
+31,0.516666667,BASELINE,768.986415102,746,723,687,669,642,886,786.986415102,820,655.986415102,632.013584898,655.013584898,0.400969126753,0.00450387377435,0.0698284977418,0.999999959592,6.60981420304e-05,-0.000275701724315,2.08664812917e-05,1793250815574484224
+32,0.533333333,BASELINE,769,746,723,687,669,642,886,786.437389859,820,656,632,655,0.40096785751,0.00450238129749,0.0698274444831,0.999999959164,6.44553847067e-05,-0.000277625893613,2.09888802423e-05,1793250815591151360
+33,0.550000000,BASELINE,769,746,723,687,669,642,886.138709758,786,819.861290242,656,632,655.138709758,0.400966847976,0.00450127908186,0.0698265605781,0.999999958846,6.29120067447e-05,-0.000279125772573,2.09318998216e-05,1793250815607818240
+34,0.566666667,BASELINE,769,746,723,687,669,642,886.714720324,786,819.285279676,656,632,655.714720324,0.400966911604,0.00450153196959,0.0698264051687,0.999999958984,6.18744892507e-05,-0.000278910839415,2.02913234521e-05,1793250815624484864
+35,0.583333333,BASELINE,769,746,723,687,669,642,886.703012838,786,819.296987162,655.703012838,632.296987162,655.703012838,0.400967193409,0.00450223323039,0.0698268762086,0.999999959074,6.28615160652e-05,-0.000278371688337,2.02248501476e-05,1793250815641151488
+36,0.600000000,BASELINE,769,746,723,687,669,642,886.114606964,786,819.885393036,655.114606964,632.885393036,655.114606964,0.400967689299,0.00450337445737,0.069827961952,0.999999959111,6.58351272665e-05,-0.000277514398333,2.07217155147e-05,1793250815657818112
+37,0.616666667,BASELINE,768.531064784,746,723,686.531064784,669,642,886,786,820,655.468935216,632.531064784,655.468935216,0.400967291801,0.00450250816095,0.0698276120973,0.999999959312,6.34844015482e-05,-0.000277352916431,2.05371797193e-05,1793250815674484480
+38,0.633333333,BASELINE,768.050630258,746,723,686,669,642,886,786,819.949369742,656,632,655.949369742,0.400966825533,0.00450138635025,0.0698270751731,0.999999959547,6.01335895561e-05,-0.000277275684342,2.02030489818e-05,1793250815691151104
+39,0.650000000,BASELINE,768.625383027,746,723,686,669,642,886,786,819.374616973,656,632,655.374616973,0.400967884445,0.00450264636429,0.0698281964918,0.999999959835,5.97622221785e-05,-0.000276328278398,2.00265661645e-05,1793250815707817728
+40,0.666666667,BASELINE,769,746,723,686.198978395,669,642,886,786,819,656,632,655.198978395,0.40096855248,0.0045030683623,0.069828714281,0.999999959914,6.00885580829e-05,-0.000275968122014,2.00984891109e-05,1793250815724484608
+41,0.683333333,BASELINE,769,746,723,686.77040729,669,642,886,786,819,656,632,655.77040729,0.400968488869,0.00450192175028,0.0698281023751,0.999999959599,6.17208646223e-05,-0.000276707187499,2.0635381398e-05,1793250815741151232
+42,0.700000000,BASELINE,769,746,723,687,669,642,886.356076648,786,819.356076648,656,632,655.643923352,0.4009684051,0.00450257886099,0.0698278473766,0.999999959401,6.30618027473e-05,-0.000277131095453,2.04809636143e-05,1793250815757817856
+43,0.716666667,BASELINE,769,746,723,687,669,642,886.951310525,786,819.951310525,656,632,655.048689475,0.400968307794,0.00450444743376,0.0698278320933,0.999999959282,6.42070445629e-05,-0.000277343329283,1.98622306068e-05,1793250815774484224
+44,0.733333333,BASELINE,769,746,723,687,669,642,886.470532467,786,820,655.470532467,632,655.529467533,0.400967074861,0.0045041110184,0.069827531056,0.999999959131,6.40083972226e-05,-0.000277925290173,1.99680419276e-05,1793250815791150848
+45,0.750000000,BASELINE,769,746,723,687,669,642,886.105814559,786,819.894185441,655,632.105814559,655.894185441,0.400966530422,0.0045037390684,0.0698276095568,0.999999959162,6.37671202047e-05,-0.000277856042784,2.0152857743e-05,1793250815807817472
+46,0.766666667,BASELINE,769,746,723,687,669,642,886.680881257,786,819.319118743,655,632.680881257,655.319118743,0.400969487871,0.00450408065183,0.0698294840737,0.999999960008,6.38677208537e-05,-0.000274752837678,2.04017886149e-05,1793250815824484352
+47,0.783333333,BASELINE,769,746.261762631,723,687,669,642,887,786,819,655.261762631,633,655,0.400970970003,0.00450399312069,0.0698303945765,0.999999960465,6.32061509119e-05,-0.00027322731842,2.05291054687e-05,1793250815841150720
+48,0.800000000,BASELINE,769,746.849893886,723,687,669,642,887,786,819,655.849893886,633,655,0.400970612694,0.00450337056467,0.0698301031358,0.999999960446,6.15942980256e-05,-0.0002736688754,2.05047926159e-05,1793250815857817344
+49,0.816666667,BASELINE,769,746.568220681,723,686.568220681,669,642,886.568220681,786,819,656,632.568220681,655,0.400970123729,0.00450328470294,0.0698293255464,0.999999960077,6.28089383907e-05,-0.000274734885707,2.05169177083e-05,1793250815874484224
+50,0.833333333,BASELINE,768.988524558,746,723,686.011475442,669.011475442,642,886,786,819,656,632,655,0.400969573575,0.00450335798335,0.0698284078701,0.999999959597,6.49061705555e-05,-0.00027599214832,2.0541331961e-05,1793250815891150848
+51,0.850000000,BASELINE,768.411239661,746,723,686.588760339,669.588760339,642,886,786,819,656,632,655,0.40096823091,0.00450220961905,0.0698287973292,0.999999959696,6.27623677237e-05,-0.000276128165383,2.05559985126e-05,1793250815907817472
+52,0.866666667,BASELINE,768.164958642,746,723,687,669.835041358,642,886.164958642,786,819.164958642,655.835041358,632,655.164958642,0.400967544038,0.00450187864537,0.0698290827301,0.999999959761,6.17622186201e-05,-0.000276123697067,2.04926097708e-05,1793250815924484096
+53,0.883333333,BASELINE,768.73846577,746,723,687,669.26153423,642,886.73846577,786,819.73846577,655.26153423,632,655.73846577,0.400968481347,0.00450357208036,0.0698291104132,0.999999959748,6.35945250672e-05,-0.000275771292508,2.02359036515e-05,1793250815941150976
+54,0.900000000,BASELINE,768.678860687,746,723,687,669,642,886.678860687,786,820,655.321139313,632,655.678860687,0.400969368273,0.00450438262217,0.0698297315533,0.999999960039,6.50406136464e-05,-0.000274381317496,2.01777362561e-05,1793250815957817600
+55,0.916666667,BASELINE,768.088502752,746,723,687,669,642,886.088502752,786,820,655.911497248,632,655.088502752,0.400970212959,0.00450445301381,0.0698308502024,0.99999996058,6.61629266329e-05,-0.000272121522845,2.02860085439e-05,1793250815974484224
+56,0.933333333,BASELINE,768.492350432,746,723,686.507649568,669,642,886.492350432,786,820,656,632,655.492350432,0.400970260745,0.00450299835519,0.0698306210857,0.999999960599,6.33663290674e-05,-0.000272704924632,2.04659965335e-05,1793250815991150848
+57,0.950000000,BASELINE,769,746,723,686.070900692,669,642,886.929099308,786.070900692,820,656,632,656,0.400970248791,0.00450160396264,0.0698302701398,0.999999960517,6.069008801e-05,-0.000273600496366,2.0610977641e-05,1793250816007817216
+58,0.966666667,BASELINE,769,746,723,686.645002444,669,642,886.354997556,786.645002444,820,656,632,656,0.400970810261,0.00450254606516,0.0698307414185,0.999999960452,6.37730031095e-05,-0.000273153044193,2.04177453326e-05,1793250816024484096
+59,0.983333333,BASELINE,769,746,723,687,669,642,886.22075123,786.77924877,819.77924877,656,632,656,0.400970831373,0.00450284752103,0.0698307390851,0.999999960335,6.50470287217e-05,-0.000273278730137,2.04192223594e-05,1793250816041150720
+60,1.000000000,BASELINE,769,746,723,687,669,642,886.799168668,786.200831332,819.200831332,656,632,656,0.400969976986,0.00450211098663,0.0698299693946,0.999999960147,6.33902505515e-05,-0.000274333027548,2.073617189e-05,1793250816057817344
+61,1.016666667,BASELINE,769.386183883,746,723,687,669.386183883,642,887,786,819.386183883,656,632,655.613816117,0.400969446064,0.0045019277713,0.0698293234695,0.99999996001,6.19861691508e-05,-0.000275162284504,2.05846161094e-05,1793250816074484224
+62,1.033333333,BASELINE,769.977772067,746,723,687,669.977772067,642,887,786,819.977772067,656,632,655.022227933,0.400969087189,0.00450203885652,0.069828743373,0.9999999599,6.07164927417e-05,-0.000275871846404,2.01838707143e-05,1793250816091150848
+63,1.050000000,BASELINE,769.445965866,746,723,687,669.445965866,642,886.445965866,786,820,656,632,655,0.40096819485,0.00450203792007,0.0698283793021,0.99999995978,6.11678851345e-05,-0.000276196969869,2.03592278643e-05,1793250816107817728
+64,1.066666667,BASELINE,768.870676588,746,723,686.870676588,669.129323412,642,886,786,819.870676588,656,632,655,0.400967321934,0.00450202323418,0.0698280795727,0.999999959635,6.15050563207e-05,-0.000276632569783,2.05276447839e-05,1793250816124484096
+65,1.083333333,BASELINE,768.296674898,746,723,686.296674898,669.703325102,642,886,786,819.296674898,656,632,655,0.400966587418,0.0045019763086,0.0698279720819,0.999999959411,6.1218442494e-05,-0.000277499649578,2.05948619426e-05,1793250816141150720
+66,1.100000000,BASELINE,768.285541387,746,723,686.285541387,669.714458613,642,886,786.285541387,819,655.714458613,632,655.285541387,0.400966017452,0.00450261045316,0.0698277330702,0.999999959219,6.15674084269e-05,-0.000278128625296,2.04140812549e-05,1793250816157817344
+67,1.116666667,BASELINE,768.87654533,746,723,686.87654533,669.12345467,642,886,786.87654533,819,655.12345467,632,655.87654533,0.400965623518,0.00450397318362,0.0698273533617,0.99999995906,6.25962961962e-05,-0.000278502885235,1.99680008204e-05,1793250816174483968
+68,1.133333333,BASELINE,769,746,723,686.541568668,669.458431332,642,886.458431332,786.541568668,819.458431332,655.458431332,632,655.541568668,0.400967007335,0.00450282221784,0.069828723724,0.999999959422,6.23290222176e-05,-0.000277248120568,2.01249760892e-05,1793250816191150848
+69,1.150000000,BASELINE,768.962407472,746,723,686.037592528,669.962407472,642,886.962407472,786,820,656,632,655,0.400968716374,0.00450119181655,0.0698304034857,0.999999959882,6.18780769077e-05,-0.000275663364704,2.04252329154e-05,1793250816207817472
+70,1.166666667,BASELINE,768.38777899,746,723,686.61222101,669.38777899,642,886.38777899,786,820,656,632,655,0.400968365615,0.00450219422729,0.069829901813,0.999999959809,6.36924947389e-05,-0.000275509278409,2.04975882203e-05,1793250816224484096
+71,1.183333333,BASELINE,768.185401663,746,723,686.814598337,669.185401663,642,886,786,819.814598337,656,632,655.185401663,0.400968274485,0.00450283368727,0.0698295810106,0.999999959829,6.44707964591e-05,-0.000275257370884,2.04803647603e-05,1793250816241150720
+72,1.200000000,BASELINE,768.755577664,746,723,686.244422336,669.755577664,642,886,786,819.244422336,656,632,655.755577664,0.400968722176,0.00450271989565,0.069829635578,0.999999960045,6.30987893798e-05,-0.000274802449517,2.0277233543e-05,1793250816257817344
+73,1.216666667,BASELINE,769,746,723,686,669.660073164,642,886.339926836,786,819,656,632,655.660073164,0.400967539475,0.00450271244036,0.0698283311229,0.99999995958,6.23789160932e-05,-0.000276663106082,2.01774138327e-05,1793250816274483968
+74,1.233333333,BASELINE,769,746,723,686,669.065089491,642,886.934910509,786,819,656,632,655.065089491,0.400965133443,0.00450278477227,0.0698260069541,0.999999958593,6.21483575456e-05,-0.000280261207095,2.01551117165e-05,1793250816291150592
+75,1.250000000,BASELINE,769,746,723,686.515855574,669,642,886.484144426,786.515855574,819.515855574,656,632,655.515855574,0.400966340036,0.00450175882392,0.0698275718349,0.999999959335,6.16096051886e-05,-0.000277712115596,2.02685102055e-05,1793250816307817472
+76,1.266666667,BASELINE,769,746,723,687,669,642,886.094230307,786.905769693,820,656,632.094230307,655.905769693,0.400967933394,0.00450082579965,0.0698293819807,0.999999960163,6.08916856486e-05,-0.000274867901478,2.03221984452e-05,1793250816324484096
+77,1.283333333,BASELINE,769,746,723,687,669,642,886.668297557,786.331702443,820,656,632.668297557,655.331702443,0.400969236537,0.00450105293117,0.0698300084713,0.999999960395,5.94541901014e-05,-0.000274365918935,1.99869515781e-05,1793250816341150720
+78,1.300000000,BASELINE,768.751513717,746,723,686.751513717,669,642,886.751513717,786,819.751513717,656,632.751513717,655,0.400969613798,0.00450170119375,0.0698298904787,0.999999960335,5.91227890548e-05,-0.000274673080743,1.97468142391e-05,1793250816357817344
+79,1.316666667,BASELINE,768.162947138,746,723,686.162947138,669,642,886.162947138,786,819.162947138,656,632.162947138,655,0.400968723888,0.00450292581961,0.0698287535805,0.999999959877,6.03051978211e-05,-0.000276087643963,1.96368445809e-05,1793250816374483968
+80,1.333333333,BASELINE,768.41908185,746,723,686.41908185,669.41908185,642,886,786,819.41908185,656,632,655,0.400968355839,0.00450400663431,0.0698287433657,0.999999959743,6.18148014524e-05,-0.000276225070677,1.98107753544e-05,1793250816391150592
+81,1.350000000,BASELINE,768.99860799,746,723,686.99860799,669.99860799,642,886,786,819.99860799,656,632,655,0.400968187583,0.0045050323914,0.0698291644985,0.999999959732,6.34496708006e-05,-0.000275873549446,2.00933965877e-05,1793250816407817216
+82,1.366666667,BASELINE,769,746,723,687,669.425706684,642,886,786,819.425706684,656,632.574293316,655.574293316,0.400968183629,0.00450446938128,0.0698291586489,0.999999959639,6.45082664962e-05,-0.000275965643779,2.00773560463e-05,1793250816424484096
+83,1.383333333,BASELINE,769,746,723,687,669.149881026,642,886,786,819,656,632.850118974,655.850118974,0.400968541611,0.00450385782687,0.0698293362304,0.999999959754,6.47611155862e-05,-0.000275488086665,2.00887999811e-05,1793250816441150976
+84,1.400000000,BASELINE,769,746,723,687,669.725218021,642,886,786,819,656,632.274781979,655.274781979,0.400969925868,0.00450311933213,0.0698300374223,0.999999960458,6.27306914549e-05,-0.000273390470967,2.01803032969e-05,1793250816457817344
+85,1.416666667,BASELINE,769,746,723,686.692537239,669.692537239,642,886,786,819.307462761,655.692537239,632.307462761,655.307462761,0.400970278798,0.00450250794037,0.0698305162622,0.999999960649,6.19652404248e-05,-0.000272860588992,2.02465285312e-05,1793250816474483712
+86,1.433333333,BASELINE,769,746,723,686.103977139,669.103977139,642,886,786,819.896022861,655.103977139,632.896022861,655.896022861,0.400969688838,0.00450201275235,0.0698307918171,0.999999960377,6.23562891586e-05,-0.000273764005203,2.02896433145e-05,1793250816491150592
+87,1.450000000,BASELINE,769,746,723,686.479491139,669.479491139,642,886,786,820,655,632.520508861,655.520508861,0.400967469637,0.00450287627868,0.0698286979792,0.999999959526,6.27920005159e-05,-0.00027676698234,2.01339888535e-05,1793250816507817216
+88,1.466666667,BASELINE,769,746,723,686.938977693,669.938977693,642,886.061022307,786,819.938977693,655.061022307,632,655.061022307,0.400965420805,0.00450387917748,0.069826569562,0.999999958747,6.31966481561e-05,-0.000279486912878,1.99724069462e-05,1793250816524483840
+89,1.483333333,BASELINE,769,746,723,686.364552047,669.364552047,642,886.635447953,786,819.364552047,655.635447953,632,655.635447953,0.400967746543,0.00450360183583,0.0698284275856,0.999999959699,6.32593175787e-05,-0.000276035213839,2.01197854104e-05,1793250816541150464
+90,1.500000000,BASELINE,769,746,723,686.209635764,669.209635764,642,886.790364236,786,819,656,632,656,0.40096941994,0.00450360890481,0.0698299269927,0.99999996035,6.37982823869e-05,-0.000273536068877,2.02090849584e-05,1793250816557817344
+91,1.516666667,BASELINE,769,746,723,686.783410397,669.783410397,642,886.216589603,786,819,656,632,656,0.400969960217,0.00450410999717,0.0698308034798,0.999999960492,6.51645757854e-05,-0.000272691517729,2.01975009857e-05,1793250816574483968
+92,1.533333333,BASELINE,769,746,723,687,669.630110214,642,886,786.369889786,819.369889786,655.630110214,632,655.630110214,0.400970132688,0.00450396630543,0.0698307319568,0.999999960427,6.53941815939e-05,-0.000272882136774,2.01181156578e-05,1793250816591150592
+93,1.550000000,BASELINE,769,746,723,687,669.035926868,642,886,786.964073132,819.964073132,655.035926868,632,655.035926868,0.400970082129,0.00450343162992,0.0698300855801,0.999999960236,6.49345235495e-05,-0.000273700461658,1.9997616981e-05,1793250816607817216
+94,1.566666667,BASELINE,769,746,723,687,669,642,886.540680571,786.459319429,820,655.540680571,632,655,0.40096945457,0.00450388495643,0.0698297931191,0.99999996008,6.42036185128e-05,-0.000274462862555,1.96910079705e-05,1793250816624484096
+95,1.583333333,BASELINE,769,746,723,687,669,642,886.883845061,786,820,656,632,655,0.400968919342,0.00450416885627,0.0698295430215,0.999999959974,6.35331548186e-05,-0.000275018678611,1.95132449571e-05,1793250816641150720
+96,1.600000000,BASELINE,769,746,723,687,669,642,886.308378286,786,820,656,632,655,0.400968896058,0.00450353136406,0.0698293703773,0.999999960057,6.31707215237e-05,-0.000274771827414,1.98923395374e-05,1793250816657817344
+97,1.616666667,BASELINE,769,746,723,687,669.273972228,642,886,786,820,656,632,655,0.400968949481,0.00450321105058,0.0698293569457,0.999999960113,6.34686749283e-05,-0.000274482170894,2.01094220196e-05,1793250816674484224
+98,1.633333333,BASELINE,769,746,723,687,669.864270619,642,886,786,820,656,632,655,0.400969091467,0.00450325694919,0.0698295273398,0.999999960138,6.45291056037e-05,-0.000274143091704,2.01394465947e-05,1793250816691150848
+99,1.650000000,BASELINE,768.553851307,746,723,686.553851307,669.553851307,642,886,786,820,655.553851307,632,655.446148693,0.400969248627,0.00450324020605,0.0698298463136,0.999999960125,6.49439994237e-05,-0.000274084965442,2.02380219626e-05,1793250816707817472
+100,1.666666667,BASELINE,768.025248634,746,723,686,669,642,886.025248634,786,819.974751366,655.025248634,632,656,0.400969409651,0.00450319134635,0.069830196865,0.999999960101,6.51387815063e-05,-0.000274116031869,2.03602044347e-05,1793250816724484096
+101,1.683333333,BASELINE,768.59861939,746,723,686,669,642,886.59861939,786,819.40138061,655.59861939,632,656,0.400969556224,0.00450285131679,0.0698302698299,0.999999960083,6.47395749497e-05,-0.000274262225167,2.05505223241e-05,1793250816741151488
+102,1.700000000,BASELINE,768.823533807,746,723.176466193,686.176466193,669.176466193,642,886.823533807,786,819,655.823533807,632.176466193,656,0.400969682684,0.00450280582327,0.0698301410422,0.999999960078,6.45615028431e-05,-0.000274321167403,2.05795022725e-05,1793250816757818624
+103,1.716666667,BASELINE,768.235241146,746,723.764758854,686.764758854,669.764758854,642,886.235241146,786,819,655.235241146,632.764758854,656,0.40096976221,0.00450344770072,0.0698295414162,0.999999960103,6.48995014241e-05,-0.000274176488194,2.02319611538e-05,1793250816774485248
+104,1.733333333,BASELINE,768.347564729,746,723.652435271,687,669.652435271,642,886,786,819.347564729,655.347564729,632.652435271,656,0.400968066691,0.00450304683893,0.0698284875998,0.999999959669,6.37032435148e-05,-0.000276032266947,2.0267208354e-05,1793250816791151872
+105,1.750000000,BASELINE,768.926714772,746,723.073285228,687,669.073285228,642,886,786,819.926714772,655.926714772,632.073285228,656,0.400965188446,0.00450195119125,0.0698271311524,0.999999958916,6.14846975844e-05,-0.000279220967714,2.05575106084e-05,1793250816807818496
+106,1.766666667,BASELINE,769,746,723,687,669,642,886.504318814,786,820,656,632,655.495681186,0.400967936039,0.00450239262635,0.0698287349168,0.999999959647,6.21328996874e-05,-0.000276465314403,2.03026191685e-05,1793250816824485120
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886,786,820,656,632,656,0.400969177647,0.00450288415322,0.0698290756375,0.999999959793,6.41755969301e-05,-0.000275493221529,1.99932858436e-05,1793250816867935488
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886,786,820,656,632,656,0.400968951776,0.00450267832205,0.0698293204732,0.999999959886,6.34717553409e-05,-0.000275296435469,2.02902612315e-05,1793250816884601856
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,687,669.178904601,642,886.178904601,786,820,656,632.178904601,655.821095399,0.400968765059,0.0045028862961,0.0698294706368,0.999999959872,6.37944456581e-05,-0.000275260609015,2.04548060849e-05,1793250816901268480
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669.758077225,642,886.758077225,786,820,656,632.758077225,655.241922775,0.400968665942,0.00450402008751,0.0698294089878,0.999999959615,6.64138229731e-05,-0.000275584901729,2.03230606389e-05,1793250816917935360
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.336793931,746.336793931,723,687,669.663206069,642,886.663206069,786,820,656,633,655.336793931,0.400968658499,0.00450450050077,0.0698295362312,0.999999959735,6.68821617152e-05,-0.000275046330265,2.01803718435e-05,1793250816934601984
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.915183554,746.915183554,723,687,669.084816446,642,886.084816446,786,820,656,633,655.915183554,0.400968716817,0.0045045122198,0.0698297989748,0.999999960127,6.58074747163e-05,-0.000273888791962,2.00298329561e-05,1793250816951268352
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.510625011,723,687,669.489374989,642,886.489374989,786.489374989,820,656,633,656,0.400967531547,0.00450299566116,0.0698291551581,0.999999959834,6.30283456903e-05,-0.000275589802404,2.02264868275e-05,1793250816967935232
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746,723,687,669.935574285,642,886.935574285,786.935574285,819.935574285,656,632.935574285,655.935574285,0.400966833328,0.00450152225291,0.0698286970959,0.999999959551,6.03840557835e-05,-0.00027718952307,2.04280974721e-05,1793250816984602112
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.34768,642,886.34768,786.34768,819.34768,656,632.34768,655.34768,0.400971828817,0.00450253328948,0.0698310140909,0.999999960391,6.12151629204e-05,-0.000273975030879,2.01852184431e-05,1793250817001268736
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.762854799,746,723,687,669,642,886.237145201,786,819,655.762854799,632,655,0.400984549819,0.00450281555956,0.0698367149818,0.999999962897,6.16330064786e-05,-0.00026457678073,2.01807717744e-05,1793250817017935104
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.182471762,746,723,687,669,642,886.817528238,786,819,655.182471762,632,655,0.401008452527,0.00450204303175,0.0698473136358,0.999999967587,6.14527029242e-05,-0.000246228319297,2.05214259599e-05,1793250817034601472
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.395055738,746,723,687,669.790111476,642,886.604944262,786,819,655.395055738,632.395055738,655,0.401048771299,0.00450176454158,0.0698626064536,0.999999973676,6.12665731092e-05,-0.000220162454793,2.05492074002e-05,1793250817051268352
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.971273812,746,723,687,670.942547625,642,886.028726188,786,819,655.971273812,632.971273812,655,0.401096618055,0.00450171260422,0.0698800518943,0.99999997977,6.10777714669e-05,-0.000190557587234,2.0433513514e-05,1793250817067935232
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.456490709,746,723,687,670.456490709,642,886,786,819,655.456490709,632.456490709,655,0.401157249606,0.00450206130517,0.0698913557494,0.999999982114,6.13406162585e-05,-0.000177777257037,2.01086517449e-05,1793250817084602112
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.12043466,746,723,686.87956534,670,642,886,786.12043466,819.12043466,655.12043466,632,655,0.401221674425,0.00450251526592,0.0699006924915,0.999999984103,6.0996612971e-05,-0.000166429962091,1.93649718898e-05,1793250817101268480
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.71671594,746,723,686.28328406,670,642,886,786.71671594,819.71671594,655.71671594,632,655,0.401298436371,0.00450330206084,0.0699035302206,0.999999985799,5.81612764245e-05,-0.000157256837236,1.70098715745e-05,1793250817117934848
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,723,686.302900111,670,642,886,786.697099889,820,655.697099889,632,655.302900111,0.401383829844,0.00450387426779,0.0699044765086,0.99999998657,5.52115523127e-05,-0.000153601605329,1.47446640198e-05,1793250817134601472
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,723,686.879945667,670,642,886,786.120054333,820,655.120054333,632,655.879945667,0.401477035437,0.00450425225779,0.0699037109118,0.999999986558,5.21582997557e-05,-0.000154940446821,1.25608157417e-05,1793250817151268096
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,686.543940701,669.543940701,642,886,786,819.543940701,655.456059299,632,656,0.401586628644,0.00450392853474,0.0699008328399,0.999999985669,5.08270191579e-05,-0.000161135618387,1.06412709985e-05,1793250817167934976
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746,723,686.032583021,669,642,886,786,819,655.967416979,632,655.967416979,0.401702957057,0.00450353353639,0.0698979471509,0.999999984683,4.97952575364e-05,-0.0001675706329,8.68650153257e-06,1793250817184601600
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746,723,686.620264205,669,642,886,786,819,655.379735795,632,655.379735795,0.401860685393,0.00450506482826,0.0699043862244,0.999999986699,4.61594208205e-05,-0.000156356866585,4.94871920674e-06,1793250817201268224
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.79510107,746,723,687,669.20489893,642,886,786.20489893,819.20489893,655.20489893,632,655,0.402027758314,0.00450637478819,0.069909822475,0.999999988251,4.278001168e-05,-0.000147196062765,1.25481894614e-06,1793250817217935104
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.216029644,746,723,687,669.783970356,642,886,786.783970356,819.783970356,655.783970356,632,655,0.402211895664,0.00450728056663,0.0699134274381,0.999999989151,3.98688735505e-05,-0.000141784240733,-2.35894645995e-06,1793250817234601984
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.361200824,746.361200824,723,687,669.638799176,642.361200824,886.361200824,786.638799176,820,656,632,655.361200824,0.402417781935,0.0045088887939,0.0699175608938,0.999999990211,3.4775842787e-05,-0.000135355077207,-6.9389214437e-06,1793250817251268352
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.937335877,746.937335877,723,687,669.062664123,642.937335877,886.937335877,786.062664123,820,656,632,655.937335877,0.402636610021,0.00451091501671,0.0699220088318,0.999999991291,2.83844663889e-05,-0.000128320539367,-1.20938442729e-05,1793250817267934720
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746.489169097,723,687,669,642.489169097,887,786.510830903,820,656,632.510830903,656,0.402886402343,0.00451232997402,0.0699241616745,0.99999999215,2.34480629801e-05,-0.000121868197461,-1.72559557682e-05,1793250817284601344
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746.086636192,723,687,669,642,886.913363808,786.913363808,820,656,632.913363808,656,0.403148243454,0.00451339286597,0.069927111483,0.99999999309,1.81497728996e-05,-0.000113961918601,-2.24130586645e-05,1793250817301267712
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746.67777098,723,687,669,642,886.32222902,786.32222902,820,656,632.32222902,656,0.40345824187,0.00451284002035,0.069936333211,0.999999994852,9.71015228627e-06,-9.71753478896e-05,-2.75358889587e-05,1793250817317934592
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746.736584032,723,687,669.263415968,642,886.263415968,786.263415968,819.736584032,656,632.263415968,655.736584032,0.40377887672,0.00450833604562,0.0699433207999,0.99999999585,-1.38422004424e-06,-8.55051207469e-05,-3.14069870179e-05,1793250817334601472
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746.15751749,723,687,669.84248251,642,886.84248251,786.84248251,819.15751749,656,632.84248251,655.15751749,0.404112257159,0.00449909744459,0.0699476312258,0.99999999611,-1.56597729924e-05,-7.99657939884e-05,-3.37781377412e-05,1793250817351268352
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,723,687,670,642,887,786.580767808,819,656,632.580767808,655,0.404477929122,0.00448427042086,0.0699522176877,0.999999995895,-3.65176024875e-05,-7.50554091813e-05,-3.52503014173e-05,1793250817367934976
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,723,687,670,642,887,786.004883864,819,656,632.004883864,655,0.40485566724,0.00446735520798,0.0699569072941,0.999999995071,-5.9834987874e-05,-7.03800370917e-05,-3.63865464145e-05,1793250817384601856
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,723,687.580927351,670,642,887.580927351,786,819,656,632,655.580927351,0.405260406938,0.00448380705038,0.0699596834117,0.999999997533,1.74380265479e-05,-6.30463214175e-05,-2.56123602458e-05,1793250817401268480
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,723,688,670,642,887.835492175,786.164507825,819,656,632.164507825,655.835492175,0.405681646895,0.00449653449329,0.0699607563371,0.999999995364,7.36524196814e-05,-5.8914469963e-05,-1.94073344761e-05,1793250817417935104
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,723,688,670,642,887.25772887,786.74227113,819,656,632.74227113,655.25772887,0.406143756465,0.00449918904345,0.0699575918344,0.999999994914,7.48047262501e-05,-6.28830511917e-05,-2.49362798341e-05,1793250817434601984
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,723,688.321032793,669.678967207,642,887.321032793,787,819,656,632.678967207,655.321032793,0.406613352374,0.00450171058538,0.06994583036,0.999999994712,5.46636458762e-05,-8.26045038784e-05,-2.76410789823e-05,1793250817451268096
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,723,688.900598512,669.099401488,642,887.900598512,787,819,656,632.099401488,655.900598512,0.407088977204,0.00450412501391,0.0699271456044,0.999999992841,1.73746549513e-05,-0.00011501200025,-2.80715478376e-05,1793250817467934464
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,887.514414217,787,819.485585783,656,632.485585783,656,0.407615894233,0.0045153967191,0.069922960187,0.999999992798,-1.29407618527e-05,-0.000115200882578,-3.10720229031e-05,1793250817484601344
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,723,689.070820148,669.070820148,642.070820148,887.070820148,787,819.929179852,656,632.929179852,656,0.40816439812,0.00452677080484,0.0699242444761,0.999999993244,-3.62241538021e-05,-0.000104958454979,-3.44012232228e-05,1793250817501268224
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,723,689.649774864,669.649774864,642.649774864,887.649774864,787,819.350225136,656,632.350225136,656,0.408791601786,0.00452572343681,0.0699432375063,0.99999999686,-1.94108884429e-05,-6.77268735782e-05,-3.627170382e-05,1793250817517934592
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,723,690.227770701,670,643,888,787,819.227770701,656,632,656,0.409420297117,0.00453000804647,0.0699535695799,0.999999998285,4.34256075945e-06,-4.44425272408e-05,-3.79055217693e-05,1793250817534601216
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,723,690.80429829,670,643,888,787,819.80429829,656,632,656,0.410051276411,0.00454245684915,0.0699506402088,0.999999997579,3.87226475193e-05,-4.25138461041e-05,-3.91769676319e-05,1793250817551267840
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,723,691,670,643,888,787,819.620344622,656,632,656,0.410695627843,0.00455114302802,0.0699465368681,0.999999996117,6.05184913707e-05,-5.01815805864e-05,-3.98271074412e-05,1793250817567934464
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,723,691,670,643,888,787,819.045589059,656,632,656,0.411346851032,0.00455789564085,0.069941830239,0.999999994347,7.58474479424e-05,-6.27807939951e-05,-4.0157965746e-05,1793250817584601088
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,723,691,670,642.47011475,888,787.52988525,819,656,632,655.47011475,0.412077053242,0.00456287723454,0.069962445681,0.999999996123,7.27424192427e-05,-2.72312803867e-05,-4.14844328732e-05,1793250817601267968
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,723,691.108487859,670,642,888,787.891512141,819.108487859,656,632,655.108487859,0.412818694492,0.00456826213729,0.0699861054335,0.99999999654,7.02582731488e-05,1.27118942888e-05,-4.26822648843e-05,1793250817617934336
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,723,691.700764456,670,642,888,787.299235544,819.700764456,656,632,655.700764456,0.413581003841,0.00457612595039,0.0700136125059,0.999999994621,7.76249823663e-05,5.3749942892e-05,-4.29239634836e-05,1793250817634600960
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,723,692,669.714081739,642,888,787,820,656,632,656,0.414337920956,0.00458463826769,0.0700155242668,0.999999993302,9.47733019983e-05,5.03987819892e-05,-4.32802106756e-05,1793250817651267840
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,723,692,669.136201223,642,888,787,820,656,632,656,0.415089331945,0.00459381279882,0.0699912996631,0.99999999161,0.000121910005216,1.72007791832e-06,-4.37534278768e-05,1793250817667934464
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,723,692.434281443,669.434281443,642,888.434281443,787,820,655.565718557,632,656,0.415837472648,0.00460179228824,0.0699473394112,0.999999989227,0.000120142483509,-7.06227861492e-05,-4.60896260077e-05,1793250817684601344
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,723,693,670.0026016,642,889,787,820.0026016,655.0026016,632,655.9973984,0.416585068775,0.00460937706037,0.0698975980727,0.999999981582,0.000109541809538,-0.000149785686653,-4.89901524581e-05,1793250817701267712
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723,693,670.597993339,642,889,787,820.597993339,655.597993339,632,655.402006661,0.417438374572,0.00461099194719,0.0699173113648,0.999999984682,0.000117188164286,-0.000120191461179,-4.95754024492e-05,1793250817717934592
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,723,693,670.81100342,642,889,787.18899658,821.18899658,655.81100342,632,655.18899658,0.418303815694,0.00461426835072,0.0699399605883,0.999999986698,0.000129044889475,-8.65298890306e-05,-4.96319293676e-05,1793250817734601216
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,723,693,670.229122975,642,889,787.770877025,821.770877025,655.229122975,632,655.770877025,0.419194483535,0.00462099869552,0.0699687129902,0.999999986635,0.000149654082724,-4.4413166324e-05,-4.85893529602e-05,1793250817751268096
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,723,693,669.651808038,642.348191962,889.348191962,787.651808038,822.348191962,655,632,656,0.420116638035,0.00462323924736,0.0699964606026,0.999999988035,0.000146577335528,3.94385178565e-07,-4.94508508681e-05,1793250817767934720
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,723,693,669.07745851,642.92254149,889.92254149,787.07745851,822.92254149,655,632,656,0.421059243708,0.00462256358963,0.0700235555833,0.999999989362,0.000128116100628,4.69496815405e-05,-5.15490826902e-05,1793250817784601344
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,723,693,669,642.506868924,890.493131076,787,823,655,632,656,0.421947678101,0.00459885015925,0.0700235198514,0.999999992289,0.000104411201968,4.36945678136e-05,-5.11062121855e-05,1793250817801268224
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,693.066086061,669,642,891,787,823,655,632,656,0.422817783311,0.00457409569642,0.0700098503953,0.999999995272,8.11407516624e-05,1.80376607528e-05,-5.04595828077e-05,1793250817817934592
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,723,693.662736696,669,642,891,787,823,655,632,656,0.423608530449,0.00456981557486,0.0699206786243,0.999999988546,6.79207631146e-05,-0.000125131020593,-5.1357328085e-05,1793250817834601216
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.749105057,746.250894943,723,694.250894943,669,642.250894943,891,787,823.250894943,655,632,655.749105057,0.424462845449,0.0045721715689,0.0698646816149,0.999999974907,6.30647722164e-05,-0.000208181506305,-5.35728668953e-05,1793250817851268096
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.171988792,746.828011208,723,694.828011208,669,642.828011208,891,787,823.828011208,655,632,655.171988792,0.425399813445,0.00458315604399,0.0698518194386,0.999999973262,6.90839079015e-05,-0.000213064487584,-5.75018425954e-05,1793250817867934720
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.402295614,747,723,695,669.402295614,643,891.402295614,787.402295614,824,655.402295614,632.402295614,655.402295614,0.426387763902,0.00458867019034,0.0698982998523,0.999999984387,8.79985190896e-05,-0.000142841763578,-5.54888507218e-05,1793250817884601088
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.975377776,747,723,695,669.975377776,643,891.975377776,787.975377776,824,655.975377776,632.975377776,655.975377776,0.427397357885,0.00459186201747,0.0699699729753,0.999999991557,0.000112387645056,-4.0734414347e-05,-5.0953314716e-05,1793250817901267712
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669.433729995,643,892.566270005,787.433729995,824.566270005,655.433729995,632.433729995,656,0.42836790139,0.00459373092135,0.0700116745793,0.999999993131,0.00010317879923,1.90634794623e-05,-5.22339653703e-05,1793250817917934336
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,723,695,669,643,893,787,825,655,632.154515226,656,0.429330636657,0.00459523090473,0.0700424705904,0.999999991931,9.45636544829e-05,6.55623333596e-05,-5.3833324801e-05,1793250817934601216
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,723,695,669,643,893,787,825,655,632.733296882,656,0.430276745755,0.00459588098349,0.0700470166504,0.999999990987,9.17202388564e-05,8.07602026683e-05,-5.55908433237e-05,1793250817951268352
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642.688362952,893,787,825,655,632.688362952,656,0.431151281453,0.00459548741368,0.070002616307,0.999999993875,9.52152270029e-05,6.18729802534e-06,-5.60917509477e-05,1793250817967934976
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642.110400113,893,787,825,655,632.110400113,656,0.431964650297,0.00459420193919,0.0699163862461,0.99999998251,0.000104127029179,-0.000145103933195,-5.55187547182e-05,1793250817984601088
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.53763116,747,723,695,669.46236884,642.46236884,893.46236884,787,825,655.46236884,632.46236884,656,0.432878288462,0.00458656919496,0.0698937537704,0.999999978848,9.31391188267e-05,-0.000174375675692,-5.67612486728e-05,1793250818001267712
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,723,695,670.035065918,643,894,787,825,656,632.964934082,656,0.433816749156,0.00457775615561,0.0698904217214,0.999999981077,7.78719565978e-05,-0.000168473832778,-5.8292110301e-05,1793250818017934080
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+233,3.883333333,POSE1_TO_POSE2_PRESS,769,747.102966337,723,696,654.897033663,637,897,784,827.897033663,655.897033663,631.102966337,656,0.455122061717,0.00479204458114,0.0695576668677,0.999999705614,0.000336702724805,-0.000686397480993,-6.5282743425e-05,1793250818967935232
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,747.69754109,723,696,654.30245891,637,897,784,827.30245891,655.30245891,631.69754109,656,0.455123033288,0.00479527254866,0.0695574276098,0.999999703735,0.000341103513393,-0.000686961803516,-6.52780528071e-05,1793250818984601856
+235,3.916666667,POSE1_TO_POSE2_PRESS,769,748,723,695.714908326,654,637,897,784,827.285091674,655.285091674,631.714908326,656.285091674,0.455124079064,0.00479672174992,0.0695571446234,0.99999970298,0.000342488680979,-0.000687364511138,-6.53627006434e-05,1793250819001268480
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,748,723,695.134630547,654,637,897,784,827.865369453,655.865369453,631.134630547,656.865369453,0.455125201675,0.00479632920335,0.0695568163601,0.9999997034,0.000340751452001,-0.000687599881529,-6.55398502005e-05,1793250819017934848
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,748,723,695,654,636.559252555,897.440747445,784,828,655.559252555,631.440747445,656.559252555,0.455125579603,0.00479536830323,0.0695566461626,0.999999703511,0.000340291526505,-0.000687683818666,-6.53489141728e-05,1793250819034601216
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,723,695.0146823,654,636.0146823,897.9853177,784,828,655.0146823,632,656.0146823,0.455125731964,0.00479425961272,0.0695565371449,0.999999703513,0.00034026172018,-0.000687723948184,-6.50436165463e-05,1793250819051267840
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,748,723,695.590035045,654,636.590035045,897.409964955,784,828,655.590035045,632,656.590035045,0.455125861521,0.00479406396172,0.0695569409013,0.999999702896,0.000341921463303,-0.000687838181054,-6.46175517571e-05,1793250819067934720
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,748,723,695.829171136,654,637,897,784,828,656,632,657,0.455126019746,0.00479357724565,0.0695570963876,0.999999702806,0.000341791784217,-0.000688049822874,-6.44503072537e-05,1793250819084601600
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,748,723,695.234889964,654,637,897,784,828,656,632,657,0.455126249035,0.00479236903454,0.0695566364595,0.999999704013,0.000337226467219,-0.000688502922972,-6.49246291087e-05,1793250819101268480
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,748,723,695,654,637,897,784,828,656,632,656.652166408,0.455125791244,0.00479340050966,0.0695559931085,0.999999703349,0.000337288920859,-0.000689415923229,-6.51480591414e-05,1793250819117934848
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,748,723,695,654,637,897,784,828,656,632,656.076996671,0.455124884395,0.00479589579293,0.0695552298764,0.999999701461,0.000340375980574,-0.000690629503778,-6.52075119527e-05,1793250819134601472
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747.501935823,723,695.498064177,654,637,897,784,828,656,632,656,0.455124582845,0.00479517357641,0.0695550493339,0.999999701268,0.000339680569737,-0.000691259062305,-6.51363331638e-05,1793250819151268096
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+247,4.116666667,HOLD_POSE2,769,747,723,696,654,636,897,784,828,655,632,656,0.4551250515,0.00479559842046,0.0695543876351,0.999999699667,0.000342048098218,-0.000692472984236,-6.44239455906e-05,1793250819222881536
+248,4.133333333,HOLD_POSE2,769,747,723,696,654,636.575407668,897,784,828,655.575407668,632,656.575407668,0.455125047943,0.0047952997499,0.0695543535691,0.999999700165,0.000341501985069,-0.000692010396062,-6.45611398104e-05,1793250819239548672
+249,4.150000000,HOLD_POSE2,769,747,723,696,654,636.84598285,897.15401715,784,828,655.84598285,632,657,0.455125388004,0.00479513340795,0.0695544157403,0.999999700625,0.000341148021291,-0.000691513206656,-6.46379632597e-05,1793250819256215808
+250,4.166666667,HOLD_POSE2,769,747,723,696,654,636.258359129,897.741640871,784,828,655.258359129,632,657,0.455126695455,0.00479533961245,0.0695547488492,0.999999700978,0.000341335018111,-0.000690918603823,-6.45448240908e-05,1793250819272882944
+251,4.183333333,HOLD_POSE2,769,747.324815746,723,696,654,636.324815746,897.675184254,784,828,655.324815746,632,657,0.455127582145,0.00479504857201,0.0695552521804,0.999999701953,0.000340073223532,-0.000690125193682,-6.45791963736e-05,1793250819289549568
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+256,4.266666667,HOLD_POSE2,769,748,723,695.207595913,654,637,897,783.792404087,828,655.792404087,631.792404087,656.207595913,0.455125825841,0.00479163651432,0.0695530972436,0.999999700373,0.000337977393132,-0.0006935379518,-6.34859290012e-05,1793250819372881664
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+261,4.350000000,HOLD_POSE2,769,747.882454087,723,695,653.882454087,636.882454087,897,784,828,655.117545913,631.117545913,656,0.455128569498,0.00479270475765,0.0695555207408,0.999999701092,0.000339381342254,-0.000691742987618,-6.42488855154e-05,1793250819456215296
+262,4.366666667,HOLD_POSE2,769,747.306494758,723,695,653.306494758,636.306494758,897,784,828,655.693505242,631.693505242,656,0.455128331301,0.00479152187165,0.0695548023811,0.999999702054,0.000337015109303,-0.000691511669147,-6.42188899823e-05,1793250819472881664
+263,4.383333333,HOLD_POSE2,769,747,723,695,653.274874804,636,897.274874804,784,828,655.725125196,631.725125196,656,0.455127841149,0.00479215652182,0.0695542689263,0.999999701672,0.00033687058517,-0.000692130355683,-6.42579440165e-05,1793250819489548288
+264,4.400000000,HOLD_POSE2,769,747,723,695,653.862398045,636,897.862398045,784,828,655.137601955,631.137601955,656,0.455127064417,0.0047948584763,0.0695539457862,0.999999699761,0.000339253079952,-0.000693715855971,-6.43755364961e-05,1793250819506214912
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.425592355,747,723,695,653,636.574407645,897,783,827.425592355,655.425592355,631,656,0.455128678389,0.00479117968734,0.0695549945209,0.999999702631,0.000335406273221,-0.000691495868281,-6.38272420718e-05,1793250819555524352
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.152007312,747,723,695.152007312,653.152007312,636.847992688,897,783,827.152007312,655.152007312,631,656.152007312,0.455129466048,0.00479158629866,0.0695552025434,0.999999703182,0.000336129056289,-0.000690342312296,-6.38830265022e-05,1793250819572190976
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.738735885,747,723,695.738735885,653.738735885,636.261264115,897,783,827.738735885,655.738735885,631,656.738735885,0.45513047738,0.00479229961891,0.0695561090695,0.999999703368,0.000338474387894,-0.000688952148615,-6.35845114121e-05,1793250819588857344
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+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.094557004,654,636,897,783.905442996,827.094557004,656,631.905442996,657,0.455130246237,0.00479103675346,0.0695558424788,0.999999703592,0.000335291494515,-0.000690162839974,-6.37984348968e-05,1793250819622190336
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,747.482747455,723,695.482747455,654,636.482747455,897,784,827.482747455,655.517252545,631.517252545,656.517252545,0.455129587836,0.00479160798096,0.0695551674853,0.999999702869,0.000336827853749,-0.000690498194923,-6.34193170286e-05,1793250819638856704
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.94126919,747.94126919,723,695.94126919,653.94126919,636.94126919,897,784,828,655.05873081,631.05873081,656,0.455128993416,0.00479256137017,0.0695545543865,0.999999702058,0.000339115595907,-0.000690589727819,-6.3017381988e-05,1793250819655523328
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.305189025,747.347405487,723,695,654,637,897,784,828,656,631.652594513,656.347405487,0.453803681223,0.00478624640936,0.0694987699873,0.999999638794,0.000360817773515,-0.000768339675818,-4.33215929138e-05,1793250819922190080
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.494371224,723,695.505628776,654,637,897,784,828,656,631.505628776,657,0.453366811217,0.00478397137342,0.0695060440442,0.999999641592,0.000368453301799,-0.000761456504834,-3.52522287052e-05,1793250819955523328
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.080541977,747,723,695.919458023,654.080541977,637,897,784,827.919458023,656,632,656.919458023,0.453118718951,0.0047813111879,0.0695050653229,0.999999638051,0.00037167999742,-0.000764719215941,-3.09404983135e-05,1793250819972189952
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.654816579,747,723,695.345183421,654.654816579,637,897,784,827.345183421,656,632,656.345183421,0.452835744449,0.00477937894034,0.0695012313083,0.999999634416,0.000375748867528,-0.00076763960801,-2.66452142801e-05,1793250819988856832
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.764550799,747,723,695.235449201,655,637,896.764550799,784,827.235449201,655.764550799,631.764550799,656,0.45253385248,0.0047778547516,0.0694971619259,0.999999629281,0.000380283205746,-0.00077223118756,-2.19494668451e-05,1793250820005523712
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.174338261,747,723,695.825661739,655,637,896.174338261,784,827.825661739,655.174338261,631.174338261,656,0.452203456616,0.00477694540603,0.0694927379031,0.999999621863,0.000385518888288,-0.000779340830465,-1.66503210037e-05,1793250820022190592
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.40860597,747,723,696,655.40860597,637,896,784,827.59139403,655.40860597,631,656,0.451846066872,0.00477390909161,0.0694885468197,0.999999615151,0.000390070820043,-0.000785765966814,-1.07399441711e-05,1793250820038857216
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.988503247,747,723,696,655.988503247,637,896,784,827.011496753,655.988503247,631,656,0.451477361058,0.00476998113269,0.0694844533867,0.999999608683,0.000394336117152,-0.000791904151623,-4.57333392884e-06,1793250820055523328
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,656.564946695,637,896,784.564946695,827,655.435053305,631.564946695,656,0.451068235836,0.00476713626627,0.0694894034459,0.999999604605,0.000398345373442,-0.000795052877762,1.30116153286e-06,1793250820072189952
+298,4.966666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,657.143444871,637,896,785,827,655.143444871,632,656.143444871,0.450656708682,0.00476281881021,0.0694975277199,0.999999606386,0.000400361211859,-0.000791762649482,7.1096471317e-06,1793250820088856576
+299,4.983333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,657.728483457,637,896,785,827,655.728483457,632,656.728483457,0.450240304079,0.00475390056004,0.0695148606722,0.999999625855,0.000396256273781,-0.000768836303436,1.27331100065e-05,1793250820105522944
+300,5.000000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.689752152,658.310247848,637.310247848,896,785,827,656,632,656.689752152,0.44978949311,0.00474042642355,0.0695310004235,0.99999964694,0.000383201146931,-0.000747668169563,1.638475754e-05,1793250820122189824
+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.110823217,658.889176783,637.889176783,896,785,827,656,632,656.110823217,0.449308885467,0.0047230067938,0.0695461068398,0.999999669158,0.000362394969952,-0.000728022681225,1.83287726145e-05,1793250820138857216
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.532284766,747,723,695,659.467715234,638,895.532284766,785,827,656,631.532284766,656,0.448809012626,0.00469988247074,0.0695683136378,0.999999717185,0.000290051661352,-0.000693863726968,7.32276584034e-06,1793250820155524096
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,747,722.954188272,695,660.045811728,638.045811728,895.045811728,785,827,656,631.045811728,656,0.448299213702,0.00467763099653,0.0695906218715,0.999999760198,0.000213665804724,-0.000658730586084,-4.98345322884e-06,1793250820172190720
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,722.38012156,695,660.61987844,638.61987844,895.61987844,785,827,656,631.61987844,656,0.447727549661,0.00468101781631,0.069594716132,0.99999976069,0.000231358775488,-0.000651985080576,3.07040560784e-06,1793250820188857344
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,722.192509958,695,661.192509958,638.807490042,895.807490042,785,826.807490042,656,632,655.807490042,0.447133595818,0.00468217224259,0.0695886049646,0.999999751993,0.000242165558001,-0.000661261609917,1.01095373235e-05,1793250820205523712
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,722.762328544,695,661.762328544,638.237671456,895.237671456,785,826.237671456,656,632,655.237671456,0.44649595526,0.00467895130366,0.0695624917352,0.999999724851,0.000239475799854,-0.000701940421467,1.51598607865e-05,1793250820222190080
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768.350829581,747,723,695,662.350829581,638.350829581,894.649170419,785,826,656,632,655.350829581,0.445854445717,0.00467372837682,0.0695576979047,0.999999729351,0.000216209657914,-0.00070310602463,1.39248931782e-05,1793250820238856704
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768.952699021,747,723,695,662.952699021,638.952699021,894.047300979,785,826,656,632,655.952699021,0.445210167706,0.00466707290625,0.0695681593991,0.999999755599,0.000178219864434,-0.000675997526593,8.19241809846e-06,1793250820255523328
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.469718512,747,723,695,663.530281488,639.530281488,894,785.530281488,826,656,632,655.469718512,0.444567366942,0.0046602198896,0.0696076558767,0.999999799523,0.000164150013125,-0.000611443138765,1.20641077648e-05,1793250820272189952
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,664.105423045,639.894576955,893.894576955,786,826,656,632,655.105423045,0.443912781844,0.0046536828479,0.0696475770288,0.999999838664,0.000150812993622,-0.000547416123434,1.61906758959e-05,1793250820288857088
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,664.678924327,639.321075673,893.321075673,786,826,656,632,655.678924327,0.443205315062,0.00464862354786,0.069678388111,0.999999866217,0.000131671217745,-0.000499911512753,1.78117845446e-05,1793250820305523712
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.260514931,747,722.739485069,694.739485069,665.260514931,639.260514931,892.739485069,786.260514931,826,656,631.739485069,655.739485069,0.442486044884,0.00464197655074,0.0697045553453,0.999999886983,0.000109334479495,-0.000462293700362,1.90924012076e-05,1793250820322190080
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768.852394923,747,722.147605077,694.147605077,665.852394923,639.852394923,892.147605077,786.852394923,826,656,631.147605077,655.147605077,0.44175176114,0.00463331006278,0.0697248157865,0.999999900768,8.29338685315e-05,-0.000437251512805,1.99399252968e-05,1793250820338856704
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768.56577201,746.56577201,722.43422799,694.43422799,666.43422799,640.43422799,892,786.56577201,826,656,631,655,0.440996360704,0.0046265120028,0.0697557283271,0.999999911786,0.000183525216195,-0.000377183208716,2.18756476465e-05,1793250820355523328
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,667,641,892,786,825.987364891,655.987364891,631.012635109,655.012635109,0.440232220579,0.00462033932715,0.0697893265812,0.999999900489,0.000322405458037,-0.000307399435118,2.41151508325e-05,1793250820372189952
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746,723,695,667,641,892,786,825.412868366,655.412868366,631.587131634,655.587131634,0.439391418709,0.00461437213417,0.0697849792548,0.999999906135,0.000287740856265,-0.00032306351267,2.37861878036e-05,1793250820388856576
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746,722.83502464,695,667,641,891.83502464,786,825,655.16497536,632,655.83502464,0.438542917516,0.00460877602209,0.0697687316104,0.999999905153,0.000253777699495,-0.000353198521924,2.32603105602e-05,1793250820405523200
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,746,722.24863075,695,667,641,891.24863075,786,825,655.75136925,632,655.24863075,0.437674748965,0.00460412781176,0.0697220853993,0.999999886873,0.000221606339142,-0.000420298557909,2.2231429129e-05,1793250820422190080
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746,722,694.665849251,667,641,891,786.334150749,824.665849251,655.665849251,632,655,0.436808418045,0.0045997076922,0.0697161071329,0.999999889364,0.000194027046813,-0.000427901060978,2.29586876676e-05,1793250820438856960
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746,722,694.085726895,667,641,891,786.914273105,824.085726895,655.085726895,632,655,0.435943439859,0.00459545547267,0.069740064937,0.99999990855,0.000169828022037,-0.000391706850655,2.49786579463e-05,1793250820455523840
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.491563955,746,722,694.491563955,667,641,891,787,824,655.491563955,632,655,0.435067369779,0.00459110477136,0.0697859759015,0.999999933506,0.000152450046764,-0.000330173705143,2.7076207457e-05,1793250820472190208
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.931877983,746,722.068122017,695,667.068122017,641,890.931877983,787,824,655.931877983,632,655,0.434187862161,0.00458634532954,0.069830755872,0.99999995322,0.00013944312468,-0.000270686679317,2.90608930167e-05,1793250820488856576
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.357118634,746,722.642881366,695,667.642881366,641,890.357118634,787,824,655.357118634,632,655,0.433297093347,0.00457867300478,0.0698388137659,0.99999995471,0.000150148258851,-0.000259093993043,3.01061404648e-05,1793250820505523200
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.223149284,890,787,824,655,632,655,0.432398295549,0.00457233521798,0.0698409626751,0.999999956327,0.000148642156949,-0.00025360876191,3.05572869292e-05,1793250820522189824
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.812456103,890,787,824,655,632,655,0.431486323142,0.00456818722469,0.0698334157478,0.999999958152,0.000127099084186,-0.000258145029657,3.00335948913e-05,1793250820538856448
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,722.603020071,695,668,641.603020071,890,787,823.603020071,655,632,655,0.430487425603,0.00456298305226,0.06977937006,0.999999931511,0.000128564402084,-0.000345744863433,3.01556419578e-05,1793250820555523072
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,722.020728993,695,668,641.020728993,890,787,823.020728993,655,632,655,0.429447951266,0.0045572858532,0.0697036186434,0.999999878176,0.000140770089613,-0.000472118957392,3.05791211615e-05,1793250820572189952
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,722,695,668,641.551654774,890,787,823,655,631.448345226,655,0.42853956678,0.00454827275424,0.0697319560979,0.999999903113,0.000120984920601,-0.000422192841594,2.98353340631e-05,1793250820588856832
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,722.124829007,694.875170993,668,642,890,787,822.750341985,655,631.124829007,655,0.427643626948,0.00454016487195,0.0697714512219,0.999999930795,0.000102737934022,-0.000356326892878,2.97562324166e-05,1793250820605523456
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722.702194643,694.297805357,668,642,890,787,821.595610714,655,631.702194643,655,0.426775259824,0.00453578236011,0.0698374666131,0.999999962193,9.43482411672e-05,-0.000256267399477,3.22429860301e-05,1793250820622190080
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,722.713615344,694,668,642,890,787,821,655,632,655,0.425883061466,0.00452951242304,0.0698646765905,0.999999971531,9.0535435735e-05,-0.000218191303577,3.3669085193e-05,1793250820638856704
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,722.122155608,694,668,642,890,787,821,655,632,655,0.424965476625,0.00452123188129,0.0698505485783,0.999999964935,9.15982219843e-05,-0.000246143857733,3.39653081276e-05,1793250820655523072
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,722.459093065,693.540906935,668,642,889.540906935,787,820.540906935,655,631.540906935,655,0.424013482727,0.00451181706489,0.0698192438668,0.999999952555,7.77577063952e-05,-0.00029617895696,3.35024571389e-05,1793250820672189952
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.037346125,746,723,693.037346125,668,641.962653875,888.962653875,787,820,655,631.037346125,655,0.423048359402,0.00450243236595,0.0697810899804,0.999999934001,6.09231863754e-05,-0.000356650684281,3.29598337014e-05,1793250820688856320
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.610750331,746,723,693.610750331,668,641.389249669,888.389249669,787,820,655,631.610750331,655,0.422023337915,0.00449771780741,0.0697087994576,0.999999880472,5.67945093927e-05,-0.000484423533074,3.41081966323e-05,1793250820705522944
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746.188981199,723,694,668.188981199,641.188981199,888,787,820,655,632,655.188981199,0.421070500111,0.00449155974256,0.0696745708057,0.999999850661,5.26440968525e-05,-0.0005428817792,3.44468657936e-05,1793250820722189824
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746.77741435,723,694,668.77741435,641.77741435,888,787,820,655,632,655.77741435,0.420270237676,0.00448235051929,0.0697207939989,0.999999894845,4.84477421791e-05,-0.000454828907375,3.30740760104e-05,1793250820738856704
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746,722.483455694,692.483455694,668.483455694,641.483455694,888,787,820,655,632,655,0.417853790034,0.0044586252597,0.0698677593859,0.999999972821,4.52884959261e-06,-0.000230232157183,3.64761907097e-05,1793250820788856576
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.665923778,746,722.665923778,691.334076222,668.665923778,641.665923778,888,786.334076222,820,655,632,655,0.416139371786,0.00444103963394,0.0698155131287,0.999999956573,-1.12030437517e-06,-0.000292704864263,3.43037135835e-05,1793250820822189824
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.753959963,746.246040037,722.753959963,691.246040037,669,642,887.753959963,786.246040037,820,655,632,655,0.41529394836,0.00443567826727,0.0697813653072,0.999999941977,-6.56879145593e-06,-0.000339046579763,3.24081369554e-05,1793250820838856448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.163492224,746.836507776,722.163492224,691.836507776,669,642,887.163492224,786.836507776,820,655,632,655,0.414463860687,0.00443329108269,0.0697545492446,0.999999920604,-2.10400255709e-05,-0.000396547995149,3.31457788451e-05,1793250820855523072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746.581388908,722,691.581388908,668.581388908,642,887,787,819.581388908,655,632,655.418611092,0.413691212767,0.00443817014873,0.069748291336,0.999999914966,-1.06160454393e-05,-0.000410771964465,3.49447439344e-05,1793250820872189696
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746.002488346,722,691.002488346,668.002488346,642,887,787,819.002488346,655,632,655.997511654,0.412940558908,0.0044458315189,0.0697499053035,0.999999915861,9.34050619197e-06,-0.000408424665361,3.71500980757e-05,1793250820888856832
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.574969131,746,722.574969131,691,668,642,887,786.425030869,819.574969131,655,632,655.425030869,0.412309393466,0.0044752636995,0.0698118534493,0.999999955585,3.87452632904e-05,-0.000293547198321,3.4034034083e-05,1793250820905523712
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.849054616,746,723,690.849054616,668.150945384,642,887,786.150945384,820,655,632,655.150945384,0.411666378056,0.00449398826064,0.069862217831,0.999999977407,5.47896481626e-05,-0.00020287598466,3.20253101645e-05,1793250820922190336
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.277191319,746,723,690.277191319,668.722808681,642,887,786.722808681,820,655,632,655.722808681,0.410988879936,0.00448259207824,0.0698795540813,0.999999982499,3.34643115841e-05,-0.000181059608825,3.31685130447e-05,1793250820938856704
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.304468005,746,723,690,669,642,886.695531995,786.695531995,819.695531995,655,632,655.695531995,0.410309159983,0.00447339600639,0.0698665180326,0.999999977422,2.57844072918e-05,-0.000208285142871,3.32822100143e-05,1793250820955523328
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.895342196,746,723,690,669,642,886.104657804,786.104657804,819.104657804,655,632,655.104657804,0.409627350042,0.00446626952961,0.0698249114461,0.999999959334,3.0940454602e-05,-0.000281643296124,3.24274738082e-05,1793250820972189696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,746,723,689.523974218,668.523974218,642,886,786,819,655,632,655.476025782,0.408985155302,0.00446694296052,0.0697879426191,0.999999939785,2.48999088934e-05,-0.000344698850543,3.15025524692e-05,1793250820988856320
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.945807015,746,723,689,668.054192985,642,886.054192985,786.054192985,819.054192985,655,632,656,0.408360539013,0.00446885569877,0.0697568403915,0.999999920779,1.66840895071e-05,-0.000396520965064,3.05759366528e-05,1793250821005523200
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.370742911,746,723,689,668.629257089,642,886.629257089,786.629257089,819.629257089,655,632,656,0.407822918464,0.00446654308361,0.0697725296332,0.99999993409,1.07249015093e-05,-0.000361688413237,2.97782377988e-05,1793250821022190848
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,746,723,688.790068575,668.790068575,642,886.790068575,786.790068575,819.790068575,655.209931425,632,655.790068575,0.40729616369,0.0044676405007,0.0697898591202,0.999999944702,1.40730482501e-05,-0.000330952412267,2.94616212808e-05,1793250821038857984
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,723,688.199214478,668.199214478,642,886.199214478,786.199214478,819.199214478,655.800785522,632,655.199214478,0.406789125033,0.00447492545565,0.069810164847,0.999999951637,3.43094476416e-05,-0.000307649648045,3.00179335971e-05,1793250821055524096
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.384652959,746,723,688,668.384652959,642,886,786,819,655.615347041,632,655,0.406289013781,0.00448189036728,0.0698112708548,0.999999949023,4.44761426447e-05,-0.000314664787498,3.10268643491e-05,1793250821072190208
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.964966561,746,723,688,668.964966561,642,886,786,819,655.035033439,632,655,0.405792426233,0.00448869248378,0.0698026105821,0.999999941435,4.95207033209e-05,-0.000337101671507,3.22660276514e-05,1793250821088856576
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.455885492,746,723,688,668.455885492,642,886,786,819.544114508,655.544114508,632,655.544114508,0.405385858182,0.00448931522928,0.069803700131,0.99999994358,4.30182214408e-05,-0.00033174863945,3.05324509031e-05,1793250821105523200
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.123893237,746,723,687.876106763,668.123893237,642,886.123893237,786.123893237,820,656,632,656,0.404991547708,0.00448840971882,0.0698090353935,0.999999948222,3.58934316691e-05,-0.000318471229625,2.90511659003e-05,1793250821122189824
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.706283645,746,723,687.293716355,668.706283645,642,886.706283645,786.706283645,820,656,632,656,0.404621195579,0.00448331777651,0.0698277647678,0.999999959251,2.92111466914e-05,-0.000282475256306,2.92103679184e-05,1793250821138856448
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,746,723,687.286985177,669,642,886.713014823,786.713014823,820,656,632,656,0.404266773733,0.00448017648657,0.0698415381223,0.999999966275,2.60970252685e-05,-0.000256700998631,2.95516904783e-05,1793250821155523328
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,746,723,687.865968297,669,642,886.134031703,786.134031703,820,656,632,656,0.403928560448,0.00447901992133,0.0698502688891,0.999999970074,2.66133928943e-05,-0.000241327001577,3.00783146927e-05,1793250821172190208
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746,723,687.554662588,669,642,886.445337412,786,820,655.554662588,632,656,0.403603804589,0.00447556274676,0.0698435763349,0.999999967519,1.4414613299e-05,-0.00025280644085,2.90468306458e-05,1793250821188856832
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769.024523951,746,723,687,668.975476049,642,886.975476049,786,820,655.024523951,632,656,0.403284962115,0.00447147076902,0.0698322981665,0.99999996253,-1.50020921074e-06,-0.000272356709276,2.75599769933e-05,1793250821205523968
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769.597032965,746,723,687,668.402967035,642,886.402967035,786,820,655.597032965,632,656,0.403007672874,0.0044686793553,0.0698223677863,0.999999957055,-1.48652179339e-05,-0.000291500972645,2.63854108926e-05,1793250821222190336
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.650763264,746,723,687,668.174618368,642,886,786.174618368,820,655.825381632,632,656,0.402741339926,0.0044668721692,0.0698134568828,0.999999952068,-2.40587065079e-05,-0.000307594236054,2.59036973255e-05,1793250821238856704
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.471461523,746,723,687,668.764269238,642,886,786.764269238,820,655.235730762,632,656,0.402501047909,0.00446740429327,0.0698069690702,0.999999949295,-2.33373344824e-05,-0.000316435887935,2.70687541312e-05,1793250821255523072
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886,786.65237001,819.65237001,655,632,656,0.402286442715,0.0044684896303,0.0698033633419,0.999999947231,-2.2286784705e-05,-0.000322845701935,2.84931078293e-05,1793250821272189696
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886,786.073198775,819.073198775,655,632,656,0.402088946373,0.0044699434385,0.0698016772441,0.999999945654,-2.10169838448e-05,-0.00032763577518,3.0090168048e-05,1793250821288856576
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.504030515,746,723,687,669,642,886,786,819.504030515,655.504030515,632,655.495969485,0.401922702572,0.00447903821382,0.0698006355544,0.99999994571,-6.85938446656e-06,-0.000327898637761,3.1865831225e-05,1793250821305523200
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.91987548,655.91987548,632.08012452,655,0.401765565766,0.00449015526804,0.0697997510706,0.999999945798,1.07399088145e-05,-0.000327376573338,3.33527315618e-05,1793250821322190080
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.349013818,655.349013818,632.650986182,655,0.401636514875,0.00450688782699,0.0697992584415,0.999999945579,3.79991953456e-05,-0.000326058436651,3.29128004062e-05,1793250821338856960
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.769608088,746,723,687,669,642,886,786,819.230391912,655,632.769608088,655.230391912,0.401515866355,0.00451483570961,0.069798148506,0.999999944443,6.04719593011e-05,-0.000326614047252,2.79532414942e-05,1793250821355523584
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.176760758,746,723,687,669,642,886,786,819.823239242,655,632.176760758,655.823239242,0.401408436555,0.00450896342929,0.0697960674162,0.999999942541,7.5414504856e-05,-0.00033011746067,1.58833480871e-05,1793250821372190208
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.406012983,746.406012983,723,687,669,642,886,786,819.593987017,655.406012983,632,656,0.401319285856,0.00450302705762,0.0697951206995,0.999999941822,7.73890038307e-05,-0.000331902741245,1.44308276366e-05,1793250821388856832
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.984507275,746.984507275,723,687,669,642,886,786,819.015492725,655.984507275,632,656,0.401237900437,0.00449706345899,0.0697946558841,0.999999941689,7.38544528492e-05,-0.000332958129329,1.74887504276e-05,1793250821405523456
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,746.441563968,723,687,669,642,886.558436032,786,819.558436032,656,632,656,0.40118191038,0.00449840614851,0.0697979005807,0.999999943979,7.52135188526e-05,-0.000325637521218,1.8572316463e-05,1793250821422189824
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,668.868733228,642,886.868733228,786,820,656,632,655.868733228,0.401130464058,0.00449880372378,0.069801066962,0.999999946097,7.56546629032e-05,-0.000318895259217,1.968308588e-05,1793250821438856448
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,668.299149517,642,886.299149517,786,820,656,632,655.299149517,0.401091856387,0.00449537408936,0.0698036309829,0.999999947578,7.25810877955e-05,-0.000314853813082,2.10661074484e-05,1793250821455523328
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,746.283791644,723,687,668.283791644,642,886,786,820,656,632,655.283791644,0.401059268344,0.00449399594282,0.0698065439905,0.999999949086,7.12291774175e-05,-0.000310280621464,2.19020506003e-05,1793250821472190208
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,746.881508654,723,687,668.881508654,642,886,786,820,656,632,655.881508654,0.401033339105,0.00449488711595,0.0698098430412,0.99999995063,7.17817421488e-05,-0.000305119221756,2.21328253237e-05,1793250821488856832
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.536271669,746.536271669,723,687,669,642,886.463728331,786,819.536271669,655.536271669,632,656,0.401015497093,0.00449380615243,0.0698135700883,0.99999995263,6.9231823283e-05,-0.000299065238599,2.25051587363e-05,1793250821505523456
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.958085165,786,819,655.041914835,632,656,0.400999935361,0.00449222011576,0.0698169969805,0.999999954496,6.61117629504e-05,-0.000293451862502,2.28930528046e-05,1793250821522190080
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.382462232,786,819,655.617537768,632,656,0.400987947375,0.00449041187358,0.0698152544768,0.999999953705,6.54996951644e-05,-0.000296258961883,2.3033407584e-05,1793250821538856448
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886,786,819.197270085,656,632,655.802729915,0.400979632186,0.00448941500895,0.0698153209353,0.999999953849,6.51507075253e-05,-0.000295834049662,2.32476670827e-05,1793250821555523328
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886,786,819.78513903,656,632,655.21486097,0.400978589215,0.00449002468885,0.0698189691768,0.999999955825,6.53226240708e-05,-0.000289009687239,2.36082594499e-05,1793250821572189952
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.367559223,746,723,687,669,642,886.367559223,786,819.632440777,655.632440777,632,655,0.400975648669,0.00448991259081,0.0698203716878,0.999999956561,6.36769919605e-05,-0.000286832069055,2.34569551549e-05,1793250821588856576
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.946840791,746,723,687,669,642,886.946840791,786,819.053159209,655.053159209,632,655,0.400971615077,0.00448938473249,0.0698204806077,0.999999956596,6.09844111025e-05,-0.000287331079891,2.30107869028e-05,1793250821605523200
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768.475449343,746,723,687,669,642,887,786,819.524550657,655,632.524550657,655.524550657,0.400971130376,0.00448884449131,0.069820925188,0.999999956908,6.05209527945e-05,-0.000286326775725,2.32011685708e-05,1793250821622189824
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.898197089,786.101802911,819.898197089,655.101802911,632.898197089,656,0.400971262589,0.00448865966184,0.0698216641355,0.999999957309,6.06962521121e-05,-0.000284868655373,2.33984389003e-05,1793250821638856448
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.322336445,786.677663555,819.322336445,655.677663555,632.322336445,656,0.400972597778,0.00449013567694,0.0698236159108,0.999999957993,6.27971948776e-05,-0.000282004599544,2.33282881339e-05,1793250821655523328
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.258118431,746,723,686.741881569,669,642,886.258118431,786.741881569,819,655.741881569,632,656,0.400973468122,0.00449123852152,0.0698245590326,0.999999958544,6.3820964073e-05,-0.000279830198147,2.3089412519e-05,1793250821672189696
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.8444146,746,723,686.1555854,669,642,886.8444146,786.1555854,819,655.1555854,632,656,0.400973747453,0.00449186690869,0.0698242197296,0.999999958939,6.34751901869e-05,-0.000278532638946,2.26360162236e-05,1793250821688856320
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.572579314,746,723,686.427420686,669.427420686,642,886.572579314,786,819.427420686,655.427420686,632,656,0.40097230011,0.00449080972835,0.0698241850779,0.999999958819,6.15103717323e-05,-0.000279387112349,2.2824096726e-05,1793250821705522944
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768.009129379,746,723,687,669.990870621,642,886.009129379,786,820,656,632,656,0.400970262289,0.00448918215222,0.0698242572419,0.999999958509,5.90212750875e-05,-0.000280996690805,2.32367580522e-05,1793250821722189824
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768.584089584,746,723,687,669.415910416,642,886.584089584,786,820,656,632,656,0.400970285071,0.00448993957404,0.0698241290071,0.99999995837,6.02861405112e-05,-0.000281225850105,2.32069232519e-05,1793250821738856448
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ffcb08e0c6452287735e449f4dd6e37b16c8f3e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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+221,3.683333333,pose1_to_pose2_press,0.620913483744,0.0101500207749,1.06003338822,0.59148416104,0.0188226591662,1.05970478394
+222,3.700000000,pose1_to_pose2_press,0.620946758203,0.010150193502,1.06003354763,0.591517434027,0.0188228250968,1.05970494005
+223,3.716666667,pose1_to_pose2_press,0.62097434254,0.0101502934765,1.06003360778,0.591545018075,0.0188229237524,1.05970500492
+224,3.733333333,pose1_to_pose2_press,0.620996503937,0.0101501850647,1.06003359659,0.591567180476,0.0188228186511,1.05970499613
+225,3.750000000,pose1_to_pose2_press,0.621013338094,0.0101500777361,1.06003358767,0.591584015015,0.0188227123882,1.05970498169
+226,3.766666667,pose1_to_pose2_press,0.621025635941,0.0101502314131,1.06003351993,0.591596311189,0.0188228602089,1.0597049085
+227,3.783333333,pose1_to_pose2_press,0.621033866389,0.01015015828,1.06003339616,0.591604542428,0.0188227901092,1.05970479283
+228,3.800000000,pose1_to_pose2_press,0.621039706382,0.0101500582007,1.06003348701,0.591610384793,0.0188226980701,1.05970488453
+229,3.816666667,pose1_to_pose2_press,0.621043606035,0.0101499832126,1.06003360923,0.591614286437,0.0188226297289,1.0597050054
+230,3.833333333,pose1_to_pose2_press,0.621046419529,0.0101500929191,1.06003353087,0.591617096617,0.0188227281718,1.05970492726
+231,3.850000000,pose1_to_pose2_press,0.62104827983,0.0101501385287,1.06003349026,0.591618955367,0.0188227685018,1.0597048865
+232,3.866666667,pose1_to_pose2_press,0.621049316289,0.0101500935125,1.06003349691,0.591619992637,0.0188227262143,1.05970489229
+233,3.883333333,pose1_to_pose2_press,0.621049967021,0.0101500652494,1.06003350109,0.591620643879,0.0188226996644,1.05970489592
+234,3.900000000,pose1_to_pose2_press,0.621050378139,0.0101500473934,1.06003350373,0.591621055318,0.0188226828908,1.05970489822
+235,3.916666667,pose1_to_pose2_press,0.621050802313,0.0101500438145,1.06003350843,0.591621479664,0.0188226798409,1.05970490119
+236,3.933333333,pose1_to_pose2_press,0.621051240649,0.01015004074,1.06003351337,0.59162191817,0.0188226772883,1.0597049043
+237,3.950000000,pose1_to_pose2_press,0.621051578423,0.0101500383708,1.06003351718,0.591622256076,0.0188226753213,1.05970490669
+238,3.966666667,pose1_to_pose2_press,0.621051760014,0.0101500844728,1.06003354554,0.591622437288,0.0188227201738,1.05970493603
+239,3.983333333,pose1_to_pose2_press,0.62105184688,0.0101501199448,1.06003356656,0.591622523846,0.0188227546329,1.05970495802
+240,4.000000000,pose1_to_pose2_press,0.621051864433,0.0101501271126,1.06003357081,0.591622541336,0.0188227615961,1.05970496246
+241,4.016666667,pose1_to_pose2_press,0.621051934729,0.0101501558181,1.06003358782,0.591622611382,0.0188227894819,1.05970498025
+242,4.033333333,pose1_to_pose2_press,0.62105204078,0.0101501991243,1.06003361348,0.591622717057,0.0188228315516,1.05970500709
+243,4.050000000,pose1_to_pose2_press,0.621052099809,0.0101501783676,1.06003369592,0.591622775858,0.0188228099879,1.05970508874
+244,4.066666667,pose1_to_pose2_press,0.62105211681,0.0101501634918,1.06003373318,0.59162279279,0.018822794856,1.05970512548
+245,4.083333333,pose1_to_pose2_press,0.621052120304,0.0101501604345,1.06003374084,0.59162279627,0.0188227917462,1.05970513304
+246,4.100000000,pose1_to_pose2_press,0.621052125149,0.0101501561954,1.06003375146,0.591622801096,0.0188227874317,1.05970514351
+247,4.116666667,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874299,1.05970514351
+248,4.133333333,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874304,1.05970514351
+249,4.150000000,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874304,1.05970514351
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+251,4.183333333,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874303,1.05970514351
+252,4.200000000,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874303,1.05970514351
+253,4.216666667,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874303,1.05970514351
+254,4.233333333,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874303,1.05970514351
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+256,4.266666667,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874303,1.05970514351
+257,4.283333333,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874303,1.05970514351
+258,4.300000000,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874303,1.05970514351
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+260,4.333333333,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874303,1.05970514351
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+262,4.366666667,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874302,1.05970514351
+263,4.383333333,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874302,1.05970514351
+264,4.400000000,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874303,1.05970514351
+265,4.416666667,pose2_to_pose3_retreat,0.621052125149,0.0101501561954,1.06003375146,0.591622801097,0.0188227874303,1.05970514351
+266,4.433333333,pose2_to_pose3_retreat,0.621052015479,0.0101501988813,1.06003362119,0.591622691549,0.0188228305966,1.05970501505
+267,4.450000000,pose2_to_pose3_retreat,0.621051815371,0.0101501466569,1.06003363177,0.591622491625,0.0188227789353,1.05970502409
+268,4.466666667,pose2_to_pose3_retreat,0.621051624217,0.0101501093731,1.06003360686,0.591622300724,0.0188227424949,1.05970499885
+269,4.483333333,pose2_to_pose3_retreat,0.621051531106,0.0101500991617,1.06003357264,0.591622207784,0.0188227328872,1.0597049652
+270,4.500000000,pose2_to_pose3_retreat,0.621051482716,0.010150093855,1.06003355485,0.591622159484,0.0188227278941,1.0597049477
+271,4.516666667,pose2_to_pose3_retreat,0.621051365535,0.010150081004,1.06003351177,0.591622042519,0.0188227158028,1.05970490535
+272,4.533333333,pose2_to_pose3_retreat,0.621050658675,0.0101500034844,1.06003325195,0.591621336962,0.0188226428653,1.05970464984
+273,4.550000000,pose2_to_pose3_retreat,0.621047788939,0.0101500210487,1.06003366144,0.591618467637,0.0188226613793,1.05970504784
+274,4.566666667,pose2_to_pose3_retreat,0.621039727799,0.0101500138467,1.06003361037,0.59161040796,0.0188226595654,1.05970500691
+275,4.583333333,pose2_to_pose3_retreat,0.621024753743,0.01015001308,1.06003348284,0.59159543122,0.0188226498606,1.05970488364
+276,4.600000000,pose2_to_pose3_retreat,0.620999915219,0.010150092319,1.06003359323,0.591570592441,0.0188227277759,1.0597049883
+277,4.616666667,pose2_to_pose3_retreat,0.620965366297,0.0101502012751,1.06003354679,0.591536042043,0.0188228319297,1.0597049449
+278,4.633333333,pose2_to_pose3_retreat,0.620920609251,0.0101501477929,1.06003353922,0.591491285778,0.0188227807131,1.05970493361
+279,4.650000000,pose2_to_pose3_retreat,0.620868105067,0.010150098009,1.06003359077,0.591438780942,0.0188227284085,1.05970498513
+280,4.666666667,pose2_to_pose3_retreat,0.620808545858,0.0101502291436,1.06003361508,0.59137922108,0.0188228572794,1.05970500927
+281,4.683333333,pose2_to_pose3_retreat,0.620741435911,0.0101501205023,1.06003345875,0.591312113127,0.0188227555976,1.05970485345
+282,4.700000000,pose2_to_pose3_retreat,0.620666344081,0.0101500916419,1.0600335123,0.591237021395,0.018822726961,1.05970490379
+283,4.716666667,pose2_to_pose3_retreat,0.620580292593,0.0101501019756,1.06003363591,0.591150969374,0.0188227353249,1.05970502706
+284,4.733333333,pose2_to_pose3_retreat,0.620482500883,0.0101500708753,1.0600336142,0.591053178064,0.0188227056454,1.05970501011
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+286,4.766666667,pose2_to_pose3_retreat,0.620244204092,0.0101500595343,1.06003348625,0.590814882336,0.0188226976626,1.059704884
+287,4.783333333,pose2_to_pose3_retreat,0.620102900291,0.0101501770878,1.06003346722,0.590673576005,0.0188228066164,1.05970486933
+288,4.800000000,pose2_to_pose3_retreat,0.619945673336,0.0101501511076,1.06003338198,0.59051635047,0.0188227852132,1.05970478261
+289,4.816666667,pose2_to_pose3_retreat,0.619771993163,0.0101500602523,1.06003334954,0.590342671433,0.0188226979311,1.05970474917
+290,4.833333333,pose2_to_pose3_retreat,0.619579194134,0.0101499207269,1.06003324325,0.590149874198,0.0188225642754,1.05970464371
+291,4.850000000,pose2_to_pose3_retreat,0.619367175568,0.0101498597399,1.0600332787,0.589937857459,0.0188225093594,1.05970468188
+292,4.866666667,pose2_to_pose3_retreat,0.619133234176,0.0101499741852,1.06003362072,0.589703915123,0.0188226203682,1.05970502499
+293,4.883333333,pose2_to_pose3_retreat,0.61887899673,0.010149981047,1.06003338936,0.589449676312,0.0188226219399,1.0597047835
+294,4.900000000,pose2_to_pose3_retreat,0.61860448177,0.0101501076881,1.06003350697,0.589175159845,0.0188227432222,1.05970490061
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+302,5.033333333,pose2_to_pose3_retreat,0.615763104468,0.0101502227501,1.06003339782,0.58633378203,0.0188228543443,1.05970479456
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+304,5.066666667,pose2_to_pose3_retreat,0.614846047854,0.010150130106,1.06003343833,0.585416726324,0.0188227644278,1.05970483587
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+325,5.416666667,pose2_to_pose3_retreat,0.601191908656,0.0101501490751,1.06003350605,0.571762587374,0.0188227836604,1.05970489984
+326,5.433333333,pose2_to_pose3_retreat,0.600393076828,0.0101501764128,1.06003357565,0.570963754821,0.0188228085183,1.05970496881
+327,5.450000000,pose2_to_pose3_retreat,0.599594725923,0.0101501451129,1.06003362383,0.570165404977,0.0188227808521,1.05970501778
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+334,5.566666667,pose2_to_pose3_retreat,0.59414040317,0.0101501676318,1.06003363676,0.564711082067,0.0188228027414,1.05970502779
+335,5.583333333,pose2_to_pose3_retreat,0.593351988839,0.0101501631823,1.06003354737,0.563922667307,0.018822797085,1.05970494501
+336,5.600000000,pose2_to_pose3_retreat,0.59259131489,0.0101501360274,1.06003347819,0.563161992883,0.0188227683995,1.05970487791
+337,5.616666667,pose2_to_pose3_retreat,0.591861950471,0.0101500907672,1.06003349929,0.562432628502,0.0188227231052,1.05970489469
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+383,6.383333333,pose2_to_pose3_retreat,0.575703913792,0.0101501917152,1.06003334618,0.546274590024,0.0188228181156,1.05970474638
+384,6.400000000,pose2_to_pose3_retreat,0.575691531643,0.0101502821364,1.06003325496,0.546262208245,0.0188229097961,1.05970465533
+385,6.416666667,pose2_to_pose3_retreat,0.575683145972,0.0101501593623,1.0600333128,0.546253824004,0.0188227917967,1.05970471114
+386,6.433333333,pose2_to_pose3_retreat,0.575677145862,0.010150070222,1.06003337405,0.546247824814,0.0188227057043,1.05970477055
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+388,6.466666667,pose2_to_pose3_retreat,0.575670691379,0.0101501955832,1.06003346737,0.546241369351,0.0188228276851,1.05970486243
+389,6.483333333,pose2_to_pose3_retreat,0.575669535642,0.0101501888635,1.06003360974,0.546240213597,0.0188228208695,1.05970500382
+390,6.500000000,pose2_to_pose3_retreat,0.575668708299,0.0101501840533,1.06003371166,0.546239386241,0.0188228159906,1.05970510503
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+395,6.583333333,pose2_to_pose3_retreat,0.575667493726,0.0101501769916,1.06003386128,0.546238171651,0.0188228088281,1.05970525362
+396,6.600000000,pose2_to_pose3_retreat,0.575667068029,0.0101501656741,1.06003378806,0.546237746309,0.0188227987138,1.05970518033
+397,6.616666667,pose2_to_pose3_retreat,0.575666499662,0.0101501480742,1.06003365492,0.546237178518,0.0188227830689,1.05970504718
+398,6.633333333,pose2_to_pose3_retreat,0.575666084197,0.010150135209,1.0600335576,0.546236763474,0.0188227716328,1.05970494985
+399,6.650000000,pose2_to_pose3_retreat,0.575665963731,0.0101501314786,1.06003352939,0.54623664313,0.0188227683168,1.05970492163
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+401,6.683333333,pose2_to_pose3_retreat,0.57566574246,0.0101501246268,1.06003347756,0.546236422083,0.0188227622261,1.05970486979
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+404,6.733333333,pose2_to_pose3_retreat,0.575664618335,0.0101501727271,1.06003350959,0.546235295451,0.0188228016788,1.05970489808
+405,6.750000000,pose2_to_pose3_retreat,0.575664365365,0.0101501464492,1.06003341992,0.546235041763,0.0188227730057,1.05970480953
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e9fe0fec66a42202c16ed4898f2127926cf731e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80090a19aa060b24cb67e9c4be6d0fc7d1a8a74d37e36c0242a21da02e53bfd
+size 26046234
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71bc3b95412eba6443d6a2e6144bcfdfc4ecb6e4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
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+19,0.316666667,BASELINE,768.02000599,746,723,687,669,642,886.02000599,786,819.97999401,656,632,655,0.400973260472,0.0044905377278,0.0698288859388,0.999999960787,5.53399143543e-05,-0.000273645333906,2.19695732804e-05,1793250822383530240
+20,0.333333333,BASELINE,768.608042462,746,723,687,669,642,886.608042462,786,819.391957538,656,632,655,0.400971949219,0.00449107459119,0.0698289997263,0.999999960455,5.8512510789e-05,-0.000274154776497,2.24769806148e-05,1793250822400196864
+21,0.350000000,BASELINE,769,746,723,687,669,642,887,786,819.194218189,656,632.194218189,655,0.400971032735,0.00449128546672,0.0698291677847,0.999999960304,5.99325757531e-05,-0.000274380038089,2.27039842293e-05,1793250822416863488
+22,0.366666667,BASELINE,769,746,723,687,669,642,887,786,819.776674257,656,632.776674257,655,0.400970905384,0.00449084469963,0.0698294443294,0.999999960528,5.78493685741e-05,-0.000274037228075,2.23704669301e-05,1793250822433530112
+23,0.383333333,BASELINE,769,746,723,686.64739152,669,642,887,786,819.64739152,656,632.64739152,655.35260848,0.400969994809,0.00449095453451,0.0698283721782,0.999999960129,5.79122971273e-05,-0.000275483339868,2.22904522828e-05,1793250822450196992
+24,0.400000000,BASELINE,769,746,723,686.075512858,669,642,887,786,819.075512858,656,632.075512858,655.924487142,0.400968597185,0.00449140676211,0.0698264613382,0.999999959337,5.93098036184e-05,-0.000278041895684,2.23680786566e-05,1793250822466863616
+25,0.416666667,BASELINE,768.500617982,746,723,686.499382018,669,642,886.500617982,786,819.499382018,655.500617982,632,656,0.400969698768,0.00449060138787,0.0698277347557,0.99999996002,5.96674739784e-05,-0.000275494222824,2.2402982133e-05,1793250822483530752
+26,0.433333333,BASELINE,768,746,723,686.92317893,669,642,886,786,819.92317893,655,632,655.92317893,0.4009708832,0.00448993454999,0.069829119564,0.999999960712,5.99425326198e-05,-0.000272912864307,2.23994776807e-05,1793250822500197632
+27,0.450000000,BASELINE,768,746,723,686.331771118,669,642,886,786,819.331771118,655,632,655.331771118,0.400970075777,0.00449147726345,0.0698280055939,0.999999960013,6.07238653069e-05,-0.000275309384499,2.21822342799e-05,1793250822516864256
+28,0.466666667,BASELINE,768,745.745168832,723,686,669,642,886,786,819,655.254831168,632.254831168,655,0.400969876579,0.0044918093462,0.0698275022755,0.999999959833,6.02477877494e-05,-0.000276070712357,2.20974773361e-05,1793250822533531392
+29,0.483333333,BASELINE,768,745.16470722,723,686,669,642,886,786,819,655.83529278,632.83529278,655,0.400970454589,0.00449059445082,0.0698277792652,0.999999960321,5.81649559118e-05,-0.000274742545241,2.21820153329e-05,1793250822550199040
+30,0.500000000,BASELINE,768,745.410946872,723,686,669,642,886,786,819,655.589053128,632.589053128,655.410946872,0.400970211535,0.00449099272535,0.0698276314531,0.999999960309,5.8672759061e-05,-0.000274659936529,2.24102613224e-05,1793250822566865408
+31,0.516666667,BASELINE,768,745.98469638,723,686,669,642,886,786,819,655.01530362,632.01530362,655.98469638,0.400969643206,0.00449203008084,0.0698273153496,0.999999960098,6.02068803398e-05,-0.000275070774095,2.26954393409e-05,1793250822583531008
+32,0.533333333,BASELINE,768.560393797,746,723,686,669,642,886,786,819,655,632,655.439606203,0.400970041979,0.00449311612242,0.0698278493429,0.999999959989,6.33735541899e-05,-0.000274775381626,2.24653377412e-05,1793250822600197376
+33,0.550000000,BASELINE,768.859918278,746,723,686.140081722,669,642,886,786,819,655,632.140081722,655.140081722,0.400970210679,0.00449353060971,0.0698282749382,0.999999959945,6.4933170238e-05,-0.000274584509887,2.22785269402e-05,1793250822616864000
+34,0.566666667,BASELINE,768.267517622,746,723,686.732482378,669,642,886,786,819,655,632.732482378,655.732482378,0.400969550903,0.00449177236366,0.069828275298,0.999999960126,6.11591941058e-05,-0.000274793623695,2.22770958715e-05,1793250822633530624
+35,0.583333333,BASELINE,768,746,723.317817303,687,669,642,886,786.317817303,819,655,633,656,0.400969198521,0.00449082649095,0.0698279270079,0.999999960061,5.88077532239e-05,-0.000275542920246,2.22437633265e-05,1793250822650197248
+36,0.600000000,BASELINE,768,746,723.897334173,687,669,642,886,786.897334173,819,655,633,656,0.400969099254,0.00449054954877,0.0698272916298,0.999999959802,5.76276668448e-05,-0.000276737018251,2.21841622223e-05,1793250822666864128
+37,0.616666667,BASELINE,768.47133939,746,723.52866061,687.47133939,669,642,886,786.52866061,819.47133939,655.47133939,633,656,0.400971041649,0.00449023876524,0.069828572082,0.99999996066,5.62292644588e-05,-0.000273907366968,2.22162011225e-05,1793250822683530752
+38,0.633333333,BASELINE,768.954618015,746,723,687.954618015,669,642,886.045381985,786.045381985,820,655.954618015,632.954618015,656,0.400973167594,0.00449009247232,0.0698301032746,0.999999961626,5.51286301796e-05,-0.000270581461043,2.22426332603e-05,1793250822700197120
+39,0.650000000,BASELINE,768.365920797,746,723,687.365920797,669,642,886.634079203,786.634079203,820,655.365920797,632.365920797,656,0.40097222848,0.00449200269714,0.069829698145,0.999999961161,5.81556146344e-05,-0.00027168589041,2.1965731897e-05,1793250822716863488
+40,0.666666667,BASELINE,768,746.219026077,723,686.780973923,669,642,886.780973923,786.780973923,819.780973923,655.219026077,632,655.780973923,0.40097154998,0.00449303961741,0.0698292996788,0.999999960739,6.07063137088e-05,-0.000272683266992,2.19289633166e-05,1793250822733530112
+41,0.683333333,BASELINE,768,746.797812797,723,686.202187203,669,642,886.202187203,786.202187203,819.202187203,655.797812797,632,655.202187203,0.400971299551,0.00449264209374,0.0698289121575,0.999999960398,6.2474691441e-05,-0.000273504804267,2.22866241547e-05,1793250822750196992
+42,0.700000000,BASELINE,768.375359879,746.624640121,723,686.375359879,669,642,886.375359879,786,819,656,632,655,0.40097058131,0.00449270762054,0.069828217608,0.999999960175,6.22211029528e-05,-0.00027438355396,2.21906247689e-05,1793250822766863872
+43,0.716666667,BASELINE,768.95224141,746.04775859,723,686.95224141,669,642,886.95224141,786,819,656,632,655,0.400969611913,0.00449302174797,0.0698273582225,0.999999960015,6.08819695858e-05,-0.000275293019592,2.18510661557e-05,1793250822783530752
+44,0.733333333,BASELINE,768.472920994,746,723,687,669,642,886.472920994,786,819,655.472920994,632,655.527079006,0.40097048416,0.00449283990255,0.0698281769295,0.999999960414,5.97189422713e-05,-0.000274098625927,2.17911742952e-05,1793250822800197632
+45,0.750000000,BASELINE,768,746,723,687,669,642,886,786,819,655,632,655.89508416,0.400971381476,0.00449265534047,0.0698291009526,0.999999960794,5.909940993e-05,-0.000272845371157,2.18019623901e-05,1793250822816864256
+46,0.766666667,BASELINE,768,746,723,687,669,642,886,786,819,655,632,655.302447368,0.40097162259,0.00449266625482,0.0698298104464,0.999999960854,6.0932523844e-05,-0.00027220124851,2.20239741114e-05,1793250822833530624
+47,0.783333333,BASELINE,768,746,723,687.282346233,669,642,886,786,819.282346233,655.282346233,632,655,0.400971257477,0.00449200157085,0.0698296694213,0.999999960734,6.07576343576e-05,-0.000272665053445,2.22521058489e-05,1793250822850196992
+48,0.800000000,BASELINE,768,746,723,687.85896541,669,642,886,786,819.85896541,655.85896541,632,655,0.40097026053,0.00449063275034,0.0698286419505,0.999999960421,5.84899207501e-05,-0.000274283586333,2.24866161475e-05,1793250822866863616
+49,0.816666667,BASELINE,768,746,723,687.570011577,669.429988423,642,886,786,819.570011577,656,632,655.429988423,0.40097179344,0.00449035298747,0.069829662236,0.999999960986,5.74786062493e-05,-0.000272434495043,2.24415078087e-05,1793250822883530240
+50,0.833333333,BASELINE,768,746,723,687.000800538,669.999199462,642,886,786,819.000800538,656,632,655.999199462,0.400974145471,0.0044904258422,0.0698313455488,0.999999961829,5.68740916063e-05,-0.000269462648516,2.23058639058e-05,1793250822900196864
+51,0.850000000,BASELINE,768.594127602,746,722.405872398,687,670,642,886.594127602,786,819,655.405872398,632,655.405872398,0.40097310669,0.0044896697204,0.0698301090189,0.999999961416,5.6984633647e-05,-0.000270957372154,2.24323275103e-05,1793250822916863744
+52,0.866666667,BASELINE,768.816010116,746,722.183989884,686.816010116,669.816010116,642,886.816010116,786,819,655.183989884,632,655.183989884,0.400972064957,0.00448899809501,0.0698292355923,0.999999961083,5.6747904442e-05,-0.000272224120443,2.25452070302e-05,1793250822933530368
+53,0.883333333,BASELINE,768.237099113,746,722.762900887,686.237099113,669.237099113,642,886.237099113,786,819,655.762900887,632,655.762900887,0.400971027141,0.00448851034113,0.0698291503679,0.999999960928,5.5763620748e-05,-0.00027298803348,2.2628136929e-05,1793250822950196992
+54,0.900000000,BASELINE,768,746,723,686.341220667,669,642,886.341220667,786,819.341220667,656,632,656,0.400969887848,0.00448899963985,0.0698289442354,0.999999960656,5.6933547378e-05,-0.000273736783323,2.27059232206e-05,1793250822966863616
+55,0.916666667,BASELINE,768,746,723,686.919130319,669,642,886.919130319,786,819.919130319,656,632,656,0.400968678163,0.00449016667476,0.0698286542344,0.999999960296,5.9597750047e-05,-0.000274475015125,2.27801416263e-05,1793250822983530240
+56,0.933333333,BASELINE,768,746,723,686.506114557,669,642,886.506114557,786,819.506114557,655.506114557,632,655.506114557,0.4009712648,0.00449167657855,0.0698297443279,0.999999960813,6.16991834973e-05,-0.000272142592624,2.25058750682e-05,1793250823000196864
+57,0.950000000,BASELINE,768,746,723,686,669,642,886,786,819,655,632,655,0.40097383044,0.00449297215565,0.0698307396415,0.999999961309,6.34310474845e-05,-0.000269932668114,2.22325962387e-05,1793250823016863488
+58,0.966666667,BASELINE,768,746,723,686,669,642,886,786,819,655,632,655,0.40097165145,0.00449226108161,0.0698293627079,0.999999960673,6.30976225062e-05,-0.000272344303158,2.2387872217e-05,1793250823033530112
+59,0.983333333,BASELINE,768.242905991,746,723,686.242905991,669,642,886,786,819,655.242905991,632,655.242905991,0.400971032115,0.00449183231667,0.0698292467966,0.999999960629,6.19976016326e-05,-0.000272751305213,2.24594799943e-05,1793250823050196736
+60,1.000000000,BASELINE,768.821844036,746,723,686.821844036,669,642,886,786,819,655.821844036,632,655.821844036,0.400972570381,0.0044917940933,0.0698308753621,0.999999961404,5.98370848753e-05,-0.000270385132134,2.24153426148e-05,1793250823066863360
+61,1.016666667,BASELINE,768.601717958,746,723,687,669,642,886,786,819.398282042,656,632,656,0.400972268518,0.00449204198231,0.069830684885,0.99999996132,6.00697959727e-05,-0.000270661441476,2.22188408822e-05,1793250823083529984
+62,1.033333333,BASELINE,768.026391305,746,723,687,669,642,886,786,819.973608695,656,632,656,0.400971148678,0.00449241705419,0.0698296858058,0.999999960854,6.13663465109e-05,-0.000272112389083,2.19546100438e-05,1793250823100196608
+63,1.050000000,BASELINE,768,746,723,687,669,642,886,786,819.449795173,655.449795173,632,655.449795173,0.400971087614,0.00449373601554,0.0698289756171,0.999999960554,6.31803386797e-05,-0.000272815998645,2.17256022083e-05,1793250823116863232
+64,1.066666667,BASELINE,768,746,723,687,669,642,886.130288972,786,819,655,632,655,0.400971337423,0.00449442232589,0.0698286854239,0.999999960452,6.39683444757e-05,-0.000273015246741,2.16089842837e-05,1793250823133530112
+65,1.083333333,BASELINE,768,746,723,687,669,642,886.72252361,786,819,655,632,655,0.400972508968,0.00449270464683,0.0698298351001,0.999999961027,6.10304641631e-05,-0.00027155364893,2.18848459552e-05,1793250823150196736
+66,1.100000000,BASELINE,768,746,723,686.693004752,669,642,886.693004752,786,819,655.306995248,632,655,0.400972404454,0.00449138175137,0.0698300746758,0.999999961217,5.83033518116e-05,-0.000271444360073,2.19932181425e-05,1793250823166863104
+67,1.116666667,BASELINE,768,746,723,686.115376648,669,642,886.115376648,786,819,655.884623352,632,655,0.400971175025,0.00449040687901,0.0698295119485,0.999999961069,5.57620429315e-05,-0.000272527204512,2.19539393089e-05,1793250823183529728
+68,1.133333333,BASELINE,768,746,723,686,669,642,886.459510978,786,819.459510978,655.540489022,632,655.459510978,0.400970794455,0.00449113750022,0.0698293302553,0.99999996082,5.80545354896e-05,-0.000272982404854,2.16742262204e-05,1793250823200196608
+69,1.150000000,BASELINE,768,746,723,686.034536038,669,642,886.965463962,786,820,655,632,656,0.400970707216,0.00449221021062,0.0698293327756,0.999999960594,6.13120227425e-05,-0.000273123071091,2.1381436888e-05,1793250823216863488
+70,1.166666667,BASELINE,768,746,723,686.622729312,669,642,886.377270688,786,820,655,632,656,0.400971925852,0.00449194274922,0.0698307638201,0.999999961271,6.06978147664e-05,-0.000270732782294,2.18410839618e-05,1793250823233530112
+71,1.183333333,BASELINE,768.207897586,746,723,687,669,642,886.207897586,786.207897586,819.792102414,655.207897586,632,655.792102414,0.400971943893,0.0044915881376,0.0698308949996,0.999999961401,6.0164521404e-05,-0.000270346052734,2.2169151384e-05,1793250823250196736
+72,1.200000000,BASELINE,768.787655232,746,723,687,669,642,886.787655232,786.787655232,819.212344768,655.787655232,632,655.212344768,0.400969814467,0.00449107764299,0.0698287011503,0.999999960553,5.97759574358e-05,-0.000273543027967,2.22618663809e-05,1793250823266863360
+73,1.216666667,BASELINE,769,746,723,687,669,642,887,786.635338291,819.364661709,656,632,655,0.400969931505,0.00449113791286,0.0698286920954,0.999999960609,5.93698697641e-05,-0.000273430779922,2.22215765515e-05,1793250823283529984
+74,1.233333333,BASELINE,769,746,723,687,669,642,887,786.059921877,819.940078123,656,632,655,0.40097134688,0.0044915280537,0.0698299457333,0.999999961187,5.89536543646e-05,-0.000271405979963,2.21044171349e-05,1793250823300196608
+75,1.250000000,BASELINE,768.484576928,746,723,686.484576928,669,642,886.484576928,786,819.484576928,656,632,655,0.400970506951,0.00449208239527,0.0698299157202,0.999999960964,6.08699146209e-05,-0.0002718043108,2.21116480146e-05,1793250823316863232
+76,1.266666667,BASELINE,768,746,722.906930186,686.093069814,669,642,886.093069814,786,819.093069814,655.906930186,632,655,0.400969742439,0.00449241331639,0.0698298838136,0.999999960767,6.2203009001e-05,-0.00027222606862,2.21245816996e-05,1793250823333529856
+77,1.283333333,BASELINE,768,746,722.316949559,686.683050441,669,642,886.683050441,786,819.683050441,655.316949559,632,655,0.40097078029,0.00449144946166,0.0698306384661,0.999999961224,5.89749129956e-05,-0.000271269044513,2.20907633145e-05,1793250823350196480
+78,1.300000000,BASELINE,768,746,722.268212594,687,669.268212594,642,887,786,819.731787406,655,632,655.268212594,0.400972445576,0.00449099312474,0.0698312338081,0.999999961707,5.78911841108e-05,-0.000269714940186,2.20915247819e-05,1793250823366863360
+79,1.316666667,BASELINE,768,746,722.847781154,687,669.847781154,642,887,786,819.152218846,655,632,655.847781154,0.400974839221,0.00449112594256,0.0698316442135,0.999999962228,5.92967550312e-05,-0.00026746771229,2.21324284508e-05,1793250823383529984
+80,1.333333333,BASELINE,768,746.424044591,723,687,669.575955409,642,887,786,819.424044591,655,632.424044591,655.575955409,0.400973246035,0.004492201921,0.0698303679216,0.999999961495,6.10250138393e-05,-0.000269821233854,2.19849799789e-05,1793250823400197120
+81,1.350000000,BASELINE,768,746.999130815,723,687,669.000869185,642,887,786,819.999130815,655,632.999130815,655.000869185,0.400970232768,0.00449361384648,0.0698284908402,0.9999999603,6.28682118642e-05,-0.000273813509079,2.1770441833e-05,1793250823416864512
+82,1.366666667,BASELINE,768,746.427364917,723,687,669,642,887,786,819.427364917,655,632.427364917,655,0.400969549428,0.00449323275324,0.0698280498023,0.999999960264,6.15105573657e-05,-0.000274254482621,2.17348128658e-05,1793250823433530880
+83,1.383333333,BASELINE,768,746,723,686.849139628,669,642,886.849139628,786,819,655.150860372,632,655.150860372,0.400969569125,0.00449257705044,0.0698282313563,0.9999999605,5.98585104143e-05,-0.000273760006208,2.17408687166e-05,1793250823450197248
+84,1.400000000,BASELINE,768,746,723,686.257100982,669,642,886.257100982,786,819,655.742899018,632,655.742899018,0.400971634478,0.00449112621241,0.0698302272702,0.999999961518,5.73597066099e-05,-0.000270545606766,2.18680362802e-05,1793250823466863616
+85,1.416666667,BASELINE,768.326668837,746,723,686.326668837,669,642,886,786,819,656,632,655.673331163,0.400972322635,0.00449070375192,0.0698310168322,0.999999961789,5.64280279536e-05,-0.000269726360783,2.20137383625e-05,1793250823483530240
+86,1.433333333,BASELINE,768.904091402,746,723,686.904091402,669,642,886,786,819,656,632,655.095908598,0.400971953643,0.0044910706827,0.0698308803885,0.999999961495,5.6699287796e-05,-0.000270745654788,2.21736676889e-05,1793250823500197376
+87,1.450000000,BASELINE,768.521382076,746,723,687,669,642,886,786.478617924,819,655.521382076,632,655,0.400970911563,0.0044914806971,0.0698302289585,0.999999961076,5.78364981849e-05,-0.000272064582337,2.20130814047e-05,1793250823516863744
+88,1.466666667,BASELINE,768,746,723,687,669,642,886,786.945985761,819,655,632,655.054014239,0.400969745735,0.00449191922753,0.0698294300881,0.999999960633,5.91347571295e-05,-0.000273423291413,2.18192874385e-05,1793250823533530112
+89,1.483333333,BASELINE,768,746,723,687,669,642,886,786.356241286,819,655,632,655.643758714,0.400968682262,0.00449255547545,0.0698281862366,0.999999960242,6.03196236558e-05,-0.000274584627233,2.19293216774e-05,1793250823550196736
+90,1.500000000,BASELINE,768,746,723,687,669,642,886,786,819,655,632,656,0.400968577251,0.00449306629971,0.0698278283735,0.999999960144,6.11647056479e-05,-0.000274754262703,2.19205184018e-05,1793250823566863360
+91,1.516666667,BASELINE,768,746,723,687,669,642,886,786,819,655,632,656,0.400969934505,0.00449338577288,0.069828822208,0.999999960497,6.14913994897e-05,-0.000273410922779,2.17304121427e-05,1793250823583529984
+92,1.533333333,BASELINE,768,746,723,687,669,642,886,786,819,655.389300725,632,656,0.400969697145,0.00449261402034,0.0698285952983,0.999999960397,6.04901673253e-05,-0.000273989429555,2.18124012687e-05,1793250823600196608
+93,1.550000000,BASELINE,768,746,723,687,669,642,886,786,819,655.964440034,632,656,0.400968698572,0.00449132135474,0.069827785648,0.999999960079,5.88550296425e-05,-0.000275485358775,2.20242792217e-05,1793250823616863488
+94,1.566666667,BASELINE,768,746,723,687,669,642,886,786,819,655.461824739,632,656,0.400970245219,0.00449088572295,0.0698288616423,0.999999960757,5.99820335786e-05,-0.000272766183007,2.20787566808e-05,1793250823633530880
+95,1.583333333,BASELINE,768.115499464,746,723,687,669,642,886,786,819,655,632,656,0.400971650695,0.00449087842892,0.0698298391289,0.999999961298,6.12796347357e-05,-0.000270483119267,2.20794436174e-05,1793250823650198272
+96,1.600000000,BASELINE,768.708029034,746,723,687,669,642,886,786,819,655,632,656,0.400971780336,0.00449240695809,0.069829896511,0.999999961044,6.2530001646e-05,-0.000271148571243,2.19008104525e-05,1793250823666864896
+97,1.616666667,BASELINE,768.707475283,746,723,686.707475283,669,642,886,786,819.292524717,655,632,655.707475283,0.400971219415,0.0044925968954,0.0698298956018,0.999999960913,6.1774607081e-05,-0.000271807190343,2.19015981762e-05,1793250823683531264
+98,1.633333333,BASELINE,768.130783975,746,723,686.130783975,669,642,886,786,819.869216025,655,632,655.130783975,0.400969987662,0.00449148648749,0.0698298380668,0.999999960895,5.90707603345e-05,-0.000272459171758,2.20766803181e-05,1793250823700197376
+99,1.650000000,BASELINE,768,746,723,686.444672109,669.444672109,642,886,786,820,655.444672109,632,655,0.400970231163,0.00449198241155,0.0698299917917,0.999999960781,5.92794054514e-05,-0.000272829551268,2.20915884842e-05,1793250823716864000
+100,1.666666667,BASELINE,768.020230184,746,723,687,669.979769816,642,886,786.020230184,819.979769816,656,632,655,0.400970909014,0.00449288033491,0.0698301950233,0.99999996066,6.02625119314e-05,-0.000273060868082,2.20629095799e-05,1793250823733530368
+101,1.683333333,BASELINE,768.608832604,746,723,687,669.391167396,642,886,786.608832604,819.391167396,656,632,655,0.400971633508,0.00449183587819,0.0698300483169,0.999999961102,5.90045084435e-05,-0.000271705666396,2.21295220381e-05,1793250823750196736
+102,1.700000000,BASELINE,769.194231781,746,723,687,669,642,886,786.805768219,819,655.805768219,632,655,0.400971583732,0.00449164776746,0.0698298267333,0.999999961249,5.87518011321e-05,-0.000271222759901,2.21165764933e-05,1793250823766863616
+103,1.716666667,BASELINE,769.773284476,746,723,687,669,642,886,786.226715524,819,655.226715524,632,655,0.400969999937,0.00449315628883,0.0698294567995,0.99999996081,6.04908328755e-05,-0.000272468084818,2.19460069752e-05,1793250823783530752
+104,1.733333333,BASELINE,769.649099558,746,723,687,669,642,886,786,819.350900442,655,632.350900442,655.350900442,0.400970067522,0.00449246034751,0.0698296825098,0.999999960909,5.95692962359e-05,-0.000272307090387,2.19800329624e-05,1793250823800197632
+105,1.750000000,BASELINE,769.072408016,746,723,687,669,642,886,786,819.927591984,655,632.927591984,655.927591984,0.400971197709,0.00449034591835,0.0698302914943,0.999999961348,5.69357851078e-05,-0.000271241183014,2.21457083662e-05,1793250823816864256
+106,1.766666667,BASELINE,768.501429444,746,723.498570556,686.501429444,669.498570556,642,886,786,819.501429444,655,632.501429444,655.501429444,0.400971546671,0.00449074105389,0.069830686683,0.99999996148,5.71911886013e-05,-0.000270708981498,2.20357144075e-05,1793250823833530624
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,687,669,642,886,786,819,655,632,655,0.400971996077,0.00449259038846,0.0698304950628,0.999999961163,6.07873122651e-05,-0.000271089486891,2.21329472337e-05,1793250823876243200
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.421017448,746,723,687,669,642,886.578982552,786,819.578982552,655,632.578982552,655,0.400971787946,0.00449127085957,0.0698308013266,0.999999961225,6.02672300288e-05,-0.000270959622013,2.23333076694e-05,1793250823892910336
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886.842463266,786,819.842463266,655.157536734,633,655,0.400971607884,0.00449034343577,0.069831008613,0.999999961259,5.99326522555e-05,-0.000270893743321,2.24998855858e-05,1793250823909577472
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886.265050669,786,819.265050669,655.734949331,633,655,0.400971502634,0.00449046107248,0.0698309520995,0.99999996122,6.00924914109e-05,-0.000270998404216,2.25764244546e-05,1793250823926244096
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.311300163,746.311300163,723,687,669,642,886.311300163,786,819,656,632.688699837,655.311300163,0.400972310242,0.00449130058949,0.0698316427364,0.999999961518,6.01212144487e-05,-0.000269902866633,2.23918833607e-05,1793250823942910464
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.886750015,746.886750015,723,687,669,642,886.886750015,786,819,656,632.113249985,655.886750015,0.400973892442,0.00449275264861,0.0698329673581,0.999999962101,6.00386806074e-05,-0.000267788916296,2.19858062695e-05,1793250823959576320
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.528560003,746.528560003,723,687,669,642.471439997,886.528560003,786.471439997,819,655.528560003,632.471439997,656,0.400971351436,0.00449259472324,0.0698310148004,0.999999961263,5.96057025591e-05,-0.000271008596115,2.17900315011e-05,1793250823976242688
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.057900479,746,723,687,669,642.942099521,886,786.942099521,819,655.057900479,632.942099521,655.942099521,0.400968406857,0.00449203945023,0.0698286413693,0.999999960256,5.90808086946e-05,-0.000274823307539,2.16865126728e-05,1793250823992909312
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.639893553,746,723,687,669,642.360106447,886,786.360106447,819,655.639893553,632.360106447,655.360106447,0.400970953995,0.00449145826178,0.0698297266824,0.999999961003,5.85011649462e-05,-0.00027219476675,2.19516374944e-05,1793250824009575936
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.782205363,746,723,686.782205363,669,642,886,786,819,656,632,655.217794637,0.400975561206,0.00449115636715,0.0698321006564,0.999999962039,5.80071930992e-05,-0.000268452054947,2.2171510283e-05,1793250824026242560
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.210945344,746,723,686.210945344,669,642,886,786,819,656,632,655.789054656,0.400983511773,0.00449130774681,0.0698365660362,0.999999963531,5.76522607793e-05,-0.000262901122183,2.23179421781e-05,1793250824042909184
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,746,723,686,669.372972883,642,886.372972883,786,819.372972883,656,632,655.627027117,0.401006069411,0.00449228756494,0.0698463988281,0.999999967587,5.93064342744e-05,-0.000246599776151,2.22883847885e-05,1793250824059576064
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,746,723,686,669.964301883,642,886.964301883,786,819.964301883,656,632,655.035698117,0.401037178727,0.00449375239048,0.0698593739593,0.999999972735,6.21368340941e-05,-0.000224004624743,2.21557948816e-05,1793250824076242688
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,723,686.544959024,669.455040976,642,886.455040976,786,819.455040976,656,632,655.544959024,0.401089279202,0.0044925249829,0.0698756063666,0.999999978487,5.97368787225e-05,-0.000197426849292,2.19064646671e-05,1793250824092909312
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886,786,819,655.875904074,632,656,0.401145455276,0.00449160295125,0.0698904295737,0.999999982912,5.76500423858e-05,-0.000174322786943,2.15506457373e-05,1793250824109576192
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886,786,819,655.299806898,632,656,0.401211563919,0.00449242322544,0.069899357733,0.999999984525,5.79276697654e-05,-0.000164803197184,2.08342760396e-05,1793250824126243840
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.280702184,746,723,687,669.280702184,642,886.280702184,786,819.280702184,655.280702184,632,656,0.40128576574,0.0044930317861,0.0699057826114,0.999999986082,5.62030752204e-05,-0.000155859228489,1.96076204444e-05,1793250824142910720
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.865998661,746,723,687,669.865998661,642,886.865998661,786,819.865998661,655.865998661,632,656,0.401368749588,0.00449341061308,0.0699094911405,0.999999987589,5.23058386098e-05,-0.000147539875705,1.78272457541e-05,1793250824159577344
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.553522544,746,723,686.553522544,669.553522544,642,886.553522544,786,819.553522544,656,632,655.553522544,0.401463377945,0.00449268451344,0.0699066932524,0.999999987123,4.8596578235e-05,-0.000152152298537,1.55395803816e-05,1793250824176243456
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,723,686.025517288,669.025517288,642,886,786,819.025517288,656,632,655.025517288,0.401562758816,0.00449179211326,0.0699021323893,0.999999986039,4.51370110347e-05,-0.000160351730648,1.3088423064e-05,1793250824192909824
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,723,686.604373703,669.604373703,642,886,786,819.604373703,656,632,655.604373703,0.401690220656,0.00449440791508,0.0699012351955,0.999999985598,4.58816646476e-05,-0.000163069806978,1.03583094215e-05,1793250824209576448
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669.817646485,642,886.182353515,786,819.817646485,656,632.182353515,655.817646485,0.401828701588,0.00449625788898,0.0699016522234,0.999999985604,4.52723145269e-05,-0.000163362196727,7.42720708926e-06,1793250824226243072
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746,723,687,669.241559485,642,886.758440515,786,819.241559485,656,632.758440515,655.241559485,0.401990974672,0.00449645430461,0.0699049068885,0.999999986573,4.17394308242e-05,-0.00015841709987,4.0621349892e-06,1793250824242909952
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886.664264579,786,819,656,632.664264579,655.335735421,0.402170794194,0.00449652968578,0.0699107009186,0.999999988282,3.74064033311e-05,-0.00014844731823,4.10577825142e-07,1793250824259576832
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886.086097394,786,819,656,632.086097394,655.913902606,0.402363283868,0.00449651766898,0.0699183286034,0.999999990374,3.24955982734e-05,-0.000134849252857,-3.44784817501e-06,1793250824276243456
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.49926805,746,723,687,669,642.49926805,886,786,819.49926805,655.50073195,632,655.50073195,0.402593828956,0.00449653976434,0.0699203569051,0.9999999912,2.33030948932e-05,-0.000130331394268,-8.38592768034e-06,1793250824292909824
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669,643,886.084541849,786,820,655.084541849,632,655,0.402835930327,0.00449659065788,0.0699219320268,0.999999991798,1.3706714265e-05,-0.000126628602393,-1.34913052995e-05,1793250824309576192
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,723,687,669,643,886.661939203,786,820,655.661939203,632,655,0.403106584206,0.00449677464161,0.0699265767503,0.9999999928,6.12328030884e-06,-0.000118415376392,-1.84707120938e-05,1793250824326242816
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,723,687,669.239092736,642.760907264,887,786,820,656,632.239092736,655.239092736,0.403396262928,0.00449617928021,0.0699327818255,0.999999994023,-1.99743217812e-06,-0.000106774680495,-2.34385101731e-05,1793250824342909696
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.815901839,642.184098161,887,786,820,656,632.815901839,655.815901839,0.403712814055,0.00449448310072,0.0699411908832,0.999999995461,-1.08770453669e-05,-9.02927142663e-05,-2.83899107441e-05,1793250824359576320
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,723,687,670,642,887,786,819.600649064,656,632.600649064,656,0.404044531103,0.00448722646529,0.0699462362846,0.999999995776,-2.43946567596e-05,-8.26096769516e-05,-3.20666257625e-05,1793250824376243200
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,723,687,670,642,887,786,819.014087232,656,632.014087232,656,0.404383357743,0.00447736315535,0.0699497048443,0.999999995454,-4.00865054274e-05,-7.90514716713e-05,-3.51457834498e-05,1793250824392910336
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.431544116,642,886.431544116,786,819,655.431544116,632,656,0.404787294316,0.00447463301584,0.0699562633614,0.999999995559,-4.79253187845e-05,-7.0844180749e-05,-3.95820082555e-05,1793250824409576704
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,723,687.14858473,669.14858473,642,886,786.14858473,819,655,632,656,0.405197800271,0.00447610611682,0.069961703199,0.999999996787,-3.12257683844e-05,-6.27874642711e-05,-3.88477674426e-05,1793250824426243328
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,723,687.722091952,669.722091952,642,886,786.722091952,819,655,632,656,0.405622511299,0.0044890976607,0.0699637263879,0.999999996673,5.50959365456e-05,-5.54885309323e-05,-2.32315315218e-05,1793250824442910208
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,723,688.295628396,669.704371604,642,886.295628396,786.704371604,819,655,632,656,0.406060698136,0.00449589897595,0.0699598053768,0.999999993468,9.44868222935e-05,-6.15223455539e-05,-1.8757808114e-05,1793250824459576576
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,723,688.869192381,669.130807619,642,886.869192381,786.130807619,819,655,632,656,0.406511554329,0.00449688053771,0.069950295915,0.999999992458,8.97556212998e-05,-8.00909674585e-05,-2.47597369066e-05,1793250824476242944
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,723,689.458528338,669,642,887,786,819.458528338,655,632.458528338,655.541471662,0.406991691283,0.00449904410116,0.0699337127782,0.999999993759,2.92436382583e-05,-0.000104370563769,-2.70898013178e-05,1793250824492910336
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.94899443,746,723.05100557,689.94899443,669,642,887,786,820,655,632.94899443,655,0.407490305081,0.00450240220987,0.0699176336264,0.99999999081,-4.18928782438e-05,-0.00012573626352,-2.85601601963e-05,1793250824509577472
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.372169901,746,723.627830099,689.372169901,669,642,887,786,820,655,632.372169901,655,0.40809021756,0.00451447492648,0.0699282943474,0.999999993123,-5.26668627044e-05,-9.96685773199e-05,-3.23511649973e-05,1793250824526244608
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.203937138,746,723.796062862,689.203937138,669.203937138,642,887,786.203937138,820,655,632,655.203937138,0.408696653794,0.00452351045222,0.069939089626,0.999999995392,-4.99563125005e-05,-7.39385451623e-05,-3.53928324702e-05,1793250824542911488
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.778739368,746,723.221260632,689.778739368,669.778739368,642,887,786.778739368,820,655,632,655.778739368,0.409314953615,0.00452702276511,0.0699501296007,0.999999997863,-2.27237778459e-05,-4.88225474388e-05,-3.70718099241e-05,1793250824559577856
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.638037315,746.361962685,723,690.361962685,669.638037315,642,887.361962685,787,819.638037315,655.361962685,632,656,0.409922264396,0.00453510834302,0.06994932778,0.999999998044,8.24864797693e-06,-4.85163266542e-05,-3.86102337076e-05,1793250824576244224
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.049543764,746.950456236,723,690.950456236,669.049543764,642,887.950456236,787,819.049543764,655.950456236,632,656,0.410522697768,0.00454605605473,0.0699411148852,0.999999996303,4.15616476908e-05,-6.37370671286e-05,-4.00606932457e-05,1793250824592910848
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.530611416,746.469388584,723,691,669,642.530611416,888,787,819.530611416,655.469388584,632,656,0.411196731102,0.00455414843461,0.0699402004612,0.999999994439,6.79714780887e-05,-6.97584213035e-05,-4.04398478383e-05,1793250824609577216
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,723.109450146,691.109450146,669.109450146,643,888,787,820,655,632.109450146,656,0.411896831646,0.00456140908675,0.0699465721383,0.999999993551,8.56026560427e-05,-6.25232652284e-05,-4.07566824371e-05,1793250824626243328
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,723.685942054,691.685942054,669.685942054,643,888,787,820,655,632.685942054,656,0.412679294339,0.00456624066578,0.0699811718681,0.999999996803,6.84817486851e-05,-2.32900092565e-06,-4.12278232255e-05,1793250824642910208
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,723.739362395,692,670,642.739362395,888.260637605,787,819.739362395,655,632.739362395,656,0.413453157242,0.00457257641483,0.0700081040249,0.999999996053,6.64917618838e-05,4.13415380764e-05,-4.19998281111e-05,1793250824659577088
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,723.16681649,692,670,642.16681649,888.83318351,787,819.16681649,655,632.16681649,656,0.414216728771,0.00458071222371,0.0700258603049,0.99999999353,8.26091359371e-05,6.52379351584e-05,-4.31318810316e-05,1793250824676243968
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,723.419000859,692,669.580999141,642.419000859,888.580999141,787,819.419000859,655.419000859,632,656,0.414934975785,0.00458660423344,0.0699978464161,0.999999993623,0.000103534332937,1.18045608053e-05,-4.35340850745e-05,1793250824692910592
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.989993764,746.010006236,723.989993764,692.010006236,669,642.989993764,888.020012472,787,820.010006236,655.989993764,632.010006236,655.989993764,0.415636381347,0.00459165216434,0.0699512415455,0.999999988488,0.000125761512108,-7.27948017328e-05,-4.36934160039e-05,1793250824709576704
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.414172176,746.585827824,723.414172176,692.585827824,669,642.414172176,889.171655648,787,820.585827824,655.414172176,632.585827824,655.414172176,0.416439223019,0.00460113695087,0.0699175018213,0.999999985434,0.000109833405623,-0.000121865990081,-4.70875358752e-05,1793250824726243072
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746.837809147,723,693,669.162190853,642.162190853,889.837809147,787,821,655.162190853,632.837809147,655.162190853,0.417269183128,0.00460887763645,0.0699028799931,0.999999983324,0.000103899341284,-0.0001418486834,-4.93614777774e-05,1793250824742909440
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746.260058895,723,693,669.739941105,642.739941105,889.260058895,787,821,655.739941105,632.260058895,655.739941105,0.418168625043,0.00461214965058,0.0699372413321,0.999999987365,0.000123571643227,-8.73019087939e-05,-4.87653411136e-05,1793250824759576064
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746.323641921,723,692.676358079,669.676358079,642.676358079,889.323641921,787,821.323641921,655.676358079,632,656,0.419055927591,0.00461548933289,0.06996673838,0.999999988394,0.000138091336921,-4.2462060132e-05,-4.83763770097e-05,1793250824776242688
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746.912213779,723,692.087786221,669.087786221,642.087786221,889.912213779,787,821.912213779,655.087786221,632,656,0.419933292934,0.00461888440751,0.0699922535677,0.999999987815,0.000148393157806,-5.56820365564e-06,-4.81570022968e-05,1793250824792909568
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.491556408,746.508443592,723,692,669,642,890.491556408,787.491556408,822.491556408,655.491556408,632.491556408,656,0.420846108747,0.0046092983156,0.0700167405318,0.999999990303,0.000126825628181,2.98785954297e-05,-4.91498373525e-05,1793250824809576192
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.930833723,746,723,692.069166277,669.069166277,642,891,787.861667445,823,655.930833723,632.930833723,656,0.421759215335,0.00459577054941,0.0700344766169,0.999999992217,0.000100355027831,5.46662031498e-05,-5.00700360119e-05,1793250824826243072
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.354067402,746,723,692.645932598,669.645932598,642,891,786.708134803,823,655.354067402,632.354067402,656,0.42262884922,0.00457001544487,0.0700039918724,0.999999995687,7.89007644327e-05,3.08932828452e-06,-4.88976888908e-05,1793250824842909696
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.223171986,746,723,693.223171986,669.776828014,642,891,786.223171986,823,655,632,656,0.423490107876,0.00455778742537,0.0699508775809,0.999999993765,5.97565798548e-05,-8.01971497841e-05,-4.96803827248e-05,1793250824859576320
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.801163587,746,723,693.801163587,669.198836413,642,891,786.801163587,823,655,632,656,0.424338050946,0.00456706602202,0.0698617847223,0.999999974708,4.42851699693e-05,-0.000213898517007,-5.35713822259e-05,1793250824876242688
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746.387628621,723,694.387628621,669,642.387628621,891,787,823.387628621,655,631.612371379,655.612371379,0.425259740575,0.00457577014541,0.0698525518877,0.999999972759,5.6082484543e-05,-0.000219802736185,-5.49860926459e-05,1793250824892909312
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746.978537252,723,694.978537252,669,642.978537252,891,787,823.978537252,655,631.021462748,655.021462748,0.426220104287,0.00458417300325,0.0698851992131,0.999999982514,8.21800511913e-05,-0.000158687630545,-5.51021886783e-05,1793250824909575936
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669.557793409,643,891.557793409,787,824,655,631.557793409,655.557793409,0.427205287643,0.00458719064789,0.0699485732678,0.999999990875,9.87254195309e-05,-7.58598547666e-05,-5.24226997939e-05,1793250824926242816
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.865020497,723,695,669.865020497,643,892.134979503,787,824.134979503,655,632,656,0.428193071653,0.00458988170448,0.0700067111414,0.999999992926,0.000107572644163,3.20470145985e-06,-5.06531138141e-05,1793250824942909440
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746.293113553,723,695,669.293113553,643,892.706886447,787,824.706886447,655,632,656,0.429186245802,0.00459217261636,0.0700441507542,0.999999992072,9.26664547568e-05,6.74387095923e-05,-5.21699491947e-05,1793250824959576064
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.2873261,723,695,669,643,893,787,825,655,632,656,0.430136919925,0.00459378940998,0.0700484598707,0.999999991743,8.90654794514e-05,7.56295313945e-05,-5.35012356336e-05,1793250824976242944
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.876736704,723,695,669,643,893,787,825,655,632,656,0.431042910959,0.00459469745934,0.0700179367522,0.999999993459,9.73504077105e-05,2.48985241766e-05,-5.4637442455e-05,1793250824992909568
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.541248265,747,723,695,669,643,893.458751735,787,825,655,632,656,0.431878578585,0.00458716474813,0.0699414261613,0.999999988591,9.45019531057e-05,-0.000104353520039,-5.47503777278e-05,1793250825009576192
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.038528394,747,723,695,669,643,894,787,825,655.038528394,632.038528394,656,0.43270626521,0.00457777746798,0.0698614215292,0.999999966131,8.79052260219e-05,-0.00023878400378,-5.47081302053e-05,1793250825026242816
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.614361163,747,723,695,669,643,894,787,825,655.614361163,632.614361163,656,0.433681978864,0.00457365358394,0.0699022760826,0.999999983812,7.00924025413e-05,-0.000155872830065,-5.6275239215e-05,1793250825042909440
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.19033298,723,694.80966702,669.38066596,643,894,786.80966702,825.19033298,655.80966702,632.80966702,656,0.434651992418,0.00457137886047,0.0699465569738,0.999999993799,6.11366627822e-05,-7.36549762586e-05,-5.69211835262e-05,1793250825059576320
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.766586836,723,694.233413164,670.533173672,643,894,786.233413164,825.766586836,655.233413164,632.233413164,656,0.435610448575,0.00457285351101,0.0699977851459,0.999999995963,7.01396236551e-05,7.15710950756e-06,-5.5699366659e-05,1793250825076242944
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.649646556,723,694.350353444,670.649646556,643,894.350353444,786,826,655,632,656,0.436544599209,0.00457302916219,0.0700239618159,0.999999994145,7.72293858594e-05,5.17339729627e-05,-5.54006537344e-05,1793250825092909312
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747.060765144,723,694.939234856,670.060765144,643,894.939234856,786,826,655,632,656,0.437462202074,0.0045723204273,0.070033082895,0.999999992435,8.30166019714e-05,7.16411327687e-05,-5.57304095527e-05,1793250825109575936
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.480573653,747,723,695,669.480573653,643,895,786,826,655,632,656,0.438305284183,0.00457511631807,0.0699983862106,0.999999995276,7.10000455052e-05,3.15937496105e-05,-5.83925420583e-05,1793250825126242560
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,723,695,669,643,895.098326665,786,826.098326665,655,632.098326665,656,0.439118523435,0.00457871194591,0.0699513559754,0.999999995738,6.20564195097e-05,-3.19056668733e-05,-6.04522723165e-05,1793250825142909184
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,723,695,669,643,895.67580739,786,826.67580739,655,632.67580739,656,0.439828119552,0.00458423972344,0.0698687918402,0.999999979754,7.80699770733e-05,-0.000176072421212,-5.82686873418e-05,1793250825159576064
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747,723,695,668.749652071,642.749652071,895.749652071,786,827,655,632.749652071,656,0.440583828859,0.00459089573899,0.0698226770383,0.999999961668,9.6062006981e-05,-0.000253284330911,-5.73070151151e-05,1793250825176243200
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747,723,695,668.178874827,642.178874827,895.178874827,786,827,655,632.178874827,656,0.441398560043,0.00459899582653,0.0698232150549,0.999999961564,0.000116586355221,-0.000244798320483,-5.7909314317e-05,1793250825192910592
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747,723,695.406452113,668,642,895,786,827,655,632,656,0.44221230295,0.00460806826559,0.0698516222135,0.999999969432,0.000126532291211,-0.000204441990173,-5.77003817433e-05,1793250825209577216
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,723,695.998419979,668,642,895,786,827,655,632,656,0.443025594851,0.00461758451294,0.0698927496034,0.999999978522,0.000131649954859,-0.000149539181542,-5.71211809313e-05,1793250825226243072
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,723,695.421745653,668,641.421745653,895,786,827,655.578254347,632,656,0.443746219114,0.00462646739053,0.0698782085005,0.999999972868,0.000133287208041,-0.000182273971098,-5.72191327894e-05,1793250825242909696
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.156710996,747.156710996,723,695,667.843289004,641.156710996,895.156710996,786,827.156710996,655.843289004,632,656,0.444448890059,0.00463417903979,0.0698543759261,0.999999963106,0.000139652431052,-0.000225895072441,-5.70595609037e-05,1793250825259576320
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.731578211,747.731578211,723,695,667.268421789,641.731578211,895.731578211,786,827.731578211,655.268421789,632,656,0.445104317582,0.0046387699935,0.0698061481958,0.99999994145,0.000158658278931,-0.000297938594971,-5.6207995748e-05,1793250825276243456
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747.693148744,723,695,666.693148744,641.693148744,896,785.693148744,827.693148744,655,632,656,0.445751587931,0.00464440140864,0.0697697969934,0.999999922159,0.000175007878022,-0.000349217776156,-5.56836745878e-05,1793250825292910336
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+248,4.133333333,POSE1_TO_POSE2_PRESS,768.800898568,747,723,695,653,636.199101432,897,784,827.199101432,655,632,656.199101432,0.455621093062,0.00480062973022,0.069555109415,0.999999701402,0.000338696348207,-0.000691405465667,-6.66221420076e-05,1793250826226243072
+249,4.150000000,HOLD_POSE2,769,748,723,695,653,636,898,783,828,655,631,656,0.455620597303,0.00480023438689,0.0695535095367,0.999999698863,0.000338915824665,-0.000694918532837,-6.70711906297e-05,1793250826260346880
+250,4.166666667,HOLD_POSE2,768.420700048,747.420700048,723,695.579299952,653.579299952,636,897.420700048,783,828,655.579299952,631,656,0.455621505398,0.00480111571499,0.0695534946975,0.9999996991,0.000339322717068,-0.000694338766791,-6.74828064813e-05,1793250826277013248
+251,4.183333333,HOLD_POSE2,768.158061477,747,723,696,653.841938523,636,897,783,828,655.841938523,631.158061477,656,0.455622419198,0.00480158630896,0.0695537857374,0.999999699687,0.000339654689671,-0.000693312495797,-6.7663104777e-05,1793250826293679872
+252,4.200000000,HOLD_POSE2,768.735394908,747,723,696,653.264605092,636,897,783,828,655.264605092,631.735394908,656,0.455623348134,0.00480096739479,0.0695548881485,0.999999701201,0.00033978793101,-0.000691101831082,-6.72298130274e-05,1793250826310346752
+253,4.216666667,HOLD_POSE2,769,747,723,696,653,636,897,783,828,655,632,656,0.455623600948,0.00480047082542,0.0695552263429,0.99999970168,0.000339218108945,-0.000690708292861,-6.70345818923e-05,1793250826327013376
+254,4.233333333,HOLD_POSE2,769,747,723,696,653,636,897,783,828,655,632,656,0.455623281683,0.00480007777423,0.0695549179198,0.999999701283,0.000338053412312,-0.000691852258099,-6.70407781402e-05,1793250826343680000
+255,4.250000000,HOLD_POSE2,769,747.472227904,723,696,653,636,897,783,828,655.472227904,632,656.472227904,0.455623411829,0.00480033426851,0.069554252965,0.999999700983,0.000337440160408,-0.000692555659807,-6.73334511661e-05,1793250826360346368
+256,4.266666667,HOLD_POSE2,768.941443149,748,723,696,653,636.058556851,897,783.058556851,828,656,631.941443149,657,0.455623538011,0.00480058686415,0.069553558667,0.999999700695,0.000336973977524,-0.000693169963724,-6.76254338462e-05,1793250826377012992
+257,4.283333333,HOLD_POSE2,768.361398659,748,723,696,653,636.638601341,897,783.638601341,828,656,631.361398659,657,0.455622655876,0.00479939839591,0.0695533749823,0.999999700299,0.000336623597912,-0.000693944665574,-6.72910119782e-05,1793250826393679616
+258,4.300000000,HOLD_POSE2,768.216866519,747.783133481,723,695.783133481,652.783133481,636.783133481,897,783.783133481,827.783133481,656,631,656.783133481,0.455622254379,0.00479933252182,0.0695532831699,0.999999699759,0.000337540397762,-0.000694281833322,-6.72366192757e-05,1793250826410345984
+259,4.316666667,HOLD_POSE2,768.792190624,747.207809376,723,695.207809376,652.207809376,636.207809376,897,783.207809376,827.207809376,656,631,656.207809376,0.455622647329,0.00480112217813,0.069553343213,0.999999698979,0.000340551712256,-0.000693895803053,-6.76450854163e-05,1793250826427012608
+260,4.333333333,HOLD_POSE2,769,747,723,695.366381373,652.366381373,636,897,783.366381373,827.366381373,656,631.366381373,656,0.455623293586,0.00480159556313,0.0695536419637,0.999999698753,0.000341404004443,-0.000693847844186,-6.71738947889e-05,1793250826443679232
+261,4.350000000,HOLD_POSE2,769,747,723,695.939931323,652.939931323,636,897,783.939931323,827.939931323,656,631.939931323,656,0.455624083074,0.00480132466903,0.0695540756905,0.999999698844,0.000341035488173,-0.000693991046127,-6.62053065277e-05,1793250826460346112
+262,4.366666667,HOLD_POSE2,769,747,723,696,653,636,897,783.470015796,828,655.470015796,631.470015796,656,0.455623449702,0.00480046922901,0.0695530339818,0.999999699012,0.000338945342398,-0.000694741266989,-6.65274257231e-05,1793250826477012992
+263,4.383333333,HOLD_POSE2,769,747,723,695.880285097,653,636,897,783,828,655.119714903,631.119714903,656,0.455622995842,0.00479984985109,0.069552262682,0.999999699213,0.000337398867018,-0.000695167567446,-6.69118247125e-05,1793250826493679616
+264,4.400000000,HOLD_POSE2,769,747,723,695.299235434,653,636,897,783,828,655.700764566,631.700764566,656,0.455623875185,0.00480040368246,0.0695531985702,0.999999699524,0.000338723609604,-0.000694071955804,-6.69543650096e-05,1793250826510346240
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,636,898,784,828,656,632,656,0.455623586071,0.00479832838918,0.0695529237476,0.999999700418,0.000333640358329,-0.000695251743234,-6.68813826595e-05,1793250826548033280
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.425003197,652.425003197,636.574996803,897.425003197,784,828,655.425003197,632,656,0.455623723669,0.00479907765937,0.0695525640728,0.999999700203,0.000335075703225,-0.000694871013099,-6.68692259551e-05,1793250826564699904
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.155237012,652.155237012,636.844762988,897,784,828,655.155237012,631.844762988,656,0.455623659222,0.00480002726426,0.0695522254532,0.999999699793,0.000336595559605,-0.000694718513779,-6.69568447082e-05,1793250826581366528
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.750334421,652.750334421,636.249665579,897,784,828,655.750334421,631.249665579,656,0.455623022286,0.00480154451298,0.0695519464931,0.999999698831,0.000338354877609,-0.000695212700984,-6.73271748554e-05,1793250826598033152
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,636,897,784,828,656,631.333590177,656,0.455622911983,0.00480110218075,0.0695517978563,0.999999698652,0.000338343807664,-0.000695485422148,-6.72245725013e-05,1793250826614699776
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,636,897,784,828,656,631.908287182,656,0.45562318231,0.0047992435347,0.0695517434124,0.999999699039,0.000337053165696,-0.000695598075695,-6.67801517409e-05,1793250826631366400
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.516952718,747,723,696,653,636,897,783.516952718,828,656,632,656,0.455621799208,0.00480016214188,0.0695513865535,0.999999697835,0.000336976903151,-0.000697348561482,-6.69430743541e-05,1793250826648033024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,652.94187713,636,897.05812287,783.05812287,827.94187713,656,632,656.05812287,0.455620479299,0.00480141713437,0.0695510743513,0.999999696634,0.000337182176986,-0.000698948565916,-6.71658459367e-05,1793250826664699648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,652.364087922,636,897.635912078,783.635912078,827.364087922,656,632,656.635912078,0.455622531494,0.0048009645969,0.0695516748436,0.999999698192,0.000337842900928,-0.000696422507562,-6.68925972121e-05,1793250826681366272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.219087328,747.219087328,723,696,652,636,897.780912672,783.780912672,827,656,631.780912672,656.780912672,0.455621991169,0.00480088513336,0.0695511933212,0.999999698262,0.000338479119267,-0.000696011356605,-6.68982327812e-05,1793250826698032896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.811438843,747.811438843,723,696,652,636,897.188561157,783.188561157,827,656,631.188561157,656.188561157,0.455617033904,0.00480144128464,0.0695488683453,0.999999695802,0.000339073586773,-0.000699203422918,-6.73790100483e-05,1793250826714699776
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,723,695.608792185,652.391207815,636,897.391207815,783.391207815,827.391207815,656,631,656,0.455600270728,0.00480102704728,0.0695416102811,0.999999687803,0.00033856585374,-0.000710791541589,-6.7396475772e-05,1793250826731366400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,723,695.03489893,652.96510107,636,897.96510107,783.96510107,827.96510107,656,631,656,0.455577994451,0.00480015965984,0.069532048573,0.999999677018,0.000337543417302,-0.000726300432044,-6.71975852317e-05,1793250826748033024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747.460381652,723,695.539618348,652.460381652,636,897.460381652,783.460381652,828,655.460381652,631,656.539618348,0.455528481381,0.00480025073681,0.0695129737908,0.999999653345,0.000336678477974,-0.000758580826239,-6.71693406294e-05,1793250826764699648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.882056354,747.117943646,723,695.882056354,652.117943646,636,897,783.117943646,828,655.117943646,631.117943646,656.882056354,0.455474938183,0.00480047620736,0.0694947996123,0.999999630672,0.000336678572091,-0.000787919081179,-6.69901765464e-05,1793250826781366016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.288539065,747.711460935,723,695.288539065,652.711460935,636,897,783.711460935,828,655.711460935,631.711460935,656.288539065,0.455412255589,0.00480099334673,0.0694827405108,0.999999619156,0.000340125545294,-0.000801015343993,-6.61579215651e-05,1793250826798032896
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.297271302,747.702728698,723,695.297271302,653,636,897,784,828,656,631.702728698,656,0.45534017403,0.00480028224562,0.0694732757364,0.999999608154,0.000341079874504,-0.000814319255779,-6.51254670172e-05,1793250826814699776
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.875790138,747.124209862,723,695.875790138,653,636,897,784,828,656,631.124209862,656,0.455259200139,0.00479840910964,0.0694662654481,0.999999597626,0.000339675920112,-0.000827819622872,-6.39036042783e-05,1793250826831366400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.554659555,653,636,897,784,828,655.554659555,631,656.445340445,0.455174208674,0.00479864084477,0.0694665673575,0.999999597273,0.000340322902179,-0.000828042453322,-6.30854434575e-05,1793250826848032768
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.013050167,653,636.013050167,897,784,827.986949833,655,631.013050167,657,0.455087347084,0.00479942073349,0.0694688729627,0.999999599742,0.000341564176568,-0.000824598900208,-6.23343402272e-05,1793250826864699648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.608025578,653,636.608025578,897,784,827.391974422,655,631.608025578,657,0.454966074145,0.0047989820981,0.0694713797769,0.999999603127,0.000344301859471,-0.000819538781825,-5.96517107597e-05,1793250826881366272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,636.802045664,897,784,827.197954336,655.197954336,631.802045664,656.802045664,0.454836901778,0.00479851837614,0.0694730753249,0.999999605356,0.000347881690229,-0.000815482300732,-5.70534248691e-05,1793250826898032896
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,636.221861553,897,784,827.778138447,655.778138447,631.221861553,656.221861553,0.454692476433,0.00479800621458,0.0694732043997,0.999999605393,0.000353087622906,-0.000813363742219,-5.46179981968e-05,1793250826914699520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.644758264,653,636.355241736,897,784,827.644758264,655.644758264,631,656,0.45453022501,0.00479787090469,0.0694735734264,0.999999604932,0.000358152464666,-0.000811886887991,-5.19866030112e-05,1793250826931366144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.069562465,653,636.930437535,897,784,827.069562465,655.069562465,631,656,0.45435693625,0.00479796892896,0.0694740910236,0.999999604152,0.000363129948049,-0.000810807355855,-4.92338702944e-05,1793250826948033024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.503827976,653,636.496172024,897,783.496172024,827,655,631.503827976,656,0.454162834226,0.00479924197603,0.0694790670164,0.999999611079,0.000367741845663,-0.000800268545844,-4.66725161504e-05,1793250826964699648
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.920351929,653.079648071,636.079648071,897,783.079648071,827,655.079648071,631.920351929,656,0.453960202564,0.00480001240432,0.0694854524597,0.999999619365,0.000372086451367,-0.000787973567035,-4.38014499414e-05,1793250826981366272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.327268198,653.672731802,636.672731802,897,783.672731802,827,655.672731802,631.327268198,656,0.453721044406,0.0047965007314,0.0694969697252,0.999999630355,0.000375032234195,-0.000772746743884,-3.87641605619e-05,1793250826998032896
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,654,637,896.742811669,784,827.257188331,656,631.257188331,656.257188331,0.453464521299,0.00479340794368,0.0695050053326,0.999999637549,0.000377718790522,-0.000762304527979,-3.35070910234e-05,1793250827014700032
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,747,723,695,654,637,896.168976857,784,827.831023143,656,631.831023143,656.831023143,0.453186618737,0.00479083088143,0.0695087543734,0.999999640281,0.00038008619091,-0.000757753051026,-2.79794317053e-05,1793250827031366656
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.592984409,747,723,695.407015591,654.407015591,637,896,784,827.592984409,656,631.592984409,656.592984409,0.452867676354,0.00479002165456,0.0695049427583,0.99999963451,0.000386647877436,-0.000762205071393,-2.29469492608e-05,1793250827048033280
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.016091437,747,723,695.983908563,654.983908563,637,896,784,827.016091437,656,631.016091437,656.016091437,0.452531605059,0.00478995027479,0.0694979755283,0.999999625069,0.000394960146299,-0.000770414909876,-1.81211404869e-05,1793250827064699904
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,657.463035494,637.463035494,895,784,827,655,631,656,0.450017345665,0.00476506887804,0.0695180846013,0.999999627576,0.000407268315505,-0.000760739615418,1.6009770435e-05,1793250827164699904
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.961056828,747,723,695,658.077886344,638,895.038943172,784.038943172,827,655,631,656,0.449539988289,0.00475309049956,0.0695330235284,0.999999646399,0.000390715534607,-0.000744447438046,1.84896123262e-05,1793250827181366528
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.368182363,747,723,695,659.263635274,638,895.631817637,784.631817637,827,655,631,656,0.449043685395,0.00472351103133,0.0695567358416,0.999999706536,0.000295827121027,-0.000706692512317,5.8333963877e-07,1793250827198033408
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.219993942,747,723,695.219993942,660,638,896,785,827,655.219993942,631,656.219993942,0.448515855995,0.00469921294159,0.0695788654899,0.999999746607,0.000234697902329,-0.000672052710027,-6.85691198154e-06,1793250827214700032
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.800471768,747,723,695.800471768,660,638,896,785,827,655.800471768,631,656.800471768,0.447936367031,0.00468356896389,0.0695984017691,0.999999767387,0.000228886787983,-0.0006425173865,2.85254576178e-06,1793250827231366912
+307,5.116666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.622454672,660.755090656,638.377545328,895.622454672,785,826.622454672,656,631.377545328,656.622454672,0.447313565536,0.00468336685546,0.0695916865797,0.999999758547,0.000235315516675,-0.000653796306212,9.11508936426e-06,1793250827248033536
+308,5.133333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.047164167,661.905671666,638.952835833,895.047164167,785,826.047164167,656,631.952835833,656.047164167,0.446668078455,0.00469125266423,0.0695712217789,0.999999733509,0.000248155051565,-0.000686452314479,1.35722583214e-05,1793250827264700160
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.475355011,747,723,695,662,639,894.475355011,785,826.524644989,655.475355011,632,656,0.446017539302,0.00468038749364,0.0695585286365,0.999999733338,0.000221280645591,-0.000695824185935,1.36981772394e-05,1793250827281366784
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,662.200695216,639.100347608,894,785,827,655.100347608,632,656,0.445368234838,0.00466908829076,0.0695550195753,0.999999742665,0.000191463153065,-0.000691257974527,1.31783740998e-05,1793250827298033664
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,663.393674813,639.696837406,894,785,827,655.696837406,632,656,0.444727265885,0.00466392250689,0.0695934872518,0.999999789154,0.000164629789816,-0.000628059558387,1.13784044592e-05,1793250827314700288
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,746.717042215,723,695,664,640,893.717042215,785.282957785,826.717042215,655.717042215,632,656,0.444048464998,0.00466003271921,0.0696325807014,0.999999830618,0.000145160081387,-0.000563510410653,1.22095888925e-05,1793250827331367168
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746.141638878,723,695,664,640,893.141638878,785.858361122,826.141638878,655.141638878,632,656,0.443330563568,0.00465746171213,0.0696723209113,0.999999867206,0.000133300932977,-0.000497565232987,1.57601515769e-05,1793250827348033792
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,746.4336728,723,695,664.8673456,640,893,786,826,655.4336728,632,656,0.442590799872,0.00465119024687,0.0697026117939,0.999999888649,0.000110654182292,-0.00045843953877,1.7049588566e-05,1793250827364700416
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746.990821099,723,695,666,640.009178901,892.981642198,786.009178901,826,655.990821099,632,656,0.44184405938,0.00464370893875,0.0697298078416,0.999999904569,8.72675929048e-05,-0.00042771036422,1.76370178187e-05,1793250827381366784
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746.4011236,723,695,666,640.5988764,891.8022472,786.5988764,826,655.4011236,632,656,0.441107560349,0.00463613164978,0.0697564153408,0.999999901025,0.000239871269163,-0.000374152481559,2.05219375328e-05,1793250827398033408
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746.185255802,723,695,666.370511604,641,891,787,825.814744198,655,632,655.814744198,0.440341554677,0.00462918134048,0.0697787745848,0.99999988948,0.000332899325837,-0.000331210170856,2.27393794363e-05,1793250827414700032
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,746.764577103,723,695,667.529154207,641,891,787,825.235422897,655,632,655.235422897,0.439512784217,0.00462356470677,0.0697920971827,0.999999906649,0.000299201548728,-0.000310848715319,2.35370016511e-05,1793250827431366912
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.657746772,668,641,891,786.657746772,825,655,632,655,0.438625050975,0.00461797055094,0.069768395794,0.999999904542,0.000265338279636,-0.000346385452962,2.30091191095e-05,1793250827448033536
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.081196911,668,641,891,786.081196911,825,655,632,655,0.437696953555,0.00461239178304,0.0697193488574,0.999999884724,0.00023136171971,-0.000420188471585,2.15738343217e-05,1793250827464700160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.507891678,723,694.492108322,667.507891678,641.492108322,891,786.492108322,825,655.492108322,632,655.492108322,0.436827205279,0.00460664463962,0.0697196329064,0.999999892095,0.000201141510188,-0.000418162073366,2.22019184772e-05,1793250827481366784
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746.06709879,723,695,667.06709879,642,891,787,824.93290121,656,632,655.93290121,0.435969104032,0.00460118918764,0.0697329841727,0.999999905864,0.00017307878151,-0.000397206727764,2.33005811017e-05,1793250827498033408
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,746.659444199,723,695,667.659444199,642,891,787,824.340555801,656,632,655.340555801,0.435127305735,0.00459823313661,0.0697853266284,0.999999934404,0.000157084826432,-0.000325375951065,2.54353255949e-05,1793250827514700032
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746.75446403,723,695,668,642,890.75446403,787,823.75446403,655.75446403,632,655,0.434257702447,0.00459293146555,0.0698222068639,0.999999949101,0.000155297427771,-0.000277347155222,2.75677378068e-05,1793250827531366656
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746.176830481,723,695,668,642,890.176830481,787,823.176830481,655.176830481,632,655,0.433350491638,0.00458445724573,0.0698381738128,0.999999950448,0.000172724984214,-0.000261511516836,2.96969959501e-05,1793250827548033280
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.601357901,890.398642099,787,823,655.398642099,631.601357901,655,0.432421535339,0.00457923934664,0.0698437601318,0.999999956117,0.000159867535716,-0.000247702479123,2.91739730068e-05,1793250827564699904
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.026838755,890.973161245,787,823,655.973161245,631.026838755,655,0.431482985193,0.00457545810534,0.069844766616,0.999999963129,0.000133648634099,-0.000234787558886,2.74807890937e-05,1793250827581366528
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641,890.452567421,787,823,655.452567421,631,655,0.430457912703,0.00457137729133,0.0697734127873,0.999999927351,0.000135193378119,-0.000355259824899,2.84895122997e-05,1793250827598033152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.125819635,746,722.874180365,695,668,641,890,787,823,655,631.125819635,655.125819635,0.42945690105,0.00456618351167,0.0697159803443,0.999999888727,0.00013649313136,-0.000450627117945,2.91782204989e-05,1793250827614699776
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.719558051,746,722.280441949,695,668,641,890,787,823,655,631.719558051,655.719558051,0.428561139173,0.00455690524806,0.0697235084008,0.999999899185,0.000131821975118,-0.000428320677565,2.81843947264e-05,1793250827631366400
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.69535312,746,722.30464688,694.69535312,668,641.30464688,890,787,822.69535312,655,632,656,0.427677232451,0.00454946522537,0.0697665195233,0.999999928255,0.000120777891661,-0.00035786094164,2.89576806271e-05,1793250827648033024
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.11800685,746,722.88199315,694.11800685,668,641.88199315,890,787,822.11800685,655,632,656,0.426803937712,0.00454367067279,0.0698412926985,0.999999964258,0.000104029191579,-0.000244297612834,3.13127657814e-05,1793250827664699904
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,723,693.544442468,668,641.544442468,890,787,821.544442468,655,632,655.544442468,0.425869514545,0.00453501656255,0.0698540533726,0.999999967309,9.99140812536e-05,-0.000233054006292,3.29317897339e-05,1793250827681366272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.029078587,746,723,693,668,641.029078587,889.970921413,787,820.970921413,655,632,655,0.424920414552,0.00452572411972,0.0698495898437,0.999999963464,9.84862011991e-05,-0.000249406494811,3.41961245671e-05,1793250827698032896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.62055184,746,723,693,668,641.62055184,889.37944816,787,820.37944816,655,632,655,0.423991186539,0.00451829425225,0.0698201220025,0.999999953394,8.62584017673e-05,-0.000291087085253,3.22578437923e-05,1793250827714699520
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746.207499437,723,693,668.207499437,641.792500563,889,787,820,655,632,655,0.423029441896,0.0045120750259,0.0697738754261,0.999999928945,7.55315364817e-05,-0.000367982524269,3.15200041792e-05,1793250827731366400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746.786347844,723,693,668.786347844,641.213652156,889,787,820,655,632,655,0.42200950409,0.0045080224082,0.0696976009753,0.999999868199,6.74907977928e-05,-0.00050789981374,3.29305195724e-05,1793250827748033024
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.63646206,746.63646206,722.63646206,693,669,641.36353794,888.63646206,787,820,655.36353794,632,655,0.421094809117,0.00449776721897,0.0696839614483,0.999999859698,6.01936257111e-05,-0.000525243597132,3.31633739126e-05,1793250827764699648
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.060242167,746.060242167,722.060242167,693,669,641.939757833,888.060242167,787,820,655.939757833,632,655,0.420241684811,0.00448388331651,0.0697069654681,0.99999988718,5.33314660076e-05,-0.000470877741235,3.27072569257e-05,1793250827781366528
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.513340364,746,722.513340364,693,669,642,888.513340364,787,820,655.486659636,631.486659636,655,0.419442265127,0.00448027637598,0.0697858375137,0.999999938554,3.60662350662e-05,-0.000347233178411,3.19319597951e-05,1793250827798033152
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746.089796236,723,692.910203764,669,642,888.910203764,787,820,655.089796236,631.089796236,655.089796236,0.418643691148,0.00447667687002,0.0698596600546,0.999999971788,1.90776338094e-05,-0.000234624348502,3.1808234871e-05,1793250827814699776
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746.68412651,723,692.31587349,669,642,888.31587349,787,820,655.68412651,631.68412651,655.68412651,0.417814638832,0.00446637747836,0.0698684619036,0.999999972985,1.04677081152e-05,-0.000229468159961,3.55548531985e-05,1793250827831366400
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746.732325815,723,691.732325815,669,642,888,787,820,655.732325815,632,655.732325815,0.4169830844,0.00445709776345,0.0698549537725,0.99999996903,9.80803461011e-06,-0.000246066631725,3.59890992931e-05,1793250827848033024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746.161009654,723,691.161009654,669,642,888,787,820,655.161009654,632,655.161009654,0.416148691697,0.00444897474152,0.0698161378342,0.999999958018,1.81669014564e-05,-0.000287342970942,3.26658843158e-05,1793250827864699648
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,746.416691787,723,691.416691787,669,642,887.583308213,786.583308213,820,655,632,655.416691787,0.415299362956,0.00444532097812,0.069784106479,0.999999942477,6.77638223913e-06,-0.000337638512059,3.16177141387e-05,1793250827881366016
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,746.996898944,723,691.996898944,669,642,887.003101056,786.003101056,820,655,632,655.996898944,0.414444173046,0.00444342101023,0.0697547374806,0.999999922803,-1.23640566766e-05,-0.00039147330997,3.14623012891e-05,1793250827898032896
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.429417151,746.429417151,723,691.429417151,668.429417151,642,887,786.570582849,819.429417151,655,632,655.429417151,0.413650981333,0.00445031892567,0.0697470397977,0.999999914732,6.5372212456e-06,-0.000411476472027,3.43697005662e-05,1793250827914699520
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,746,723,691,668,642,887,787,819,655.14864557,632,655,0.412901132282,0.0044623301022,0.0697556268797,0.999999919495,2.74507488708e-05,-0.00039872260296,3.57432873783e-05,1793250827931366400
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,746,723,691,668,642,887,787,819,655.739849723,632,655,0.412279334157,0.00448942410852,0.0698123514628,0.999999956272,5.37466982103e-05,-0.000288983328211,3.25012951143e-05,1793250827948033280
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,746,723,690.350144395,668.324927802,642,886.675072198,787,819,655.675072198,632,655,0.411640786167,0.00449447573888,0.0698550664719,0.999999975232,5.21903514468e-05,-0.000213963500646,3.21181667125e-05,1793250827964699904
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.189616342,668.905191829,642,886.094808171,787,819,655.094808171,632,655,0.41098907576,0.00448220592878,0.0698867724112,0.999999985194,2.87469870661e-05,-0.0001662270729,3.39816038972e-05,1793250827981366784
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.520433223,642,886,786.520433223,819.479566777,655,632,655,0.410305199653,0.00446981693865,0.0698640984831,0.999999976998,2.81878298169e-05,-0.000209887124189,3.40023130884e-05,1793250827998033408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,668,642,886,786.054573335,819.945426665,655,632,655,0.409618031082,0.00445886987492,0.0698299570058,0.999999961882,3.08423499993e-05,-0.000272313886032,3.36073883716e-05,1793250828014699776
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668,642,886,786.647144687,819.352855313,655,632,655,0.408960332829,0.00446236714919,0.0697874624967,0.99999994015,2.11193922502e-05,-0.000343782984533,3.26628244145e-05,1793250828031366400
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.234283434,746,723,689,668.234283434,642,886.234283434,786.765716566,819,655.234283434,632,655,0.408344201418,0.00446555819391,0.0697645733682,0.999999927468,1.29094755922e-05,-0.000379353079076,3.14271223866e-05,1793250828048033280
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.813425488,746,723,689,668.813425488,642,886.813425488,786.186574512,819,655.813425488,632,655,0.407789255288,0.00446829847706,0.0697705428116,0.999999933982,6.92671379837e-06,-0.000362080846283,2.97628735903e-05,1793250828064699904
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.611071674,746,723,688.611071674,668.611071674,642,886.611071674,786,819,656,632,655,0.407271577542,0.00447259009422,0.0697877185563,0.99999994266,2.73328669619e-05,-0.000336169937343,3.03871046741e-05,1793250828081366272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.037298384,746,723,688.037298384,668.037298384,642,886.037298384,786,819,656,632,655,0.406771612197,0.00447761901015,0.0698102202914,0.999999950803,6.02808111475e-05,-0.000306153345,3.2098975497e-05,1793250828098032896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,723,688,668.537393011,642,886,786,819.537393011,656,632.537393011,655.537393011,0.406278264035,0.00448108064981,0.069809164394,0.999999948263,5.24051987324e-05,-0.000315730944333,3.22792793918e-05,1793250828114699776
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.115554287,746,723,687.884445713,669,642,886.115554287,786,819.884445713,655.884445713,632.884445713,655.884445713,0.40579682503,0.00448386660959,0.0698066092416,0.999999945465,4.15813652569e-05,-0.000326057277382,3.2052726769e-05,1793250828131366400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.70776556,746,723,687.29223444,669,642,886.70776556,786,819.29223444,655.29223444,632.29223444,655.29223444,0.40536261296,0.00448431489244,0.0698046257585,0.999999945243,3.03039236995e-05,-0.000328116985294,3.05871412521e-05,1793250828148033280
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.708340574,746,723,687.291659426,669,642,887,786,819,655.291659426,632,655.291659426,0.40496554643,0.00448428008512,0.0698123530874,0.999999950701,2.52075115973e-05,-0.000311567987939,2.9813017516e-05,1793250828164699904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.132549477,746,723,687.867450523,669,642,887,786,819,655.867450523,632,655.867450523,0.404604666736,0.0044837746562,0.0698295405914,0.999999960883,2.6132596704e-05,-0.000276890577222,2.97125089363e-05,1793250828181366272
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,746,723,687.570554834,669,642,887,786,819,656,632,655.570554834,0.404260742056,0.00448145750651,0.0698432291666,0.99999996742,2.48736068743e-05,-0.000252264602743,3.00619642491e-05,1793250828198033152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,746,723,687.012685971,669,642,887,786,819,656,632,655.012685971,0.403921887705,0.00447859856966,0.0698558714021,0.999999972671,2.29614789749e-05,-0.000230644466843,3.054597929e-05,1793250828214699776
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.595586093,746,723,687,669,642,886.404413907,786,819.595586093,656,632,655.595586093,0.403596413879,0.00447654645059,0.0698423685304,0.999999967483,8.32034506528e-06,-0.00025335635033,2.78325529142e-05,1793250828231366400
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,820,655.805083537,632,656,0.403284658412,0.00447281832822,0.0698300774868,0.999999961927,-6.63602009234e-06,-0.000274628167866,2.60848875039e-05,1793250828248033024
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,820,655.225703677,632,656,0.402999347664,0.00446574733899,0.0698213767099,0.99999995707,-2.16299338467e-05,-0.000291024797659,2.63888939588e-05,1793250828264699648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.646951589,655,632,655.646951589,0.402738814745,0.00446218464263,0.0698141957419,0.999999953159,-2.86107480209e-05,-0.000303497341368,2.74289796589e-05,1793250828281366272
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.068600066,655,632,655.068600066,0.402494094139,0.00446086081502,0.0698079846619,0.999999949986,-3.04778845896e-05,-0.000313465672633,2.8938805348e-05,1793250828298033152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786.506866294,819.506866294,655.506866294,632,655.506866294,0.402285428049,0.00446351758904,0.0698023806593,0.999999946952,-2.65301178857e-05,-0.000323203334943,3.0523982845e-05,1793250828314699520
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.083614077,786.916385923,819.916385923,655.916385923,632,656,0.402086854492,0.00446679129055,0.0697977574105,0.99999994439,-2.11498544826e-05,-0.000331248230763,3.23547692599e-05,1793250828331366400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.670410179,786.329589821,819.329589821,655.329589821,632,656,0.401919817583,0.00447055386422,0.0697985445978,0.999999945079,-1.18582296485e-05,-0.000329293024116,3.56025841551e-05,1793250828348033024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.74591381,746,723,687,668.74591381,642,886.74591381,786.25408619,819,655.25408619,632,656,0.401766172948,0.00447848264637,0.0697982994114,0.999999945461,4.1336838621e-06,-0.000328071125423,3.78087045315e-05,1793250828364699648
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.166235989,746,723,687,668.166235989,642,886.166235989,786.833764011,819,655.833764011,632,656,0.401629689477,0.00449175009946,0.0697967313185,0.999999945117,2.87114940792e-05,-0.000327788903679,3.86799744349e-05,1793250828381366272
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.410283035,746,723,687.410283035,668.410283035,642,886,786.589716965,819,656,632,656,0.401513719747,0.00449411950822,0.0697958868435,0.999999942078,8.2270479038e-05,-0.00032800149443,3.86140967697e-05,1793250828398033664
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.985531961,746,723,687.985531961,668.985531961,642,886,786.014468039,819,656,632,656,0.401405998149,0.00449210704987,0.0697953333195,0.999999934468,0.00014748216363,-0.000328413037395,3.81714122784e-05,1793250828414701056
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.425552849,746.574447151,723,687.425552849,669,642,886,786,819.574447151,656,632.574447151,655.425552849,0.401320820065,0.00448626073236,0.0697940740848,0.999999940724,9.09844896302e-05,-0.000331105157825,2.53622164509e-05,1793250828431367168
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768.160954081,746.839045919,723,687,669,642,886,786.160954081,820,655.839045919,633,655.160954081,0.401242493652,0.00448166115629,0.069793810019,0.99999994361,4.853904155e-05,-0.000331895915736,1.64095532914e-05,1793250828448033280
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768.740284499,746.259715501,723,687,669,642,886,786.740284499,820,655.259715501,633,655.740284499,0.401180465328,0.00448055941051,0.0697961800744,0.999999944885,5.07824564012e-05,-0.000327591423228,1.83107116794e-05,1793250828464699904
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,746.318001718,723,686.681998282,669,642,886,786.681998282,820,655.318001718,632.681998282,656,0.401130433437,0.00448117652348,0.0697990254473,0.999999946548,5.34340186797e-05,-0.000321966861808,1.96708637803e-05,1793250828481366784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,746.894408134,723,686.105591866,669,642,886,786.105591866,820,655.894408134,632.105591866,656,0.40109014971,0.00448319036203,0.0698022570582,0.999999948499,5.64172373086e-05,-0.000315269626438,2.05914003321e-05,1793250828498033408
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.531039702,746.531039702,723,686.468960298,669,642,886,786.468960298,820,656,632.468960298,656,0.401059534993,0.00448214162547,0.0698054935619,0.99999995009,5.52574737001e-05,-0.000310325013191,2.15418903987e-05,1793250828514700544
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.044214265,746,723,686.955785735,669,642,886,786.955785735,820,656,632.955785735,656,0.401031834845,0.00448059044616,0.069808639622,0.999999951549,5.34684190049e-05,-0.00030583959081,2.24568957174e-05,1793250828531367424
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768.633240668,746,723,686.366759332,669,642,886,786.366759332,820,656,632.366759332,656,0.401013327603,0.00448131165432,0.0698106577105,0.999999952553,5.53744575133e-05,-0.00030216892348,2.28518779715e-05,1793250828548033792
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768.781054119,746,723,686.218945881,668.781054119,642,886,786,819.781054119,655.781054119,632,656,0.400998232695,0.00448178750075,0.0698125095207,0.999999953499,5.60443396315e-05,-0.000298882177961,2.30448437418e-05,1793250828564700416
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768.200829181,746,723,686.799170819,668.200829181,642,886,786,819.200829181,655.200829181,632,656,0.400988768423,0.00448185847974,0.0698140869577,0.999999954367,5.46744599789e-05,-0.000296228935838,2.29044653573e-05,1793250828581366784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.377445628,746,723,687,668.377445628,642,886,786.377445628,819.377445628,655.377445628,632,655.622554372,0.400982337707,0.00448228421728,0.0698156354797,0.999999955264,5.43057095605e-05,-0.000293264254054,2.27899376698e-05,1793250828598033408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.954688138,746,723,687,668.954688138,642,886,786.954688138,819.954688138,655.954688138,632,655.045311862,0.400977512772,0.00448289774255,0.0698171686958,0.99999995617,5.44668964398e-05,-0.000290134715037,2.26890937816e-05,1793250828614700032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,787,819.471800457,656,632,655.528199543,0.400973022518,0.00448260980877,0.0698171448111,0.999999955685,5.47908531195e-05,-0.000291715948649,2.29982923838e-05,1793250828631366912
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786.895551554,819.104448446,656,632,656,0.400969478506,0.00448213580913,0.0698172695273,0.999999955389,5.47146811948e-05,-0.000292720226838,2.32992625307e-05,1793250828648033536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786.305085844,819.694914156,656,632,656,0.400970204866,0.00448115332803,0.0698187029056,0.999999956527,5.27121214066e-05,-0.000289172593811,2.33994133755e-05,1793250828664700160
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.280291424,786,819.719708576,656,632,655.719708576,0.400969991172,0.00448149913847,0.0698199177922,0.999999957113,5.36038665385e-05,-0.000286959636895,2.35393153992e-05,1793250828681366784
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.860228957,786,819.139771043,656,632,655.139771043,0.400968772514,0.00448326496151,0.0698208990999,0.999999957113,5.75897738917e-05,-0.000286173517709,2.37217135126e-05,1793250828698033152
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,887,786,819,655.563145408,632,655.436854592,0.400968227551,0.0044832946332,0.0698209320904,0.999999957224,5.70434525301e-05,-0.000285897825583,2.36742537482e-05,1793250828714699776
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.987623736,786,819.012376264,655.012376264,632,655.987623736,0.400967911062,0.00448277994616,0.0698206754959,0.999999957372,5.50644597492e-05,-0.000285776767004,2.35546335752e-05,1793250828731366400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.414470216,786,819.585529784,655.585529784,632,655.414470216,0.400968253799,0.00448257976112,0.0698209420061,0.999999957597,5.33799095842e-05,-0.000285318228085,2.3472573961e-05,1793250828748033024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768.836289285,746,723,687,669,642,886,786,819.836289285,655.836289285,632,655,0.400968973629,0.00448265697677,0.0698217398509,0.999999958039,5.25702086474e-05,-0.000283927183279,2.33235208951e-05,1793250828764699904
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768.244977125,746,723,687,669,642,886,786,819.244977125,655.244977125,632,655,0.400970678402,0.00448345874451,0.0698239255059,0.999999959047,5.40455555233e-05,-0.000280100495448,2.2999485416e-05,1793250828781366528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768.339452752,746,723.339452752,687,669,642,886,786,819,655.339452752,632,655.339452752,0.400970807656,0.00448286671674,0.0698243145385,0.999999959209,5.38688815108e-05,-0.00027953776421,2.3202894162e-05,1793250828798033152
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768.91901448,746,723.91901448,687,669,642,886,786,819,655.91901448,632,655.91901448,0.400969822482,0.0044812887997,0.0698234327458,0.999999958778,5.25236647067e-05,-0.000281283764687,2.37793860462e-05,1793250828814699776
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,746,723.505727929,687.494272071,669,642,886,786,819.494272071,656,632,655.505727929,0.400972051686,0.00448212985042,0.069825181871,0.999999959544,5.32393224892e-05,-0.000278433022248,2.35212880027e-05,1793250828831366400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,746,723,687.929703775,669.070296225,642,886,786,820,655.929703775,632,655.070296225,0.400974297594,0.00448322857696,0.0698270241257,0.999999960338,5.41888997555e-05,-0.000275411005558,2.31629725528e-05,1793250828848033280
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,746,723,687.342910792,669.657089208,642,886,786,820,655.342910792,632,655.657089208,0.40097282996,0.00448333359362,0.0698264107209,0.999999959996,5.43975925628e-05,-0.000276616638433,2.30643745385e-05,1793250828864699904
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768.758059858,746.241940142,723,687,669.758059858,642,886,786,820,655,632,656,0.400971322119,0.00448311763917,0.0698256152979,0.999999959633,5.38439225752e-05,-0.000278036326301,2.30543788241e-05,1793250828881366528
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768.17593946,746.82406054,723,687,669.17593946,642,886,786,820,655,632,656,0.400969757746,0.00448245038289,0.0698245639479,0.999999959236,5.22183314e-05,-0.000279756986649,2.31689624767e-05,1793250828898033408
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768,746.598481804,723,687,669.401518196,642,886,786,820,655.401518196,632,655.598481804,0.400970132919,0.0044829156159,0.0698248566098,0.999999959335,5.22796835097e-05,-0.000279395059729,2.31326650773e-05,1793250828914699776
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768,746.023043873,723,687,669.976956127,642,886,786,820,655.976956127,632,655.023043873,0.400971348217,0.00448387139267,0.0698257314377,0.999999959648,5.30717441386e-05,-0.000278131048996,2.30310127441e-05,1793250828931366400
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669.449671806,642,886.550328194,786,820,656,632.550328194,655.550328194,0.400970345366,0.0044828801662,0.0698248454705,0.999999959447,5.2923463478e-05,-0.000278870213234,2.3165382575e-05,1793250828948033792
+410,6.833333333,POSE2_TO_POSE3_RETREAT,768.127662078,746.127662078,723,687,668.872337922,642,887,786,820,655.872337922,632.872337922,656,0.400969830218,0.00448211295631,0.0698243678731,0.999999959384,5.24796668077e-05,-0.00027917026911,2.32723030519e-05,1793250828964700928
+411,6.850000000,POSE2_TO_POSE3_RETREAT,768.719721362,746.719721362,723,687,668.280278638,642,887,786,820,655.280278638,632.280278638,656,0.400971425802,0.00448245611458,0.0698256430094,0.999999959902,5.11035681415e-05,-0.000277568991843,2.3243554005e-05,1793250828981367808
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..809e0f3decdf751f77e73920a14372c735fd245e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+1,0.016666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
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+365,6.083333333,pose2_to_pose3_retreat,0.578159502863,0.0101500959387,1.06003350295,0.548730182973,0.0188227356329,1.05970490605
+366,6.100000000,pose2_to_pose3_retreat,0.577887631141,0.0101500210973,1.06003354922,0.548458311851,0.0188226626593,1.05970494793
+367,6.116666667,pose2_to_pose3_retreat,0.577629938678,0.0101500907926,1.06003361766,0.54820061811,0.018822727875,1.05970501263
+368,6.133333333,pose2_to_pose3_retreat,0.577388256788,0.0101501916456,1.06003366778,0.547958934855,0.0188228239979,1.05970506015
+369,6.150000000,pose2_to_pose3_retreat,0.577166614261,0.0101501641639,1.06003373535,0.547737292373,0.0188227964673,1.05970512241
+370,6.166666667,pose2_to_pose3_retreat,0.576964180568,0.010150143007,1.0600336421,0.54753485837,0.0188227743035,1.05970503032
+371,6.183333333,pose2_to_pose3_retreat,0.57678181851,0.0101501166175,1.06003367263,0.547352495618,0.0188227452864,1.0597050537
+372,6.200000000,pose2_to_pose3_retreat,0.576617676258,0.0101499922848,1.0600336382,0.547188356506,0.0188226319827,1.05970502919
+373,6.216666667,pose2_to_pose3_retreat,0.576472034906,0.0101501591275,1.06003364622,0.547042711089,0.0188227848947,1.05970503369
+374,6.233333333,pose2_to_pose3_retreat,0.576342080983,0.0101501347353,1.06003343018,0.546912757626,0.0188227623702,1.05970482569
+375,6.250000000,pose2_to_pose3_retreat,0.57622764754,0.0101500835201,1.06003352127,0.546798326437,0.0188227189063,1.05970491959
+376,6.266666667,pose2_to_pose3_retreat,0.576127118943,0.0101501133575,1.06003345924,0.546697797538,0.0188227478097,1.0597048602
+377,6.283333333,pose2_to_pose3_retreat,0.576039466919,0.0101501294998,1.0600334759,0.54661014506,0.0188227623477,1.05970487547
+378,6.300000000,pose2_to_pose3_retreat,0.57596444046,0.0101501325555,1.06003353285,0.546535118861,0.018822766195,1.05970492989
+379,6.316666667,pose2_to_pose3_retreat,0.575900519896,0.010150175864,1.06003338871,0.546471197618,0.018822807276,1.05970478772
+380,6.333333333,pose2_to_pose3_retreat,0.575848221322,0.0101501389566,1.06003349834,0.546418899321,0.0188227712228,1.05970489508
+381,6.350000000,pose2_to_pose3_retreat,0.575805120223,0.010150120378,1.06003359138,0.546375799657,0.018822757595,1.05970499029
+382,6.366666667,pose2_to_pose3_retreat,0.575770452619,0.0101501629916,1.06003361882,0.546341131542,0.0188227982335,1.05970501134
+383,6.383333333,pose2_to_pose3_retreat,0.575743159301,0.0101501923459,1.06003364956,0.546313837561,0.0188228251497,1.05970503712
+384,6.400000000,pose2_to_pose3_retreat,0.575721769387,0.0101501491257,1.06003364644,0.546292448246,0.0188227840383,1.05970503599
+385,6.416666667,pose2_to_pose3_retreat,0.575705517406,0.010150065859,1.0600336017,0.546276197429,0.0188227049056,1.05970499613
+386,6.433333333,pose2_to_pose3_retreat,0.575693259925,0.0101500307817,1.06003351699,0.546263939523,0.0188226682757,1.05970490851
+387,6.450000000,pose2_to_pose3_retreat,0.575684817501,0.0101500718096,1.06003343013,0.546255496478,0.0188227072866,1.05970482415
+388,6.466666667,pose2_to_pose3_retreat,0.57567865722,0.0101501151461,1.06003342184,0.546249335689,0.0188227489266,1.05970481653
+389,6.483333333,pose2_to_pose3_retreat,0.575674443699,0.0101501463443,1.06003357956,0.546245121852,0.0188227788616,1.05970496922
+390,6.500000000,pose2_to_pose3_retreat,0.575671753179,0.0101501425926,1.0600336289,0.546242431313,0.0188227749645,1.0597050165
+391,6.516666667,pose2_to_pose3_retreat,0.575670009323,0.0101501034257,1.06003358116,0.546240687727,0.0188227367295,1.05970496922
+392,6.533333333,pose2_to_pose3_retreat,0.575668774827,0.010150075699,1.06003354737,0.546239453422,0.0188227096625,1.05970493575
+393,6.550000000,pose2_to_pose3_retreat,0.575668097574,0.0101500604879,1.06003352883,0.546238776273,0.0188226948133,1.05970491738
+394,6.566666667,pose2_to_pose3_retreat,0.575667892672,0.010150068042,1.06003353762,0.54623857137,0.0188227023603,1.05970492614
+395,6.583333333,pose2_to_pose3_retreat,0.575667640007,0.0101500792574,1.0600335507,0.546238318697,0.0188227135488,1.05970493918
+396,6.600000000,pose2_to_pose3_retreat,0.575667508234,0.0101500851067,1.06003355753,0.546238186921,0.0188227193839,1.05970494598
+397,6.616666667,pose2_to_pose3_retreat,0.57566726142,0.0101500960624,1.06003357032,0.546237940099,0.0188227303133,1.05970495871
+398,6.633333333,pose2_to_pose3_retreat,0.575666927294,0.0101501108938,1.06003358762,0.546237605964,0.0188227451091,1.05970497595
+399,6.650000000,pose2_to_pose3_retreat,0.575666679763,0.0101501218814,1.06003360045,0.546237358426,0.0188227560702,1.05970498872
+400,6.666666667,pose2_to_pose3_retreat,0.575666187933,0.0101501437131,1.06003362592,0.546236866582,0.0188227778494,1.0597050141
+401,6.683333333,pose2_to_pose3_retreat,0.575665511985,0.0101501717636,1.06003362351,0.546236190293,0.0188228048169,1.05970501355
+402,6.700000000,pose2_to_pose3_retreat,0.575665252954,0.0101501804272,1.06003358262,0.54623593079,0.0188228119863,1.05970497551
+403,6.716666667,pose2_to_pose3_retreat,0.575665191017,0.0101501824988,1.06003357284,0.54623586874,0.0188228137006,1.05970496642
+404,6.733333333,pose2_to_pose3_retreat,0.575665183223,0.0101501827594,1.06003357161,0.546235860932,0.0188228139164,1.05970496527
+405,6.750000000,pose2_to_pose3_retreat,0.575664952219,0.0101501904856,1.06003353515,0.546235629507,0.0188228203101,1.05970493135
+406,6.766666667,pose2_to_pose3_retreat,0.575664597137,0.0101502023618,1.06003347911,0.546235273777,0.0188228301381,1.05970487921
+407,6.783333333,pose2_to_pose3_retreat,0.575664451198,0.0101501432152,1.06003343371,0.546235128137,0.0188227719057,1.05970483121
+408,6.800000000,pose2_to_pose3_retreat,0.575664390392,0.0101500955912,1.06003340676,0.546235067658,0.0188227252929,1.05970480168
+409,6.816666667,pose2_to_pose3_retreat,0.575664311885,0.0101500263899,1.06003333425,0.546234989858,0.018822658411,1.05970472708
+410,6.833333333,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+411,6.850000000,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d9b9fe72cce62ba9c088b022914b3b0af691663b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1d54abb3370ae4c58ca3afd144fa28f2020ba342348474feb4e145bba953e73
+size 26172842
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e53f246b3b7150ed67a2df9d41c0b290bc0af17c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/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,769,746,723,687,669,642,887,787,820,656,633,655,0.40096902596,0.00448263636762,0.0698252535707,0.99999995936,5.07257876683e-05,-0.000279583928742,2.3220942404e-05,1793250829104174336
+1,0.016666667,BASELINE,768.425459548,746.574540452,723,687,669,642,886.425459548,786.425459548,820,656,632.425459548,655.574540452,0.40096828005,0.00448329143234,0.0698246269377,0.999999959093,5.40982224575e-05,-0.000279911816226,2.3160799072e-05,1793250829120840704
+2,0.033333333,BASELINE,768.148758406,747,723,687,669,642,886,786,819.851241594,656,632.148758406,655.851241594,0.400968116384,0.00448376114435,0.0698245171235,0.999999959041,5.5794738865e-05,-0.000279769199931,2.31006883774e-05,1793250829137507072
+3,0.050000000,BASELINE,768.722056123,747,723,687,669,642,886,786,819.277943877,656,632.722056123,655.277943877,0.400969614373,0.00448370188131,0.06982588225,0.999999959625,5.27083785291e-05,-0.000278283820266,2.30406708133e-05,1793250829154173696
+4,0.066666667,BASELINE,768.694108631,746.694108631,723,687,669,642,886,786,819,655.694108631,632.694108631,655.305891369,0.400970924976,0.00448343383131,0.0698268779024,0.999999960032,5.23671716904e-05,-0.000276875875498,2.31159271241e-05,1793250829170840320
+5,0.083333333,BASELINE,768.100357038,746.100357038,723,687,669,642,886,786,819,655.100357038,632.100357038,655.899642962,0.400972059238,0.00448296930157,0.0698275258598,0.999999960276,5.46093020744e-05,-0.000275540801223,2.33184834284e-05,1793250829187506432
+6,0.100000000,BASELINE,768.48124228,746,723,687,669.48124228,642,886,786,819,655,632,656,0.400971800377,0.00448356864672,0.069827895111,0.999999960511,5.50707718491e-05,-0.000274599273236,2.32356622237e-05,1793250829204172800
+7,0.116666667,BASELINE,768.939993279,746,723,687,669.939993279,642,886,786,819.060006721,655.060006721,632,656,0.400971481358,0.0044841398432,0.0698282722726,0.999999960779,5.4938893535e-05,-0.00027365986457,2.31219397591e-05,1793250829220839424
+8,0.133333333,BASELINE,768.364348849,746,723,687,669.364348849,642,886,786,819.635651151,655.635651151,632,656,0.400973080347,0.00448260968971,0.0698292045397,0.999999961329,5.28206608812e-05,-0.000272050816666,2.32414730878e-05,1793250829237506560
+9,0.150000000,BASELINE,768.215198086,746,723,687,669,642,886.215198086,786,820,656,632,656,0.40097366786,0.00448206290894,0.069829564194,0.999999961506,5.15543035286e-05,-0.000271640084568,2.32736188464e-05,1793250829254173696
+10,0.166666667,BASELINE,768.801474271,746,723,687,669,642,886.801474271,786,820,656,632,656,0.400972511228,0.0044832118129,0.0698289364602,0.999999961047,5.17568826293e-05,-0.000273295675619,2.31550773177e-05,1793250829270840064
+11,0.183333333,BASELINE,768.617009156,746,723,687,669,642,887,786,820,656,632,656,0.40097172817,0.00448397286793,0.0698280064265,0.999999960679,5.37465281724e-05,-0.000274252306629,2.32130011063e-05,1793250829287506688
+12,0.200000000,BASELINE,768.037929421,746,723,687,669,642,887,786,820,656,632,656,0.400971136381,0.00448453534686,0.0698269216173,0.999999960351,5.6651140454e-05,-0.000274851074668,2.3361274011e-05,1793250829304173568
+13,0.216666667,BASELINE,768,746,723,687,669,642,886.45963052,786,820,655.45963052,632.54036948,656,0.400971714719,0.00448399024237,0.0698278746999,0.999999960602,5.53493194458e-05,-0.000274228288983,2.304960878e-05,1793250829320839936
+14,0.233333333,BASELINE,768.117718937,746,723,687,669,642,886,786.117718937,820,655.117718937,632.882281063,655.882281063,0.400972356273,0.00448378128294,0.0698288887312,0.999999960901,5.41163954259e-05,-0.000273409310672,2.27366955615e-05,1793250829337506304
+15,0.250000000,BASELINE,768.69160152,746,723,687,669,642,886,786.69160152,820,655.69160152,632.30839848,655.30839848,0.400972924979,0.00448517571499,0.0698295854458,0.999999961236,5.42929232247e-05,-0.000272161857301,2.25438662857e-05,1793250829354172928
+16,0.266666667,BASELINE,768.72776489,746,723,687,669,642,886,786.72776489,820,656,632,655.27223511,0.400972918802,0.00448534058542,0.0698297538364,0.999999961358,5.42285231394e-05,-0.000271718116767,2.26580668152e-05,1793250829370839808
+17,0.283333333,BASELINE,768.139289057,746,723,687,669,642,886,786.139289057,820,656,632,655.860710943,0.400972244815,0.00448407714089,0.0698293085016,0.999999961232,5.38842502227e-05,-0.000272208005801,2.31289271845e-05,1793250829387506688
+18,0.300000000,BASELINE,768,746,723,686.55540638,669,642,886,786,819.55540638,656,632,656,0.400972681428,0.00448431986994,0.0698290401816,0.999999961224,5.36842472528e-05,-0.000272284108464,2.3034162531e-05,1793250829404173568
+19,0.316666667,BASELINE,768,746,723,686.026678917,669,642,886,786,819.026678917,655.973321083,632,655.973321083,0.400973390868,0.00448498671462,0.069828816589,0.999999961241,5.35558285803e-05,-0.000272268750895,2.2779106013e-05,1793250829420840704
+20,0.333333333,BASELINE,768,746,723,686.601104641,669,642,886,786,819.601104641,655.398895359,632,655.398895359,0.400972631042,0.00448477203373,0.0698283843302,0.999999961015,5.3978615712e-05,-0.000273009993291,2.28341449663e-05,1793250829437507072
+21,0.350000000,BASELINE,768.175175738,746,723,687,669,642,886,786,820,655,632.175175738,655.175175738,0.400972220403,0.00448440818195,0.0698281897041,0.99999996094,5.40062912967e-05,-0.00027327949202,2.28576736628e-05,1793250829454173440
+22,0.366666667,BASELINE,768.748440859,746,723,687,669,642,886,786,820,655,632.748440859,655.748440859,0.400972603294,0.00448370533723,0.0698285351018,0.999999961206,5.3136070154e-05,-0.000272476946384,2.28095948402e-05,1793250829470840064
+23,0.383333333,BASELINE,769,746.333252678,723,687,669,642,886,786,819.666747322,655.333252678,632.666747322,656,0.40097276846,0.00448414858393,0.0698284564413,0.999999961337,5.37003903304e-05,-0.000271890070874,2.27568239603e-05,1793250829487506432
+24,0.400000000,BASELINE,769,746.927093541,723,687,669,642,886,786,819.072906459,655.927093541,632.072906459,656,0.400972763375,0.00448548802107,0.0698280461869,0.99999996136,5.53864553959e-05,-0.000271471839348,2.27003841034e-05,1793250829504173056
+25,0.416666667,BASELINE,769,746.493793567,723,687,669,642,886,786,819.506206433,656,632,655.493793567,0.400972295359,0.00448529439688,0.0698278471742,0.999999961052,5.4773045722e-05,-0.00027273119911,2.26466229438e-05,1793250829520839680
+26,0.433333333,BASELINE,768.917001091,746,723,687,669,642,886,786,820,656,632,655.082998909,0.400972085992,0.00448487170357,0.0698279373655,0.999999960862,5.37596449373e-05,-0.000273634597451,2.25769115426e-05,1793250829537506560
+27,0.450000000,BASELINE,768.341745593,746,723,687,669,642,886,786,820,656,632,655.658254407,0.400973794895,0.00448436293991,0.0698295674507,0.999999961652,5.22826140103e-05,-0.000271034354027,2.24103777034e-05,1793250829554173696
+28,0.466666667,BASELINE,768.229387442,746,723,687,669,642,886.229387442,786,819.770612558,656,632,656,0.400974215311,0.00448437414757,0.0698303633727,0.999999961954,5.19989170368e-05,-0.000269973215358,2.24281772687e-05,1793250829570840320
+29,0.483333333,BASELINE,768.794487151,746,723,687,669,642,886.794487151,786,819.205512849,656,632,656,0.400972750005,0.00448514634181,0.0698299384832,0.999999961548,5.34616838825e-05,-0.000271164581791,2.27157517917e-05,1793250829587506688
+30,0.500000000,BASELINE,768.615504387,746,723,687.384495613,669,642,886.615504387,786,819.384495613,656,632,655.615504387,0.400972600315,0.00448543970071,0.0698296898603,0.999999961439,5.39494171506e-05,-0.000271463306539,2.27774963446e-05,1793250829604173056
+31,0.516666667,BASELINE,768.011259974,746,723,687.988740026,669,642,886.011259974,786,819.988740026,656,632,655.011259974,0.400973202534,0.00448545939328,0.0698295419781,0.999999961502,5.38798944432e-05,-0.000271251864337,2.27101734465e-05,1793250829620839680
+32,0.533333333,BASELINE,768.564209252,746.564209252,723,687.435790748,669.564209252,642,886,786,819.435790748,655.435790748,632,655.564209252,0.400972814751,0.00448541095342,0.0698296324,0.999999961368,5.47885309243e-05,-0.000271553488517,2.28309819839e-05,1793250829637506304
+33,0.550000000,BASELINE,769,746.861333567,723,687,669.861333567,642,886,786,819.138666433,655.138666433,632,656,0.40097264164,0.00448517791947,0.0698297541507,0.999999961304,5.54120814763e-05,-0.000271654272008,2.29089378397e-05,1793250829654172928
+34,0.566666667,BASELINE,769,746.288334988,723,687,669.288334988,642,886,786,819.711665012,655.711665012,632,656,0.400973199807,0.00448437075066,0.0698299598564,0.999999961476,5.50845059562e-05,-0.000271095465229,2.28414807674e-05,1793250829670839808
+35,0.583333333,BASELINE,768.705190362,746,723,687,669,642,886,786,819.705190362,656,632,656,0.400973573931,0.00448418726872,0.069830113261,0.999999961629,5.45897175883e-05,-0.00027063284558,2.27903069401e-05,1793250829687506688
+36,0.600000000,BASELINE,768.111768761,746,723,687,669,642,886,786,819.111768761,656,632,656,0.40097376164,0.00448463551757,0.0698302136902,0.999999961765,5.3925559695e-05,-0.000270267653573,2.27556263636e-05,1793250829704173312
+37,0.616666667,BASELINE,768,746,723,687,669,642,886,786,819.470101736,656,632.470101736,656,0.400973995724,0.00448426712328,0.0698303340958,0.999999961798,5.33251419398e-05,-0.000270266391931,2.27449361537e-05,1793250829720839680
+38,0.633333333,BASELINE,768.048816334,746,723,687,669.048816334,642,886,786,820,656,632.951183666,656,0.400974296425,0.00448368258317,0.0698304778482,0.999999961835,5.26491323729e-05,-0.000270262319708,2.27310500375e-05,1793250829737506304
+39,0.650000000,BASELINE,768.622420292,746,723,687,669.622420292,642,886,786,820,656,632.377579708,656,0.400975197595,0.0044828116378,0.0698308227504,0.999999962177,5.10014842488e-05,-0.000269320164452,2.2622960244e-05,1793250829754172928
+40,0.666666667,BASELINE,769,746,723,687,670,642,886.19727385,786,820,655.80272615,632,656,0.400974879245,0.004483220921,0.0698305510392,0.999999962107,5.12633740368e-05,-0.000269535658425,2.25698349145e-05,1793250829770839552
+41,0.683333333,BASELINE,769,746,723,687,670,642,886.77453434,786,820,655.22546566,632,656,0.400972211866,0.0044860961659,0.0698290916145,0.999999961234,5.52033940565e-05,-0.000271981003185,2.26225815141e-05,1793250829787506432
+42,0.700000000,BASELINE,769,746,723,687,669.640359068,642,886.640359068,786,820,655,632,655.640359068,0.400972234974,0.00448676557563,0.0698290282895,0.999999961206,5.4805931406e-05,-0.000272186931603,2.23220212454e-05,1793250829804173056
+43,0.716666667,BASELINE,769,746,723,687,669.050223923,642,886.050223923,786,820,655,632,655.050223923,0.400973982417,0.00448602126342,0.0698298597262,0.999999961721,5.1628571861e-05,-0.000270957615874,2.1795026269e-05,1793250829820839424
+44,0.733333333,BASELINE,769,746,723,687,669,642,886,786,820,655.529217284,632,655,0.400973279269,0.00448505150172,0.0698295212599,0.999999961645,5.14917544254e-05,-0.000271221478983,2.22957825392e-05,1793250829837506048
+45,0.750000000,BASELINE,769,746.107004998,723,687,669,642,886,786,819.892995002,656,632,655.107004998,0.400972829596,0.00448413382841,0.0698293672293,0.999999961653,5.16244042499e-05,-0.00027112922509,2.27777452937e-05,1793250829854172928
+46,0.766666667,BASELINE,769,746.68191217,723,687,669,642,886,786,819.31808783,656,632,655.68191217,0.400974485105,0.00448353562706,0.0698304955541,0.999999962258,5.16985832361e-05,-0.000268872406659,2.27594801257e-05,1793250829870839552
+47,0.783333333,BASELINE,768.737882315,746.737882315,723,687,669,642,886.262117685,786.262117685,819.262117685,656,632,656,0.40097493412,0.00448322996209,0.0698305927325,0.999999962293,5.20497262851e-05,-0.000268678060023,2.2741089011e-05,1793250829887506176
+48,0.800000000,BASELINE,768.151114371,746.151114371,723,687,669,642,886.848885629,786.848885629,819.848885629,656,632,656,0.400973888813,0.00448328662287,0.0698294127674,0.99999996162,5.27439078342e-05,-0.000271038222151,2.27225419004e-05,1793250829904172800
+49,0.816666667,BASELINE,768.432828504,746.432828504,723,687,669,642,886.567171496,786.567171496,820,656,632.432828504,655.567171496,0.400972796044,0.00448257205646,0.0698288059146,0.99999996133,5.16259225173e-05,-0.000272291314902,2.30585469508e-05,1793250829920839424
+50,0.833333333,BASELINE,769,746.984455455,723,686.984455455,669,642,886,786,820,656,632.984455455,655.015544545,0.400971719008,0.00448166206839,0.0698284202011,0.999999961173,5.00051338741e-05,-0.000273132609041,2.35005281098e-05,1793250829937506304
+51,0.850000000,BASELINE,769,746.410606147,723,686.410606147,669,642,886,786,820,656,632.410606147,655.589393853,0.400971798306,0.00448334138573,0.0698288370358,0.999999961071,5.29019021068e-05,-0.000272975735012,2.33316878915e-05,1793250829954172672
+52,0.866666667,BASELINE,769,746,723,686.163251217,669,642,886.163251217,786,820,655.836748783,632,656,0.400971703272,0.00448483934807,0.0698290555654,0.999999960993,5.46920126683e-05,-0.000272926581734,2.3100219608e-05,1793250829970839296
+53,0.883333333,BASELINE,769,746,723,686.737128806,669,642,886.737128806,786,820,655.262871194,632,656,0.400971169742,0.00448588114744,0.0698287752975,0.999999960995,5.36985430392e-05,-0.000273148378859,2.27112227379e-05,1793250829987507200
+54,0.900000000,BASELINE,769,746,723,687,669,642,886.678236641,786,820,655.321763359,632,656,0.400971645536,0.00448613797177,0.069828866237,0.999999961067,5.41930546524e-05,-0.000272806181398,2.2501084821e-05,1793250830004174080
+55,0.916666667,BASELINE,769,746,723,687,669,642,886.084510034,786,820,655.915489966,632,656,0.400972974438,0.00448573131354,0.0698292709312,0.999999961195,5.59452490143e-05,-0.000271987280176,2.24421234336e-05,1793250830020840192
+56,0.933333333,BASELINE,769,746,723,687,669,642.49520971,886.49520971,786,820,656,632,655.50479029,0.400972553615,0.00448438233585,0.0698289462167,0.999999961219,5.41251419599e-05,-0.000272247413547,2.26716605409e-05,1793250830037506304
+57,0.950000000,BASELINE,769,746,723,687,669,642.927682485,886.927682485,786,819.927682485,656,632,655.072317515,0.400971977366,0.00448314365759,0.0698286618328,0.999999961252,5.22100236555e-05,-0.000272479890989,2.2926998233e-05,1793250830054172928
+58,0.966666667,BASELINE,769,746,723,687,669,642.352572766,886.352572766,786,819.352572766,656,632,655.647427234,0.400972339429,0.00448375914288,0.0698294994818,0.999999961495,5.37562482504e-05,-0.00027127504041,2.30288309409e-05,1793250830070839552
+59,0.983333333,BASELINE,768.77763114,746,723,687,669,642,886.22236886,786,819.22236886,656,632,656,0.400972440346,0.0044843522122,0.0698301955229,0.999999961565,5.51474062147e-05,-0.000270730584986,2.30864884591e-05,1793250830087506176
+60,1.000000000,BASELINE,768.202955739,746,723,687,669,642,886.797044261,786,819.797044261,656,632,656,0.40097212752,0.00448490976722,0.0698306672098,0.999999961366,5.62928870876e-05,-0.000271232415852,2.30741577393e-05,1793250830104172800
+61,1.016666667,BASELINE,768,746.383713667,723,687.383713667,669,642,886.616286333,786,820,656,632,656,0.400971376244,0.0044853582103,0.0698299052052,0.999999961016,5.65674080901e-05,-0.000272490919998,2.2747457455e-05,1793250830120839936
+62,1.033333333,BASELINE,768,746.976931661,723,687.976931661,669,642,886.023068339,786,820,656,632,656,0.400970385578,0.00448574707919,0.0698284696157,0.999999960581,5.63663925026e-05,-0.00027416256115,2.22491141206e-05,1793250830137507072
+63,1.050000000,BASELINE,768.553410239,746.446589761,723,687.446589761,669,641.446589761,886,786,819.446589761,656,632,655.446589761,0.400972115306,0.0044839110496,0.0698296776417,0.999999961327,5.3472152367e-05,-0.000271971874228,2.2738323999e-05,1793250830154173696
+64,1.066666667,BASELINE,768.871304364,746,723,687,669.128695636,641.128695636,886,786,819,655.871304364,632,655,0.400973147854,0.00448283441096,0.0698304850289,0.999999961848,5.12925701847e-05,-0.000270453007702,2.29919644321e-05,1793250830170840320
+65,1.083333333,BASELINE,768.29780209,746,723,687,669.70219791,641.70219791,886,786,819,655.29780209,632,655,0.400971390338,0.00448469356353,0.0698295380148,0.999999961465,5.1959661274e-05,-0.000271796245078,2.2293313102e-05,1793250830187506688
+66,1.100000000,BASELINE,768.284465332,746,723,687,669.715534668,642,886,786.284465332,819.284465332,655,632.284465332,655.284465332,0.400971250155,0.00448468443962,0.069829541275,0.999999961488,5.12655587805e-05,-0.000271840723576,2.23054371888e-05,1793250830204173056
+67,1.116666667,BASELINE,768.876200536,746,723,687,669.123799464,642,886,786.876200536,819.876200536,655,632.876200536,655.876200536,0.40097285696,0.00448265726626,0.0698305709896,0.999999961948,4.9101140778e-05,-0.000270482326384,2.30853169887e-05,1793250830220839680
+68,1.133333333,BASELINE,768.541847163,746,723,687,669,642,886.458152837,786.541847163,819.541847163,655.458152837,632.541847163,655.541847163,0.400973392938,0.00448280303428,0.0698306770883,0.999999961871,5.13924888977e-05,-0.000270332743302,2.3154342776e-05,1793250830237506304
+69,1.150000000,BASELINE,768.037109517,746,723,687,669,642,887,786,819.037109517,656,632,655,0.400973632092,0.00448345785883,0.0698305641036,0.99999996169,5.44819223441e-05,-0.000270409639337,2.30421586375e-05,1793250830254172928
+70,1.166666667,BASELINE,768.610181506,746,723,687,669,642,887,786,819.610181506,656,632,655,0.400973675967,0.00448316194844,0.0698308161293,0.999999962161,5.20722149032e-05,-0.000269138582818,2.30290117699e-05,1793250830270840064
+71,1.183333333,BASELINE,769,746,723,687,669.184309257,642,886.815690743,786.184309257,820,656,632,655.184309257,0.400973347904,0.00448325386248,0.06983086605,0.99999996233,5.05475756375e-05,-0.00026881164868,2.28972203873e-05,1793250830287506688
+72,1.200000000,BASELINE,769,746,723,687,669.760682942,642,886.239317058,786.760682942,820,656,632,655.760682942,0.400972228652,0.00448417076031,0.069830486051,0.999999961868,5.09056614672e-05,-0.00027049306053,2.25130472472e-05,1793250830304173312
+73,1.216666667,BASELINE,769,746,723,687,669.654119594,642,886.345880406,786.654119594,819.654119594,656,632,656,0.400972232946,0.00448509244683,0.0698303284087,0.999999961631,5.23868836092e-05,-0.000271097621107,2.23667295057e-05,1793250830320839936
+74,1.233333333,BASELINE,769,746,723,687,669.062657102,642,886.937342898,786.062657102,819.062657102,656,632,656,0.40097303498,0.00448601753337,0.0698303286441,0.999999961552,5.46655552323e-05,-0.000270937595394,2.23892939321e-05,1793250830337506304
+75,1.250000000,BASELINE,768.482393866,746,723,687,669.517606134,642,887,786.517606134,819,656,632,656,0.400972422132,0.00448536017966,0.0698299842722,0.999999961339,5.47274888959e-05,-0.000271685068261,2.26819889419e-05,1793250830354172928
+76,1.266666667,BASELINE,768,746,723,687,670,642,886.904724298,786.904724298,819,656,632.095275702,655.904724298,0.400971954073,0.00448457753565,0.06982969868,0.999999961234,5.44248475614e-05,-0.000272111691275,2.29366170123e-05,1793250830370839552
+77,1.283333333,BASELINE,768,746,723,687,670,642,886.333384023,786.333384023,819,656,632.666615977,655.333384023,0.400973047162,0.00448410573622,0.0698299108168,0.999999961744,5.36129514957e-05,-0.000270397837989,2.28411050903e-05,1793250830387506176
+78,1.300000000,BASELINE,768.245677779,746,723,687,669.754322221,642,886,786,819,656,632.754322221,655.245677779,0.400973865819,0.00448372212739,0.0698303581148,0.999999962133,5.30273308828e-05,-0.000269079587855,2.27596380366e-05,1793250830404173056
+79,1.316666667,BASELINE,768.835557629,746,723,687,669.164442371,642,886,786,819,656,632.164442371,655.835557629,0.400974299988,0.00448346207632,0.069831134881,0.999999962354,5.27587291563e-05,-0.000268315589963,2.26978482799e-05,1793250830420839936
+80,1.333333333,BASELINE,769,746,723,687,669,642,886,786,819.417883056,656,632,656,0.400974462745,0.0044842132501,0.0698314338164,0.999999962379,5.38775172268e-05,-0.000268005341777,2.26399221126e-05,1793250830437506560
+81,1.350000000,BASELINE,769,746,723,687,669,642,886,786,819.997288556,656,632,656,0.400974520595,0.004485355288,0.0698315480581,0.999999962326,5.55325667661e-05,-0.000267870479345,2.25834893158e-05,1793250830454173184
+82,1.366666667,BASELINE,769,746,723,687,669,642,886.572191081,786,819.427808919,655.427808919,632,656,0.400973021515,0.00448492424073,0.0698305290815,0.999999961642,5.60348984396e-05,-0.000270302038037,2.26677992857e-05,1793250830470839808
+83,1.383333333,BASELINE,769,746.147795233,723,687,669,642,886.852204767,786,819,655.147795233,632,655.852204767,0.400971984523,0.0044844050543,0.0698297994874,0.999999961233,5.54450464937e-05,-0.000271929551358,2.26751970443e-05,1793250830487506176
+84,1.400000000,BASELINE,769,746.725502023,723,687,669,642,886.274497977,786,819,655.725502023,632,655.274497977,0.400972312961,0.00448365099998,0.0698299271566,0.999999961642,5.16939807244e-05,-0.000271183132501,2.24569452312e-05,1793250830504172800
+85,1.416666667,BASELINE,769,746.689568307,723,686.689568307,669,642,886.310431693,786.310431693,819,656,632,655.310431693,0.400972816669,0.00448381527455,0.0698303237952,0.999999961967,5.12395362421e-05,-0.000270067918284,2.24518929838e-05,1793250830520839424
+86,1.433333333,BASELINE,769,746.098099728,723,686.098099728,669,642,886.901900272,786.901900272,819,656,632,655.901900272,0.400973479051,0.00448481092141,0.0698309639344,0.99999996222,5.37695558879e-05,-0.000268618830021,2.26398524282e-05,1793250830537506304
+87,1.450000000,BASELINE,769,746,723,686.481254639,669,642,886.518745361,786.518745361,819,656,632,655.518745361,0.400973511613,0.00448484039792,0.0698305053305,0.999999962042,5.27506482721e-05,-0.000269490602587,2.25607288859e-05,1793250830554173184
+88,1.466666667,BASELINE,768.942028978,746,723,687,669,642,886.057971022,786,819,655.942028978,632,655.057971022,0.400973346775,0.0044845602086,0.0698298858693,0.999999961811,5.10830666696e-05,-0.000270671516773,2.24894948163e-05,1793250830570840064
+89,1.483333333,BASELINE,768.367355792,746,723,687,669,642,886.632644208,786,819,655.367355792,632,655.632644208,0.400972538685,0.0044832322303,0.0698297799193,0.999999961907,4.99233740198e-05,-0.000270494695098,2.29619187687e-05,1793250830587506688
+90,1.500000000,BASELINE,768,746,723,687,669.212402336,642,886.787597664,786,819,655.212402336,632.212402336,655.787597664,0.400972043499,0.00448279809136,0.0698297379688,0.999999961857,5.00549041319e-05,-0.000270640712163,2.30999767422e-05,1793250830604173312
+91,1.516666667,BASELINE,768,746,723,687,669.801170657,642,886.198829343,786,819,655.801170657,632.801170657,655.198829343,0.400972102766,0.00448394778981,0.0698298094221,0.999999961549,5.24744145077e-05,-0.000271358782844,2.26455553954e-05,1793250830620839936
+92,1.533333333,BASELINE,768.383824876,746.383824876,723,687,669.616175124,642,886.383824876,786.383824876,819.383824876,656,632.616175124,655.383824876,0.400972728033,0.00448512002589,0.069829912276,0.999999961506,5.41251986026e-05,-0.000271194396499,2.26125749827e-05,1793250830637506304
+93,1.550000000,BASELINE,768.963361575,746.963361575,723,687,669.036638425,642,886.963361575,786.963361575,819.963361575,656,632.036638425,655.963361575,0.400973641903,0.00448630375398,0.0698300311409,0.9999999616,5.5384010351e-05,-0.000270580046486,2.27944867322e-05,1793250830654172928
+94,1.566666667,BASELINE,769,746.460054131,723,687,669,642,887,787,820,656,632.539945869,656,0.400974014136,0.0044854949946,0.0698310597967,0.999999961824,5.64936797388e-05,-0.00026950999164,2.29037076791e-05,1793250830670839552
+95,1.583333333,BASELINE,768.885139975,746,723,687,669.114860025,642,886.885139975,786.885139975,819.885139975,656,633,656,0.400973978969,0.00448475615235,0.0698316659461,0.999999961914,5.6826786891e-05,-0.000269102982126,2.29388560545e-05,1793250830687506432
+96,1.600000000,BASELINE,768.316042584,746,723,687,669.683957416,642,886.316042584,786.316042584,819.316042584,656,633,656,0.40097247722,0.00448482558631,0.069830358394,0.999999961438,5.41286254239e-05,-0.000271439743167,2.2700469835e-05,1793250830704173568
+97,1.616666667,BASELINE,768,746.265102131,723,687,670,642,886,786,819.265102131,656,633,655.734897869,0.400971597116,0.00448511168693,0.0698294346192,0.999999961268,5.26306030129e-05,-0.000272375738337,2.24883271703e-05,1793250830720840192
+98,1.633333333,BASELINE,768,746.86129283,723,687,670,642,886,786,819.86129283,656,633,655.13870717,0.400971493389,0.0044856683846,0.0698289901475,0.999999961493,5.26314458238e-05,-0.000271562303575,2.23089603446e-05,1793250830737506560
+99,1.650000000,BASELINE,768.444461234,746.555538766,723,687,669.555538766,642,886.444461234,786,820,656,633,655.444461234,0.400972097212,0.00448504225121,0.0698297122543,0.999999961668,5.32430614606e-05,-0.000270786792159,2.2426206154e-05,1793250830754173184
+100,1.666666667,BASELINE,769,746,723,687,669,642,886.976644044,786,819.976644044,655.976644044,632.976644044,656,0.400972872201,0.00448405574685,0.0698307256595,0.999999961819,5.39463374354e-05,-0.000270072371241,2.26333346311e-05,1793250830770839552
+101,1.683333333,BASELINE,769,746,723,687,669,642,886.405382063,786,819.405382063,655.405382063,632.405382063,656,0.40097262997,0.00448302839192,0.0698302751463,0.999999961772,5.24556505306e-05,-0.0002705213328,2.28393115209e-05,1793250830787506176
+102,1.700000000,BASELINE,769,746.168102097,723,687,669.168102097,642,886,786.168102097,819.168102097,655.168102097,632.168102097,656,0.400972675189,0.00448252702788,0.0698302867678,0.999999961832,5.17829447747e-05,-0.000270423829386,2.29235995121e-05,1793250830804172800
+103,1.716666667,BASELINE,769,746.747016795,723,687,669.747016795,642,886,786.747016795,819.747016795,655.747016795,632.747016795,656,0.400973422886,0.00448331109523,0.069831427767,0.999999962154,5.31092444161e-05,-0.000268990859546,2.27105007437e-05,1793250830820839680
+104,1.733333333,BASELINE,769,747,723,687,670,642,886.332505419,787,820,656,633,656,0.40097400051,0.00448402092364,0.0698318254301,0.999999962366,5.29777072605e-05,-0.000268238937577,2.25511006088e-05,1793250830837506560
+105,1.750000000,BASELINE,769,747,723,687,670,642,886.923096691,787,820,656,633,656,0.400974446126,0.00448467312895,0.0698316461267,0.999999962495,5.17146186032e-05,-0.000268015634872,2.2433380547e-05,1793250830854173184
+106,1.766666667,BASELINE,768.495142159,746.495142159,723,687,669.495142159,642,886.495142159,786.495142159,819.495142159,656,632.495142159,655.495142159,0.400974961442,0.00448505093212,0.0698316097172,0.999999962367,5.28522238055e-05,-0.000268272229187,2.24198077716e-05,1793250830870839808
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,687,670,643,886,787,820,656,633,656,0.400972142938,0.00448259250316,0.0698306588411,0.999999961886,5.03220932991e-05,-0.000270472852688,2.32567453268e-05,1793250830914298112
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746,723,687,670,642.422034676,886,786.422034676,820,656,633,656,0.40097237172,0.00448383160747,0.0698299576021,0.999999961797,5.19350041076e-05,-0.000270508090469,2.31326454418e-05,1793250830930964480
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.839434175,642,886.160565825,786.160565825,820,656,632.839434175,656,0.400972680372,0.00448480760693,0.0698295213381,0.999999961792,5.28540031287e-05,-0.000270363700159,2.29127549581e-05,1793250830947630592
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,746,723,687,669.244288188,642,886.755711812,786.755711812,820,656,632.244288188,656,0.4009732052,0.00448507149906,0.0698298022434,0.999999962024,5.18948924177e-05,-0.000269733136639,2.24336019684e-05,1793250830964296960
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,746,723,687,669.338530336,642,886.661469664,786.661469664,819.661469664,656,632,656,0.400973641898,0.00448421613907,0.0698305348802,0.999999962213,5.19383476577e-05,-0.000269023026796,2.24216859037e-05,1793250830980963584
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.912765708,642,886.087234292,786.087234292,819.087234292,656,632,656,0.400974017236,0.00448258148892,0.0698315820395,0.999999962373,5.26798492401e-05,-0.000268257532091,2.27350881168e-05,1793250830997630464
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.514269356,746,723,687,669.514269356,642,886.485730644,786.485730644,819.485730644,656,632,656,0.400974028165,0.0044828137988,0.0698317232378,0.999999962433,5.10793902766e-05,-0.000268332281886,2.28668745397e-05,1793250831014297088
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.060271883,746,723,687,669,642,886.939728117,786.939728117,820,656,632,656,0.400973974615,0.00448340678327,0.0698317067252,0.999999962425,4.96132747162e-05,-0.000268626928258,2.29704505104e-05,1793250831030963456
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.650679514,746,723,687,669,642,886.349320486,786.349320486,820,656,632,656,0.400973928057,0.0044842306956,0.069831730406,0.999999962004,5.30186628954e-05,-0.000269531888026,2.3112037797e-05,1793250831047629824
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.23718201,723,687,669,642,886,786.23718201,820,656,632,656,0.400976800058,0.00448444235026,0.0698329180547,0.999999962253,5.45016531476e-05,-0.000268306634714,2.31201197116e-05,1793250831064296448
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746.818026156,723,687,669,642,886,786.818026156,820,656,632,656,0.400983900874,0.00448376688116,0.0698357922215,0.999999963475,5.31992068147e-05,-0.000263994833664,2.29347605457e-05,1793250831080963328
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746.605353707,723,687,669.394646293,642,886.394646293,786.605353707,820,656,632.394646293,655.605353707,0.401009330099,0.00448377734321,0.0698469710242,0.999999968122,5.21668501788e-05,-0.000245985041307,2.29394096424e-05,1793250831097629952
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.030660612,723,687,669.969339388,642,886.969339388,786.030660612,820,656,632.969339388,655.030660612,0.401043121171,0.00448410074293,0.0698619385948,0.99999997384,5.12577145955e-05,-0.000221725906721,2.30307448934e-05,1793250831114296576
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746.557304882,723,687,670,642.557304882,887,786.557304882,820,656,632.442695118,655.557304882,0.401096816681,0.00448334127532,0.0698782270184,0.999999979851,4.96714637668e-05,-0.000193162400727,2.2765283495e-05,1793250831130963200
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746.856302825,723,687,669.856302825,642.856302825,887,786.856302825,820,656,632,655.856302825,0.401154995496,0.00448296943185,0.0698927645436,0.999999984147,4.89106971977e-05,-0.000169740780987,2.24088840528e-05,1793250831147630080
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746.276947778,723,687,669.276947778,642.276947778,887,786.276947778,820,656,632,655.276947778,0.401223365738,0.00448395780252,0.0699017680507,0.999999985246,5.07683103632e-05,-0.000162643676933,2.18377447546e-05,1793250831164296704
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,723,687,669.301221487,642,887,786,819.698778513,656,632.301221487,655.301221487,0.40129952582,0.00448452297163,0.0699071557276,0.999999986408,5.00663892125e-05,-0.000155741113558,2.05528615658e-05,1793250831180963328
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.878304766,642,887,786,819.121695234,656,632.878304766,655.878304766,0.401382819916,0.00448470056826,0.0699092319888,0.999999987618,4.70204196201e-05,-0.000149016712998,1.86143242821e-05,1793250831197629696
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,687.453786597,670,642,887,786.453786597,819.453786597,656,632.546213403,656,0.401477039964,0.00448609097073,0.0699064465431,0.999999986953,4.48004387729e-05,-0.000154360160425,1.61014215608e-05,1793250831214296320
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746,723,687.970542437,669.970542437,642,887,787,820,656,632,656,0.401575658294,0.00448773230258,0.0699025571324,0.999999985782,4.27705265022e-05,-0.000162560951209,1.34369045342e-05,1793250831230962944
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746,723,687.383184051,669.383184051,642,887,787,820,656,632,656,0.401702278047,0.00448798778711,0.0699023655683,0.99999998572,4.01598675335e-05,-0.000163799761582,1.08079119779e-05,1793250831247629568
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.798414575,746,723,687,669.201585425,642,887,786.798414575,819.798414575,656,632,656,0.401844476693,0.00448834800556,0.0699039639433,0.999999986162,3.73915641324e-05,-0.000161918303676,7.81922089221e-06,1793250831264296192
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.218503901,746,723,687,669.781496099,642,887,786.218503901,819.218503901,656,632,656,0.402015912996,0.00448890478327,0.069908921585,0.999999987516,3.4327401989e-05,-0.00015418088517,4.1554662369e-06,1793250831280963072
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.359864421,746,723,687,669.640135579,642.359864421,887,786,819.359864421,656,632,655.640135579,0.402204317702,0.00449079528377,0.0699139788537,0.999999988915,3.12043473066e-05,-0.000145587997359,2.64119803908e-07,1793250831297629696
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.937300304,746,723,687,669.062699696,642.937300304,887,786,819.937300304,656,632,655.062699696,0.4024029814,0.0044934921436,0.0699190963566,0.999999990287,2.80456863188e-05,-0.000136477898159,-3.7648273466e-06,1793250831314296320
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746.510807076,723,687,669,643,887,786,820,656,632.510807076,655,0.402628682695,0.00449442473775,0.0699214990922,0.999999991109,2.23443877884e-05,-0.000131189920362,-8.48957600082e-06,1793250831330962944
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746.915033104,723,687,669,642.915033104,887,786,820,656,632.915033104,655.084966896,0.402862403772,0.00449522166906,0.0699235882315,0.999999991811,1.59390934834e-05,-0.000126270051456,-1.34265310192e-05,1793250831347629568
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746.334269675,723,687,669,642.334269675,887,786,820,656,632.334269675,655.665730325,0.403123704004,0.00449648098718,0.069925777083,0.999999992497,7.23311248687e-06,-0.000120781476772,-1.91071878885e-05,1793250831364296192
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746.250391019,723,687.250391019,669,642,887,786.250391019,819.749608981,656,632,656,0.40341877713,0.0044979993976,0.0699328239817,0.999999993956,-4.33198194898e-07,-0.000107067559971,-2.49790421809e-05,1793250831380962816
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746.84033675,723,687.84033675,669,642,887,786.84033675,819.15966325,656,632,656,0.403759649586,0.00449986916245,0.0699464588677,0.999999996115,-6.68961371723e-06,-8.21992750271e-05,-3.11101785306e-05,1793250831397629440
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746.580964935,723,687.580964935,669.419035065,642.419035065,887,786.580964935,819.419035065,656,632,656,0.40410112899,0.00450291814136,0.0699512274865,0.999999996377,-9.87328503276e-06,-7.60428440197e-05,-3.69648074906e-05,1793250831414296064
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746.00644017,723,687.00644017,669.99355983,642.99355983,887,786.00644017,819.99355983,656,632,656,0.404442833604,0.00450640468657,0.069952706134,0.999999996065,-1.19167650446e-05,-7.68297479744e-05,-4.27168338035e-05,1793250831430962688
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.431679506,746,723,687.568320494,669.431679506,642.431679506,887,786.568320494,820,656,632.568320494,655.431679506,0.404839783899,0.00450890514663,0.0699601465834,0.999999996646,-1.44894305452e-05,-6.40716106241e-05,-4.89197682676e-05,1793250831447629312
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.147956004,746,723,688,669,642,887,786.852043996,820,656,632.852043996,655.147956004,0.405243602203,0.00451150947091,0.0699669010095,0.999999997407,6.29280179015e-06,-5.33915684319e-05,-4.79058305076e-05,1793250831464296192
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.742290595,746,723,688,669,642,887,786.257709405,820,656,632.257709405,655.742290595,0.405666251468,0.00451446087617,0.0699713818159,0.999999993704,9.7554122816e-05,-4.94443470489e-05,-2.51033938047e-05,1793250831480963072
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.673936931,746,723,688.326063069,669,642,887,786.326063069,820,656,632,656,0.406114048875,0.00451759042152,0.0699663722724,0.999999988956,0.000136070525627,-5.64371920054e-05,-1.96735415851e-05,1793250831497629440
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.098250413,746,723,688.901749587,669,642,887,786.901749587,820,656,632,656,0.406581098939,0.00452085634552,0.0699540972214,0.999999988037,0.000134207117501,-7.18054013928e-05,-2.75435816689e-05,1793250831514296064
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.476308779,746,723,689,669,642,887,787,819.523691221,656,632.476308779,655.523691221,0.407069385728,0.00451527073656,0.0699359903968,0.999999985767,0.000133986545259,-9.85489787249e-05,-2.83200361647e-05,1793250831530962944
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,887,786.947932135,819.052067865,656,632.947932135,655.052067865,0.407569026574,0.00450900294019,0.0699192322806,0.999999984536,0.000122426896422,-0.000123105993498,-2.80078915079e-05,1793250831547629568
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,887,786.357363715,819.642636285,656,632.357363715,655.642636285,0.408140896224,0.0045145185973,0.0699288347141,0.99999999437,-9.90115205983e-06,-0.000100838636504,-3.15345174731e-05,1793250831564296448
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,723,689.228650292,669.228650292,642,887.228650292,786.228650292,819.771349708,656,632,656,0.408736412198,0.00452103899328,0.0699401193413,0.999999993561,-7.77701820241e-05,-7.50452246565e-05,-3.4619332379e-05,1793250831580963072
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,723,689.807685068,669.807685068,642,887.807685068,786.807685068,819.192314932,656,632,656,0.409368163844,0.0045290990542,0.0699539817674,0.999999997255,-4.68619856417e-05,-4.38484777971e-05,-3.70271149665e-05,1793250831597629696
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,723,690,669.615365392,642.384634608,888,787,819.384634608,656,632,655.615365392,0.410001703092,0.00453645740866,0.0699521990723,0.999999998225,-1.23493171131e-05,-4.39289960715e-05,-3.82999992699e-05,1793250831614296064
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,723,690,669.039452853,642.960547147,888,787,819.960547147,656,632,655.039452853,0.410636131292,0.00454346680584,0.0699426360932,0.999999997178,2.39558464395e-05,-5.95636293463e-05,-3.90085010937e-05,1793250831630962944
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,723,690.545605098,669.545605098,643,888,787,820,656,632.545605098,655.545605098,0.411295262182,0.00455075627813,0.0699437388403,0.999999995847,5.27599112188e-05,-6.27864830143e-05,-3.97517498226e-05,1793250831647629568
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.870203101,746,723,691.129796899,669.870203101,643,888,787,819.870203101,655.870203101,632.870203101,656,0.411978510616,0.00455765082713,0.0699523873612,0.999999995013,7.50588321606e-05,-5.19671974781e-05,-4.04820871153e-05,1793250831664296192
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.291335132,746,723,691.708664868,669.291335132,643,888,787,819.291335132,655.291335132,632.291335132,656,0.412738915282,0.00456310775622,0.0699844289068,0.999999996198,7.67598712894e-05,4.27695366981e-06,-4.11589121481e-05,1793250831680962816
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.287676552,746,723.287676552,692,669.287676552,643,888,787,819.287676552,655,632,656,0.413508885394,0.00456882365664,0.0700102848118,0.999999995223,7.62551828807e-05,4.46622191767e-05,-4.17772734077e-05,1793250831697629440
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.86683392,746,723.86683392,692,669.86683392,643,888,787,819.86683392,655,632,656,0.414288547538,0.00457480195373,0.0700298732805,0.999999994022,7.35155985214e-05,6.89788863091e-05,-4.23363979256e-05,1793250831714296320
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.44263942,723.55736058,692,669.55736058,642.55736058,888.44263942,787,820,655.44263942,632,656,0.415030285435,0.00458574208381,0.0699933415974,0.999999994153,9.90385942396e-05,1.95217539832e-06,-4.33724566016e-05,1793250831730962944
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.982528359,723,692,669,642.017471641,889.017471641,787,820.017471641,656,632.017471641,656,0.415763112309,0.00459788344139,0.0699409339282,0.999999986294,0.000131273108526,-9.05090592459e-05,-4.45897547234e-05,1793250831747629568
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746.406815134,723,692,669,642.593184866,889.593184866,787,820.593184866,656,632.593184866,656,0.416573025313,0.00460106891121,0.0699166631209,0.999999985313,0.000108319860175,-0.000124205916199,-4.70478735225e-05,1793250831764296192
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.173982699,723,692.173982699,669.173982699,642.826017301,890,787,821,656,633,656,0.417397319261,0.00460433336555,0.0699089102908,0.999999985102,9.79803818306e-05,-0.000133576292808,-4.85039347779e-05,1793250831780962816
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.7670275,723,692.7670275,669.7670275,642.2329725,890,787,821,656,633,656,0.418256251713,0.00460778806511,0.0699409433619,0.999999988347,0.000118022966097,-8.43528759972e-05,-4.75463976903e-05,1793250831797629696
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.650023507,746.650023507,723,693,669.650023507,642,890.349976493,787,821.349976493,656,632.650023507,656,0.419142360113,0.00461371691389,0.0699688886185,0.999999988807,0.000135393500278,-4.22347706829e-05,-4.76480422202e-05,1793250831814296320
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.073606686,746.073606686,723,693,669.073606686,642,890.926393314,787,821.926393314,656,632.073606686,656,0.42004605175,0.00462124657623,0.0699941889931,0.99999998741,0.000151035174972,-4.71391628384e-06,-4.84349940523e-05,1793250831830962944
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746,723,693,669,642,891,787,822.500617095,655.499382905,632,656,0.420986891968,0.00461885325756,0.0700195155162,0.999999989089,0.000135265660412,3.2138584454e-05,-4.99262823436e-05,1793250831847629824
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.076667863,746,723,693,669.076667863,642.076667863,891.076667863,787,823,655.076667863,632,656,0.421919915026,0.00461173347106,0.0700369935146,0.999999990467,0.000115045328304,5.66905412446e-05,-5.1150851553e-05,1793250831864296704
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.667113031,746,723,693,669.667113031,642.667113031,891.667113031,787,823,655.667113031,632,656,0.422764108972,0.00458267459946,0.0700018502286,0.999999994165,9.5813358991e-05,-5.31964479457e-07,-4.9897082242e-05,1793250831880963328
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,723,693.252662644,669.747337356,642.747337356,891.747337356,787,823,655.747337356,632.252662644,656,0.423600811368,0.00456642830525,0.0699438490944,0.999999992027,7.17862019186e-05,-9.05518560941e-05,-5.09282819554e-05,1793250831897629696
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,723,693.831884965,669.168115035,642.168115035,891.168115035,787,823,655.168115035,632.831884965,656,0.424427831256,0.00456674191888,0.069856304801,0.999999972773,4.15613901992e-05,-0.000222961494541,-5.49127420605e-05,1793250831914296320
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,723,694,669,642.407723168,891.407723168,787,823.407723168,655.407723168,633,656,0.425366865791,0.00457261658552,0.0698578725422,0.999999974276,5.41668586758e-05,-0.0002132458776,-5.5140300619e-05,1793250831930963200
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,723,694,669,642.982177463,891.982177463,787,823.982177463,655.982177463,633,656,0.426351706672,0.00458076534569,0.0698958810678,0.999999984427,8.42870089263e-05,-0.000145410661812,-5.38315409955e-05,1793250831947629824
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746.568488782,723,694.568488782,669.568488782,642.431511218,892,786.431511218,824,655.431511218,633,656,0.427341206621,0.004584946687,0.0699554896246,0.999999991315,9.9183169855e-05,-6.97651162418e-05,-5.16358771103e-05,1793250831964296192
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.84686663,746.84686663,723,695,669.84686663,642.15313337,892.15313337,786.15313337,824.15313337,655.15313337,633,656,0.428335671452,0.00458799356022,0.070009972018,0.999999993268,0.000104365256671,4.37780124215e-06,-5.05276530027e-05,1793250831980963072
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.267912472,746.267912472,723,695,669.267912472,642.732087528,892.732087528,786.732087528,824.732087528,655.732087528,633,656,0.429343527352,0.00458823903421,0.0700482768417,0.99999999239,8.38906994272e-05,7.36469388311e-05,-5.25222585678e-05,1793250831997629696
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746.311117308,723,695,669,643,893,787,825,655.688882692,632.688882692,656,0.430290250382,0.00458776478707,0.0700465521554,0.999999992823,7.81886104369e-05,7.29321597382e-05,-5.40530083728e-05,1793250832014296320
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746.890212194,723,695,669,643,893,787,825,655.109787806,632.109787806,656,0.431184317212,0.0045866706158,0.0700103484754,0.999999994776,8.52106306303e-05,1.19374763546e-05,-5.51842208776e-05,1793250832030962944
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,723,695,669,643,893.465484869,786.534515131,825.465484869,655,632,656.465484869,0.432022733229,0.00458097212795,0.0699355831501,0.999999988212,8.64323270638e-05,-0.000114274993234,-5.51917008564e-05,1793250832047629824
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.04095562,747,723,695,669.04095562,643,894,786.04095562,826,655.04095562,632,656.95904438,0.432860493401,0.00457484756836,0.0698609718274,0.999999966253,8.53756520472e-05,-0.000239110368692,-5.50565685235e-05,1793250832064296448
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.631071124,747,723,695,669.631071124,643,894,786.631071124,826,655.631071124,632,656.368928876,0.433864022405,0.00457745263484,0.0699093844629,0.999999985885,7.19633595615e-05,-0.000140907628366,-5.65340964242e-05,1793250832080963328
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,695,670.216993155,643,894.216993155,787,826,655.783006845,632,656,0.434850021757,0.00457963469218,0.0699566082586,0.999999994588,6.81936569171e-05,-5.3876417565e-05,-5.71897944526e-05,1793250832097629696
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,695,670.795920763,643,894.795920763,787,826,655.204079237,632,656,0.435806782629,0.00458111119047,0.0700018491326,0.999999995059,8.05073425393e-05,1.45212177379e-05,-5.64747194225e-05,1793250832114296320
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723.372052195,695,670.627947805,643,894.627947805,786.627947805,826,655,632,656.372052195,0.436731177052,0.00457861626002,0.0700213151654,0.999999993698,8.39387834707e-05,4.85204730198e-05,-5.66073265255e-05,1793250832130963200
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723.946661267,695,670.053338733,643,894.053338733,786.053338733,826,655,632,656.946661267,0.437637950108,0.00457395915921,0.0700267485639,0.999999992923,8.25344513693e-05,6.37921679387e-05,-5.72014384848e-05,1793250832147630080
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.467666387,747,723.467666387,695,670,643,894.532333613,786,826,655,632,656.467666387,0.438479854899,0.00457521571498,0.0699864329371,0.999999996182,6.35888103277e-05,1.25424996514e-05,-5.86135095556e-05,1793250832164296704
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.117545907,747.117545907,723,695,669.882454093,643,895,786,826,655.117545907,632,656.117545907,0.439292773355,0.00457790714904,0.06993439101,0.999999994937,5.2210625441e-05,-6.20714190943e-05,-5.95643437362e-05,1793250832180963328
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.696508532,747.696508532,723,695,669.303491468,643,895,786,826,655.696508532,632,656.696508532,0.440017963728,0.00458385576177,0.0698546943104,0.999999974949,7.75836182041e-05,-0.000201680369435,-5.83760839849e-05,1793250832197629952
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747.724723003,723,695,669,643,895,786,826.275276997,655.724723003,632.275276997,656.724723003,0.440799513662,0.0045922910553,0.0698194456491,0.99999995864,0.000101922013275,-0.000262600281198,-5.80695967887e-05,1793250832214296832
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747.146168486,723,695,669,643,895,786,826.853831514,655.146168486,632.853831514,656.146168486,0.441643155872,0.0046034659685,0.0698331661801,0.999999962404,0.00012512057347,-0.000236827086726,-5.87345749671e-05,1793250832230964224
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.569719892,747,723,695,668.569719892,642.569719892,895.430280108,786,827,655,632.569719892,656,0.442450082176,0.00461076657449,0.0698598615966,0.999999970989,0.000119659236699,-0.000200741993097,-5.83652868729e-05,1793250832247630592
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.006126557,747,723,695,667.993873443,642,896,786,827,655,632,656.006126557,0.443243862015,0.00461678648274,0.0698903727741,0.999999979708,0.00010487305657,-0.000162054801495,-5.76490455407e-05,1793250832264296448
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.592361828,747,723,695,667.407638172,642,896,786,827,655,632,656.592361828,0.443968076517,0.00462555373253,0.0698668729275,0.999999969176,0.000124521137439,-0.000207057417878,-5.71867125314e-05,1793250832280963328
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.176317146,747,723,695.176317146,667,642,896.176317146,786,827,655,632,656.823682854,0.444677526584,0.00463336228834,0.0698371546331,0.999999954898,0.000143975305037,-0.000257407656467,-5.67047862717e-05,1793250832297629952
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.755068709,747,723,695.755068709,667,642,896.755068709,786,827,655,632,656.244931291,0.445353277763,0.00463898267834,0.0697932430612,0.999999933951,0.000162986880082,-0.000319963564715,-5.61781394866e-05,1793250832314296832
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.667001955,747,723,695.667001955,666.667001955,641.667001955,896.667001955,786,827,655.332998045,632,656.332998045,0.446010417889,0.00464369120419,0.0697605911894,0.999999916104,0.000175945825021,-0.000365662170181,-5.59044451788e-05,1793250832330963456
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.089675938,747,723,695.089675938,666.089675938,641.089675938,896.089675938,786,827,655.910324062,632,656.910324062,0.446653902637,0.00464773067497,0.0697362008091,0.999999901831,0.000184463821549,-0.000398992199468,-5.58163477567e-05,1793250832347630080
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,723,695.485294021,665.514705979,640.514705979,896.485294021,785.514705979,827,656,632,656.514705979,0.447243858736,0.0046547796971,0.069713358825,0.999999879976,0.000196414153526,-0.000445314343142,-5.62487811414e-05,1793250832364296704
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,695.938728601,664.938728601,640,896.938728601,785,827,656,632,656,0.44782640255,0.00466274640533,0.0696927584616,0.999999856755,0.000209515428141,-0.000489255327946,-5.67616173666e-05,1793250832380963328
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,695.35035743,664.35035743,640,896.35035743,785,827,656,632,656,0.448429862271,0.00467384662824,0.0696889925575,0.999999851473,0.000227088019683,-0.000492158570899,-5.71426640252e-05,1793250832397629952
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747,723.234917505,695,663.765082495,640,896.234917505,785,827,656,632,656,0.449027255643,0.0046905574441,0.0696974802682,0.999999853796,0.000246315970938,-0.000477629254777,-6.00509854188e-05,1793250832414296832
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,723.815634717,695,663.184365283,640,896.815634717,785,827,656,632,656,0.449615719265,0.00471552707899,0.0697240053597,0.999999866194,0.00026798061788,-0.000437439126478,-6.66794673614e-05,1793250832430963712
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,723.608172572,695.391827428,662.608172572,639.608172572,897,785,827.391827428,656,632,656,0.450144831343,0.00472868668444,0.0697314662992,0.999999868989,0.000278238556128,-0.000423845578194,-7.04266223431e-05,1793250832447630592
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747,723.034084406,695.965915594,662.034084406,639.034084406,897,785,827.965915594,656,632,656,0.450646335768,0.00473635279028,0.0697300594433,0.999999867944,0.000283190601572,-0.000422623575837,-7.28335124645e-05,1793250832464296960
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+262,4.366666667,HOLD_POSE2,769,747,723,695.539924993,652,636.539924993,897.539924993,784,828,656,632,656.539924993,0.456111631714,0.00479543708969,0.0695526207899,0.999999705937,0.000311844960177,-0.000697359613934,-6.75856770472e-05,1793250833514838272
+263,4.383333333,HOLD_POSE2,769,747,723.119314165,696,652,636.880685835,898.119314165,784,828,656,632,656.880685835,0.456111856453,0.00479538976989,0.0695529006526,0.999999705606,0.000312245774159,-0.000697661510453,-6.7512782272e-05,1793250833531504640
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+266,4.433333333,HOLD_POSE2,769,747,723.127791124,696,652,636,898.127791124,784,828,655.127791124,632,656,0.456111372863,0.00479968593707,0.0695525140952,0.999999703691,0.000319203789918,-0.000697188260813,-6.82352288236e-05,1793250833581504768
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747.586899419,723,695.413100581,652,636,898,784,828,656,632,656.413100581,0.456113902334,0.004798185406,0.0695541361741,0.999999706191,0.000315691025224,-0.000695242880594,-6.77821633577e-05,1793250833630866432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.171843229,747.828156771,723,695.171843229,652,636,898,784,828,656,631.828156771,656.171843229,0.456114782528,0.0047975904649,0.0695549011217,0.999999706826,0.000315345562937,-0.000694494204918,-6.76952631296e-05,1793250833647532288
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.669830084,747,723,695.669830084,652,636,898.330169916,784,828,656,631,657,0.456113900215,0.00479504481072,0.0695535422493,0.99999970678,0.000312773686098,-0.000695810396402,-6.67901232083e-05,1793250833680865536
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,769,746.138971289,723,695,664.861028711,640,893.138971289,786,826.138971289,656,632,656,0.442993047399,0.00465676609971,0.0696890565187,0.999999879666,0.00011543890684,-0.000476493814642,1.71785934965e-05,1793250834414198784
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.563184472,746,723,695,665.436815528,640,892.563184472,786,826,655.563184472,631.563184472,656,0.442221208678,0.00464839928069,0.0697180301394,0.9999998819,0.000211793717752,-0.000437051641597,1.81377338825e-05,1793250834430865408
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.585602032,746.585602032,723,695,666.585602032,640.585602032,891.414397968,786,826,655.585602032,631.585602032,656,0.440674389616,0.00463138560787,0.0697771748793,0.999999894088,0.000314588504317,-0.000335237171602,2.17673791404e-05,1793250834464198656
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.835444461,747,723,695,667.164555539,641,891.164555539,786.164555539,825.835444461,656,632,655.835444461,0.439882010841,0.00462514224932,0.0697964128305,0.999999914218,0.000289309025623,-0.000295442925086,2.40444768975e-05,1793250834480865536
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.245689656,747,723,695,667.754310344,641,891.754310344,786.754310344,825.245689656,656,632,655.245689656,0.439021358969,0.00461908206809,0.0697826591782,0.999999913475,0.000257771103938,-0.00032558175124,2.44878914251e-05,1793250834497532160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.338848194,746.661151806,723,695,668,641,891.661151806,787,825,655.661151806,632,655.338848194,0.438127299162,0.00461361727523,0.0697496239974,0.999999903644,0.000225152010295,-0.000376122716044,2.34733117565e-05,1793250834514198784
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.919660703,746.080339297,723,695,668,641,891.080339297,787,825,655.080339297,632,655.919660703,0.437209383495,0.00460857763685,0.0697028202862,0.999999884041,0.000191760875289,-0.000441232413117,2.1417609238e-05,1793250834530865408
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.504474509,746,722.504474509,695,668,641,891,787,825,655,632,656,0.436320189235,0.00460269535643,0.0697276442279,0.99999990496,0.000168367123849,-0.000401522530401,2.26266572116e-05,1793250834547532032
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746,722.657242563,695,668,641.657242563,891,787,824.342757437,655.657242563,632,656,0.434580679066,0.00459341461412,0.0698086391305,0.999999945504,0.000146248906087,-0.000294698337486,2.74891944933e-05,1793250834580865280
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.758518087,890.758518087,787,824,655.758518087,632,655.758518087,0.433702389529,0.00458746421765,0.069838153135,0.999999955671,0.000148385762565,-0.00025645036688,2.95349693724e-05,1793250834597531904
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.175891188,890.175891188,787,824,655.175891188,632,655.175891188,0.432795675415,0.0045781430199,0.0698475419657,0.999999959277,0.000157321339262,-0.000236176596309,3.0265553152e-05,1793250834614198784
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,723,694.599113027,668.400886973,641.400886973,890.400886973,787,824,655.400886973,632,655,0.431841723441,0.00457301367834,0.0698339255496,0.99999995614,0.000147043498669,-0.000255289940631,3.04262605481e-05,1793250834630865408
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,723,694.024864161,668.975135839,641.975135839,890.975135839,787,824,655.975135839,632,655,0.430867343707,0.00456969708799,0.0698103606103,0.999999948822,0.000128456895552,-0.000291436078644,3.03405272076e-05,1793250834647532032
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.551152853,746.551152853,723,694.551152853,668.448847147,642,891,787,823.448847147,655.448847147,632,655,0.429830221146,0.0045664104565,0.0697436737423,0.999999910999,0.000135083708604,-0.000398654994472,2.87868830157e-05,1793250834664198656
+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,747,722.873055262,695,668,642,890.873055262,787,823,655,632,655,0.428828003785,0.00456148620072,0.0697031396204,0.999999882405,0.000137713186809,-0.000464160421027,2.7924797691e-05,1793250834680865536
+332,5.533333333,POSE2_TO_POSE3_RETREAT,769,747,722.298339768,695,668,642,890.298339768,787,823,655,632,655,0.427958923381,0.00455078078862,0.0697617377214,0.9999999232,0.000122217876514,-0.000371184361388,2.97363766707e-05,1793250834697532160
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.713645311,747,722.286354689,694.713645311,668,641.713645311,890,787,822.427290621,655,632,655,0.427087216351,0.0045425714998,0.0698167140828,0.999999953072,0.000107354707824,-0.000285193266139,3.15652151322e-05,1793250834714198784
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.118178885,747,722.881821115,694.118178885,668,641.118178885,890,787,821.236357769,655,632,655,0.426212674009,0.00453705670571,0.0698677808756,0.99999997373,9.31739193551e-05,-0.000206742248295,3.34126846684e-05,1793250834730865408
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.459752568,746.540247432,723,693.540247432,668,641.459752568,889.540247432,787,820.540247432,655.459752568,632,655,0.425279515736,0.00452871769385,0.0698597269642,0.999999970363,9.3140276265e-05,-0.000222536634339,3.28173533128e-05,1793250834747532032
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.966561968,746,723,693,668.033438032,642,889,787,820.033438032,656,632,655.033438032,0.424328314989,0.00451989643034,0.069835322566,0.999999959962,9.55774775915e-05,-0.000264454692392,3.17064765707e-05,1793250834764198400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.39132555,746,723,693,668.60867445,642,889,787,820.60867445,656,632,655.60867445,0.42331993701,0.00451459187978,0.0697831803107,0.99999993439,8.12921050138e-05,-0.000351547130216,3.20426131198e-05,1793250834780865280
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.189418454,746,723,693,668.810581546,641.810581546,888.810581546,787,820.810581546,655.810581546,631.810581546,656,0.422325840764,0.00450848199805,0.0697306777775,0.999999899954,6.86519284724e-05,-0.000440811927179,3.26203754854e-05,1793250834797532160
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746,723,693,668,641.362937176,888,787.362937176,820,655,631.362937176,656,0.42050909226,0.00449111372913,0.0696986352969,0.999999874685,5.11621455242e-05,-0.000496932858079,3.27252571408e-05,1793250834830865408
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746,723,693,668.513222143,642,888,787.486777857,820,655,632,655.486777857,0.418927275712,0.00447508488278,0.0698319334687,0.999999961529,2.76820924045e-05,-0.000274076388631,3.25305265508e-05,1793250834864198656
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746.09156519,723,692.90843481,669,642,888,787,820,655.09156519,632,655.09156519,0.418121375312,0.00446951389604,0.0698866229815,0.999999981174,1.39276387949e-05,-0.000190376291309,3.48476108403e-05,1793250834880865536
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746.682378387,723,692.317621613,669,642,888,787,820,655.682378387,632,655.682378387,0.417249679931,0.00446007051213,0.0698624197188,0.999999971107,1.53191214717e-05,-0.000237171683856,3.60690459687e-05,1793250834897532160
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,747,722.732219297,691.732219297,668.732219297,642,888,787,820,655.732219297,632,655.732219297,0.416392469387,0.00445205795076,0.0698322421749,0.999999960621,1.28285992983e-05,-0.000278130234547,3.51755977795e-05,1793250834914198784
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,747,722.153107891,691.153107891,668.153107891,642,888,787,820,655.153107891,632,655.153107891,0.415552099455,0.00444570891165,0.0697951187356,0.99999995071,5.82472980937e-06,-0.000312302676816,3.18233162495e-05,1793250834930865408
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,746.578383266,722,691,668.421616734,642,888,787,820,655.421616734,632,655,0.414714130607,0.00444192058629,0.0697642327747,0.999999931111,-6.5038054834e-06,-0.000369730681492,3.21581884977e-05,1793250834947532032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,746.005235226,722,691,668.994764774,642,888,787,820,655.994764774,632,655,0.413877024654,0.00443905259461,0.0697355885938,0.999999904375,-2.07460546487e-05,-0.000435516860922,3.38182431141e-05,1793250834964198656
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.422507829,746,722.577492171,691,668.422507829,642,887.422507829,787,820,655.422507829,632,655,0.413166470872,0.00445994299778,0.0697554980638,0.999999920866,1.87010002265e-05,-0.000395976855741,3.34795181225e-05,1793250834980865280
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.160880745,746.160880745,723,691,668.160880745,642,887.160880745,787,820,655.160880745,632,655.160880745,0.412477946997,0.00447848025081,0.0697871844137,0.999999941482,4.75537581337e-05,-0.00033715870909,3.31351792917e-05,1793250834997532160
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.745779308,746.745779308,723,691,668.745779308,642,887.745779308,787,820,655.745779308,632,655.745779308,0.411844410359,0.00449023830559,0.0698487302943,0.999999971878,4.71797284247e-05,-0.000230090020049,3.28246067687e-05,1793250835014198784
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,746.674543634,723,690.349087268,669,642,888,787,820,656,632,656,0.41118770535,0.00448557910769,0.0698751799388,0.999999981361,3.65042659489e-05,-0.000186645753893,3.33130319779e-05,1793250835030865408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,746.098880832,723,689.197761664,669,642,888,787,820,656,632,656,0.410513188851,0.00446829854813,0.0698746480697,0.999999980793,1.79092021347e-05,-0.000192115087849,3.44157160114e-05,1793250835047532032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,746,723,689.477333544,669,642,887.522666456,787,820,656,632,656,0.409836973254,0.0044631724372,0.0698392703239,0.999999966932,1.73997243871e-05,-0.000254331698491,3.38782474375e-05,1793250835064198656
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,746.643269683,723,690,669,642,886.356730317,786.356730317,820,656,632,655.356730317,0.40854405784,0.00446410266023,0.0697711082153,0.999999931953,9.55485250741e-06,-0.000367443784221,3.14406318982e-05,1793250835097532160
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,746.787490731,723,689.787490731,668.787490731,642,886.212509269,786,820,655.787490731,632,655,0.40796398232,0.00446703171315,0.0697633312521,0.999999928156,1.05382315793e-05,-0.000377672743728,3.06546745361e-05,1793250835114198784
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.663058491,746,723,688.663058491,668,642,886.663058491,786,819.663058491,655,632,655,0.406934960424,0.00447320030169,0.0698022144529,0.999999949321,3.92789014373e-05,-0.000314362018429,3.15055841969e-05,1793250835147532032
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.538091282,746,723,688,668,642,886.538091282,786,819.538091282,655,632,655,0.405948150859,0.00447781444492,0.0698059046937,0.999999946247,3.4493673579e-05,-0.000324449252709,3.23919648538e-05,1793250835180865536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,746,723,688,668.115755711,642,886.884244289,786,820,655.115755711,632,655,0.405488024359,0.00447888255436,0.0697994363922,0.999999941413,2.50518152913e-05,-0.00033986437537,3.22382365299e-05,1793250835197531904
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642.403144901,886,786,820,656,632,655.403144901,0.40339301236,0.00447119596472,0.0698377691073,0.999999965244,-6.86613500292e-06,-0.000262114525347,2.75683846155e-05,1793250835297532160
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.821247678,746.178752322,723,687,669,642,886,786,820,655.821247678,632,655.178752322,0.403092928864,0.00446674328794,0.0698252811694,0.999999959106,-1.93193397457e-05,-0.000284009792004,2.74522898331e-05,1793250835314198784
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.229146186,746.770853814,723,687,669,642,886,786,820,655.229146186,632,655.770853814,0.402821753202,0.00446229044858,0.0698198510143,0.999999955628,-2.76108023242e-05,-0.000295224191742,2.87065742284e-05,1793250835330865408
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.352905687,746.647094313,723,687,669,642,886.352905687,786,820,655.352905687,632,656,0.402579142707,0.00445982926384,0.0698145235346,0.999999952906,-2.9908237526e-05,-0.000303956424784,3.00717629052e-05,1793250835347532288
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.928612946,746.071387054,723,687,669,642,886.928612946,786,820,655.928612946,632,656,0.402354566364,0.00445862547914,0.0698092608769,0.999999950701,-2.84214366486e-05,-0.000311121581213,3.15069694165e-05,1793250835364198912
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.49567037,786,820,656,632.50432963,656,0.40215700343,0.00445748445932,0.0698036107107,0.999999947658,-2.56642585679e-05,-0.000320747382187,3.3866607786e-05,1793250835380865536
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,668.765397169,642,886.234602831,786,819.234602831,656,632,656,0.401677031321,0.00447442899365,0.0697993230374,0.999999945562,1.85405533709e-05,-0.00032696689452,4.03050092255e-05,1793250835430865152
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,746.982800568,723,687,668.982800568,642,886.017199432,786,820,656,632,656,0.401350860579,0.00449490826376,0.0698020060337,0.999999935012,0.000159878785412,-0.000320451163455,4.15453821185e-05,1793250835480865024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,746.440309541,723,687.559690459,669,642,886,786,820,656,632,656,0.401274676017,0.00448903997902,0.0697999448808,0.999999943009,9.67729420764e-05,-0.000322391486049,2.60725982225e-05,1793250835497531648
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,746,723,687.859931628,669,642,886,786.140068372,820,656,632,656,0.401204585893,0.00448409384782,0.0697990778443,0.999999946758,4.62422108055e-05,-0.000322705830602,1.43813096971e-05,1793250835514198528
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,746.314986871,723,687,669,642,886,786.685013129,819.685013129,656,632.314986871,656,0.401110001081,0.00448153470016,0.0698065621936,0.99999995073,4.63693048373e-05,-0.000309946582495,1.79993517048e-05,1793250835547532032
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.202879331,786.797120669,819.797120669,656,632,656,0.400989555628,0.00448194473308,0.0698200486747,0.999999957371,5.13066712237e-05,-0.000286635127122,2.15664692879e-05,1793250835647532288
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,746,723,687.692257157,669,642.692257157,886,786,820,656.692257157,632,656,0.400975997801,0.00448018203558,0.0698247123469,0.999999959576,4.97464220728e-05,-0.000279064508519,2.22559711131e-05,1793250835730865152
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,746,723,687.722403689,669,642.722403689,886,786,820,656.722403689,632.277596311,656,0.400975438091,0.00448009244386,0.0698249736404,0.999999959805,4.85868825906e-05,-0.000278451559066,2.222541519e-05,1793250835747532032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,746,723,687.143242879,669,642.143242879,886,786,820,656.143242879,632.856757121,656,0.400975814113,0.00448217030915,0.0698257291935,0.999999960135,4.93452597803e-05,-0.000277138379042,2.21173201622e-05,1793250835764198656
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+399,6.650000000,POSE2_TO_POSE3_RETREAT,768.585305639,746,723.414694361,687,669,642,886,786,819,656,632.414694361,655.414694361,0.400974662905,0.0044834524945,0.0698261608982,0.999999960361,5.1547523534e-05,-0.000275908159636,2.22586155951e-05,1793250835814198528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,746,723,687.165159076,669,642,886.165159076,786,819.165159076,656,632,655.165159076,0.400974325421,0.00448434488371,0.069826742902,0.99999996042,5.28357219947e-05,-0.000275466737482,2.20699248478e-05,1793250835830865152
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,746,723,687.754038678,669,642,886.754038678,786,819.754038678,656,632,655.754038678,0.400975905265,0.00448617019041,0.0698287284219,0.999999961021,5.60527542396e-05,-0.000272657274252,2.17678279509e-05,1793250835847532032
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,746.337188384,723,687.662811616,669,642,886.662811616,786,820,656,632,656,0.400975525073,0.00448595377247,0.0698287897833,0.999999961024,5.56583311209e-05,-0.000272718199719,2.18651767216e-05,1793250835864198656
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,746.916228244,723,687.083771756,669,642,886.083771756,786,820,656,632,656,0.400973739026,0.00448427290863,0.0698274710241,0.999999960597,5.26735582164e-05,-0.000274837938058,2.22490315921e-05,1793250835880865024
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,747,723,687,669,642,886.491196348,786,819.508803652,656,632.491196348,655.508803652,0.400974429378,0.00448325517194,0.0698274559753,0.999999960752,5.14038633095e-05,-0.00027450168327,2.24090960218e-05,1793250835897531648
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,746.934334453,723,687,669,642,886.934334453,786,819,655.934334453,632.934334453,655.065665547,0.400975456322,0.00448247393112,0.0698276802849,0.999999960996,5.04892582653e-05,-0.000273776450126,2.25004252167e-05,1793250835914198528
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,746.358390588,723,687,669,642,886.358390588,786,819,655.358390588,632.358390588,655.641609412,0.400975843907,0.00448265885628,0.0698280510219,0.999999961162,5.00797156366e-05,-0.000273256669686,2.23517715432e-05,1793250835930865152
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768.775501968,746,723,687,669,642,886.224498032,786,819.224498032,655.224498032,632,656,0.400976535875,0.00448293179328,0.069828878938,0.999999961436,5.05910850361e-05,-0.000272155762275,2.23387020185e-05,1793250835947531776
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768.181172675,746,723,687,669,642,886.818827325,786,819.818827325,655.818827325,632,656,0.400977729275,0.00448334971837,0.0698304599972,0.999999961885,5.26195369649e-05,-0.000270097523804,2.25489896915e-05,1793250835964198656
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768.398857765,746.398857765,723,687,669,642.398857765,886.601142235,786.398857765,820,656,632,655.601142235,0.4009771576,0.004483464965,0.0698302752391,0.999999961756,5.34445992128e-05,-0.000270414297766,2.25232332938e-05,1793250835980866304
+410,6.833333333,POSE2_TO_POSE3_RETREAT,768.972618003,746.972618003,723,687,669,642.972618003,886.027381997,786.972618003,820,656,632,655.027381997,0.400975811924,0.00448344748458,0.0698293161554,0.999999961375,5.37419648774e-05,-0.00027177253471,2.239396958e-05,1793250835997533952
+411,6.850000000,POSE2_TO_POSE3_RETREAT,768.452158035,746.452158035,723,687,669,642.452158035,886.547841965,787,820,656,632,655.547841965,0.400975415199,0.00448263289984,0.0698295273271,0.999999961393,5.2781617784e-05,-0.000271883722843,2.25187833762e-05,1793250836014200320
+412,6.866666667,POSE2_TO_POSE3_RETREAT,768.126680395,746.126680395,723,687,669,642,887,786.873319605,820,656,632,656,0.400975263559,0.0044820334922,0.0698298431602,0.999999961514,5.16285141022e-05,-0.000271652200619,2.25966521323e-05,1793250836030866944
+413,6.883333333,POSE2_TO_POSE3_RETREAT,768.718521489,746.718521489,723,687,669,642,887,786.281478511,820,656,632,656,0.40097583723,0.00448237088164,0.0698303279512,0.999999961942,4.99990675192e-05,-0.000270391754312,2.24553869181e-05,1793250836047533824
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dfe3f838d3dd5be9dc0095706d3b1ada40661728
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,415 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+1,0.016666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+2,0.033333333,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+3,0.050000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+4,0.066666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
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+384,6.400000000,pose2_to_pose3_retreat,0.575750748294,0.0101501473925,1.06003357211,0.546321427392,0.0188227832448,1.05970496507
+385,6.416666667,pose2_to_pose3_retreat,0.575727037686,0.0101501349592,1.06003354986,0.546297717369,0.0188227727993,1.05970494289
+386,6.433333333,pose2_to_pose3_retreat,0.57570839929,0.0101501335681,1.06003340182,0.546279077324,0.0188227659336,1.05970479809
+387,6.450000000,pose2_to_pose3_retreat,0.575694371686,0.0101502134318,1.0600334979,0.546265048775,0.0188228425414,1.05970489291
+388,6.466666667,pose2_to_pose3_retreat,0.575684302422,0.0101501979946,1.06003339751,0.546254979467,0.0188228269896,1.05970479348
+389,6.483333333,pose2_to_pose3_retreat,0.575677878761,0.0101501682852,1.06003349588,0.546248556855,0.0188228007204,1.05970488874
+390,6.500000000,pose2_to_pose3_retreat,0.57567363876,0.0101501400689,1.06003364425,0.546244318069,0.0188227764794,1.05970503319
+391,6.516666667,pose2_to_pose3_retreat,0.575671023632,0.0101501549271,1.06003364793,0.546241701857,0.0188227876168,1.05970503583
+392,6.533333333,pose2_to_pose3_retreat,0.575669054357,0.0101501671953,1.06003364777,0.546239731704,0.0188227968766,1.05970503493
+393,6.550000000,pose2_to_pose3_retreat,0.575667687544,0.0101501512833,1.0600335467,0.546238365021,0.0188227815593,1.05970493797
+394,6.566666667,pose2_to_pose3_retreat,0.575666828315,0.0101501339579,1.06003345291,0.546237506095,0.018822765412,1.05970484814
+395,6.583333333,pose2_to_pose3_retreat,0.575666312683,0.0101501235608,1.06003339662,0.546236990645,0.0188227557219,1.05970479423
+396,6.600000000,pose2_to_pose3_retreat,0.575666091126,0.0101501190934,1.06003337244,0.546236769166,0.0188227515582,1.05970477107
+397,6.616666667,pose2_to_pose3_retreat,0.575665920486,0.0101501203907,1.06003337369,0.546236598505,0.0188227527973,1.05970477266
+398,6.633333333,pose2_to_pose3_retreat,0.575665794207,0.010150133719,1.06003342653,0.546236471999,0.01882276532,1.05970482456
+399,6.650000000,pose2_to_pose3_retreat,0.575665783862,0.0101501348109,1.06003343086,0.546236461635,0.0188227663459,1.05970482881
+400,6.666666667,pose2_to_pose3_retreat,0.575665747511,0.0101501386477,1.06003344607,0.546236425218,0.0188227699507,1.05970484375
+401,6.683333333,pose2_to_pose3_retreat,0.575665519538,0.0101501627094,1.06003354146,0.546236196836,0.0188227925579,1.05970493745
+402,6.700000000,pose2_to_pose3_retreat,0.575665493035,0.0101501655068,1.06003355255,0.546236170285,0.0188227951862,1.05970494834
+403,6.716666667,pose2_to_pose3_retreat,0.575665364686,0.0101501790535,1.06003360626,0.546236041706,0.018822807914,1.05970500109
+404,6.733333333,pose2_to_pose3_retreat,0.575665357723,0.0101501797885,1.06003360917,0.546236034729,0.0188228086046,1.05970500395
+405,6.750000000,pose2_to_pose3_retreat,0.575665243004,0.0101501918967,1.06003365717,0.546235919805,0.0188228199808,1.0597050511
+406,6.766666667,pose2_to_pose3_retreat,0.575664790142,0.0101502396948,1.06003384667,0.546235466128,0.0188228648895,1.05970523723
+407,6.783333333,pose2_to_pose3_retreat,0.57566457751,0.0101501831061,1.0600335935,0.546235253775,0.0188228093215,1.05970498598
+408,6.800000000,pose2_to_pose3_retreat,0.575664552239,0.0101501734806,1.06003355085,0.546235228562,0.0188227999045,1.05970494369
+409,6.816666667,pose2_to_pose3_retreat,0.575664521774,0.0101501618762,1.06003349944,0.546235198166,0.0188227885515,1.05970489271
+410,6.833333333,pose2_to_pose3_retreat,0.575664431358,0.0101501274368,1.06003334687,0.546235107956,0.0188227548582,1.0597047414
+411,6.850000000,pose2_to_pose3_retreat,0.575664307592,0.0101500276656,1.06003326033,0.54623498547,0.0188226593887,1.0597046538
+412,6.866666667,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+413,6.883333333,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087192,1.05970465145
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01643f4f0acd44fc5af30d91d3cb279331c806bb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d462dd19770c5dd98ec4be0ad7811f02e3318898948294b9e4ebeb49b3d92f
+size 25879415
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9289d62bcd4d3785f6607f49ebb0338b87432d2a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,768,747,724,689,669,642,888,786,819,656,632,656,0.401040076017,0.00447468569239,0.079863736389,0.999999982528,0.000105366456351,-0.000144815651994,5.3579697817e-05,1793250837319285248
+1,0.016666667,BASELINE,768,746.425308272,724,688.425308272,669,642,887.425308272,786.574691728,819,655.425308272,632,656,0.40103795127,0.00447423597605,0.0798631771895,0.999999982402,0.00010392777807,-0.000146666015428,5.37060686672e-05,1793250837335951872
+2,0.033333333,BASELINE,768,746,724,688.149447595,669,642,887,786.850552405,819.149447595,655.149447595,632,656,0.401036329725,0.00447348387939,0.0798628148927,0.999999982316,0.000102814970639,-0.00014798381155,5.38367312153e-05,1793250837352618496
+3,0.050000000,BASELINE,768,746,724,688.724386201,669,642,887,786.275613799,819.724386201,655.724386201,632,656,0.401036140842,0.00447187087808,0.079863013196,0.999999982356,0.000102629947083,-0.000147785340117,5.39796126502e-05,1793250837369285120
+4,0.066666667,BASELINE,768.305930728,746,724,689,669,642,887,786.305930728,820,656,632,656,0.401035877481,0.00447212008442,0.079862482358,0.999999982085,0.000103712685858,-0.000148847164924,5.40169706024e-05,1793250837385952000
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+6,0.100000000,BASELINE,769,746,724,689,668.522856865,642,887,787,820,656,632,656,0.401036770136,0.00447432283224,0.0798621663628,0.999999981957,0.000105008673197,-0.000148963428912,5.35657616022e-05,1793250837419284992
+7,0.116666667,BASELINE,769,746.05891911,724,689,668.05891911,642,887,786.94108089,820,655.94108089,632,656,0.401038092546,0.00447418537384,0.0798633500029,0.999999982514,0.000103542736243,-0.000146372255419,5.3165083224e-05,1793250837435951616
+8,0.133333333,BASELINE,769,746.63269758,724,689,668.63269758,642,887,786.36730242,820,655.36730242,632,656,0.4010372609,0.00447409412868,0.0798630955914,0.999999982253,0.000103797729661,-0.000147908297011,5.33243267916e-05,1793250837452618496
+9,0.150000000,BASELINE,769,746.79327107,724,689,669,642,887,786,820,655,632,656,0.401036931155,0.00447373480809,0.0798630808994,0.99999998221,0.000103532086607,-0.000148324836818,5.34790611313e-05,1793250837469285376
+10,0.166666667,BASELINE,769,746.218789931,724,689,669,642,887,786,820,655,632,656,0.401037494247,0.00447289860539,0.0798634926468,0.999999982558,0.000102340277973,-0.000146749883274,5.36257739424e-05,1793250837485952000
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+12,0.200000000,BASELINE,768.040117187,746.959882813,724,689,669.959882813,642.959882813,887,786,820,655.959882813,632,656,0.401036351385,0.00447516108444,0.0798627744129,0.99999998201,0.000105795441931,-0.000148129574865,5.33425981904e-05,1793250837519285248
+13,0.216666667,BASELINE,768.537691162,746.462308838,724,689,669.462308838,642.462308838,887,786,820,655.462308838,632,656,0.401037166215,0.00447440646495,0.0798633154766,0.999999982261,0.000104791811659,-0.000147122794721,5.34037070794e-05,1793250837535952128
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+16,0.266666667,BASELINE,768.727914379,746,723.727914379,689,669,642,887,786,819,655.727914379,632,656,0.401037618125,0.00447482450505,0.0798630446368,0.9999999822,0.000105306641269,-0.000147236300395,5.32203191472e-05,1793250837585952000
+17,0.283333333,BASELINE,768.140112837,746,723.140112837,689,669,642,887,786,819,655.140112837,632,656,0.401036636461,0.00447479960584,0.0798628321948,0.999999982151,0.000105105212278,-0.000147766792107,5.30702908546e-05,1793250837602618368
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+19,0.316666667,BASELINE,768.019927172,746,723.980072828,688.980072828,669,642,887,786.019927172,820,655.980072828,632,655.980072828,0.401037236664,0.00447456185922,0.0798629670672,0.999999982107,0.000105950776169,-0.000147381703679,5.3287106496e-05,1793250837635951616
+20,0.333333333,BASELINE,768.595974514,746,723.404025486,688.404025486,669,642,887,786.595974514,820,655.404025486,632,655.404025486,0.401037415697,0.00447358248012,0.0798632798305,0.999999982209,0.000104731040618,-0.000147570231658,5.32647514846e-05,1793250837652619264
+21,0.350000000,BASELINE,769,746,723.172101932,688.172101932,669,642,887,787,820,655.172101932,632,655.172101932,0.401037361696,0.00447323560585,0.0798635395865,0.999999982233,0.000104214293997,-0.000147762790879,5.32801995915e-05,1793250837669286400
+22,0.366666667,BASELINE,769,746,723.74841734,688.74841734,669,642,887,787,820,655.74841734,632,655.74841734,0.401036760369,0.00447437428727,0.0798636748448,0.999999982079,0.000105348648128,-0.000147964818196,5.33844353733e-05,1793250837685952512
+23,0.383333333,BASELINE,768.668794548,746,723.668794548,689,669,642,887,786.668794548,820,655.668794548,632.331205452,656,0.401037130422,0.00447470544985,0.0798639463189,0.999999982123,0.000105474140889,-0.0001475662603,5.34254781954e-05,1793250837702619136
+24,0.400000000,BASELINE,768.080991727,746,723.080991727,689,669,642,887,786.080991727,820,655.080991727,632.919008273,656,0.401038253039,0.00447441099721,0.0798643233243,0.999999982319,0.000104818030777,-0.000146702406387,5.34175630566e-05,1793250837719286016
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+26,0.433333333,BASELINE,768.08261742,746,724,689,669,642,887,786.08261742,820,656,632,655.08261742,0.401036339397,0.00447514987295,0.0798629597428,0.999999981837,0.000107049111568,-0.000148306532117,5.35859279334e-05,1793250837752619776
+27,0.450000000,BASELINE,768.655224107,746,724,689,669,642,887,786.655224107,820,656,632,655.655224107,0.401037334977,0.00447399174044,0.0798632954845,0.999999982299,0.000104775431497,-0.000146867512797,5.34176802696e-05,1793250837769285632
+28,0.466666667,BASELINE,768.765522309,746.234477691,724,689,669.234477691,642,887,786.765522309,820,655.765522309,632,656,0.401037757487,0.00447373065713,0.079863555752,0.999999982437,0.000104315904804,-0.000146274680679,5.33677922143e-05,1793250837785952000
+29,0.483333333,BASELINE,768.176210026,746.823789974,724,689,669.823789974,642,887,786.176210026,820,655.176210026,632,656,0.401037312773,0.00447482707654,0.0798637018043,0.999999982088,0.000106601732723,-0.000146962381952,5.34970175148e-05,1793250837802618624
+30,0.500000000,BASELINE,768,746.593966437,724,689,669.593966437,642,887,786,820,655.406033563,632,656,0.401036437146,0.00447518091966,0.0798632864834,0.999999981867,0.000106852300126,-0.000148283289435,5.34937928873e-05,1793250837819285248
+31,0.516666667,BASELINE,768,746.014738038,724,689,669.014738038,642,887,786,820,655.985261962,632,656,0.40103537771,0.00447521801462,0.079862631707,0.999999981698,0.000106234720978,-0.000149874292911,5.34340713415e-05,1793250837835951872
+32,0.533333333,BASELINE,768,746,724,689,669,642,887,786,820,656,632,656,0.401036630931,0.00447569719619,0.0798635514107,0.99999998192,0.000107138613618,-0.000147833621494,5.31739162605e-05,1793250837852619008
+33,0.550000000,BASELINE,768,746,723.861110311,689,669,642,887,786,820,656,632,656,0.401037536807,0.00447574340707,0.0798643735499,0.999999982108,0.000107573796327,-0.00014628021106,5.30489812688e-05,1793250837869285888
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+36,0.600000000,BASELINE,768.88623971,746,723.88623971,689,669,642,887.88623971,786,820,656,632,656,0.40103840691,0.00447718660666,0.0798648204444,0.999999982004,0.000108573875215,-0.000146241678462,5.30775610154e-05,1793250837919285248
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+38,0.633333333,BASELINE,768.95553185,746.04446815,724,688.04446815,669,642,887,786,820,655.95553185,632,656,0.401034797431,0.00447381875974,0.0798639122597,0.999999982176,0.000103574352901,-0.000148682105081,5.30518046997e-05,1793250837952618496
+39,0.650000000,BASELINE,768.379772962,746.620227038,724,688.620227038,669,642,887,786,820,655.379772962,632,656,0.401036016966,0.0044748931914,0.0798642537707,0.999999981943,0.000106940817223,-0.000147807088529,5.32000431897e-05,1793250837969285120
+40,0.666666667,BASELINE,768,746.801687968,724,689,669,642,887,786,819.801687968,655.198312032,632,656,0.40103641475,0.00447521945525,0.0798641710475,0.999999981811,0.000108190967651,-0.000147751033317,5.33078659916e-05,1793250837985951744
+41,0.683333333,BASELINE,768,746.219095585,724,689,669,642,887,786,819.219095585,655.780904415,632,656,0.40103522018,0.00447409595227,0.0798632662619,0.999999981887,0.000105340217693,-0.000149281925501,5.33373730387e-05,1793250838002618624
+42,0.700000000,BASELINE,768,746.363487546,724,689,669,642,887,786.363487546,819.363487546,656,632,656,0.401035063947,0.00447465132899,0.0798630010959,0.999999981671,0.000106848032913,-0.000149659963095,5.33219385994e-05,1793250838019285248
+43,0.716666667,BASELINE,768,746.946065078,724,689,669,642,887,786.946065078,819.946065078,656,632,656,0.401035533565,0.00447621864065,0.0798631214567,0.99999998127,0.000110982947833,-0.000149343124289,5.32794159414e-05,1793250838035951872
+44,0.733333333,BASELINE,768,746.474361366,724,688.474361366,669,642,887,786.474361366,820,656,632,656,0.401035178541,0.00447667967467,0.0798630531005,0.999999981359,0.000109699492748,-0.00014982385604,5.29255669513e-05,1793250838052618752
+45,0.750000000,BASELINE,768.103982306,746,723.896017694,688.103982306,669,642,887,786,819.896017694,656,632,656,0.401034789739,0.00447704830296,0.0798630791469,0.999999981422,0.000108567856997,-0.000150304525571,5.26999640102e-05,1793250838069285120
+46,0.766666667,BASELINE,768.678150372,746,723.321849628,688.678150372,669,642,887,786,819.321849628,656,632,656,0.401034628634,0.00447750945855,0.0798636191245,0.999999981154,0.000110622408814,-0.000150416965093,5.31978886412e-05,1793250838085951744
+47,0.783333333,BASELINE,769,746,723.258172268,689,668.741827732,642,887,786,819.258172268,655.741827732,632,655.741827732,0.401034623137,0.00447746203636,0.079863757263,0.999999981112,0.000111145044208,-0.000150213505458,5.3468609847e-05,1793250838102618624
+48,0.800000000,BASELINE,769,746,723.845661207,689,668.154338793,642,887,786,819.845661207,655.154338793,632,655.154338793,0.401034816131,0.00447676588793,0.079863382828,0.999999981362,0.000109713614007,-0.000149607094507,5.34495173605e-05,1793250838119285248
+49,0.816666667,BASELINE,769,746.426787611,724,689,668.426787611,642,887,786.426787611,820,655,632,655.426787611,0.401033790082,0.00447445319087,0.0798626051763,0.999999981502,0.000106805676927,-0.000150669608181,5.37288600948e-05,1793250838135952128
+50,0.833333333,BASELINE,768.994367457,746.994367457,724,689,669,642,887,787,820,655.005632543,632,656,0.401032359751,0.00447162433448,0.0798616952623,0.999999981589,0.00010343074753,-0.000152306288462,5.41015703291e-05,1793250838152618752
+51,0.850000000,BASELINE,768.416979845,746.416979845,724,689,669,642,887,787,820,655.583020155,632,656,0.401033983174,0.00447487023621,0.079861943628,0.999999981432,0.000106056240485,-0.000151862067248,5.31577017862e-05,1793250838169285376
+52,0.866666667,BASELINE,768.160356781,746.160356781,724,688.839643219,669,642,887,786.839643219,820,655.839643219,632,656,0.40103516104,0.00447692750307,0.0798623846993,0.999999981423,0.000107565748647,-0.00015107429216,5.25343857437e-05,1793250838185952000
+53,0.883333333,BASELINE,768.737560834,746.737560834,724,688.262439166,669,642,887,786.262439166,820,655.262439166,632,656,0.401035180677,0.00447589491476,0.0798633267085,0.999999981813,0.000106174255451,-0.000149393449197,5.27443456194e-05,1793250838202618624
+54,0.900000000,BASELINE,768.680027637,746.680027637,724,688.319972363,669.319972363,642,887,786,820,655.319972363,632,655.680027637,0.401035298376,0.00447554902771,0.0798634552795,0.999999981886,0.000106094548954,-0.000148875103335,5.29833612891e-05,1793250838219285248
+55,0.916666667,BASELINE,768.093274339,746.093274339,724,688.906725661,669.906725661,642,887,786,820,655.906725661,632,655.093274339,0.401035497834,0.00447577568643,0.0798629056362,0.999999981697,0.000107108560996,-0.000149326003968,5.32466025781e-05,1793250838235951872
+56,0.933333333,BASELINE,768.487064245,746,724,689,669.512935755,642,887,786.487064245,820.487064245,656,632,655.487064245,0.401035586989,0.00447644004912,0.0798635752153,0.999999981705,0.000108073114944,-0.000148629270263,5.3103082109e-05,1793250838252618496
+57,0.950000000,BASELINE,768.934068629,746,724,689,669,642,887,787,820.934068629,656,632,656,0.40103560672,0.00447710386238,0.0798643685885,0.99999998173,0.000108890899488,-0.000147924642504,5.29280286687e-05,1793250838269285120
+58,0.966666667,BASELINE,768.357208822,746,724,689,669,642,887,787,820.357208822,656,632,656,0.401035250026,0.00447712229349,0.0798643354429,0.999999981612,0.000108643752378,-0.000148839830756,5.31044153478e-05,1793250838285951744
+59,0.983333333,BASELINE,768,746,724,689,669,642,887,786.781548158,820,655.781548158,632,656,0.401034605875,0.00447711511342,0.0798641770254,0.999999981463,0.000109122597937,-0.000149434053848,5.3251768762e-05,1793250838302618624
+60,1.000000000,BASELINE,768,746,724,689,669,642,887,786.207837518,820,655.207837518,632,656,0.401033494245,0.00447706628297,0.0798638148838,0.999999981264,0.000110782093985,-0.000149506305306,5.33519066585e-05,1793250838319285248
+61,1.016666667,BASELINE,768,746,724,689,669,642,887,786.37670573,820,655.37670573,632,655.62329427,0.401034269424,0.00447618235513,0.0798638481741,0.999999981508,0.000109341916973,-0.000148991101151,5.31983974145e-05,1793250838335951872
+62,1.033333333,BASELINE,768,746,724,689,669,642,887,786.967402504,820,655.967402504,632,655.032597496,0.401036116421,0.00447482404279,0.0798641060931,0.999999981995,0.000106140942985,-0.000148142187601,5.29008016478e-05,1793250838352618496
+63,1.050000000,BASELINE,768,746,724,689,669,642,887,786.452855289,819.452855289,656,632,655.547144711,0.401035993283,0.00447613549935,0.0798637638752,0.999999981611,0.000109104006748,-0.000148528395285,5.303492759e-05,1793250838369285120
+64,1.066666667,BASELINE,768,746.125534129,724,689,669,642,887.125534129,786,819.125534129,656,632,656,0.401035597893,0.00447688152141,0.0798633000333,0.99999998131,0.000110947611653,-0.000149140678641,5.3171700176e-05,1793250838385951744
+65,1.083333333,BASELINE,768,746.701366107,724,689,669,642,887.701366107,786,819.701366107,656,632,656,0.401034638695,0.00447503994756,0.0798625256562,0.999999981511,0.000107484210021,-0.000150305134011,5.32275151295e-05,1793250838402618368
+66,1.100000000,BASELINE,768.275523151,747,723.724476849,689,669,642,887.724476849,786,820,656,632,656,0.40103400939,0.00447535732624,0.0798621161843,0.999999981502,0.000106913419363,-0.000150828347894,5.30674087577e-05,1793250838419284992
+67,1.116666667,BASELINE,768.847875701,747,723.152124299,689,669,642,887.152124299,786,820,656,632,656,0.401033735488,0.00447800060971,0.0798620998358,0.999999981273,0.000109458925943,-0.000150660732913,5.26746838286e-05,1793250838435951872
+68,1.133333333,BASELINE,768.56225755,747,723.43774245,689,669,642,887,786,820,656,632.43774245,656,0.401033579399,0.00447776556959,0.0798622152978,0.999999981216,0.000108741791749,-0.000151523710851,5.27555455871e-05,1793250838452618496
+69,1.150000000,BASELINE,768.032831648,746.967168352,724,689,669,642,887,786,819.967168352,656,632.967168352,656,0.40103347134,0.00447656160246,0.0798623850154,0.999999981226,0.000106991522359,-0.000152625170902,5.29764816495e-05,1793250838469285376
+70,1.166666667,BASELINE,768.609408137,746.390591863,724,689,669,642,887,786,819.390591863,656,632.390591863,656,0.401033452417,0.00447656725651,0.0798626630414,0.999999981338,0.000107691607281,-0.000151497492958,5.26779466602e-05,1793250838485952000
+71,1.183333333,BASELINE,768.815304325,746,724,689,669,642,887,786,819.184695675,655.815304325,632,656,0.401033829114,0.00447646267157,0.0798631257162,0.999999981516,0.000107839203345,-0.000150255487306,5.25630595558e-05,1793250838502618368
+72,1.200000000,BASELINE,768.242723645,746,724,689,669,642,887,786,819.757276355,655.242723645,632,656,0.401035036666,0.00447612657036,0.0798639761779,0.999999981832,0.000106826500876,-0.000148773378341,5.28338569072e-05,1793250838519285248
+73,1.216666667,BASELINE,768,746,724,688.658648045,669,642,886.658648045,786,820,655,632,656,0.401035508726,0.00447498533142,0.0798642519428,0.999999982029,0.000105520875369,-0.000148247167993,5.31963511715e-05,1793250838535951872
+74,1.233333333,BASELINE,768,746,724,688.066114003,669,642,886.066114003,786,820,655,632,656,0.401035439578,0.00447325163601,0.0798641048201,0.999999982139,0.000103999704004,-0.000148424350838,5.36263201236e-05,1793250838552618496
+75,1.250000000,BASELINE,768,746,724,688.513757161,669,642,886.513757161,786,820,655.513757161,632.513757161,656,0.401035725389,0.00447479526016,0.0798644985756,0.999999982164,0.000104878898164,-0.000147798898663,5.31796183904e-05,1793250838569285120
+76,1.266666667,BASELINE,768,746.091204585,724,689,669,642,887,786.091204585,820,656,632.908795415,656,0.401035748032,0.00447643349807,0.0798647045759,0.999999982113,0.000106020855733,-0.000147490545896,5.27245976013e-05,1793250838585952000
+77,1.283333333,BASELINE,768,746.664249152,724,689,669,642,887,786.664249152,820,656,632.335750848,656,0.401034144828,0.00447639705393,0.0798635597747,0.999999981727,0.000106958344571,-0.000149390006756,5.28073060943e-05,1793250838602618624
+78,1.300000000,BASELINE,768,746.756010438,724,689,669,642.243989562,887.243989562,787,820,656,632,656,0.401033756231,0.00447606314696,0.0798631590029,0.99999998161,0.000107234747155,-0.000149961257729,5.28367932837e-05,1793250838619285248
+79,1.316666667,BASELINE,768,746.166796017,724,689,669,642.833203983,887.833203983,787,820,656,632,656,0.401035086199,0.00447530835493,0.0798638109708,0.999999981878,0.000106575767808,-0.000148653202448,5.27909767656e-05,1793250838635952128
+80,1.333333333,BASELINE,768.414962864,746,724,689,669,642.585037136,887.585037136,786.585037136,819.585037136,655.585037136,632.414962864,656,0.401034199272,0.00447530505246,0.0798631155572,0.999999981657,0.000106942684331,-0.00014986779549,5.28019448984e-05,1793250838652618496
+81,1.350000000,BASELINE,768.993777901,746,724,689,669,642.006222099,887.006222099,786.006222099,819.006222099,655.006222099,632.993777901,656,0.401032436983,0.00447559848298,0.0798618881167,0.999999981239,0.000107714685885,-0.000152078480952,5.28353350059e-05,1793250838669285120
+82,1.366666667,BASELINE,769,746,723.428125221,689,669,642,887,786,819.571874779,655.571874779,632.428125221,656,0.401034092056,0.00447558846993,0.0798637166194,0.999999981357,0.000108839711463,-0.000150390914064,5.31317165374e-05,1793250838685952000
+83,1.383333333,BASELINE,768.851243678,746,723.148756322,689,669,642,887,786,819.851243678,655.851243678,632,656,0.401035450288,0.00447571741626,0.0798650743578,0.999999981489,0.000109740700765,-0.000148809513734,5.32449447755e-05,1793250838702618624
+84,1.400000000,BASELINE,768.277809326,746,723.722190674,689,669,642,887,786,819.277809326,655.277809326,632,656,0.401035855066,0.00447625248526,0.0798649933289,0.999999981655,0.000109991147148,-0.000147652136468,5.28271379971e-05,1793250838719285248
+85,1.416666667,BASELINE,768.303935237,746,724,689,669,642,886.696064763,786,819.303935237,655.303935237,632,655.696064763,0.401035286832,0.00447693055744,0.0798644259004,0.99999998158,0.000109899554642,-0.000148317719633,5.25657771936e-05,1793250838735951872
+86,1.433333333,BASELINE,768.893489167,746,724,689,669,642,886.106510833,786,819.893489167,655.893489167,632,655.106510833,0.401033804222,0.00447774301474,0.079863401385,0.999999981276,0.000109486536082,-0.000150696403259,5.24514342308e-05,1793250838752618240
+87,1.450000000,BASELINE,768.523792469,746,724,689,669.476207531,642.476207531,886.476207531,786,820,655.523792469,632.476207531,655.476207531,0.401034071251,0.00447684054599,0.0798633391035,0.999999981448,0.000108315534054,-0.000150284228808,5.27953516528e-05,1793250838769284864
+88,1.466666667,BASELINE,768.056735446,746,723.943264554,688.943264554,669.943264554,642.943264554,887,786.056735446,820,655,632.943264554,655.943264554,0.401034680382,0.00447563709452,0.0798635586434,0.999999981694,0.000107214414767,-0.000149297352386,5.31764010424e-05,1793250838785951744
+89,1.483333333,BASELINE,768.63103093,746,723.36896907,688.36896907,669.36896907,642.36896907,887,786.63103093,820,655,632.36896907,655.36896907,0.401034890936,0.00447513750331,0.0798644135474,0.999999981682,0.000108275452684,-0.000148681584154,5.29744025907e-05,1793250838802618368
+90,1.500000000,BASELINE,769,746,723.205433819,688.205433819,669,642,887,786.794566181,820,655,632,655.205433819,0.40103491601,0.00447500157083,0.0798646507974,0.999999981691,0.000108562805285,-0.000148449856245,5.28620369294e-05,1793250838819285248
+91,1.516666667,BASELINE,769,746,723.780029653,688.780029653,669,642,887,786.219970347,820,655,632,655.780029653,0.40103460778,0.00447551912862,0.0798637781309,0.99999998174,0.000107459854893,-0.000148908244083,5.29107402978e-05,1793250838835951872
+92,1.533333333,BASELINE,769,746,724,689,669,642,887,786,820,655.366091728,632,656,0.401034567068,0.00447605214537,0.0798637600779,0.999999981825,0.000106906431905,-0.000148791570999,5.2743252012e-05,1793250838852618496
+93,1.550000000,BASELINE,769,746,724,689,669,642,887,786,820,655.959266244,632,656,0.401034692296,0.0044765947512,0.0798642721325,0.999999981934,0.000106693874792,-0.00014831819381,5.24416623565e-05,1793250838869285120
+94,1.566666667,BASELINE,768.462599483,746,723.462599483,689,669,642,887,786,820,656,632,655.462599483,0.40103542694,0.00447755416339,0.0798646749131,0.99999998188,0.000108161213281,-0.000147619047143,5.24449855148e-05,1793250838885952000
+95,1.583333333,BASELINE,768.114118868,746,723.114118868,689,669,642,887,786.114118868,819.885881132,656,632,655,0.401036095462,0.00447802478992,0.0798649408517,0.999999981852,0.000109087444981,-0.000147109685329,5.24799033952e-05,1793250838902618624
+96,1.600000000,BASELINE,768.689596492,746,723.689596492,689,669,642,887,786.689596492,819.310403508,656,632,655,0.401036315005,0.00447639511178,0.0798646861407,0.999999981991,0.000107325332255,-0.000147434883867,5.25516601331e-05,1793250838919285248
+97,1.616666667,BASELINE,769,746,724,689,669,642,887,786.771732227,819,655.771732227,632,655.228267773,0.401036312461,0.00447548330242,0.0798646292674,0.999999982064,0.000106404937281,-0.000147574422764,5.26491789198e-05,1793250838935952128
+98,1.633333333,BASELINE,769,746,724,689,669,642,887,786.276161441,819,655.276161441,632,655.723838559,0.401036049853,0.00447541212206,0.0798648040633,0.999999982062,0.000106470199249,-0.000147496553022,5.27768652253e-05,1793250838952619008
+99,1.650000000,BASELINE,768.688358628,746,724,689,669,642,887,786,819.311641372,655.311641372,632,656,0.401035285335,0.00447585703062,0.0798645965944,0.999999981825,0.00010799606197,-0.00014792341456,5.29691765363e-05,1793250838969285888
+100,1.666666667,BASELINE,768.012729404,746.012729404,724,689,669,642,887,786,820,656,632,656,0.401033927904,0.00447695511748,0.0798639203022,0.999999981292,0.000111325827131,-0.000148961830288,5.32271926609e-05,1793250838985952512
+101,1.683333333,BASELINE,768.589582388,746.589582388,724,689,669,642,887,786,820,656,632,656,0.401034290886,0.0044782126851,0.0798637898828,0.999999981115,0.000113126897299,-0.000148948611358,5.27922757535e-05,1793250839002618880
+102,1.700000000,BASELINE,768.834089474,746.834089474,724,689,669,642,887,786,820,656,632,656,0.401034619292,0.00447860012831,0.0798638209458,0.999999981099,0.000113560293943,-0.000148814716632,5.25316212302e-05,1793250839019285248
+103,1.716666667,BASELINE,768.259055653,746.259055653,724,689,669,642,887,786,820,656,632,656,0.401034862435,0.00447684190779,0.0798642502126,0.999999981484,0.000110621106837,-0.000148383244168,5.27006851417e-05,1793250839035952128
+104,1.733333333,BASELINE,768,746,724,689,669,642,887,786,820,656,632,656,0.401035447395,0.0044762414386,0.0798645067919,0.999999981747,0.000108726883929,-0.000147994402928,5.27464669777e-05,1793250839052619008
+105,1.750000000,BASELINE,768,746,724,689,669,642,887,786,820,656,632,656,0.401036312595,0.00447659015538,0.0798646217927,0.999999981914,0.000107689377952,-0.000147640512989,5.2691175627e-05,1793250839069285888
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,746,724,689,669,642,887,786,820,655,633,655,0.401033756426,0.00447628707888,0.0798639238087,0.999999981397,0.000107973743368,-0.000150830114028,5.28903204705e-05,1793250839100585728
+107,1.783333333,POSE1_TO_POSE2_PRESS,768.421369578,746.578630422,724,689,669,642,887.578630422,786.578630422,820,655.578630422,633,655.578630422,0.401034620224,0.00447538444471,0.0798643432038,0.999999981511,0.000108362329413,-0.000149758735518,5.29952195175e-05,1793250839117252608
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746.844189253,724,689.155810747,669,642,888,786.844189253,819.844189253,656,632.844189253,656,0.401035062554,0.00447471576944,0.0798646027873,0.999999981591,0.000108814331741,-0.000148866829898,5.30613909996e-05,1793250839133919232
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746.270894238,724,689.729105762,669,642,888,786.270894238,819.270894238,656,632.270894238,656,0.401034375587,0.00447467397088,0.0798644341666,0.999999981587,0.000109436253761,-0.00014845580941,5.30237946367e-05,1793250839150586112
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746.313497035,724,689.686502965,669,642,887.686502965,786.313497035,819.313497035,656,632.313497035,656,0.401034466569,0.00447542595624,0.079864665625,0.999999981606,0.000109923773914,-0.000148016685549,5.28673891395e-05,1793250839167252992
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746.907828432,724,689.092171568,669,642,887.092171568,786.907828432,819.907828432,656,632.907828432,656,0.401035254445,0.00447688902265,0.0798652554789,0.999999981648,0.000110290895242,-0.000147552386378,5.26045530128e-05,1793250839183919616
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,747,724,689,669,642,887,787,820,656,632.512791572,656,0.401033500504,0.00447703419537,0.0798634627253,0.999999981229,0.000109721970583,-0.000150731138314,5.27579888545e-05,1793250839200585984
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.063455342,746.936544658,724,689,669,642.063455342,887,787,820,656,632,656,0.401031690277,0.00447693728942,0.0798616613837,0.99999998079,0.000109130805928,-0.000153975241284,5.29261546152e-05,1793250839217252608
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.636579874,746.363420126,724,689,669,642.636579874,887,787,820,656,632,656,0.401033175273,0.00447683894633,0.0798633036554,0.999999980986,0.000109740989748,-0.000152373421342,5.25989354547e-05,1793250839233918976
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.783626363,746,724,689,669,642.783626363,887,786.783626363,820,656,632,656,0.401033555952,0.00447703110401,0.0798643158151,0.999999980733,0.000110251189428,-0.000153668224587,5.25739417966e-05,1793250839250585344
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.192274808,746,724,689,669,642.192274808,887,786.192274808,820,656,632,656,0.401032022836,0.00447772670279,0.0798642359837,0.99999997968,0.000110588115418,-0.000159982908165,5.30727083249e-05,1793250839267252224
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.390317441,746,724,689,669,642,887,786.390317441,820,656,632,656,0.401043423524,0.00447761970002,0.0798681437926,0.999999979625,0.000110505034587,-0.000160368690715,5.31157862003e-05,1793250839283918848
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.968689516,746,724,689,669,642,887,786.968689516,820,656,632,656,0.401061055709,0.00447712600452,0.0798739728434,0.999999980059,0.000110219594833,-0.000157897934004,5.29393136879e-05,1793250839300585472
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.544703187,724,689,669,642,887,786.455296813,820,656,632,656,0.401103738109,0.00447699785766,0.079886696697,0.999999982329,0.000108033084749,-0.000144546351285,5.26905256339e-05,1793250839317252352
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746.880572741,723.880572741,689,669,642,886.880572741,786,820,656,632,656,0.401152355942,0.00447700463303,0.0798992857275,0.999999984501,0.000106295976581,-0.000130286951828,5.21962350471e-05,1793250839333919232
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746.310208152,723.310208152,689,669,642,886.310208152,786,820,656,632,656,0.401217971495,0.00447744185495,0.0799098756858,0.999999986414,0.000106666566377,-0.0001149511933,5.0790595764e-05,1793250839350585600
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.726614995,746,723,689,669,642,886.273385005,786,820,655.726614995,632,656,0.40129225179,0.00447792057739,0.0799178553398,0.999999987748,0.00010650367186,-0.000103698080939,4.90596782061e-05,1793250839367251968
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.12724825,746,723,689,669,642,886.87275175,786,820,655.12724825,632,656,0.401376863837,0.00447844878462,0.0799227224908,0.999999988577,0.000105704655602,-9.73130788886e-05,4.69409019486e-05,1793250839383918848
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,723.454889002,689,669,642,887,786,820,655.454889002,632,656,0.401478182964,0.00447973823276,0.079927282316,0.999999989414,0.000104440473637,-9.13364168691e-05,4.38471984795e-05,1793250839400585472
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,887,786.032238776,820,656,632,656,0.401585610889,0.00448123022906,0.0799318715214,0.999999990254,0.000102890937203,-8.52606679023e-05,4.04533428007e-05,1793250839417252096
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,887,786.607170009,820,656,632,656,0.401720070197,0.00448267801859,0.0799383496624,0.999999991608,9.86483691552e-05,-7.56642647192e-05,3.64301834648e-05,1793250839433918720
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,887,787,820,656,632.186321621,656,0.401863104245,0.00448443522497,0.0799451768315,0.999999992837,9.49587816479e-05,-6.53796870779e-05,3.21545266048e-05,1793250839450585344
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,887,787,820,656,632.774577384,656,0.402024635757,0.00448685990707,0.0799527569251,0.999999993915,9.24620877131e-05,-5.36105765282e-05,2.73341810635e-05,1793250839467252224
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.357164972,746,724,689,669,642,887,786.642835028,820,656,632.642835028,656,0.402207148064,0.00448919278571,0.0799590939906,0.999999994791,8.90123600395e-05,-4.50109120707e-05,2.16603783234e-05,1793250839483918848
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.936231066,746,724,689,669,642,887,786.063768934,820,656,632.063768934,656,0.402402695433,0.00449146862851,0.0799646587825,0.999999995534,8.49705268681e-05,-3.83803747446e-05,1.54563352385e-05,1793250839500585472
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.48645781,746,724,689.51354219,669,642,887,786.51354219,820,656,632,656,0.402611695179,0.00449385671985,0.0799620988816,0.99999999588,7.7300487283e-05,-4.68476700151e-05,8.36090328444e-06,1793250839517251840
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.090218301,746,724,690,669,642,887,786.909781699,819.909781699,656,632,656,0.402827115762,0.00449640956914,0.0799576696298,0.999999995928,6.86761737112e-05,-5.85319084261e-05,9.48415636407e-07,1793250839533918720
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.664652059,746,724,690,669,642,887,786.335347941,819.335347941,656,632,656,0.403068063049,0.00449977214557,0.0799486036624,0.999999995328,5.73399577809e-05,-7.74540773909e-05,-7.5737055158e-06,1793250839550585600
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,724,690,669,642.245216768,887,786.245216768,819.245216768,655.754783232,632,656,0.403330424134,0.00450439990713,0.0799430990423,0.999999994723,4.9990472669e-05,-8.83384962855e-05,-1.58722089319e-05,1793250839567251968
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,724,690,669,642.834380873,887,786.834380873,819.834380873,655.165619127,632,656,0.403622820747,0.00451080224963,0.0799425896598,0.999999994685,4.82328793167e-05,-8.79489593882e-05,-2.3857059861e-05,1793250839583918848
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,724,690.416056048,669,642.583943952,887.416056048,787,820,655,632.416056048,656,0.40395808276,0.00451732906779,0.0799448990121,0.999999994872,4.71968518214e-05,-8.62471943495e-05,-2.42912154642e-05,1793250839600585472
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,724,690.994802808,669,642.005197192,887.994802808,787,820,655,632.994802808,656,0.404310106455,0.00452390455962,0.0799483105765,0.999999995154,4.64429788105e-05,-8.40323077581e-05,-2.17728167768e-05,1793250839617252096
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.430123751,746.569876249,724,691,669,642,888,786.430123751,820,655,632.430123751,656,0.404705636279,0.00453177549651,0.0799546398816,0.999999995823,5.53223257293e-05,-6.83321615626e-05,-2.49741618283e-05,1793250839633918976
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.145160663,746.854839337,724,691,669,642,888,786.145160663,820,655.145160663,632,656,0.405109280703,0.00453917580808,0.0799584505424,0.999999996011,6.25629806436e-05,-5.69576722097e-05,-2.86268070924e-05,1793250839650585600
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.721169955,746.278830045,724,691,669,642,888,786.721169955,820,655.721169955,632,656,0.405535839746,0.0045451444229,0.0799547071884,0.99999999562,6.46807764771e-05,-5.87847740634e-05,-3.34651142202e-05,1793250839667252224
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,724,691.304217863,669,642,887.695782137,787,820,656,632,656,0.405977482977,0.00455249417385,0.0799498118088,0.999999993946,8.04039559996e-05,-6.75383891671e-05,-3.29038936528e-05,1793250839683918848
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,724,691.89386986,669,642,887.10613014,787,820,656,632,656,0.406433279084,0.00456113978429,0.0799438355342,0.999999990272,0.000108892464033,-8.27908447293e-05,-2.7276536171e-05,1793250839700585472
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,724,692,669,642,887.475112188,787,820,656,632,656,0.406932183471,0.00457184710331,0.0799353303439,0.999999988197,0.000115179348509,-9.69300227506e-05,-3.07243311521e-05,1793250839717252096
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,724,692,669,642,888,786.946113317,820,655.946113317,632,656,0.407442335682,0.00458248909576,0.0799263649419,0.999999986395,0.000116477321085,-0.000111244598128,-3.56128465412e-05,1793250839733918976
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,724,692,669,642,888,786.373327592,820,655.373327592,632,656,0.407969684625,0.00458814439681,0.0799183130822,0.999999984178,0.000116660310029,-0.000129601192355,-3.51934113292e-05,1793250839750585344
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746.200022822,724,692.200022822,669.200022822,642,888,786.200022822,820,655.200022822,632,655.799977178,0.408521741133,0.00459514125223,0.0799135056077,0.999999981728,0.000124748560787,-0.000140430238691,-3.5512131077e-05,1793250839767251968
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.774430136,724,692.774430136,669.774430136,642,888,786.774430136,820,655.774430136,632,655.225569864,0.409120042978,0.00460464910654,0.0799147706783,0.999999979002,0.00014763316022,-0.000137169905782,-3.72124620419e-05,1793250839783918848
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,724,693,669.637480386,642.362519614,888,787,820,656,632.362519614,655.362519614,0.409772775649,0.00461008650727,0.0799390481195,0.999999983505,0.000149144289318,-9.63714523246e-05,-3.82010772755e-05,1793250839800585472
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,724,693,669.040543588,642.959456412,888,787,820,656,632.959456412,655.959456412,0.41046070507,0.0046128918176,0.0799782061213,0.999999989398,0.000136834623595,-3.12996072987e-05,-3.87294733658e-05,1793250839817252096
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746.466963686,724,693.533036314,669,642.466963686,888,787,820,656,633,656,0.411154039661,0.00460257675116,0.079990402829,0.999999990852,0.000129020340468,-1.5626043864e-05,-3.74801730352e-05,1793250839833918720
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,724,694,669,642,888,787,820,655.893873017,633,656,0.411844583382,0.00459017729527,0.079992569697,0.999999992045,0.000119721363549,-1.53114236211e-05,-3.66319082923e-05,1793250839850585600
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,724,694,669,642,888,787,820,655.315384668,633,656,0.412520951929,0.00457275576765,0.0799588390676,0.999999991767,0.000102356160609,-6.73366289229e-05,-3.8145178778e-05,1793250839867252224
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.268372692,724,694.268372692,669,642,888.268372692,787,820,655.268372692,632.731627308,656,0.413218614259,0.00456614283855,0.0799310779248,0.999999989454,9.293428847e-05,-0.000103872817502,-4.08105640778e-05,1793250839883918592
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.858446139,724,694.858446139,669,642,888.858446139,787,820,655.858446139,632.141553861,656,0.413941801727,0.00457248627126,0.0799104724548,0.999999987243,9.30341562507e-05,-0.000121842189703,-4.48570000479e-05,1793250839900585472
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,724,695,669,642.440107913,889.440107913,787.440107913,820.440107913,655.559892087,632.440107913,656,0.414732546654,0.00458176364351,0.0799251307531,0.999999988106,0.000113013914995,-9.46843896419e-05,-4.52803594371e-05,1793250839917252096
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.980979492,724,695,669,643,890,787.980979492,821,655,632.980979492,656,0.415544352129,0.00459182138756,0.0799500256192,0.999999987987,0.000137766492017,-5.53014084556e-05,-4.45809396745e-05,1793250839933918976
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.404831951,724,695,669,643,890,787.404831951,821,655,632.404831951,656,0.416348521559,0.00459761479401,0.0799487707557,0.999999989172,0.000118544077318,-7.49998688947e-05,-4.44870376977e-05,1793250839950585600
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746.169996951,724,695,669,643,890,787,821.169996951,655,632,656,0.41716667684,0.00460219832349,0.0799494202015,0.999999989581,0.000110888410221,-8.07058789703e-05,-4.50284205681e-05,1793250839967251968
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.741709775,724,695,669,643,890,787,821.741709775,655,632,656,0.418017881712,0.00460392282025,0.0799545696765,0.999999988946,0.000130565858737,-5.33466513332e-05,-4.70710304429e-05,1793250839983918592
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.673101222,746.673101222,724,695.326898778,669,643,890.326898778,787,822,655,632.326898778,656,0.41888820053,0.00460323741495,0.0799683047146,0.999999989945,0.000131544460874,-1.89170772906e-05,-4.94841203498e-05,1793250840000585216
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.076806588,746.076806588,724,695.923193412,669,643,890.923193412,787,822,655,632.923193412,656,0.419774271027,0.00460056601978,0.0799891150775,0.999999991552,0.000117113424186,2.13391370412e-05,-5.22025210971e-05,1793250840017251840
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.501220958,746.501220958,724,695.498779042,669,643,891,787.501220958,822.501220958,655.501220958,632.498779042,656,0.42063504503,0.0045989892211,0.079972675815,0.999999991717,0.000117471460081,-6.25481231849e-06,-5.22333397112e-05,1793250840033919232
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,724,695,669,643,891.076682737,788,823.076682737,655.923317263,632,656,0.421504002635,0.00459817591509,0.0799562652464,0.999999990834,0.000120177457452,-3.45898099088e-05,-5.18888540009e-05,1793250840050586880
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,724,695,669,643,891.653024113,788,823.653024113,655.346975887,632,656,0.422450653756,0.00460128295256,0.0799759272885,0.999999990981,0.000123935053225,-2.38774922095e-06,-5.16880848597e-05,1793250840067253504
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746.76564172,724,695.23435828,669,642.76564172,891.76564172,787.76564172,824,655,632,656,0.423376314104,0.00460342771457,0.0799941336885,0.999999990621,0.000124838760919,2.25815381949e-05,-5.16046315775e-05,1793250840083920128
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.176754551,724,695.823245449,669,642.176754551,891.176754551,787.176754551,824,655,632,656,0.424270220497,0.00460411678089,0.0800101380474,0.999999990621,0.000121425208699,3.66093477014e-05,-5.16986495921e-05,1793250840100586496
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.595024728,746,724,696,669,642,891.809950543,787,824,655,632,656,0.425129823034,0.00460605855248,0.0799747068238,0.999999990388,0.000124516305084,-3.34353493638e-05,-5.10036544235e-05,1793250840117252864
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.016364568,746,724,696,669,642,892.967270864,787,824,655,632,656,0.425974713357,0.00460853758145,0.0799172160215,0.999999980515,0.000130397099634,-0.000139536875579,-4.99702685528e-05,1793250840133919232
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.558533759,746.558533759,724,696,669,642.558533759,892.441466241,787,824,655,632.558533759,656,0.426921039005,0.0046089619971,0.0799064725671,0.999999982329,0.000127066167008,-0.000127713788522,-5.3706859573e-05,1793250840150585856
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724,696,669,643,892.131880701,787,824,655,632.868119299,656,0.427854976411,0.00460848647582,0.0799009488507,0.999999983912,0.000123142236942,-0.000117686681999,-5.62383680596e-05,1793250840167252480
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724,696,669,643,892.700453093,787,824,655,632.299546907,656,0.428738117902,0.00460522902591,0.0799082041043,0.999999983737,0.000118142453738,-0.000124970717563,-5.43198572358e-05,1793250840183919104
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.717013566,747,724,695.717013566,669,642.717013566,893,787,824.282986434,655,632,656,0.429682950895,0.00460598532664,0.0799345634164,0.999999987006,0.000119464435617,-9.43520147815e-05,-5.30515989196e-05,1793250840200585728
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.11893542,747,724,695.11893542,669,642.11893542,893,787,824.88106458,655,632,656,0.430696474332,0.00461121074484,0.0799821941732,0.99999999022,0.000127825397113,-2.15304446928e-05,-5.25073652498e-05,1793250840217252864
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,723.535946094,695.464053906,669,642.464053906,893.464053906,787,825,655.464053906,632.464053906,656,0.431651237377,0.00461055241549,0.0800169380317,0.999999990291,0.000125895416286,3.01531988681e-05,-5.15731183602e-05,1793250840233919488
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.042975064,747,723.042975064,696,669,643,893.957024936,786.957024936,825,655.957024936,633,656,0.432582480272,0.00460905832623,0.0800406684417,0.999999989166,0.000122034096591,6.47569666745e-05,-5.08143489118e-05,1793250840250585600
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.617900779,747,723.617900779,696,669,643,893.382099221,786.382099221,825,655.382099221,633,656,0.433403132105,0.00461529729849,0.0799676688333,0.99999998954,0.000125886023416,-4.71084609469e-05,-5.34260033211e-05,1793250840267252224
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,724,696,669,643,893.194872315,786.194872315,825.194872315,655,632.805127685,656,0.434245268734,0.00461884887649,0.0799145497998,0.999999982617,0.00012695262105,-0.000124795239522,-5.54548568898e-05,1793250840283918848
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,724,696,669,643,893.775897893,786.775897893,825.775897893,655,632.224102107,656,0.43512997915,0.00461707519397,0.0799008255171,0.999999981831,0.000122499895327,-0.000134754630638,-5.63288509761e-05,1793250840300585728
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723.639068879,696,669,643,894,786.639068879,826,655,632.360931121,656,0.436029189573,0.00461553520274,0.079920349307,0.999999985338,0.000120094930483,-0.000108131509916,-5.6638553744e-05,1793250840317252096
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723.051519396,696,669,643,894,786.051519396,826,655,632.948480604,656,0.436937504083,0.00461414193972,0.0799607486147,0.999999989608,0.000118975696352,-5.85392720827e-05,-5.65939539176e-05,1793250840333918720
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.47433709,747,723.52566291,696,669,643,895.051325819,786.52566291,826,655,632.47433709,656,0.43780484458,0.00461727617676,0.0799831662452,0.999999990657,0.000122816517076,-2.36424945532e-05,-5.51661105696e-05,1793250840350585856
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,724,696,669,642.899197139,896,786.899197139,826.100802861,655,632.100802861,656,0.438653477752,0.00462173546726,0.0799957677487,0.999999990346,0.000127931109543,-3.82506636754e-06,-5.41105316911e-05,1793250840367252736
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,724,696,669,642.328928406,896,786.328928406,826.671071594,655,632.671071594,656,0.439433326805,0.00463033927099,0.0799707019432,0.999999987978,0.000136757761224,-4.76581690179e-05,-5.54078603229e-05,1793250840383919616
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,723.748500011,696.251499989,668.748500011,642,896,786,826.748500011,655.251499989,632.748500011,656,0.440165098286,0.00463979261246,0.0799127192733,0.999999977793,0.000147370470812,-0.000139702046761,-5.63920916009e-05,1793250840400585984
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+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747.992556805,723,695.992556805,667,642,896,785.992556805,827,656,632,656.992556805,0.442187210059,0.00466264899898,0.079656548161,0.999999848197,0.000170593868349,-0.000520728775795,-5.78426506651e-05,1793250840450585344
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+192,3.200000000,POSE1_TO_POSE2_PRESS,768.909071783,747,723,696,666.090928217,641,896,785,827.818143566,655,632,656,0.445702175598,0.00470230335345,0.0797908809969,0.999999918917,0.000227731129738,-0.000327752742873,-5.36875055735e-05,1793250840533919744
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747.218633543,723,696,663.781366457,640,896,785,827,655,632,656.781366457,0.447908487381,0.0047547643342,0.0796920586472,0.999999857623,0.000280750440147,-0.000448790086869,-6.72411104977e-05,1793250840600586240
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+218,3.633333333,POSE1_TO_POSE2_PRESS,768.004617684,747,723,696,656,637,897,784,828,655,631.995382316,656.995382316,0.453824343062,0.00483245024814,0.0795405399277,0.999999693144,0.000354965221225,-0.000694146887066,-7.66270078322e-05,1793250840967252736
+219,3.650000000,POSE1_TO_POSE2_PRESS,769.139138122,747,723,696.569569061,655.430430939,637.569569061,897.569569061,784,828,655,632,657,0.453881551261,0.004830741491,0.0795350508443,0.999999687439,0.000351560108423,-0.000704059415996,-7.63381102013e-05,1793250840983919360
+220,3.666666667,POSE1_TO_POSE2_PRESS,769.8555671,747,723,696.8555671,655.1444329,638,898,784,828,655,632,657,0.453935308454,0.0048287787781,0.0795301861079,0.999999682702,0.000348707469288,-0.000712186993105,-7.60806425267e-05,1793250841000585984
+221,3.683333333,POSE1_TO_POSE2_PRESS,769.278567817,747,723,696.278567817,655.721432183,638,898,784,828,655,632,657,0.453979184394,0.00482610684868,0.0795270988514,0.999999681058,0.000347640262256,-0.000715028998328,-7.59176463925e-05,1793250841017252608
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,747,722.694478596,696,655.694478596,638,897.694478596,783.694478596,828,655.305521404,632,657,0.454015699048,0.00482665274023,0.0795251296813,0.99999967885,0.00034884482983,-0.000717550646986,-7.56901830217e-05,1793250841033919232
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,747,722.103771277,696,655.103771277,638,897.103771277,783.103771277,828,655.896228723,632,657,0.454045342388,0.00483020227444,0.0795242041775,0.999999676109,0.000352169962684,-0.000719773262319,-7.54025433309e-05,1793250841050585856
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,747,722,696,655,637.524995715,897,783,828,655.524995715,632,657,0.454067441387,0.00483070762554,0.0795228150086,0.999999674278,0.000352878666339,-0.000721977675485,-7.52908310416e-05,1793250841067252480
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+226,3.766666667,POSE1_TO_POSE2_PRESS,769,747,722.626647959,696.626647959,655,637,897,783.626647959,828,655.626647959,631.373352041,657,0.454098520706,0.00482928204957,0.0795214194592,0.999999672449,0.000353010437323,-0.000724483531347,-7.4893855082e-05,1793250841100586240
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,747,723,696.792941233,654.792941233,637,897,783.792941233,828,655.792941233,631.207058767,657,0.454108472943,0.00482806771513,0.0795214620845,0.999999672589,0.000351828610193,-0.00072490133996,-7.45389723902e-05,1793250841117253120
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+232,3.866666667,POSE1_TO_POSE2_PRESS,768.105442653,747,723,696.105442653,654.894557347,637,897.894557347,783.105442653,827.105442653,655.105442653,631,657,0.454126595508,0.00482500188905,0.0795205368005,0.999999671478,0.000348703958487,-0.000728105241482,-7.28894875915e-05,1793250841200586752
+233,3.883333333,POSE1_TO_POSE2_PRESS,768.684458575,747,723,696.684458575,654.315541425,637,897.315541425,783.684458575,827.684458575,655.684458575,631,657,0.454127384233,0.00482693839091,0.0795203558046,0.999999670313,0.000350604503038,-0.000728741466081,-7.33889901833e-05,1793250841217252864
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+235,3.916666667,POSE1_TO_POSE2_PRESS,769,747,723,696.143259091,654,637,897,784,828,656,631.856740909,657,0.454125991462,0.00482418217408,0.0795170887691,0.999999669333,0.000345296953541,-0.000732615109762,-7.33389471072e-05,1793250841250586112
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,747,723,696,654,637,897.438177531,783.561822469,828,655.561822469,632,657,0.454124953058,0.00482374648098,0.0795162856571,0.999999667765,0.000346046714243,-0.000734440623749,-7.29228565488e-05,1793250841267252736
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+238,3.966666667,POSE1_TO_POSE2_PRESS,769,747,723,696,654.590626099,637.590626099,897.409373901,783.590626099,828,655,632,657,0.454126957242,0.00482270040162,0.0795168746812,0.999999667965,0.000346450721016,-0.000734029492858,-7.24085687057e-05,1793250841300585728
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768,748,723,696.326916097,654.326916097,637,897.673083903,783.673083903,828,655.673083903,631.673083903,657,0.454129650982,0.00482299050253,0.0795168817821,0.999999668852,0.00034614635879,-0.000732934787447,-7.27019763904e-05,1793250841350585856
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,748,723,696.916717165,654.916717165,637,897.083282835,783.083282835,828,655.083282835,631.083282835,657,0.454128984889,0.0048244116954,0.0795160881157,0.999999667536,0.000345897635231,-0.00073481943265,-7.29590812085e-05,1793250841367252736
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+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747,723,696,654.076311164,637,897,783.923688836,828,656,631.076311164,657,0.454130334319,0.00482181861622,0.0795182833585,0.999999670763,0.00034445883844,-0.000731211981992,-7.17773840373e-05,1793250841400586240
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+246,4.100000000,HOLD_POSE2,769,747,723,696,654,637,897,784,828,655,632,657,0.454129244606,0.0048230255405,0.0795158100894,0.999999667253,0.000345983695361,-0.000735289927386,-7.168563143e-05,1793250841455622400
+247,4.116666667,HOLD_POSE2,769,747.578595188,723,696,654,637,897,783.421404812,828,655,631.421404812,657,0.45412831164,0.00482314529505,0.0795153323272,0.99999966641,0.000345632590128,-0.000736569398042,-7.19936985562e-05,1793250841472289280
+248,4.133333333,HOLD_POSE2,769,747.843525346,723,696,654,637,897,783.156474654,827.843525346,655,631.156474654,657,0.454128209022,0.00482249032845,0.0795151955755,0.999999666432,0.000344462343794,-0.000737071285963,-7.21600431891e-05,1793250841488955904
+249,4.150000000,HOLD_POSE2,769,747.267564504,723,696,654,637,897,783.732435496,827.267564504,655,631.732435496,657,0.454130332444,0.00481975844523,0.0795159730238,0.999999668767,0.00034109609714,-0.000735488585963,-7.19464501368e-05,1793250841505622528
+250,4.166666667,HOLD_POSE2,769,747,722.686130979,696.313869021,654,637,897,783.686130979,827.313869021,655.313869021,632,657,0.454131266121,0.00481871913267,0.0795163937308,0.999999669829,0.000340223293322,-0.000734458054189,-7.18465954416e-05,1793250841522289408
+251,4.183333333,HOLD_POSE2,769,747,722.099949393,696.900050607,654,637,897,783.099949393,827.900050607,655.900050607,632,657,0.454131167575,0.00481914829352,0.0795165049293,0.999999669794,0.000341513799157,-0.000733906583323,-7.18454200877e-05,1793250841538956032
+252,4.200000000,HOLD_POSE2,769,747,722.480372107,696.519627893,654,637,897,783,827.519627893,655.519627893,632,657,0.454130464671,0.00482012716675,0.0795162123199,0.999999669349,0.00034110543771,-0.000734664676428,-7.22282283826e-05,1793250841555622656
+253,4.216666667,HOLD_POSE2,769,747,722.940639142,696,654,637,897.059360858,783,827.059360858,655.059360858,632,657,0.454129790542,0.00482100951451,0.0795158651592,0.999999668892,0.000340429913583,-0.000735564777698,-7.25748185706e-05,1793250841572289280
+254,4.233333333,HOLD_POSE2,769,747,722.36276978,696,654,637,897.63723022,783,827.63723022,655.63723022,632,657,0.45413045291,0.00482006170242,0.0795157665491,0.999999669081,0.00034047112573,-0.000735353941143,-7.19155955028e-05,1793250841588955648
+255,4.250000000,HOLD_POSE2,769,747,722.213920057,696,654,637,897.786079943,783,828,655.786079943,631.786079943,657,0.454131540772,0.0048199773462,0.0795163452156,0.9999996697,0.000340973634634,-0.000734309048079,-7.16058225479e-05,1793250841605622016
+256,4.266666667,HOLD_POSE2,769,747,722.788620544,696,654,637,897.211379456,783,828,655.211379456,631.211379456,657,0.454133346236,0.00482134922554,0.0795180661223,0.99999967104,0.000342254129686,-0.000731857502151,-7.18854042242e-05,1793250841622288640
+257,4.283333333,HOLD_POSE2,769,747,722.628225556,696,654,637,897,783,828,655.371774444,631.371774444,657,0.454132529198,0.00482185721646,0.0795171630168,0.999999670258,0.00034275322533,-0.000732672293312,-7.20817343965e-05,1793250841638955520
+258,4.300000000,HOLD_POSE2,769,747,722.040153423,696,654,637,897,783,828,655.959846577,631.959846577,657,0.454130186393,0.00482186259882,0.0795147332659,0.999999668239,0.000342797704351,-0.000735387433171,-7.22296290227e-05,1793250841655622144
+259,4.316666667,HOLD_POSE2,769,747,722.539598055,696.539598055,654,637,897,783,828,656,631.460401945,657,0.454130778218,0.0048212057524,0.0795147218966,0.999999668942,0.000340397152036,-0.000735503077541,-7.26735597217e-05,1793250841672288768
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+261,4.350000000,HOLD_POSE2,768.30584705,747,723,696.30584705,654,637,897,783.69415295,828,655.30584705,631.69415295,657,0.454131640728,0.00481977218524,0.0795157468475,0.999999669057,0.000342300872596,-0.000734553002924,-7.17449848874e-05,1793250841705622272
+262,4.366666667,HOLD_POSE2,768,747,723,696,653.729180871,637,897.270819129,784,828,655,632,656.729180871,0.454132222369,0.00482011304434,0.0795160200273,0.999999668649,0.000344625908844,-0.000734066137087,-7.12919108085e-05,1793250841722288896
+263,4.383333333,HOLD_POSE2,768,747,723,696,653.151814535,637,897.848185465,784,828,655,632,656.151814535,0.454133254735,0.00482165959466,0.0795157635067,0.999999668349,0.000345868071565,-0.00073386471663,-7.15459390598e-05,1793250841738955520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,747,723,697,653,637,897,783,828,656,632,656,0.454134299097,0.00481963293411,0.0795163832774,0.99999967123,0.000340734275212,-0.000732344731776,-7.14971585805e-05,1793250841771710464
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,723,697,653,637,897,783,828,656,632,656.57832726,0.45413377001,0.00482249209549,0.0795164658892,0.999999669732,0.000342499479891,-0.000733523224027,-7.19273105954e-05,1793250841788377088
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,723,697,653.155765718,637,897.155765718,783.155765718,828,656,632,657,0.454133594855,0.00482368521853,0.0795166926675,0.999999669059,0.000343278857639,-0.000734061196939,-7.20847856084e-05,1793250841805043712
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.207837378,747,723,696.207837378,653.207837378,637,897,783,828,655.207837378,632,657,0.45410509329,0.00481817465454,0.079501454877,0.99999965371,0.000339698244093,-0.000756362902446,-7.14192400538e-05,1793250841938376704
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.624067667,747,723,696,653.375932333,637,897,783,828,655.375932333,631.624067667,657,0.454070432709,0.00481884380808,0.0794880458271,0.999999635345,0.000340387610066,-0.000779985782761,-7.11868405753e-05,1793250841955043584
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.035309288,747,723,696,653.964690712,637,897,783,828,655.964690712,631.035309288,657,0.454025286291,0.00481963242745,0.0794710809971,0.999999611107,0.000341682894913,-0.000809954749486,-7.07923140638e-05,1793250841971710208
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.544232925,747.544232925,723,696,654,637,897,783,828,655.455767075,631,657,0.45396102387,0.00482089910648,0.0794548233687,0.99999958826,0.000345214573697,-0.000836316553478,-6.98663819993e-05,1793250841988377344
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747.877262767,723,696,653.877262767,637,897,783,828,655.122737233,631,656.877262767,0.453893884876,0.00482149762727,0.0794409611274,0.999999568965,0.000347793560899,-0.000858127767757,-6.87441324903e-05,1793250842005044224
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,747.300422925,723,696,653.300422925,637,897,783,828,655.699577075,631,656.300422925,0.453820615311,0.00481951125779,0.0794357943937,0.999999564577,0.000346319903782,-0.00086395418309,-6.7020982478e-05,1793250842021710336
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,637,897,783.275971531,828,655.724028469,631,656.275971531,0.453741153326,0.00481765789241,0.0794352141027,0.999999564539,0.000346278528569,-0.000864168119401,-6.50141027676e-05,1793250842038376704
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,637,897,783.851881886,828,655.148118114,631,656.851881886,0.45365496113,0.00481594908225,0.0794396185732,0.99999956923,0.000347793824704,-0.000858282149497,-6.26988523958e-05,1793250842055043072
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,653.436264153,637,897,784,828,655.436264153,631.436264153,657,0.453548402459,0.00481491411395,0.0794428206163,0.999999570969,0.000350519870436,-0.000855356422051,-5.96934472725e-05,1793250842071709696
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747,722.976636378,696,654,637,897,783.976636378,827.976636378,655.976636378,632,657,0.453433601679,0.00481400944109,0.0794456616016,0.999999571843,0.000353514788288,-0.000853320609263,-5.64276479523e-05,1793250842088376576
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747,722.394703089,696,654,637,897,783.394703089,827.394703089,655.394703089,632,657,0.45329033988,0.00481064193145,0.0794498239368,0.999999576739,0.000352915526641,-0.000848056423153,-5.26493601062e-05,1793250842105043712
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,747,722.183991622,696.183991622,654,637,897,783.183991622,827,655,632,657,0.453136535732,0.00480767122426,0.0794526015878,0.999999579757,0.00035384449863,-0.0008443560361,-4.84018429285e-05,1793250842121710592
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,722.755858961,696.755858961,654,637,897,783.755858961,827,655,632,657,0.452960507104,0.00480553702316,0.0794524601633,0.99999957886,0.000357995164778,-0.000843952319867,-4.31651362789e-05,1793250842138377216
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,723,696.661866283,654.338133717,637,897,784,827,655.338133717,632,657,0.452767220026,0.0048036849679,0.0794522595006,0.999999577738,0.000361420355076,-0.000844068583033,-3.80326869472e-05,1793250842155043840
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,723,696.071838417,654.928161583,637,897,784,827,655.928161583,632,657,0.452561076174,0.00480204309816,0.0794520147082,0.999999576446,0.000364305099491,-0.000844572207018,-3.29779039991e-05,1793250842171710464
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.491192557,747,723,696,655,637,896.491192557,784,827,656,631.491192557,657,0.452314385985,0.00480010991334,0.079453589684,0.999999572655,0.00037068634651,-0.000846516175229,-2.62839104295e-05,1793250842188377088
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.087955308,747,723,696.087955308,655.087955308,637,896,783.912044692,827,656,631,657,0.452059170748,0.00479803462982,0.0794568147687,0.999999570859,0.000377444660481,-0.000845840476348,-1.92899690861e-05,1793250842205043456
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.666003842,747,723,696.666003842,655.666003842,637,896,783.333996158,827,656,631,657,0.451787774299,0.00479539259527,0.0794678286517,0.999999582356,0.000383603057783,-0.000829455176475,-1.18909450973e-05,1793250842221710080
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,723,696.758582138,656,637,896,783.241417862,827,655.758582138,631.241417862,657,0.451502508384,0.00479164606073,0.0794800028144,0.999999594269,0.000388641142132,-0.000812652018937,-4.06544260318e-06,1793250842238376960
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747,723,696.186773594,656,637,896,783.813226406,827,655.186773594,631.813226406,657,0.451198261526,0.00478638797082,0.079493764869,0.999999606868,0.000392146029914,-0.000795277006376,4.34371353831e-06,1793250842255044096
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.602283219,747,723,696,656.397716781,637.397716781,896,784,827,655.397716781,632,657,0.450875354936,0.00478279645241,0.0795076697474,0.999999626577,0.00039462898915,-0.000768760247812,1.10541553964e-05,1793250842271710976
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.01164113,747,723,696,656.98835887,637.98835887,896,784,827,655.98835887,632,657,0.45054339685,0.00478001335824,0.0795216439068,0.999999649023,0.000396616228716,-0.000737808991473,1.69405810379e-05,1793250842288377344
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.56735013,747,723,696,657,638,896,783.43264987,827,655.43264987,631.43264987,657,0.450144953027,0.00477782122782,0.0795364632366,0.999999681454,0.000359857866676,-0.000712416812968,7.45716815933e-06,1793250842305043712
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.854232409,747,723,696,657.145767591,638,896,783,827,655.145767591,631,657,0.449732709083,0.00477348202683,0.0795479298277,0.99999970557,0.000329789895714,-0.000692888153112,1.91965480167e-06,1793250842321710336
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.276820533,747,723,696,657.723179467,638,896,783,827,655.723179467,631,657,0.449283558858,0.00476274977697,0.0795494180306,0.999999709849,0.000321840160108,-0.000690391478152,8.98172902507e-06,1793250842338376960
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.297928602,747,723,696,658.297928602,638,895.702071398,783.297928602,827,656,631,657,0.448802541295,0.00475649948836,0.0795419187838,0.999999702205,0.000316070033506,-0.000703914872692,1.39319049194e-05,1793250842355043584
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.870225631,747,723,696,658.870225631,638,895.129774369,783.870225631,827,656,631,657,0.448292176411,0.00475437672653,0.0795261428145,0.999999683036,0.00031230715148,-0.00073219146999,1.69371920761e-05,1793250842371710208
+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,747,722.542682651,696,659.457317349,638,895.457317349,784,827,656,631.457317349,656.542682651,0.447767262233,0.00474876958953,0.0795135055217,0.999999659295,0.000344772807757,-0.000749831126898,1.71451581908e-05,1793250842388376832
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.952333074,747,722.047666926,696,660.047666926,638.047666926,896,784,827,655.952333074,632,656,0.447236250677,0.00474186479269,0.0795050096377,0.999999638415,0.00038192614103,-0.000759618289482,1.67926918169e-05,1793250842405043456
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.374015466,747,722.625984534,696,660.625984534,638.625984534,896,784,827,655.374015466,632,656,0.446684859129,0.00473188931468,0.0795323709816,0.999999680673,0.000352989164085,-0.000716714363789,1.93336768112e-05,1793250842421710336
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,746.796180616,722.796180616,696,661.203819384,639,895.796180616,784,827,655,632,656.203819384,0.446121515848,0.00472227213917,0.0795637977799,0.999999721557,0.000326285718225,-0.00067078920675,2.15905477939e-05,1793250842438376960
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,746.219229585,722.219229585,696,661.780770415,639,895.219229585,784,827,655,632,656.780770415,0.445536292588,0.00471331090779,0.0796026671943,0.999999761833,0.000303671194704,-0.000619333092846,2.33272918314e-05,1793250842455043584
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,746.354245782,722.354245782,696,662.354245782,639,895,784.354245782,826.645754218,655.354245782,632,656.645754218,0.444918263402,0.0047033523218,0.0796313068277,0.999999790377,0.000285805763018,-0.000580451863875,2.52459880445e-05,1793250842471710208
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,746.925591066,722.925591066,696,662.925591066,639,895,784.925591066,826.074408934,655.925591066,632,656.074408934,0.444280129128,0.00469278250744,0.0796536771392,0.999999812095,0.000270850812877,-0.000549277154384,2.72761935796e-05,1793250842488376832
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,663.518889562,639.518889562,894.481110438,785,826,656,632,656,0.443597255151,0.00468259918826,0.0796548548196,0.999999810475,0.000270763437346,-0.000552186070977,2.87822359028e-05,1793250842505043456
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,664.110990415,640,893.889009585,785.110990415,826,655.889009585,631.889009585,656,0.442903509307,0.00467265962621,0.079656352453,0.999999811312,0.000269203727837,-0.000551369772213,2.99498606334e-05,1793250842521710080
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,664.684405787,640,893.315594213,785.684405787,826,655.315594213,631.315594213,656,0.442192378521,0.00466349452975,0.0796724041448,0.999999835758,0.000252234623203,-0.000513769851273,3.00345178201e-05,1793250842538376704
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,665.259792908,640.259792908,892.740207092,785.740207092,826,655,631.259792908,656,0.441460314334,0.00465441106531,0.0796844705313,0.99999985318,0.000237490752738,-0.000486122960313,3.037482221e-05,1793250842555043328
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,665.83759369,640.83759369,892.16240631,785.16240631,826,655,631.83759369,656,0.440702625849,0.00464542752394,0.0796916585789,0.99999986334,0.000225470749864,-0.000470659391775,3.10280598406e-05,1793250842571709952
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.575897799,666,641,892.424102201,785.424102201,825.575897799,655,632,656,0.439900796882,0.0046349844012,0.079667232923,0.999999846006,0.000216315983406,-0.000510024721369,3.2728055367e-05,1793250842588376576
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.013757171,666.013757171,641.013757171,892.972485659,786,825.013757171,655,632,656,0.439082953632,0.00462396040898,0.079632582284,0.999999816843,0.000208110921884,-0.000567266752483,3.48094483484e-05,1793250842605043200
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.592812401,666.592812401,641.592812401,891.814375199,786,825.592812401,655,632,656,0.43831619578,0.00461251649514,0.0796856608023,0.999999866401,0.000192899276484,-0.000478237165759,3.57463672131e-05,1793250842621709824
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.171892337,746.828107663,723,696,667,642,891,786,825.828107663,655,632,656,0.437551088689,0.00460164632942,0.0797473884207,0.999999910934,0.000180235303951,-0.000379856892493,3.68325675713e-05,1793250842638376448
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.751030774,746.248969226,723,696,667,642,891,786,825.248969226,655,632,656,0.436789892614,0.00459213548434,0.0798296074219,0.999999950574,0.000173607262156,-0.000259323048468,3.82724447691e-05,1793250842655043072
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.675366275,746,723,696,667,642,891,786.324633725,825,655,632,656,0.435948680311,0.00458170246075,0.0798642334797,0.999999962858,0.000167718230223,-0.000210955495574,4.06487138116e-05,1793250842671709696
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.105937467,746,723,696,667,642,891,786.894062533,825,655,632,656,0.435047130569,0.00457057405462,0.0798629713387,0.999999962313,0.000162386461744,-0.000217006057943,4.37310838447e-05,1793250842688376320
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.482458905,723,696,667.482458905,641.517541095,890.517541095,787,824.517541095,655,632,655.517541095,0.43414501134,0.00456013742195,0.0798330172689,0.999999954436,0.000154258134249,-0.000255537750493,4.50796243322e-05,1793250842705042944
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.926519667,723,696,668,641.073480333,890,787,823.926519667,655,632,655.073480333,0.433228279267,0.00455002057739,0.0797936046783,0.99999994005,0.00014589442524,-0.000310642484676,4.60101954411e-05,1793250842721709568
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746.34727027,723,696,668,641.65272973,890,787,823.34727027,655,632,655.65272973,0.432211862595,0.00454101654586,0.0797342272811,0.999999897161,0.000140310176883,-0.000428720406889,4.67915537831e-05,1793250842738376192
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.229825275,746.229825275,722.770174725,696,668,642,890,787,823.229825275,655.229825275,632,656,0.431240463975,0.00452967478299,0.0797059847377,0.999999872243,0.000129191469449,-0.000486337910949,4.79503790563e-05,1793250842755043072
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.613256907,747,722.386743093,696,668,642,890,787,823.613256907,656,632,656,0.42949558663,0.00450239206915,0.0797825319795,0.999999931154,9.72959296425e-05,-0.000354460206501,5.08266673251e-05,1793250842788376320
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.025440169,747,722.974559831,696,668,642,890,787,823.025440169,656,632,656,0.428687542491,0.00449119844246,0.0798614137679,0.999999970313,8.83977411013e-05,-0.000221109522341,5.16819370167e-05,1793250842805042944
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,668,642,890,787,823,655.443989603,632,656,0.427756814066,0.00448405294272,0.0798569335603,0.999999969135,8.48146196527e-05,-0.000227498145318,5.27373646773e-05,1793250842821709568
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.135845206,746.864154794,723,696,668,642,889.864154794,787,822.864154794,655.135845206,632,655.864154794,0.426810640997,0.00447572227159,0.0798375228412,0.999999962216,7.9060357935e-05,-0.000257800787471,5.343842967e-05,1793250842838376448
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.711382373,746.288617627,723,696,668,642,889.288617627,787,822.288617627,655.711382373,632,655.288617627,0.42583244139,0.00446296281892,0.079781992107,0.999999936924,6.55005116829e-05,-0.000345045779875,5.29632171024e-05,1793250842855043072
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.714754129,746,723,696,668.285245871,642,889.285245871,787,821.429508257,656,632,655.285245871,0.424852996605,0.00445524517868,0.0797445176964,0.999999915803,5.82205048575e-05,-0.000402634930052,5.37540690217e-05,1793250842871709696
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.142574238,746,723,696,668.857425762,642,889.857425762,787,820.285148475,656,632,655.857425762,0.423872299333,0.00445259919019,0.0797252064739,0.999999904184,5.72575040866e-05,-0.000430392724835,5.58184785862e-05,1793250842888376320
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.446708983,746,723,696,668.553291017,642,889.553291017,787,820,655.553291017,632,655.553291017,0.422977829052,0.00446843748657,0.0797322538818,0.999999909104,7.56768874545e-05,-0.000416064392405,5.43666960631e-05,1793250842905043200
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.959523783,746.040476217,723,696,668,642,888.959523783,787,820,655,632,655,0.422116395672,0.00448945100842,0.0797515813054,0.999999920751,9.96682422748e-05,-0.000381912496363,5.20291514277e-05,1793250842921709824
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.381586517,746.618413483,723,696,668,642,888.381586517,787,820,655,632,655,0.421313661172,0.00449772785883,0.0798178123504,0.999999955825,0.000112233394508,-0.000269997546748,5.34250403156e-05,1793250842938376448
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.195213471,747,723,695.804786529,668,642,888,787,820,655,632,655,0.420485762615,0.00449792730375,0.0798606074787,0.999999972494,0.000113846081295,-0.000197786408302,5.41496669096e-05,1793250842955043072
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.769803382,747,723,695.230196618,668,642,888,787,820,655,632,655,0.41960896027,0.00448242917902,0.0798578574285,0.99999997358,9.41738308487e-05,-0.000202735353415,5.35697685676e-05,1793250842971709952
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.647230887,746.647230887,723,694.647230887,668.352769113,642,888.352769113,787,820,655,632,655.352769113,0.418712577967,0.00447234257105,0.0798300894407,0.999999963827,8.05117263651e-05,-0.000251168300967,5.27157459017e-05,1793250842988376320
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.058666692,746.058666692,723,694.058666692,668.941333308,642,888.941333308,787,820,655,632,655.941333308,0.417803108237,0.00446587308634,0.0797855991652,0.999999942143,7.08668759181e-05,-0.000328666472881,5.16784950558e-05,1793250843005042944
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,723,694,668.478488634,642,887.956977268,786.478488634,820,655,632,656,0.416968027045,0.00446805604728,0.0797956807311,0.999999943393,7.88528246372e-05,-0.000322696336996,5.35007187184e-05,1793250843021709824
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.100571574,746.100571574,723,694,668.100571574,642,887,786.100571574,820,655,632,656,0.416141703975,0.00447267330182,0.0798053372214,0.999999944524,8.88895115827e-05,-0.000316240097437,5.51698286778e-05,1793250843038376448
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.678732386,746.678732386,723,694,668.678732386,642,887,786.678732386,820,655,632,656,0.415317861315,0.00448430138686,0.0797842840061,0.999999931843,9.93952538632e-05,-0.000351358908786,5.4608472069e-05,1793250843055043072
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746.74504877,723,694,668.74504877,642,886.74504877,787,820,655,632,655.74504877,0.414534057092,0.00449024274258,0.0797758230337,0.999999928073,0.000105706305753,-0.000360240551454,5.39249274764e-05,1793250843071709952
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746.171258572,723,694,668.171258572,642,886.171258572,787,820,655,632,655.171258572,0.413800324522,0.00448907234151,0.0797831097716,0.999999936338,0.000106771527147,-0.000336310301433,5.30885761388e-05,1793250843088376576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746,723,693.586961929,668.413038071,642,886.826076142,787,820,655,632,655.413038071,0.413077736331,0.00448150203559,0.0797957393227,0.99999994598,8.60056084695e-05,-0.000312813338815,5.28202226221e-05,1793250843105043200
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,746,723,692.998225417,668.998225417,642,887.998225417,787,820,655,632,656,0.412359851155,0.00447124164752,0.0798105573276,0.999999955079,5.6151447703e-05,-0.000289658240921,5.27979419776e-05,1793250843121709824
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,746,723,692.419306617,668.419306617,642,887.419306617,787,820,655,632,656,0.411629496671,0.00447164287556,0.0797978391945,0.999999943884,9.13103802936e-05,-0.000317734151547,5.42119185545e-05,1793250843138376448
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,746,722.841049833,692.158950167,668,642,887,787,820,655,632,655.841049833,0.41091989862,0.00447307211622,0.0797881472263,0.999999934506,0.000113922318522,-0.000339050483482,5.52598846445e-05,1793250843155043328
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,746,722.264532061,692.735467939,668,642,887,787,820,655,632,655.264532061,0.410264828277,0.00447720198183,0.0797864050951,0.999999934414,0.000103572875093,-0.000342609175099,5.53463290321e-05,1793250843171709952
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,746,722.316638943,692.683361057,668.316638943,642,887,787,820,655.316638943,632,655.316638943,0.409648150425,0.00448155724124,0.0798019554787,0.999999943452,0.000103872392509,-0.000314948979814,5.57966755223e-05,1793250843188376576
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,746,722.901755377,692.098244623,668.901755377,642,887,787,820,655.901755377,632,655.901755377,0.409064025524,0.00448610361133,0.0798321681495,0.99999995798,0.000113201141771,-0.000260818355186,5.65555737078e-05,1793250843205043200
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.517967472,746,723,691.517967472,668.517967472,642,887,786.517967472,820,655.517967472,632,655.517967472,0.408478831362,0.0044849576753,0.079837088121,0.999999959679,0.000106855062611,-0.00025696369577,5.65078001782e-05,1793250843221709824
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.061285144,746,723,691,668.061285144,642,887,786.061285144,820,655,632,655.061285144,0.407892882373,0.00448286072049,0.0798324772327,0.999999957011,9.85030515728e-05,-0.00027037520889,5.63322257518e-05,1793250843238376192
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.64013219,746,723,691,668.64013219,642,887,786.64013219,820,655,632,655.64013219,0.407302380887,0.00448243267116,0.0797904787556,0.999999934272,9.99225094313e-05,-0.000343925555154,5.6452022777e-05,1793250843255042816
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.782721738,746,723,691,668.782721738,642,887,787,820,655,632,656,0.40675754579,0.00448301969908,0.0797649276947,0.999999918667,0.000106306346148,-0.000385024671798,5.58680946685e-05,1793250843271709440
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.208371083,746,723,691,668.208371083,642,887,787,820,655,632,656,0.406287758329,0.00448527489238,0.0797664061174,0.999999921745,0.000120848581922,-0.000372793836276,5.41276738045e-05,1793250843288376320
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,723,691,668.374302432,642,887,786.625697568,820,655,632,656,0.405847842428,0.00448720063718,0.0797806703039,0.999999933257,0.000119291370267,-0.00034118517095,5.3371553562e-05,1793250843305043200
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,723,691,668.961714635,642,887,786.038285365,820,655,632,656,0.40542493391,0.0044889388101,0.0798022140884,0.999999948128,0.000108567910092,-0.000298543701286,5.31758464302e-05,1793250843321709824
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.541390307,746,723,690.458609693,669,642,886.458609693,786,820,655,632,656,0.405026495432,0.00449067202699,0.0798178564364,0.999999953105,0.000108836837905,-0.000281255411476,5.32859628534e-05,1793250843338376448
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.879720475,746,723,690,669,642,886.120279525,786,820,655,632.120279525,656,0.404634802707,0.00449201146356,0.0798305577146,0.999999955912,0.000112279427577,-0.000269593914185,5.37515756661e-05,1793250843355043072
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.301771164,746,723,690,669,642,886.698228836,786,820,655,632.698228836,656,0.404262286154,0.00449185386102,0.0798336336668,0.999999953503,0.000124881795207,-0.000272616706073,5.54887387108e-05,1793250843371709696
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.27497374,746,723,690,669,642,887,786,820,655,633,656,0.403910886304,0.00449104964989,0.0798345284917,0.999999951265,0.000132383301594,-0.000276788464993,5.77355292721e-05,1793250843388376320
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.850402591,746,723,690,669,642,887,786,820,655,633,656,0.40358256003,0.00448953891001,0.0798330400677,0.999999949325,0.00013431125744,-0.000282215663707,6.05391736096e-05,1793250843405042944
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,746,723,690,669,642,887,786.434878492,820,655,633,656,0.403284730161,0.00448811230209,0.0798317259646,0.99999995066,0.000115882748159,-0.000286716540588,5.51757101776e-05,1793250843421709824
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.977782612,746,723,690,669,642,887,786.977782612,820.022217388,655,632.977782612,656,0.402999307634,0.00448661145704,0.0798306324986,0.999999952468,9.14999328624e-05,-0.000290588178777,4.74265197079e-05,1793250843438376192
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.398351061,746,723,690,669,642,887,786.398351061,820.601648939,655,632.398351061,656,0.402756364463,0.00448250746703,0.0798335367218,0.999999952802,9.7139362346e-05,-0.000286840097596,5.18018477396e-05,1793250843455042816
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,746,723.179903496,689.820096504,668.820096504,642,886.820096504,786,820.820096504,655.179903496,632,656,0.402526810805,0.00448014535397,0.0798359342454,0.999999953239,0.000102774150545,-0.000282684312353,5.52169239674e-05,1793250843471709696
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,746,723.755568758,689.244431242,668.244431242,642,886.244431242,786,820.244431242,655.755568758,632,656,0.402326712181,0.00448161511969,0.0798372171025,0.999999953988,0.00010839872785,-0.000277631637446,5.65195840338e-05,1793250843488376320
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,746,724,689,668.331381913,642,886,786.331381913,820,656,632.331381913,656,0.402148767834,0.00448319177255,0.0798410075085,0.999999955603,0.000113490930213,-0.000269599868372,5.68383095271e-05,1793250843505043200
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,746,724,689,668.907304263,642,886,786.907304263,820,656,632.907304263,656,0.401987172027,0.00448484730201,0.0798466483389,0.999999957787,0.000118190271637,-0.000259369701786,5.64309490806e-05,1793250843521709824
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.494583595,746,723.505416405,689.494583595,669,642,886,786.505416405,820,656,632.505416405,656,0.401839304703,0.00448418006864,0.0798480190053,0.999999956973,0.000127819330636,-0.000257586783697,5.80117485709e-05,1793250843538376192
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.917529822,746,723,689.917529822,669,642,886.082470178,786,820,656,632,656,0.401697034704,0.00448265004091,0.0798476515546,0.999999955328,0.00013632085716,-0.000259191323846,5.98336401965e-05,1793250843555042816
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.33909275,746,723,689.33909275,669,642,886.66090725,786,820,656,632,656,0.401572588842,0.00447861085646,0.0798417574207,0.999999952557,0.000132354481966,-0.00027142272082,6.0811844089e-05,1793250843571709440
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,746.238080909,723.238080909,688.761919091,669,642,887,786,820,656,632,656,0.401460543533,0.00447611397423,0.0798370217367,0.999999951158,0.000125646794908,-0.000279725645866,6.042667907e-05,1793250843588376320
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,746.813464586,723.813464586,688.186535414,669,642,887,786,820,656,632,656,0.401366066801,0.00447580215953,0.0798339272946,0.9999999518,0.000115055335649,-0.000282462880555,5.81099517071e-05,1793250843605042944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.399102776,746.600897224,723.600897224,688.399102776,668.600897224,642,886.600897224,786,820,656,632,656,0.401285840896,0.00447588539637,0.0798291794929,0.999999950965,0.000107975207699,-0.000288458787112,5.66010367547e-05,1793250843621709824
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.989660167,746.010339833,723.010339833,688.989660167,668.010339833,642,886.010339833,786,820,656,632,656,0.401212451295,0.00447615814441,0.0798236385538,0.999999949386,0.000102579509797,-0.000296017919419,5.54796396297e-05,1793250843638376448
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.431122069,746.568877931,723,689,668.568877931,642,886,786,820,655.431122069,632,655.431122069,0.401160192424,0.00447322379571,0.0798237240442,0.999999949581,9.91511789229e-05,-0.000296482022587,5.57347816469e-05,1793250843655043072
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768,746.858943795,723,689,669,642,886.141056205,786,820,655,632,655.141056205,0.401112966714,0.00447107982471,0.0798242223875,0.999999949946,9.66771068578e-05,-0.000296008270311,5.60415499034e-05,1793250843671709696
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,746.306697234,723,689,669,642,886.693302766,786,820,655,632,655.693302766,0.401079315377,0.00447140647379,0.0798256319459,0.999999950741,9.68825758854e-05,-0.000293169169218,5.64273036101e-05,1793250843688376320
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,887,786,820,655.272400389,632,656,0.401050398974,0.0044715483091,0.0798264399116,0.999999951304,9.61295403169e-05,-0.000291487578034,5.64505639498e-05,1793250843705043200
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,887,786,820,655.885035743,632,656,0.401027396617,0.00447145930738,0.0798264964728,0.999999951582,9.4179308334e-05,-0.000291251745573,5.60210609737e-05,1793250843721709824
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746,723,688.529538104,669,642,886.529538104,786,820,656,632,655.529538104,0.401010957771,0.00447202826788,0.0798266231158,0.999999951514,9.46100655474e-05,-0.000291352916121,5.59917724585e-05,1793250843738376448
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,746,723.04953095,688.04953095,669,642,886,786.04953095,820,655.95046905,632,655.04953095,0.40099681448,0.00447262382115,0.0798268895102,0.999999951431,9.55593988154e-05,-0.000291318958759,5.60400833129e-05,1793250843755042816
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,746,723.627835495,688.627835495,669,642,886,786.627835495,820,655.372164505,632,655.627835495,0.400990991256,0.00447188065797,0.0798284750081,0.999999952048,9.61730578315e-05,-0.000289011338824,5.59298402628e-05,1793250843771709696
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768,746.205431789,724,689,669,642,886.205431789,786.794568211,820,655,632,656,0.400985537743,0.00447170322851,0.0798291770349,0.999999952326,9.72026603815e-05,-0.000287707252159,5.5897132987e-05,1793250843788376576
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59e45bd026b8b5996f1122c7422dffa00412295f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+199,3.316666667,pose1_to_pose2_press,0.615582075496,0.0101500058083,1.07003333244,0.586152755429,0.0188226454749,1.06970473471
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+265,4.416666667,pose2_to_pose3_retreat,0.619545911718,0.0101500665498,1.07003360549,0.59011659091,0.0188227069672,1.06970500285
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+268,4.466666667,pose2_to_pose3_retreat,0.619545793866,0.0101500603371,1.07003355201,0.590116473344,0.018822701726,1.06970494934
+269,4.483333333,pose2_to_pose3_retreat,0.619545676541,0.0101501126631,1.07003349929,0.590116355014,0.018822750728,1.06970489885
+270,4.500000000,pose2_to_pose3_retreat,0.61954528048,0.0101501229549,1.07003349485,0.590115958306,0.0188227587982,1.06970489367
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+272,4.533333333,pose2_to_pose3_retreat,0.619539739074,0.0101501629891,1.07003363216,0.590110415985,0.0188227953849,1.06970502215
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+276,4.600000000,pose2_to_pose3_retreat,0.619451652385,0.0101501671088,1.07003364176,0.590022328511,0.0188227966787,1.06970502899
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d3d89e277dd7e195fe3361d081852b497e7ec4a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b02e0dd06adac0f2204b57cc495a4c726479c85ce24a7cbcf18a825b6c1073
+size 25939740
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95d457e4deb15183792654ce7cc2adf955192344
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,410 @@
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+9,0.150000000,BASELINE,769,746,724,689,669.221706815,642,887,786,820,655.778293185,632,656,0.400977329517,0.00447857829549,0.0798350709991,0.999999955695,9.90369523875e-05,-0.000275701394666,5.2829830357e-05,1793250844449716992
+10,0.166666667,BASELINE,769,746,724,689,669.811827188,642,887,786,820,655.188172812,632,656,0.400977209731,0.00447580453346,0.0798345646375,0.999999955684,9.60690351588e-05,-0.000276748658802,5.30309423441e-05,1793250844466383616
+11,0.183333333,BASELINE,768.605553554,746.394446446,724,689,669.605553554,642,887,786,820,655.394446446,632,656,0.400976833743,0.00447550183823,0.0798346476235,0.999999955721,9.62942101298e-05,-0.000276542571675,5.3008460508e-05,1793250844483050240
+12,0.200000000,BASELINE,768.026445911,746.973554089,724,689,669.026445911,642,887,786,820,655.973554089,632,656,0.400976337812,0.00447635597953,0.0798350065142,0.999999955779,9.80142398038e-05,-0.000275749724771,5.28813026213e-05,1793250844499716864
+13,0.216666667,BASELINE,768,746.449437986,724,689,669,642,887.550562014,786,820,656,632,656,0.400976950582,0.00447605852212,0.0798354919141,0.999999956059,9.72356256209e-05,-0.000275004782044,5.2905351383e-05,1793250844516383488
+14,0.233333333,BASELINE,768.126503842,746,724,689,669,642,887.873496158,786,820,655.873496158,632.126503842,656,0.400977282346,0.00447606466784,0.0798357508511,0.999999956146,9.72949053204e-05,-0.000274665666116,5.29122750035e-05,1793250844533050112
+15,0.250000000,BASELINE,768.699041191,746,724,689,669,642,887.300958809,786,820,655.300958809,632.699041191,656,0.400976436264,0.00447733556855,0.0798351899699,0.999999955512,0.000100730040128,-0.000275749351868,5.28333065913e-05,1793250844549716736
+16,0.266666667,BASELINE,768.719261147,746.280738853,724,689,669,642,887,786,820,655.280738853,632.719261147,656,0.400976178711,0.00447743349445,0.0798349780456,0.999999955413,0.000100877242802,-0.000276060099227,5.27982088161e-05,1793250844566383616
+17,0.283333333,BASELINE,768.127412214,746.872587786,724,689,669,642,887,786,820,655.872587786,632.127412214,656,0.400976573354,0.00447623154932,0.0798351528295,0.99999995591,9.73808141274e-05,-0.00027551428918,5.28117277487e-05,1793250844583050240
+18,0.300000000,BASELINE,768,746.546215341,724,689,669,642.453784659,887,786,820,655.546215341,632,656,0.40097727605,0.00447608728944,0.0798357659102,0.999999956123,9.75062885501e-05,-0.000274684936572,5.28585288335e-05,1793250844599717376
+19,0.316666667,BASELINE,768,746,723.968163728,689,669,642.968163728,887,786,820,655,632,655.968163728,0.400977957874,0.00447626073222,0.0798364285211,0.999999956222,9.86427027991e-05,-0.000273907297759,5.29211093028e-05,1793250844616384768
+20,0.333333333,BASELINE,768,746,723.393911439,689,669,642.393911439,887,786,820,655,632,655.393911439,0.400976844227,0.00447690339888,0.079835886383,0.999999955678,0.000100074167299,-0.000275336038046,5.3096970819e-05,1793250844633051392
+21,0.350000000,BASELINE,768,746,723,689,669,642,887,786,820,655,632.184870324,655.184870324,0.400975970448,0.00447711510483,0.0798352288826,0.999999955292,0.000100663984044,-0.000276503150861,5.31841330831e-05,1793250844649717760
+22,0.366666667,BASELINE,768,746,723,689,669,642,887,786,820,655,632.773545564,655.773545564,0.400975620605,0.00447638548033,0.0798343194008,0.999999955258,9.94154227878e-05,-0.000277098800978,5.30775530657e-05,1793250844666383872
+23,0.383333333,BASELINE,768,746.35614201,723,689,669,642,887,786,820,655.35614201,632.64385799,656,0.400975619837,0.0044766640924,0.0798347040522,0.999999955441,9.89551929878e-05,-0.000276634556981,5.29028891351e-05,1793250844683050240
+24,0.400000000,BASELINE,768,746.934938152,723,689,669,642,887,786,820,655.934938152,632.065061848,656,0.400975837304,0.00447757303731,0.0798358977745,0.999999955761,9.89878149356e-05,-0.000275507684663,5.26856602505e-05,1793250844699716864
+25,0.416666667,BASELINE,768.513470759,747,723.513470759,689.513470759,669,642,887,786,820,656,632,656,0.400974858997,0.00447823656514,0.0798349134699,0.999999955249,0.000100581206385,-0.000276763293368,5.27904696532e-05,1793250844716383488
+26,0.433333333,BASELINE,768.90876399,746.90876399,723.90876399,689.90876399,669,642,886.90876399,786,820,655.90876399,632,656,0.400974127113,0.00447868011691,0.079834087409,0.999999954849,0.000101813868623,-0.000277732364001,5.29120704275e-05,1793250844733050112
+27,0.450000000,BASELINE,768.334881347,746.334881347,723.334881347,689.334881347,669,642,886.334881347,786,820,655.334881347,632,656,0.400975499944,0.00447812439633,0.0798355576682,0.999999955616,0.000100092583968,-0.000275589449065,5.29067453683e-05,1793250844749716736
+28,0.466666667,BASELINE,768,746,723.245346812,688.754653188,669,642,886,786,820,655.245346812,632,656,0.400975947994,0.00447737950769,0.0798358356885,0.999999955801,9.96579421212e-05,-0.000275050213912,5.3043275285e-05,1793250844766383616
+29,0.483333333,BASELINE,768,746,723.83446608,688.16553392,669,642,886,786,820,655.83446608,632,656,0.40097510027,0.00447636956258,0.0798344431799,0.999999955175,0.000101026104971,-0.000276758006002,5.33785680603e-05,1793250844783050240
+30,0.500000000,BASELINE,768,746,723.583625603,688.416374397,669,642,886,786.416374397,820,656,632,656,0.400975397052,0.00447690263549,0.0798344310434,0.999999955141,0.000101494971408,-0.000276752856765,5.31389309165e-05,1793250844799716864
+31,0.516666667,BASELINE,768,746,723.004535285,688.995464715,669,642,886,786.995464715,820,656,632,656,0.400976141098,0.00447803870802,0.0798349583457,0.999999955341,0.000101612399671,-0.000276078303151,5.26746155611e-05,1793250844816383488
+32,0.533333333,BASELINE,768.571544028,746,723,689,669,642,886.571544028,786.428455972,819.428455972,656,632,656,0.400974244524,0.00447683505181,0.0798341288069,0.999999955093,9.94024160192e-05,-0.000277829604217,5.23786640148e-05,1793250844833050112
+33,0.550000000,BASELINE,768.852555199,746,723,689,669,642,886.852555199,786,819.147444801,655.852555199,632,656,0.400973462955,0.00447601292228,0.0798339979864,0.999999955129,9.78382492503e-05,-0.00027828327236,5.22393931693e-05,1793250844849716736
+34,0.566666667,BASELINE,768.277103803,746,723,689,669,642,886.277103803,786,819.722896197,655.277103803,632,656,0.400975978556,0.00447635191021,0.079835926514,0.999999956008,9.82021063434e-05,-0.000274914552519,5.2551081355e-05,1793250844866383360
+35,0.583333333,BASELINE,768.305686152,746,723,689,669.305686152,642,886,786.305686152,819.694313848,655,632,656,0.400976626687,0.00447653921842,0.0798364187982,0.999999956215,9.82541372942e-05,-0.000274102817487,5.27565683368e-05,1793250844883050240
+36,0.600000000,BASELINE,768.895292195,746,723,689,669.895292195,642,886,786.895292195,819.104707805,655,632,656,0.400975540321,0.00447658564723,0.0798355771065,0.999999955803,9.80165456027e-05,-0.000275665997782,5.28634161658e-05,1793250844899716864
+37,0.616666667,BASELINE,768.52389538,746,723.47610462,689,669.52389538,642,886,786.52389538,819.47610462,655,632,656,0.40097520802,0.00447678824834,0.0798347525829,0.999999955507,9.92019134478e-05,-0.000276329434628,5.27959033098e-05,1793250844916383488
+38,0.633333333,BASELINE,768,746.054661268,724,689,669,642,886.054661268,786,820,655,632,656,0.400975021897,0.00447701723921,0.0798340630163,0.999999955283,0.000100355567842,-0.000276746016767,5.26716321586e-05,1793250844933050112
+39,0.650000000,BASELINE,768,746.629819771,724,689,669,642,886.629819771,786,820,655,632,656,0.400974677189,0.00447717639683,0.0798346232385,0.999999955528,9.82813387538e-05,-0.000276662051836,5.23654172729e-05,1793250844949716992
+40,0.666666667,BASELINE,768.209026234,746.790973766,723.790973766,689,669,642,886.790973766,786,820,655,632.209026234,656,0.400974882865,0.00447757533093,0.0798351011405,0.999999955691,9.76286656108e-05,-0.000276323720876,5.22575793462e-05,1793250844966383616
+41,0.683333333,BASELINE,768.795543072,746.204456928,723.204456928,689,669,642,886.204456928,786,820,655,632.795543072,656,0.400976082508,0.00447840728898,0.0798354303766,0.99999995571,9.9543249355e-05,-0.000275526017986,5.25080000006e-05,1793250844983050240
+42,0.700000000,BASELINE,768.622837623,746,723,689,669,642,886,786,820,655,632.622837623,655.622837623,0.400977077119,0.00447836421473,0.079836004693,0.999999955965,9.98320052069e-05,-0.00027450967342,5.24272417811e-05,1793250844999716864
+43,0.716666667,BASELINE,768.043839222,746,723,689,669,642,886,786,820,655,632.043839222,655.043839222,0.40097796201,0.00447785287254,0.0798367101626,0.999999956347,9.92507096373e-05,-0.00027337632419,5.21692553052e-05,1793250845016383488
+44,0.733333333,BASELINE,768,746,723,689,669,642,886.53393072,786,819.46606928,655,632,655,0.400976367991,0.00447701576392,0.079836283191,0.999999956294,9.79251878914e-05,-0.000273962526373,5.25949408322e-05,1793250845033050368
+45,0.750000000,BASELINE,768.111182194,746,723,689,669,642,886.888817806,786,819.111182194,655,632,655,0.400974898001,0.00447650288377,0.0798358365363,0.999999956163,9.73881701581e-05,-0.000274567587333,5.29435536918e-05,1793250845049716736
+46,0.766666667,BASELINE,768.686688532,746,723,689,669,642,886.313311468,786,819.686688532,655,632,655,0.400974794048,0.00447745550957,0.0798356951003,0.99999995585,0.000100398746476,-0.000274663131088,5.27364009425e-05,1793250845066383616
+47,0.783333333,BASELINE,768.73213419,746,723,689,669,642,886,786,820,655,632,655.26786581,0.400975957497,0.00447809412421,0.0798364737309,0.999999956051,0.000102200985957,-0.000273275963742,5.26655009787e-05,1793250845083050240
+48,0.800000000,BASELINE,768.144180306,746,723,689,669,642,886,786,820,655,632,655.855819694,0.400978635439,0.00447835750918,0.0798383518014,0.999999956868,0.000102559315506,-0.000270117020689,5.27574171812e-05,1793250845099716864
+49,0.816666667,BASELINE,768,746,723,689,669,642,886.439370218,786.439370218,820,655,632,656,0.400977795734,0.00447720411975,0.0798372138588,0.999999956635,0.000100193900585,-0.000271865044799,5.27273416525e-05,1793250845116383488
+50,0.833333333,BASELINE,768,746,723,689,669,642,886.97881831,787,820,655.02118169,632,655.97881831,0.400975870119,0.00447570568746,0.0798351596792,0.999999956046,9.717945418e-05,-0.000275118371231,5.26637289977e-05,1793250845133050112
+51,0.850000000,BASELINE,768,746,723,689,669,642,886.405051855,787,820,655.594948145,632,655.405051855,0.400975430452,0.0044772141807,0.0798347660912,0.999999955474,0.000100319191272,-0.000276051131783,5.27591872299e-05,1793250845149716736
+52,0.866666667,BASELINE,768,746,723,689,669,642,886.17309519,786.82690481,819.82690481,655.82690481,632,655.17309519,0.400975259042,0.00447796517936,0.0798347026793,0.999999955223,0.000101733636143,-0.000276444030382,5.27498973387e-05,1793250845166383616
+53,0.883333333,BASELINE,768,746,723,689,669,642,886.761759167,786.238240833,819.238240833,655.238240833,632,655.761759167,0.400975731669,0.00447689757685,0.0798354319582,0.99999995576,9.90059807617e-05,-0.000275540822566,5.24891270241e-05,1793250845183050240
+54,0.900000000,BASELINE,768.344632314,746,723,689,669,642,887,786,819.344632314,655.344632314,632,656,0.400976678167,0.00447717990313,0.0798365683695,0.999999956153,9.89402249975e-05,-0.000274111790922,5.26065524713e-05,1793250845199716864
+55,0.916666667,BASELINE,768.923568448,746,723,689,669,642,887,786,819.923568448,655.923568448,632,656,0.400977946835,0.00447838000026,0.0798379815764,0.999999956447,0.000100684204602,-0.000272325269533,5.29811003991e-05,1793250845216383488
+56,0.933333333,BASELINE,768.501678225,746,723,689,669,642,887,786,820,655.501678225,632,656,0.400977312997,0.00447751904632,0.0798369493178,0.999999956162,0.000100138579432,-0.00027357042201,5.298624133e-05,1793250845233050368
+57,0.950000000,BASELINE,768,746.072755066,723,689,669,642,886.927244934,786,820,655.072755066,632,656,0.400976445577,0.00447661700779,0.0798358228856,0.999999955853,9.95703887455e-05,-0.000274919693975,5.29124236706e-05,1793250845249716736
+58,0.966666667,BASELINE,768,746.649377754,723,689,669,642,886.350622246,786,820,655.649377754,632,656,0.400975964539,0.00447760151106,0.0798366202606,0.999999956004,0.000101257748558,-0.000273796537639,5.26809023596e-05,1793250845266383360
+59,0.983333333,BASELINE,767.768703668,746.768703668,723,689,669,642,886,786,819.768703668,655.768703668,632,656,0.40097592515,0.00447819547883,0.0798370067782,0.999999956164,0.000101491405897,-0.000273162924907,5.24704091421e-05,1793250845283050240
+60,1.000000000,BASELINE,767.178568836,746.178568836,723,689,669,642,886,786,819.178568836,655.178568836,632,656,0.400976570945,0.00447818356093,0.0798367558823,0.999999956342,9.94697557236e-05,-0.000273288801319,5.22925393618e-05,1793250845299716864
+61,1.016666667,BASELINE,767.403923199,746,723.403923199,689,669,642,886,786,819.403923199,655,632,655.596076801,0.400977811676,0.00447743031243,0.0798373155934,0.999999956666,9.8278544911e-05,-0.000272488570581,5.25319118638e-05,1793250845316383488
+62,1.033333333,BASELINE,767.98309917,746,723.98309917,689,669,642,886,786,819.98309917,655,632,655.01690083,0.400979310536,0.00447635541804,0.0798382270078,0.999999957052,9.74476423171e-05,-0.000271286523736,5.29523159845e-05,1793250845333050368
+63,1.050000000,BASELINE,768,746,723.442196151,689,669,642,886,786,819.442196151,655.557803849,632,655,0.400978337468,0.00447663418016,0.0798377226178,0.999999956981,9.79325595747e-05,-0.000271423794081,5.26816564218e-05,1793250845349718016
+64,1.066666667,BASELINE,768,746,723,689,669,642,886.131784526,786,819,655.868215474,632,655,0.400977612826,0.00447667792286,0.0798372876561,0.999999956877,9.81502176393e-05,-0.000271777220952,5.24419718874e-05,1793250845366385664
+65,1.083333333,BASELINE,768,746,723,689,669,642,886.703795598,786,819,655.296204402,632,655,0.400977966255,0.00447580066382,0.0798372267783,0.999999956703,9.73429760151e-05,-0.000272718240254,5.23751482751e-05,1793250845383051776
+66,1.100000000,BASELINE,768.286796597,746,723.286796597,689,669,642,886.713203403,786,819,655,632,655.286796597,0.400977608969,0.00447587340023,0.079836927224,0.999999956428,9.77797066936e-05,-0.000273566506513,5.23912177417e-05,1793250845399717888
+67,1.116666667,BASELINE,768.881600264,746,723.881600264,689,669,642,886.118399736,786,819,655,632,655.881600264,0.400976488409,0.00447696639049,0.0798363713413,0.999999956042,9.95524095629e-05,-0.000274315159979,5.24963107733e-05,1793250845416384000
+68,1.133333333,BASELINE,768.536264438,746,723.536264438,689,669,642,886,786,819.463735562,655,632,656,0.40097564753,0.00447563991322,0.0798358056429,0.999999955907,9.83310363178e-05,-0.000275237012814,5.2553905604e-05,1793250845433050624
+69,1.150000000,BASELINE,768,746,723,689,669,642,886,786,820,655.042348791,632,656,0.40097504144,0.00447394215348,0.0798353471973,0.999999955859,9.6617934207e-05,-0.000276011046088,5.25817996882e-05,1793250845449716992
+70,1.166666667,BASELINE,768,746,723,689,669,642,886,786,820,655.616271649,632,656,0.400976509987,0.0044751317102,0.079836265641,0.999999956174,9.80728172131e-05,-0.000274389293471,5.23850566509e-05,1793250845466383616
+71,1.183333333,BASELINE,768,745.805182927,723.194817073,689,669,642,886.194817073,786.194817073,820,655.805182927,632,656,0.400976888904,0.0044758159928,0.0798365451513,0.999999956177,9.91373785011e-05,-0.000273996156371,5.23780951458e-05,1793250845483050496
+72,1.200000000,BASELINE,768,745.217311106,723.782688894,689,669,642,886.782688894,786.782688894,820,655.217311106,632,656,0.400975069426,0.00447548085573,0.0798355355765,0.999999955556,9.94144433394e-05,-0.000276081822073,5.27540288585e-05,1793250845499717376
+73,1.216666667,BASELINE,768,745.365050638,723.634949362,689,669.365050638,642,887,786.634949362,820,655.365050638,632,656,0.400975896262,0.00447586000759,0.0798363417812,0.999999955972,9.87311643751e-05,-0.000274799441443,5.28540862581e-05,1793250845516383744
+74,1.233333333,BASELINE,768,745.944181025,723.055818975,689,669.944181025,642,887,786.055818975,820,655.944181025,632,656,0.400978274998,0.00447665804602,0.0798382128289,0.999999956987,9.74847028127e-05,-0.000271541908641,5.27923591432e-05,1793250845533050112
+75,1.250000000,BASELINE,768.522423888,746,723.522423888,689,669.477576112,642,886.477576112,786,820,656,632,655.477576112,0.400978257326,0.00447737492722,0.0798377204739,0.999999957013,9.75588021074e-05,-0.000271510545421,5.23363151479e-05,1793250845549717248
+76,1.266666667,BASELINE,769,746.096095793,724,689,669,642,886,786,820,656,632,655.096095793,0.400978231051,0.00447805426319,0.0798372560638,0.999999956943,9.80702524958e-05,-0.000271651182076,5.19817201856e-05,1793250845566383872
+77,1.283333333,BASELINE,769,746.648511598,724,689,669,642,886,786,820,656,632,655.648511598,0.400979377732,0.00447859641883,0.0798381214364,0.999999956919,9.99896307494e-05,-0.000270974493973,5.23085904913e-05,1793250845583050496
+78,1.300000000,BASELINE,768.776675073,746.776675073,723.776675073,689,669,642,886.223324927,786,820,655.776675073,632,656,0.400978989745,0.00447794963174,0.0798379537399,0.999999956733,0.000100017677504,-0.00027160231524,5.25679271615e-05,1793250845599717120
+79,1.316666667,BASELINE,768.16268114,746.16268114,723.16268114,689,669,642,886.83731886,786,820,655.16268114,632,656,0.40097591712,0.00447522299135,0.0798359788645,0.999999956253,9.67371610205e-05,-0.000274512154027,5.27091251788e-05,1793250845616383744
+80,1.333333333,BASELINE,768.425813717,746,723,688.574186283,669,642,886.574186283,786,820,655,632,656,0.400974636825,0.00447467465962,0.0798357322312,0.999999956164,9.62082932406e-05,-0.000275004462493,5.27983967836e-05,1793250845633050624
+81,1.350000000,BASELINE,768.994926475,746,723,688.01014705,669,642.005073525,886.005073525,786,819.994926475,655.005073525,632,656,0.400974023278,0.0044749225844,0.0798361131552,0.999999956219,9.66928831208e-05,-0.000274620433847,5.28700774692e-05,1793250845649717248
+82,1.366666667,BASELINE,768.4205643,746,723,689.1588714,669,642.5794357,886.5794357,786,819.4205643,655.5794357,632,656,0.400975730326,0.00447641139758,0.079837009274,0.99999995618,9.96003357157e-05,-0.000273685564245,5.30681687273e-05,1793250845666383872
+83,1.383333333,BASELINE,768.153524,746.153524,723.153524,689.846476,669,642.846476,887,786,819,655.846476,632,656,0.400976919972,0.00447744987194,0.0798374762624,0.999999956101,0.000101761465703,-0.000273163077419,5.31485768279e-05,1793250845683050496
+84,1.400000000,BASELINE,768.726863507,746.726863507,723.726863507,689.273136493,669,642.273136493,887,786,819,655.273136493,632,656,0.40097669477,0.004477256883,0.0798367697827,0.999999955936,0.000101881757097,-0.000273768262183,5.29071772136e-05,1793250845699717120
+85,1.416666667,BASELINE,768.689001509,746.689001509,723.689001509,689,669,642,886.689001509,786,819,655,632,655.689001509,0.400976677649,0.00447690806443,0.0798364628986,0.999999956024,0.000101141498732,-0.000273738912224,5.28161681212e-05,1793250845716384000
+86,1.433333333,BASELINE,768.095044413,746.095044413,723.095044413,689,669,642,886.095044413,786,819,655,632,655.095044413,0.400976849848,0.00447641746597,0.0798365195823,0.99999995634,9.96182784881e-05,-0.000273132237686,5.286199023e-05,1793250845733050624
+87,1.450000000,BASELINE,768,746.486258477,723,689.486258477,669.486258477,642,886.486258477,786,819.486258477,655,632,655,0.400977302644,0.00447581906154,0.0798372320637,0.999999956703,9.8576467487e-05,-0.000272228912214,5.2613795735e-05,1793250845749717504
+88,1.466666667,BASELINE,768,746.935234847,723,689.935234847,669.935234847,642,886.935234847,786,820,655,632,655,0.40097768672,0.00447540903785,0.0798378777176,0.999999956982,9.79262319479e-05,-0.000271485555571,5.23634239389e-05,1793250845766384384
+89,1.483333333,BASELINE,768,746.359768366,723,689.359768366,669.359768366,642,886.359768366,786,820,655,632,655,0.400977107402,0.00447664642407,0.0798370112688,0.999999956541,9.96405660238e-05,-0.000272449251427,5.25375547909e-05,1793250845783050752
+90,1.500000000,BASELINE,768,746,723.219901873,689,669,642,886.219901873,786,820,655,632.219901873,655.219901873,0.400977165629,0.00447711014548,0.0798367752342,0.999999956482,0.000100028955654,-0.00027251717115,5.25855741748e-05,1793250845799716864
+91,1.516666667,BASELINE,768,746,723.806583604,689,669,642,886.806583604,786,820,655,632.806583604,655.806583604,0.400978287237,0.00447628345182,0.0798375906835,0.999999957059,9.82057690549e-05,-0.000271091003256,5.24232490548e-05,1793250845816383488
+92,1.533333333,BASELINE,768,746,723.609877653,689.390122347,669,642,886.609877653,786,820,655,633,656,0.400978240994,0.00447548369046,0.0798379002989,0.999999957096,9.67841827482e-05,-0.000271459960802,5.24510153607e-05,1793250845833050624
+93,1.550000000,BASELINE,768,746,723.027884646,689.972115354,669,642,886.027884646,786,820,655,633,656,0.400977620376,0.00447469717493,0.0798379611342,0.999999956866,9.55601120404e-05,-0.00027271179997,5.25722727511e-05,1793250845849717760
+94,1.566666667,BASELINE,768,746,723,689.453211618,669,642,886,786,819.453211618,655.546788382,632.453211618,655.453211618,0.400977101526,0.00447723014313,0.079837427706,0.99999995637,9.93743790634e-05,-0.000273205509052,5.23799396699e-05,1793250845866383872
+95,1.583333333,BASELINE,768,746,723,689,669,642,886.12137708,786,819,656,632,655.12137708,0.400976616499,0.00447913855386,0.0798369323279,0.999999955996,0.000102388659373,-0.000273477194004,5.22949844164e-05,1793250845883050240
+96,1.600000000,BASELINE,768,746,723,689,669,642,886.697029001,786,819,656,632,655.697029001,0.400976238895,0.0044780842446,0.0798366912851,0.999999956185,0.000101459909288,-0.000273060704636,5.26709722805e-05,1793250845899716864
+97,1.616666667,BASELINE,768.280284306,746.280284306,723,689,669.280284306,642,887,786.280284306,819.280284306,655.719715694,632,656,0.400976642338,0.00447784233929,0.0798370425417,0.999999956342,0.000101227066676,-0.000272533685302,5.2863951922e-05,1793250845916383744
+98,1.633333333,BASELINE,768.871987563,746.871987563,723,689,669.871987563,642,887,786.871987563,819.871987563,655.128012437,632,656,0.400977913589,0.00447850308176,0.0798380518919,0.999999956465,0.000101767434645,-0.000271883858096,5.28535943308e-05,1793250845933050624
+99,1.650000000,BASELINE,769,746.546207279,723,689,669.546207279,642,886.546207279,786.546207279,820,655.453792721,632.453792721,656,0.400977080683,0.00447782634509,0.0798374535355,0.999999956265,0.000101259918533,-0.000272834088781,5.26973019206e-05,1793250845949716992
+100,1.666666667,BASELINE,769,746,723,689.032425121,669,642,886,786,819.967574879,655.967574879,633,656,0.400975807236,0.00447684116054,0.0798365381833,0.999999956018,0.000100448856917,-0.000274074411005,5.25031700154e-05,1793250845966383360
+101,1.683333333,BASELINE,769,746,723,689.603742324,669,642,886,786,819.396257676,655.396257676,633,656,0.400976866488,0.00447686634319,0.0798377309958,0.999999956481,9.94009131473e-05,-0.000272794523407,5.23497418222e-05,1793250845983049984
+102,1.700000000,BASELINE,768.818987986,746,723,689.818987986,669,642.181012014,886,786,819.181012014,655.181012014,632.818987986,656,0.400977440202,0.00447695589779,0.0798383720286,0.999999956748,9.85884140185e-05,-0.000272131894325,5.2239774118e-05,1793250845999716864
+103,1.716666667,BASELINE,768.228244572,746,723,689.228244572,669,642.771755428,886,786,819.771755428,655.771755428,632.228244572,656,0.40097691487,0.00447719116206,0.0798377640752,0.999999956576,9.83088579052e-05,-0.000272866466587,5.22281818235e-05,1793250846016383488
+104,1.733333333,BASELINE,768,746,723.355486696,689,669,642.644513304,886.355486696,786,819.644513304,655.644513304,632,655.644513304,0.400977543393,0.00447705843859,0.0798380965677,0.999999956784,9.85564886932e-05,-0.000272009601251,5.22445485722e-05,1793250846033050112
+105,1.750000000,BASELINE,768,746,723.934802878,689,669,642.065197122,886.934802878,786,819.065197122,655.065197122,632,655.065197122,0.400978898432,0.00447669401446,0.0798390212047,0.999999957229,9.91360586617e-05,-0.000270150699452,5.22785195179e-05,1793250846049716736
+106,1.766666667,POSE1_TO_POSE2_PRESS,768,746,724,689,670,642,887,787,820,656,632,656,0.400977850711,0.00447993896147,0.0798374385827,0.999999956307,0.000103336208705,-0.000271968957374,5.23471080672e-05,1793250846080908288
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,723.416177458,689.583822542,669.416177458,642,887,786.416177458,820,655.416177458,632.583822542,656,0.400977338692,0.00447959303014,0.0798378728373,0.999999956491,0.000103372839637,-0.000271288546815,5.22843208643e-05,1793250846097575424
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,723.168998201,689.831001799,669,642,887,786,820,655,632.831001799,656,0.400977361688,0.00447885847329,0.0798382731138,0.999999956794,0.000102357826199,-0.000270569345793,5.22196286976e-05,1793250846114242304
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723.757533085,689.242466915,669,642,887,786,820,655,632.242466915,656,0.400978712857,0.0044771591566,0.0798385890396,0.999999957383,9.87321140159e-05,-0.000269753847612,5.21502074597e-05,1793250846130908160
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723.659421568,689,669,642,886.659421568,786,820,655.340578432,632,655.659421568,0.400978593307,0.00447677890007,0.0798384708184,0.999999957307,9.77945976468e-05,-0.000270379242521,5.21340219223e-05,1793250846147574528
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746,723.080222411,689,669,642,886.080222411,786,820,655.919777589,632,655.080222411,0.400977443322,0.00447732282164,0.079838048419,0.999999956769,9.87405220669e-05,-0.000272014175733,5.21551351152e-05,1793250846164240896
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.494972261,746,723,689,669,642,886,786,820,655.505027739,632,655,0.400977755394,0.00447731073229,0.0798381984594,0.999999956884,9.91383880378e-05,-0.000271444719729,5.21576335772e-05,1793250846180907520
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.071002769,723.071002769,689,669,642,886,786.071002769,820,655,632,655,0.400977984734,0.00447741557978,0.0798382923278,0.999999956985,9.96144813313e-05,-0.000270899072723,5.21568479423e-05,1793250846197574400
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746.65778173,723.65778173,689,669,642,886,786.65778173,820,655,632,655,0.400975905566,0.00447901923526,0.0798373096073,0.999999956217,0.000101298902417,-0.000273100859299,5.21539460001e-05,1793250846214241280
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.758538988,746.758538988,723.758538988,689,669,642,886.241461012,786.758538988,820,655.241461012,632,655.241461012,0.400976483071,0.00447946094795,0.0798376170324,0.999999956181,0.000102016393898,-0.000272957561543,5.21989190465e-05,1793250846230907904
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.179197192,746.179197192,723.179197192,689,669,642,886.820802808,786.179197192,820,655.820802808,632,655.820802808,0.400980778109,0.00447827673284,0.0798397297817,0.999999957169,0.000101380843064,-0.000269532744461,5.23108844355e-05,1793250846247574784
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.399802333,746,723,689,669,642,886.600197667,786,820,655.600197667,632,655.600197667,0.400994556341,0.00447748754628,0.0798448961866,0.999999959495,0.000100478261662,-0.000261094432887,5.2390809008e-05,1793250846264241408
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.97864863,746,723,689,669,642,886.02135137,786,820,655.02135137,632,655.02135137,0.401012581444,0.00447687526573,0.079851430114,0.999999962326,9.94560955739e-05,-0.000250410921682,5.24563847075e-05,1793250846280907520
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.446395431,746,723.553604569,689,669.553604569,642,886,786.553604569,820,655.553604569,632.553604569,655,0.401062162283,0.00447733317972,0.0798674059627,0.999999969747,9.84865906306e-05,-0.000219447518737,5.14709738193e-05,1793250846297574144
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,723.871659347,689,669.871659347,642,886,786.871659347,820,656,632.871659347,655.128340653,0.401117566819,0.0044780636006,0.0798836665382,0.999999976104,9.81368908864e-05,-0.000188752682138,5.03297665612e-05,1793250846314240768
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746,723.297169435,689,669.297169435,642,886,786.297169435,820,656,632.297169435,655.702830565,0.401189014972,0.00447959885128,0.079899659836,0.999999980744,9.99348022364e-05,-0.000161691468332,4.87868917289e-05,1793250846330907648
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.285789197,786,820,656,632,656,0.40126696748,0.00448024194677,0.0799113542956,0.999999983764,9.93807416012e-05,-0.000142746876662,4.71030810506e-05,1793250846347574272
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.877822654,786,820,656,632,656,0.401351889883,0.00447992903189,0.0799184422313,0.99999998556,9.6306368975e-05,-0.000132499847624,4.52682473069e-05,1793250846364240640
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.541134625,786,820,655.541134625,632.458865375,656,0.401450562464,0.00448251081947,0.0799221501571,0.999999986591,9.62487115861e-05,-0.000125674953813,4.19430612683e-05,1793250846380907264
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.036853881,786.036853881,820,655,632.963146119,656,0.401554553461,0.00448567444927,0.0799250851348,0.999999987432,9.66364760405e-05,-0.000119739248461,3.82207619103e-05,1793250846397573888
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.61197577,786.61197577,820,655,632.38802423,656,0.401684000888,0.00448634242462,0.0799295677174,0.999999988697,9.20727130936e-05,-0.000113793695494,3.43586158589e-05,1793250846414240512
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,723,689.191147249,669,642,886.808852751,787,820,655.191147249,632,656,0.401823713422,0.00448728509579,0.0799355441785,0.999999990299,8.77015667786e-05,-0.00010393912636,3.01207282594e-05,1793250846430907392
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746,723,689.778717149,669,642,886.221282851,787,820,655.778717149,632,656,0.401984714873,0.00448879746193,0.0799446188117,0.999999992483,8.37298910444e-05,-8.59776008294e-05,2.51035860787e-05,1793250846447573760
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746,723,689.636985228,669,642,886.363014772,786.636985228,820,655.636985228,632,655.636985228,0.402167814056,0.00449132012947,0.0799533710443,0.999999994105,8.03122429909e-05,-7.04460022699e-05,1.9447732969e-05,1793250846464240640
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,746,723,689.054664411,669,642,886.945335589,786.054664411,820,655.054664411,632,655.054664411,0.40236426303,0.00449445314477,0.0799619285075,0.999999995338,7.72292961365e-05,-5.63823799095e-05,1.34060185835e-05,1793250846480907520
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.519971625,746,723.519971625,689,669,642,886.480028375,786,820,655,632,655.519971625,0.402569213244,0.00449719225207,0.0799592098212,0.999999995498,6.99590526288e-05,-6.38015460096e-05,6.19735549334e-06,1793250846497575168
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746,724,689.096118855,669,642,886.096118855,786,820,655,632,656,0.40277977223,0.00449999428306,0.0799548672139,0.99999999534,6.22807590537e-05,-7.3751786933e-05,-1.26355883895e-06,1793250846514242560
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,724,689.684072759,669,642,886.684072759,786,820,655,632,656,0.403014524497,0.0045033271059,0.0799481926644,0.999999994823,5.4734211652e-05,-8.52652086279e-05,-9.39662317544e-06,1793250846530908416
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.732240056,746,723.732240056,690,669,642,887,786,819.732240056,655,632,656,0.403276873915,0.00450708334631,0.0799447228762,0.999999994593,4.7931516123e-05,-9.06005074193e-05,-1.75545601154e-05,1793250846547574784
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.153508202,746,723.153508202,690,669,642,887,786,819.153508202,655,632,656,0.403571274187,0.00451133133657,0.0799449750446,0.999999994848,4.19927181458e-05,-8.87606371998e-05,-2.57413831932e-05,1793250846564240896
+136,2.266666667,POSE1_TO_POSE2_PRESS,768,746,723.423701421,690.423701421,669,642,887,786,819,655.423701421,632,655.576298579,0.403906443824,0.00451869704181,0.0799482525548,0.999999992538,8.57313875439e-05,-8.46055809612e-05,-2.03889479351e-05,1793250846580907264
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.000358899,746,723.999641101,690.999641101,669.000358899,642,887,786.000358899,819.000358899,655.999641101,632.000358899,655.000358899,0.404256351897,0.00452718847235,0.0799526210106,0.999999985927,0.000147327514669,-7.96127929756e-05,-1.01602826621e-05,1793250846597574144
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.57287515,746,723.42712485,690.42712485,669.57287515,642,887,786.57287515,819.57287515,655.42712485,632.57287515,655.57287515,0.404638888883,0.00453601837217,0.0799550440979,0.999999993478,8.71358674877e-05,-7.15336286188e-05,-1.8297682172e-05,1793250846614240768
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,723,690.150305117,669.849694883,642,887.150305117,787,820,655,632.849694883,656,0.405030143696,0.00454339418728,0.0799564009617,0.999999996737,4.0670868089e-05,-6.49670066717e-05,-2.55076486003e-05,1793250846630907648
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,723,690.74217029,669.25782971,642,887.74217029,787,820,655,632.25782971,656,0.405447009307,0.0045464982518,0.0799546255184,0.999999996979,3.4531449294e-05,-6.28438703794e-05,-2.99930398266e-05,1793250846647574528
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.672881641,746,723,691,669,642.327118359,888,786.672881641,820,655,632,656,0.405887818957,0.00455517615112,0.079948898411,0.999999995094,6.05003566162e-05,-7.23033586247e-05,-3.0395756256e-05,1793250846664241408
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.093272568,746,723,691,669,642.906727432,888,786.093272568,820,655,632,656,0.406347110179,0.00456815629027,0.0799401211582,0.999999989316,0.000111252507334,-9.07030513107e-05,-2.76472055374e-05,1793250846680908032
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.483459506,746.483459506,723,691,669.483459506,642.516540494,887.516540494,786.483459506,819.516540494,655,632,656,0.406845380589,0.00457827266506,0.079933280017,0.999999986359,0.000125668024775,-0.000102760409281,-3.04933021993e-05,1793250846697574400
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746.940423593,723,691,669.940423593,642,887,786.940423593,819.059576407,655,632,656,0.407353722402,0.00458757971413,0.0799270116768,0.999999984299,0.000131704805292,-0.000113565483425,-3.40337321356e-05,1793250846714240768
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746.364855505,723,691,669.364855505,642,887,786.364855505,819.635144495,655,632,656,0.407884546215,0.0045946340788,0.0799224883682,0.999999983838,0.000125530637459,-0.000124059526487,-3.4294741781e-05,1793250846730907648
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.784303161,746.215696839,723.215696839,691.431393678,669.215696839,642.215696839,887.215696839,786.215696839,820,655,632,656,0.408430062574,0.00460323601731,0.0799180549943,0.999999981729,0.00013212105023,-0.00013365746966,-3.49606115979e-05,1793250846747574784
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.195120457,746.804879543,723.804879543,692.609759086,669.804879543,642.804879543,887.804879543,786.804879543,820,655,632,656,0.409001019508,0.00461451762819,0.0799137773451,0.99999997637,0.000160813736382,-0.000141703786985,-3.63275095142e-05,1793250846764241664
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,746.612585582,724,693,670,642.612585582,888,787,820,655,632,656,0.409649561551,0.004623334757,0.0799363977521,0.99999997998,0.0001659979287,-0.00010517125379,-3.77308835449e-05,1793250846780908288
+149,2.483333333,POSE1_TO_POSE2_PRESS,768,746.033342407,724,693,670,642.033342407,888,787,820,655,632,656,0.410336519946,0.00463093159394,0.0799723367671,0.999999985423,0.000159541858119,-4.65654436672e-05,-3.91523186323e-05,1793250846797574912
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.541294893,746,724,693,669.458705107,642,888,787.541294893,820,655,632,656,0.411037856772,0.00463389103679,0.0799888569534,0.999999985278,0.000165650475273,-1.96381238544e-05,-4.02201574793e-05,1793250846814241792
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,723.881666596,693.118333404,669,642.118333404,888,787.881666596,820,655,632.118333404,656,0.411730947291,0.00463262972966,0.0799948072742,0.999999984881,0.000168649281333,-9.8857136861e-06,-4.12015989735e-05,1793250846830908416
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,723.293988547,693.706011453,669,642.706011453,888,787.293988547,820,655,632.706011453,656,0.412387847175,0.00461575112061,0.0799635386895,0.999999985076,0.000156269848408,-6.05798050468e-05,-4.19260226916e-05,1793250846847574528
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.289408264,723,694.289408264,669.289408264,643,888.289408264,787,820,655,632.710591736,656,0.413082267871,0.00459812452589,0.0799363073794,0.99999998547,0.000133769009473,-9.67798618207e-05,-4.24215505938e-05,1793250846864240896
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.868519549,723,694.868519549,669.868519549,643,888.868519549,787,820,655,632.131480451,656,0.413814247671,0.00457974918166,0.0799131174519,0.999999986957,0.000101136454764,-0.000118471128273,-4.2687949679e-05,1793250846880907520
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,723.444005185,695,669.555994815,642.555994815,888.555994815,787,820,655,632,656,0.414601325763,0.00457383194864,0.0799253871767,0.999999989804,9.90999519513e-05,-9.32815461198e-05,-4.32447784335e-05,1793250846897574144
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.981474113,723.981474113,695,669,642,888.018525887,787,820.018525887,655,632.018525887,656,0.415404737433,0.00457209566194,0.0799474828349,0.999999991894,0.000105645846052,-5.59399453951e-05,-4.38441262813e-05,1793250846914240768
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.403934521,723.403934521,695,669,642,888.596065479,787,820.596065479,655,632.596065479,656,0.416212671424,0.00458610108488,0.079951791751,0.999999991797,9.99880637925e-05,-6.74230283072e-05,-4.31523779005e-05,1793250846930907904
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723,695,669.177147919,642.177147919,889,787,821.177147919,655,632.822852081,656,0.417026251952,0.00459751015448,0.0799533707364,0.999999990959,0.000104618289926,-7.26597159388e-05,-4.30907967729e-05,1793250846947574528
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,723,695,669.766473622,642.766473622,889,787,821.766473622,655,632.233526378,656,0.417852970477,0.00460287817477,0.079948597873,0.999999988133,0.000133186073924,-6.33626427019e-05,-4.4495453291e-05,1793250846964241152
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.650308106,746,723,695.349691894,669.650308106,642.650308106,889.349691894,787,822,655,632,656,0.418726363469,0.00460334470877,0.0799634153193,0.999999989435,0.000134760258884,-2.77790659684e-05,-4.68810700094e-05,1793250846980908032
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.071098427,746,723,695.928901573,669.071098427,642.071098427,889.928901573,787,822,655,632,656,0.419630390884,0.00460059418692,0.0799910907259,0.999999991405,0.000118617385896,2.50574698802e-05,-4.99105328203e-05,1793250846997574400
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.506361862,746.506361862,723,695.493638138,669,642.506361862,890,787,822.506361862,655,632,656,0.420496657073,0.00459678968959,0.0799766049631,0.999999991743,0.00011842630248,8.32283780745e-07,-4.98904718999e-05,1793250847014241024
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746.916756878,723.083243122,695.083243122,669,643,890.083243122,787,823,655,632,656,0.421368526118,0.00459343463814,0.079960965938,0.999999991266,0.000119648212709,-2.64431809329e-05,-4.95234052781e-05,1793250847030907648
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746.341850004,723.658149996,695.658149996,669,643,890.658149996,787,823,655,632,656,0.422304695376,0.00459360524387,0.0799733597941,0.999999992004,0.000116032279348,-8.04636234738e-06,-4.96271034403e-05,1793250847047574272
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746.238557334,723.761442666,696,669,642.761442666,891,787.238557334,823,655,632,656,0.423227673732,0.00459765192847,0.079988569377,0.999999991672,0.000118318517791,1.25168383599e-05,-4.99957358426e-05,1793250847064240896
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.827032891,723.172967109,696,669,642.172967109,891,787.827032891,823,655,632,656,0.424131303681,0.00460738408335,0.0800079090973,0.9999999897,0.00012926211879,3.62577121855e-05,-5.0752976381e-05,1793250847080908032
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,723.40912559,696,669,642,891.40912559,787.59087441,823.40912559,655,632,656,0.424992517741,0.00461207451875,0.0799757011293,0.999999988998,0.000135892799716,-3.31680983528e-05,-4.93716444678e-05,1793250847097574656
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,723.98856121,696,669,642,891.98856121,787.01143879,823.98856121,655,632,656,0.425836074941,0.00461466619606,0.0799220349856,0.999999978995,0.000140728104399,-0.000141377162008,-4.71000711088e-05,1793250847114241280
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746.434850473,723.434850473,696,669,642.565149527,892,787,824,655.565149527,632,656,0.426791932252,0.00461304651374,0.079910566459,0.999999980865,0.000137891608222,-0.000129174049201,-5.06885294222e-05,1793250847130907648
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.858895251,746.141104749,723.141104749,696.141104749,669,643,892.141104749,787,824.141104749,656,632,656,0.427744229812,0.00461000880153,0.0799042713702,0.999999982593,0.00013323845591,-0.000119344210488,-5.30869756105e-05,1793250847147574272
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.284707181,746.715292819,723.715292819,696.715292819,669,643,892.715292819,787,824.715292819,656,632,656,0.42867866026,0.00460287913288,0.079911246501,0.999999983333,0.000123483762952,-0.000124241269835,-5.14707844309e-05,1793250847164240896
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,747,723.700425627,696.700425627,669,643,893,787,825,655.700425627,632.299574373,656,0.42962987293,0.00460122193286,0.0799354135753,0.999999986946,0.000121337295115,-9.37858762561e-05,-5.08882949954e-05,1793250847180907520
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,723.106217071,696.106217071,669,643,893,787,825,655.106217071,632.893782929,656,0.430597591015,0.00460494695706,0.0799764890857,0.999999990252,0.000126673587654,-2.85610157457e-05,-5.13224607775e-05,1793250847197574144
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,893.472528357,787,825,655.472528357,633,656,0.431547643922,0.00461080079803,0.0800121324744,0.99999998987,0.00013033245249,2.62643325495e-05,-5.08360582475e-05,1793250847214241536
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.047817592,747,723,696,669,643,894,786.952182408,825,655.952182408,632.952182408,656,0.432483872129,0.00461698779838,0.0800380658837,0.999999987625,0.000133990086429,6.53285252155e-05,-5.0282206e-05,1793250847230909184
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.62211038,747,723,696,669,643,894,786.37788962,825,655.37788962,632.37788962,656,0.433310222725,0.00462174125367,0.0799701096046,0.999999987679,0.00014165407517,-4.42166680798e-05,-5.11918445067e-05,1793250847247575552
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.79769487,723,696,669,643,894,786.20230513,825.20230513,655,632.20230513,656,0.434162969873,0.00462474183318,0.0799177009629,0.999999980853,0.000142476173339,-0.000123342144175,-5.27294365642e-05,1793250847264241920
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746.206144341,723,696,669,643,894,786.793855659,825.793855659,655,632.793855659,656,0.435066505478,0.00462436979105,0.0798952067575,0.999999979635,0.000130134128788,-0.000143938551637,-5.5475244436e-05,1793250847280908032
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.623553594,746.376446406,723,696,669,643,894,787,826,655,633,656,0.43596960618,0.00461921862937,0.0799133389733,0.999999983757,0.000123762770905,-0.000118430963382,-5.60618553302e-05,1793250847297574400
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.045755252,746.954244748,723,696,669,643,894,787,826,655,633,656,0.436872474208,0.00461151123404,0.0799532012653,0.99999998886,0.000120584987195,-6.82634786167e-05,-5.54935645182e-05,1793250847314240768
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+240,4.000000000,POSE1_TO_POSE2_PRESS,768.766024269,747,723,696,653,637,897.766024269,783,828,655.233975731,631.233975731,656.233975731,0.454635122089,0.00482478760678,0.0795266244469,0.99999967839,0.000344503704056,-0.000720564656027,-7.29641946096e-05,1793250848314240768
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,747,723,696,653,637,897.65115888,783,828,655.34884112,631,656.34884112,0.454635558253,0.00482394413578,0.0795264464608,0.999999678309,0.000344219018242,-0.000720830242769,-7.27890451921e-05,1793250848330907648
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,747,723,696,653,637,897.072382275,783,828,655.927617725,631,656.927617725,0.454635887565,0.00482337884489,0.0795264856735,0.999999677933,0.000343943155649,-0.000721511084028,-7.25136276752e-05,1793250848347574272
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,747,723,696.504234307,653,637,897,783,828,656,631,657,0.454636846245,0.00482389031169,0.0795271936346,0.999999679395,0.000343623362215,-0.000719628011804,-7.25848911154e-05,1793250848364241152
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747,723,696.920121377,653,637,897.079878623,783,828,656,631,657,0.454637759674,0.00482466289768,0.0795276989162,0.999999680635,0.000343368382297,-0.000718009767298,-7.27284109636e-05,1793250848380907776
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747,723,696.348561506,653,637,897.651438494,783,828,656,631,657,0.454637840834,0.00482609540588,0.0795263682513,0.999999678921,0.000343551004177,-0.000720277428385,-7.30116758798e-05,1793250848397575168
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,747,723,696,653,637,897.7684546,783,828,655.7684546,631.2315454,656.7684546,0.454637773613,0.00482687701159,0.0795258984283,0.99999967763,0.000344828579755,-0.000721452251175,-7.30800758676e-05,1793250848414242048
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,747,723,696,653,637,897.174988012,783,828,655.174988012,631.825011988,656.174988012,0.454637474465,0.00482664121271,0.0795267741596,0.999999676999,0.000347817642363,-0.000720918893828,-7.28126274212e-05,1793250848430908672
+248,4.133333333,HOLD_POSE2,769,747,723,696,653,637,897,783,828,655,631,657,0.45463919941,0.00482215389212,0.0795266812394,0.999999679264,0.000343379631955,-0.000719990695997,-7.19397212224e-05,1793250848464610304
+249,4.150000000,HOLD_POSE2,769,747,723,696,653,637,897,783,828,655.574958142,631.574958142,657,0.454640114961,0.00482449112454,0.0795275557807,0.999999679461,0.000345505182293,-0.000718684581109,-7.20881173587e-05,1793250848481276416
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+253,4.216666667,HOLD_POSE2,768.898943885,747,722.101056115,696,653,636.101056115,897.101056115,783,828,655.898943885,632,657,0.45463987818,0.00482430407857,0.0795264390652,0.99999967763,0.000344820284065,-0.000721549814472,-7.21466257142e-05,1793250848547942656
+254,4.233333333,HOLD_POSE2,769,747,722.480759324,696,652.519240676,636,897,783,828,655.519240676,632,657,0.454639962726,0.00482476829722,0.0795263953262,0.999999677708,0.000344306046001,-0.000721688431197,-7.21316826626e-05,1793250848564609280
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+259,4.316666667,HOLD_POSE2,768.615372929,747,723,696,652.384627071,637,897,784,828,656,631.384627071,657,0.454641046289,0.00482355204404,0.0795268182809,0.999999679117,0.000341898639077,-0.000720932897986,-7.16021250552e-05,1793250848647941888
+260,4.333333333,HOLD_POSE2,768.03248609,747,723,696,652.96751391,637,897,784,828,656,631.96751391,657,0.454642187999,0.00482381214633,0.0795275129359,0.99999967959,0.000342529606583,-0.000719965746547,-7.17155217679e-05,1793250848664608512
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,768.574387374,747,723,696,652.574387374,637,897.574387374,783,828,655,631.425612626,656,0.454643257701,0.00482329200818,0.0795271831092,0.999999679363,0.000343667352385,-0.000719821148941,-7.08868210911e-05,1793250848768342016
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,722.850451026,696,653,637,897.850451026,783,828,655,631.149548974,656,0.454645321179,0.00482444228083,0.0795283874174,0.999999681165,0.000343116903926,-0.000717537261844,-7.12753049815e-05,1793250848785009152
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,722.273074395,696,653,637,897.273074395,783,828,655,631.726925605,656,0.454644820257,0.00482339510204,0.0795287307465,0.999999680763,0.000342537167261,-0.000718415454679,-7.08609018546e-05,1793250848801675776
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,722.310304435,696,653,637,897,783,828,655,631.689695565,656,0.454644126908,0.00482286885055,0.0795286556705,0.999999680374,0.000341809829892,-0.000719306670382,-7.08235400113e-05,1793250848818342144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747,722.899069477,696,653,637,897,783,828,655,631.100930523,656,0.45464326088,0.00482281006822,0.0795282051268,0.999999679996,0.000340950038823,-0.000720209572479,-7.11245270285e-05,1793250848835008768
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747,722.058728694,696,652.058728694,637,897,783,827.941271306,655.941271306,632,656.058728694,0.454642027246,0.0048220354914,0.079526805259,0.999999679055,0.000341916228258,-0.000721112478482,-7.05755682228e-05,1793250848868342272
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747,722.635266633,696,652.635266633,637,897,783,827.364733367,655.364733367,632,656.635266633,0.454641088196,0.00482210070194,0.0795251886373,0.999999677774,0.000342662398561,-0.000722480977948,-7.1106365589e-05,1793250848885008384
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.78164926,747,723,696,652.21835074,637,897,783,827,655,631.21835074,656.21835074,0.454634242839,0.00482283899042,0.0795218536504,0.999999674328,0.000343754787918,-0.000726717267302,-7.11301117786e-05,1793250848918341376
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,652,637,897,783,827,655,631,656.959829005,0.454592106845,0.00482136616163,0.0795035953832,0.999999651731,0.000342896880498,-0.000757616194449,-7.05471946515e-05,1793250848951674624
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,746.4610299,723,696,652,637,897,783.5389701,827.5389701,655.5389701,631,657,0.454545764233,0.00482168571059,0.0794881112484,0.999999629768,0.000343509164135,-0.000785850614082,-7.00287429288e-05,1793250848968341504
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,746.116467376,723,696,652,637,897,783.883532624,828,656,631,657,0.454493770182,0.0048220872587,0.0794726141521,0.9999996077,0.00034419724987,-0.000813208727993,-6.94218701152e-05,1793250848985008384
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,746.69151576,723,696,652,637,897,783.30848424,828,656,631,657,0.454425638853,0.00482242552595,0.079458381364,0.99999959014,0.000344826412616,-0.000834336614129,-6.85274966661e-05,1793250849001675008
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.15686432,747,723,696,652,637,897,783,828,655.15686432,631.84313568,657,0.454273415211,0.0048205445755,0.0794439503425,0.999999570844,0.000347858619882,-0.000856221515965,-6.47351677159e-05,1793250849035008256
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747,722,696,653,637,896,783.25022759,827.25022759,655.74977241,631.74977241,656.25022759,0.453664163692,0.00481530069136,0.0794365267809,0.999999557114,0.000357884506332,-0.000869021702359,-4.99078299484e-05,1793250849118341888
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.899791852,747,722.899791852,696,653,637,896,783.899791852,827,655.100208148,632,656,0.45332141535,0.0048114082674,0.0794414519955,0.999999559793,0.000366676468151,-0.00086273351953,-4.06564868468e-05,1793250849151675392
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747,722.020329682,695.979670318,654.979670318,637,896,783.020329682,827,655.020329682,631.979670318,657,0.451465095629,0.00479011883527,0.0794832158709,0.999999594506,0.000398694381095,-0.000807453991189,6.99767511394e-06,1793250849268342016
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747,722,696,655.556019817,637.556019817,896.556019817,783,827,655,631.443980183,656.443980183,0.451110444192,0.00478724773911,0.0795003119719,0.999999615211,0.000402641225141,-0.000779278367758,1.35302595585e-05,1793250849285009152
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747,722.133341101,696,656.133341101,638,896.866658899,783,827,655.133341101,631,656,0.450745328653,0.00478420910237,0.0795173374528,0.999999640688,0.00039474678871,-0.000750030873943,1.58873390066e-05,1793250849301675520
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747,722.715455095,696,656.715455095,638,896.284544905,783,827,655.715455095,631,656,0.450349925477,0.00478038643903,0.0795332841545,0.999999681441,0.000347043962517,-0.000718790162757,4.26680991347e-06,1793250849318341632
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,657.299656413,638,896,783.299656413,827,656,631.299656413,656,0.449935346869,0.00477387478735,0.0795477223626,0.999999709365,0.000319535899834,-0.000692216414835,2.01895051545e-06,1793250849335008256
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,657.885853766,638,896,783.885853766,827,656,631.885853766,656,0.449502432058,0.00476479183953,0.0795607181033,0.999999726975,0.000311338703775,-0.000670105362516,8.73353294511e-06,1793250849351674880
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,746.533461507,722.533461507,696,658.466538493,638,895.533461507,783.533461507,827,656,631.533461507,656,0.448999716297,0.00475865565322,0.0795542152448,0.999999720518,0.000304419494594,-0.000682716446561,1.38153635001e-05,1793250849368341760
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,746.045672419,722.045672419,696.045672419,659,638,895,783.045672419,827,656,631.045672419,656,0.448474981884,0.00475331498538,0.0795420261698,0.999999707186,0.000296755514903,-0.000705151984685,1.80232303092e-05,1793250849385008128
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,746.622274939,722.622274939,696.622274939,659,638,895,783.622274939,827,656,631.622274939,656,0.447890494161,0.00474893875856,0.0795185462207,0.99999968463,0.000276841385889,-0.000744191476057,1.66611105839e-05,1793250849401674752
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,722.801822386,696.801822386,659.198177614,638,895,784,827,656,631.801822386,656,0.44731987539,0.00474262676454,0.0795092423677,0.99999967078,0.000289254116488,-0.000757957648608,1.65048487922e-05,1793250849418341632
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,722.227248951,696.227248951,659.772751049,638,895,784,827,656,631.227248951,656,0.446775597751,0.00473263819668,0.0795268629662,0.999999672031,0.000363064775998,-0.000723722575674,1.86388552644e-05,1793250849435008000
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,722.35666924,696,660.71333848,638.35666924,895,784.35666924,826.64333076,655.64333076,631,656.35666924,0.446214608784,0.00472437698334,0.0795588763103,0.999999701923,0.000372317932144,-0.000676101576027,2.05144974297e-05,1793250849451674624
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,722.946701534,696,661.893403069,638.946701534,895,784.946701534,826.053298466,655.053298466,631,656.946701534,0.44564268588,0.0047172459512,0.0796003065998,0.999999750152,0.000339332129727,-0.000619722376961,2.22210958119e-05,1793250849468341504
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,746.473277353,723,696,662.526722647,639,894.473277353,785.526722647,826,655,631.526722647,656.473277353,0.445002491987,0.00470574963175,0.0796356139896,0.999999789804,0.000306939769946,-0.000570600773098,2.43787183193e-05,1793250849485008128
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.105087158,746,722.894912842,696,663.105087158,639.105087158,894,785.894912842,826,655,631.894912842,656,0.444342348299,0.00469397940303,0.0796642332453,0.99999981954,0.000278251350542,-0.000531782037485,2.65422084674e-05,1793250849501674752
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.680486622,746,722.319513378,696,663.680486622,639.680486622,894,785.319513378,826,655,631.319513378,656,0.443623261402,0.0046829233264,0.0796656412133,0.999999820681,0.000265876006633,-0.000535847881172,2.85315149849e-05,1793250849518342144
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.739357211,746,722,695.739357211,664.260642789,640,893.739357211,785,826,655,631.260642789,656,0.442913431005,0.004673367992,0.0796694442933,0.999999826047,0.00025983829961,-0.000528672795233,2.99170570628e-05,1793250849535009024
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.153261486,746,722,695.153261486,664.846738514,640,893.153261486,785,826,655,631.846738514,656,0.442215158685,0.00466568656547,0.0796762380421,0.999999836528,0.000261714113224,-0.000507461666133,3.05487058835e-05,1793250849551675392
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746,722,695.427899816,665.427899816,640,892.572100184,785.427899816,825.572100184,655,631.572100184,655.572100184,0.441475636478,0.00465592910997,0.0796865407206,0.99999985343,0.000241844815829,-0.000483453132394,3.03954146522e-05,1793250849568341760
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,746,722,695.992693399,666,640.007306601,892,786,825.007306601,655,631,655.007306601,0.440720205023,0.00464542412487,0.0796974758435,0.999999870903,0.000214678989548,-0.000459572659037,3.00112379696e-05,1793250849585008384
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746,722,695.413854561,666,640.586145439,892,786,825.586145439,655,631,655.586145439,0.439862835782,0.00463394661841,0.0796606939541,0.99999983859,0.000219048596609,-0.000523189593426,3.33075748761e-05,1793250849601674752
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746,722.163672714,695,666.163672714,641,891.836327286,786,825.836327286,655,631,655.836327286,0.439024682621,0.00462260766762,0.0796466849471,0.99999982672,0.000216482568026,-0.000546279812542,3.56885074677e-05,1793250849618341376
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746,722.737909965,695,666.737909965,641,891.262090035,786,825.262090035,655,631,655.262090035,0.438234732057,0.00461161627724,0.0796898005395,0.999999870674,0.000196518856896,-0.000467710861019,3.57731956302e-05,1793250849635007744
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,746.319603647,723,695.319603647,667,641.319603647,891,786.319603647,825,655,631.319603647,655.319603647,0.437463607983,0.00460134934791,0.079755717457,0.999999916096,0.00018210230205,-0.000365127640781,3.64439106567e-05,1793250849651674368
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746.907557987,723,695.907557987,667,641.907557987,891,786.907557987,825,655,631.907557987,655.907557987,0.436708291345,0.00459169070263,0.0798407791832,0.999999955067,0.000172343338324,-0.000242381179929,3.76066745853e-05,1793250849668340992
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.51183912,723,696,667,641.51183912,891,787,825,655,632,655.51183912,0.435860559218,0.00458073784678,0.0798671106993,0.999999964395,0.000165696347485,-0.000205234487138,4.04064735479e-05,1793250849685007616
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746,722.932848869,696,667,641,891,786.932848869,824.932848869,655,632,655.067151131,0.434987855229,0.00456962367592,0.0798765240206,0.999999967925,0.000159459091108,-0.000191958793209,4.32909611286e-05,1793250849701674496
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746,722.355690575,696,667,641,891,786.355690575,824.355690575,655,632,655.644309425,0.434056435646,0.00455911809853,0.0798406596557,0.999999958982,0.000151924393934,-0.000238695386082,4.44991416683e-05,1793250849718341120
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,746,722,695.778841861,667,641.221158139,890.778841861,786.221158139,824,655,632,656,0.433083034798,0.00454924574455,0.0797936364217,0.999999938442,0.000145458673728,-0.000316072994714,4.53452999847e-05,1793250849735007744
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746,722,695.202490261,667,641.797509739,890.202490261,786.797509739,824,655,632,656,0.432042209332,0.00454039038434,0.0797286913576,0.999999891085,0.00014070979337,-0.000442661948739,4.56100283436e-05,1793250849751674624
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746,722.38085057,695.38085057,667.38085057,642,890,787,824,655,631.61914943,655.61914943,0.431101985149,0.00452791780624,0.079709697867,0.999999875313,0.000127250505729,-0.000480508452245,4.78751533192e-05,1793250849768341248
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,722.967976863,695.967976863,667.967976863,642,890,787,824,655,631.032023137,655.032023137,0.430216248547,0.00451348607647,0.0797155926038,0.999999882153,0.000109073501226,-0.000470290395985,5.12237303886e-05,1793250849785007872
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,695.449391815,667.449391815,641.449391815,890,787,823.449391815,655,631.550608185,655.550608185,0.429381313602,0.0045017539871,0.0797917514699,0.999999936817,9.86802018401e-05,-0.000337792588774,5.02464626728e-05,1793250849801674496
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,723,695,667.131354669,641.131354669,889.868645331,787,822.868645331,655,632,655.868645331,0.428526543676,0.00449054761149,0.0798541911897,0.999999968377,8.94157729351e-05,-0.000229692231348,4.9925147095e-05,1793250849818341120
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,723,695,667.70660783,641.70660783,889.29339217,787,822.29339217,655,632,655.29339217,0.427594839782,0.0044805915266,0.0798565704239,0.99999996925,8.2448791174e-05,-0.000227879084096,5.26638850329e-05,1793250849835007744
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722.718886045,695,668,642,889.281113955,787,822,655,632,655,0.426629809774,0.00446989722439,0.0798289795397,0.999999959003,7.19529676942e-05,-0.000272026687278,5.30919197091e-05,1793250849851674368
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,722.145157551,695,668,642,889.854842449,787,822,655,632,655,0.425630090314,0.00445843450449,0.0797701924372,0.999999930771,5.77839348889e-05,-0.000364015328135,5.11147180075e-05,1793250849868340992
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.439772922,746,722,695,668,641.560227078,889.560227078,787,821.560227078,655,632,655.439772922,0.424669249534,0.00445276018445,0.0797405769067,0.99999991384,5.22571373008e-05,-0.000408514960684,5.20043602118e-05,1793250849885007616
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,746,722,695,668,641.028110058,888.971889942,787,820.971889942,655,632,655.971889942,0.423724380728,0.00445034243645,0.0797223038162,0.999999902792,5.1167784399e-05,-0.00043463947124,5.37163572433e-05,1793250849901674240
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,746,722,695,668,641.608829191,888.391170809,787,820.391170809,655,632,655.391170809,0.422834630963,0.00447340311018,0.079732771669,0.999999909022,7.97692288268e-05,-0.000415734905395,5.2506093331e-05,1793250849918341120
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.812637903,746,722.187362097,695,668,642,888.187362097,787,819.812637903,655,632,655.187362097,0.421971643752,0.00449258160336,0.0797616523837,0.999999926624,0.000103271252507,-0.000365222545869,5.19533322606e-05,1793250849935007488
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.238616607,746,722.761383393,695,668,642,888.761383393,787,819.238616607,655,632,655.761383393,0.42116388627,0.00450374844397,0.079828531727,0.999999960731,0.000116249605067,-0.000249481169591,5.27574593618e-05,1793250849951674368
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746,723,694.665633169,668,642,888.665633169,787,819,655,632,655.665633169,0.420307217837,0.00449985085516,0.0798553153909,0.999999971697,0.000110274159844,-0.000204142997367,5.26449046113e-05,1793250849968340992
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746,723,694.093388128,668,642,888.093388128,787,819,655,632,655.093388128,0.41941575279,0.00448523599599,0.0798535738275,0.999999972713,9.08144360584e-05,-0.000208891703997,5.18801962422e-05,1793250849985007616
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,723,694,668,642,888,787,819.499202592,655,632,655.499202592,0.418515192186,0.00447615104277,0.0798159709332,0.999999957491,8.07180519045e-05,-0.000275431070688,5.13928603075e-05,1793250850001674240
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746,723,694,668,642,888,787,820,655,632,655.907476118,0.417626343336,0.00446896518904,0.0797809522406,0.999999938421,7.39853100279e-05,-0.000339186862157,5.13481442915e-05,1793250850018340864
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,746,723,694,668,642,888,787,820,655,632,655.331084808,0.416808019418,0.00446607099688,0.0797960230604,0.999999942812,7.52935498701e-05,-0.000325365120188,5.33352837897e-05,1793250850035007488
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,746,722.75140482,694,668,642,887.75140482,787,820,655,632,655,0.415982429638,0.00447114182172,0.079795872166,0.999999939782,8.37750540121e-05,-0.000332386920121,5.41864472689e-05,1793250850051674368
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,722.167286224,694,668,642,887.167286224,787,820,655,632,655,0.415147033351,0.00448696285407,0.0797751768596,0.99999992583,0.000101938154131,-0.000367540788328,5.3504408832e-05,1793250850068340992
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,722.414282223,693.585717777,668,642,887,786.585717777,820,655.414282223,632,655.414282223,0.414383163068,0.00449359298396,0.079775495927,0.999999928052,0.00011044583498,-0.000359112794662,5.23080269358e-05,1793250850085007616
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746,722.994827274,693.005172726,668,642,887,786.005172726,820,655.994827274,632,655.994827274,0.413647998064,0.00449653455374,0.0797842486377,0.999999936574,0.000115078532546,-0.000333194206424,5.09052248239e-05,1793250850101674496
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,723,693,668,642,887,786.573477583,820,655.426522417,631.426522417,655.426522417,0.412930463155,0.00448443683926,0.0798009630085,0.999999948374,8.61543880249e-05,-0.000305285961941,5.12858042017e-05,1793250850118341120
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746,723,693,668,642,887,787,819.848541453,655,631,655,0.412211464619,0.00447440900059,0.079809949505,0.999999953267,7.13722530536e-05,-0.000292688438483,5.20064841137e-05,1793250850135008000
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,746,723,692.524417718,668.524417718,642,886.475582282,786,820,655,632,655.524417718,0.409528703457,0.00448872711412,0.0798081828201,0.999999946759,0.000109500105423,-0.000302521651916,5.45280531241e-05,1793250850201674240
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.945762067,746,723,691.945762067,668.054237933,642,887,786,820,655,632,655,0.408944590794,0.00449415042804,0.0798356113519,0.999999958396,0.000123465581597,-0.000254724005543,5.54932584307e-05,1793250850218341120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.368647256,746,723,691.368647256,668.631352744,642,887,786,820,655,632,655,0.408361145206,0.00448758683976,0.0798368697177,0.999999959245,0.000108813392657,-0.00025810844368,5.52237956868e-05,1793250850235007744
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,746,723,691,668.214482164,642,887,786,820,655,632,655,0.407192643436,0.00448345723127,0.0797830549246,0.999999929633,9.7445292419e-05,-0.000358010529003,5.53854599222e-05,1793250850268340992
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,723,691.368794954,668,642,887,786,820,655,632.368794954,655.368794954,0.406669498536,0.00448399800807,0.0797663341391,0.999999919903,0.000107131708269,-0.000381788782754,5.43598014205e-05,1793250850285007616
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,723,691.955745404,668,642,887,786,820,655,632.955745404,655.955745404,0.406182723502,0.00448483127206,0.0797634575702,0.999999919877,0.000123420861892,-0.000377158574064,5.25823764253e-05,1793250850301674240
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.535430236,746,723,691.464569764,668,642,887,786,819.464569764,655,632.464569764,655.464569764,0.405758044285,0.00448936444207,0.0797827058455,0.999999935094,0.000115330491338,-0.000337365522833,5.19231919532e-05,1793250850318341120
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.057739544,745.942260456,723,689,669,642,886.942260456,786,819,655,632,655.942260456,0.400979963716,0.00447682609452,0.0798281166074,0.999999951177,0.000102920260718,-0.000290104337674,5.37865963848e-05,1793250850818341120
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.008327243,641.008327243,886,786,820,655.991672757,632,656,0.400978484152,0.00447734144331,0.0798338148655,0.999999954185,0.000102106553517,-0.000280005123854,5.29213014206e-05,1793250850935007744
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.586369582,641.586369582,886,786,820,655.413630418,632,656,0.400977259466,0.00447783008958,0.0798341878399,0.999999953886,0.000102797783183,-0.00028079009814,5.30778738695e-05,1793250850951674368
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.163211339,786,820,655.163211339,632,656,0.400976475644,0.0044780982589,0.0798344443205,0.999999953786,0.000102899083798,-0.000281111693649,5.30630564627e-05,1793250850968341248
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.737032617,786,820,655.737032617,632,656,0.400976800955,0.00447781174844,0.0798344077238,0.999999954188,0.000101516230551,-0.000280267512682,5.26170534504e-05,1793250850985007872
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669.318986722,642,886.681013278,786,820,656,632,655.681013278,0.40097688254,0.00447815348077,0.0798343152932,0.999999954097,0.000103082941713,-0.00028001632749,5.26387693762e-05,1793250851001674752
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669.907820775,642,886.092179225,786,820,656,632,655.092179225,0.400976757945,0.0044790266761,0.0798341756297,0.999999953578,0.000107144841709,-0.000280266788067,5.30561529135e-05,1793250851018341376
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,768,746,723,689.22021991,669,642,886.77978009,786,819.77978009,655.77978009,632,655.22021991,0.400978304503,0.00447843076634,0.0798354332837,0.99999995466,0.000102948298768,-0.000278103357554,5.23514869211e-05,1793250851085007616
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.794686852,669,642,886.205313148,786,819.205313148,655.205313148,632,655.794686852,0.400977112033,0.00447828715845,0.0798354506234,0.999999954706,0.000101812169216,-0.000278379711762,5.221476324e-05,1793250851101674240
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768.379169965,746,723,689.620830035,669,642,886.379169965,786,819.379169965,655,632,655.620830035,0.400977264999,0.00447855958516,0.0798359335335,0.999999954814,0.000102261124231,-0.000277800598375,5.23512600697e-05,1793250851118341120
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886.451689945,786,820,655,632,655,0.400977889514,0.00447956585203,0.0798360318982,0.999999954613,0.000104995047617,-0.00027750674713,5.2353465929e-05,1793250851151674368
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8846d888db6d688ce8239a097383e310a2f040d6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,410 @@
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+267,4.450000000,pose2_to_pose3_retreat,0.620545027602,0.0101501302495,1.07003349164,0.591115704186,0.0188227628631,1.06970488476
+268,4.466666667,pose2_to_pose3_retreat,0.620544952998,0.0101501311072,1.07003349296,0.591115629591,0.018822763745,1.06970488595
+269,4.483333333,pose2_to_pose3_retreat,0.62054455671,0.0101501356632,1.07003349994,0.591115233348,0.0188227684294,1.06970489223
+270,4.500000000,pose2_to_pose3_retreat,0.620544101812,0.0101501541456,1.07003353421,0.591114778333,0.0188227864779,1.06970492558
+271,4.516666667,pose2_to_pose3_retreat,0.620543442337,0.010150207464,1.07003363641,0.591114118347,0.0188228380037,1.06970502623
+272,4.533333333,pose2_to_pose3_retreat,0.620542322831,0.0101502979756,1.07003380991,0.591112997973,0.0188229254724,1.0697051971
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+274,4.566666667,pose2_to_pose3_retreat,0.620531553171,0.0101501255785,1.07003356954,0.591102230908,0.0188227622084,1.06970496498
+275,4.583333333,pose2_to_pose3_retreat,0.620517133109,0.0101502609694,1.07003345481,0.591087808523,0.0188228900192,1.06970485974
+276,4.600000000,pose2_to_pose3_retreat,0.620494461407,0.0101501874774,1.0700333985,0.591065137749,0.018822819429,1.06970479694
+277,4.616666667,pose2_to_pose3_retreat,0.620461146936,0.0101502145635,1.07003349754,0.591031822877,0.0188228449457,1.06970489477
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+286,4.766666667,pose2_to_pose3_retreat,0.619732519555,0.0101502643503,1.07003374842,0.590303194863,0.0188228914381,1.06970513833
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+288,4.800000000,pose2_to_pose3_retreat,0.619438161271,0.0101501455867,1.07003361295,0.590008838267,0.0188227782045,1.069705007
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+349,5.816666667,pose2_to_pose3_retreat,0.583880730996,0.0101500609955,1.07003347194,0.554451409616,0.0188226952642,1.06970486519
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+354,5.900000000,pose2_to_pose3_retreat,0.581335481269,0.0101501469733,1.07003342973,0.551906159178,0.0188227788466,1.06970482342
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+358,5.966666667,pose2_to_pose3_retreat,0.579654915224,0.0101501675018,1.07003364987,0.550225592712,0.0188227977197,1.06970503761
+359,5.983333333,pose2_to_pose3_retreat,0.57930286271,0.0101501744001,1.07003376665,0.549873541695,0.0188228095129,1.06970514941
+360,6.000000000,pose2_to_pose3_retreat,0.578971780897,0.0101501019258,1.07003347241,0.549542459237,0.0188227352328,1.06970486539
+361,6.016666667,pose2_to_pose3_retreat,0.578653022356,0.0101501661585,1.07003349481,0.54922370067,0.0188227995339,1.06970489204
+362,6.033333333,pose2_to_pose3_retreat,0.578346168167,0.010150139246,1.07003358704,0.548916847637,0.0188227766451,1.06970498704
+363,6.050000000,pose2_to_pose3_retreat,0.578058934367,0.010150058049,1.07003354783,0.548629613834,0.0188226954457,1.06970494825
+364,6.066666667,pose2_to_pose3_retreat,0.577790437426,0.0101501174135,1.07003349767,0.548361115054,0.0188227482728,1.06970489006
+365,6.083333333,pose2_to_pose3_retreat,0.577541592231,0.0101501177591,1.07003357951,0.54811227151,0.0188227538865,1.0697049629
+366,6.100000000,pose2_to_pose3_retreat,0.577314827386,0.0101501616088,1.07003398534,0.547885506379,0.0188227968935,1.06970537193
+367,6.116666667,pose2_to_pose3_retreat,0.577112578688,0.0101500815429,1.07003358677,0.547683258005,0.0188227181721,1.06970498004
+368,6.133333333,pose2_to_pose3_retreat,0.576927890038,0.0101501238862,1.07003348303,0.547498568678,0.0188227583105,1.06970487901
+369,6.150000000,pose2_to_pose3_retreat,0.576760261337,0.0101501573545,1.07003353938,0.547330939901,0.0188227916046,1.0697049376
+370,6.166666667,pose2_to_pose3_retreat,0.576609733803,0.0101501985898,1.07003363677,0.547180412195,0.0188228322849,1.06970503558
+371,6.183333333,pose2_to_pose3_retreat,0.57647362146,0.0101502487068,1.07003369731,0.54704429928,0.0188228803495,1.06970509322
+372,6.200000000,pose2_to_pose3_retreat,0.576350929158,0.010150117132,1.07003362753,0.546921608749,0.0188227546078,1.06970501878
+373,6.216666667,pose2_to_pose3_retreat,0.576240121685,0.0101502930318,1.0700333986,0.546810797517,0.0188229179951,1.06970479635
+374,6.233333333,pose2_to_pose3_retreat,0.576141502392,0.0101501762735,1.07003347086,0.546712180273,0.0188228079807,1.06970486305
+375,6.250000000,pose2_to_pose3_retreat,0.576053847552,0.0101501724169,1.07003357841,0.546624526064,0.0188228062171,1.06970496969
+376,6.266666667,pose2_to_pose3_retreat,0.575976623819,0.010150176144,1.07003349769,0.546547302422,0.018822810376,1.06970489231
+377,6.283333333,pose2_to_pose3_retreat,0.575910657859,0.0101501338719,1.07003344284,0.546481336409,0.0188227680063,1.06970483955
+378,6.300000000,pose2_to_pose3_retreat,0.575854873628,0.0101501674239,1.07003364418,0.546425550971,0.0188227973257,1.06970503728
+379,6.316666667,pose2_to_pose3_retreat,0.57580938714,0.0101502394509,1.07003374163,0.546380063975,0.0188228672372,1.06970512436
+380,6.333333333,pose2_to_pose3_retreat,0.575772575551,0.0101500340747,1.07003344098,0.546343252831,0.0188226633307,1.06970482265
+381,6.350000000,pose2_to_pose3_retreat,0.575743935656,0.0101501672063,1.0700335909,0.546314612754,0.0188227961467,1.06970498058
+382,6.366666667,pose2_to_pose3_retreat,0.575721609533,0.0101500320399,1.07003356249,0.546292290244,0.0188226731302,1.06970494929
+383,6.383333333,pose2_to_pose3_retreat,0.575704614006,0.0101501287866,1.07003363615,0.546275292674,0.0188227629517,1.06970502316
+384,6.400000000,pose2_to_pose3_retreat,0.575692153492,0.0101503086466,1.07003369137,0.546262828466,0.0188229304952,1.06970508419
+385,6.416666667,pose2_to_pose3_retreat,0.575682839093,0.0101502228435,1.07003347419,0.546253516617,0.0188228537207,1.06970487695
+386,6.433333333,pose2_to_pose3_retreat,0.575676330709,0.0101501847539,1.07003349991,0.546247008512,0.018822816204,1.06970489289
+387,6.450000000,pose2_to_pose3_retreat,0.57567207599,0.0101501794217,1.07003353992,0.546242753703,0.0188228105361,1.0697049321
+388,6.466666667,pose2_to_pose3_retreat,0.575669675467,0.0101501920501,1.07003357003,0.546240353,0.0188228227653,1.06970496794
+389,6.483333333,pose2_to_pose3_retreat,0.575668033429,0.0101501912239,1.07003352452,0.546238710309,0.0188228197967,1.0697049243
+390,6.500000000,pose2_to_pose3_retreat,0.575667050686,0.0101501824556,1.07003343947,0.546237726713,0.0188228081121,1.06970483861
+391,6.516666667,pose2_to_pose3_retreat,0.575666647144,0.0101501788551,1.07003340455,0.546237322821,0.0188228033141,1.06970480343
+392,6.533333333,pose2_to_pose3_retreat,0.57566621092,0.010150174963,1.0700333668,0.546236886217,0.0188227981274,1.06970476539
+393,6.550000000,pose2_to_pose3_retreat,0.575665853619,0.0101501547047,1.070033392,0.546236529266,0.018822778986,1.06970478881
+394,6.566666667,pose2_to_pose3_retreat,0.5756656461,0.0101501317983,1.07003344325,0.546236322379,0.0188227581491,1.06970483804
+395,6.583333333,pose2_to_pose3_retreat,0.575665530655,0.0101501190552,1.07003347177,0.546236207286,0.0188227465573,1.06970486542
+396,6.600000000,pose2_to_pose3_retreat,0.575665527203,0.0101501186742,1.07003347262,0.546236203845,0.0188227462107,1.06970486624
+397,6.616666667,pose2_to_pose3_retreat,0.57566547936,0.0101501133932,1.07003348443,0.546236156147,0.0188227414068,1.06970487759
+398,6.633333333,pose2_to_pose3_retreat,0.575665301811,0.0101500937951,1.07003352829,0.54623597914,0.0188227235793,1.0697049197
+399,6.650000000,pose2_to_pose3_retreat,0.575665216051,0.0101500843287,1.07003354947,0.546235893642,0.0188227149682,1.06970494004
+400,6.666666667,pose2_to_pose3_retreat,0.575664908982,0.0101500504338,1.07003362531,0.546235587508,0.0188226841355,1.06970501288
+401,6.683333333,pose2_to_pose3_retreat,0.575664682606,0.0101500303866,1.07003359229,0.546235361432,0.0188226651692,1.06970498158
+402,6.700000000,pose2_to_pose3_retreat,0.57566453862,0.0101500185999,1.07003355393,0.54623521756,0.0188226538402,1.06970494509
+403,6.716666667,pose2_to_pose3_retreat,0.575664502766,0.0101500156648,1.07003354438,0.546235181734,0.0188226510191,1.069704936
+404,6.733333333,pose2_to_pose3_retreat,0.575664418897,0.0101500087992,1.07003352204,0.546235097932,0.0188226444202,1.06970491474
+405,6.750000000,pose2_to_pose3_retreat,0.575664309951,0.0101500334181,1.07003347593,0.546234988762,0.0188226683496,1.06970487051
+406,6.766666667,pose2_to_pose3_retreat,0.575664278337,0.0101501574678,1.07003340302,0.546234956001,0.0188227885882,1.06970479976
+407,6.783333333,pose2_to_pose3_retreat,0.575664266818,0.0101502026675,1.07003337645,0.546234944064,0.0188228323993,1.06970477397
+408,6.800000000,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532846,1.06970476168
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a69e7adc6405ae5d75e2bd60669320c102d9eae2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c54f2c00c3c1bee6f24725a0278be60ea3e3039944a0efd26033a8eff45a0bf
+size 26005748
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b7df78281f5849210388a907698c62c546a962f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+1,0.016666667,BASELINE,768,746,723,689,668.426175111,642,886,786,820,655,632,655,0.400977400252,0.00447855648366,0.0798373032962,0.999999955093,0.000103566098251,-0.000276266672517,5.25899373625e-05,1793250851325309952
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+9,0.150000000,BASELINE,768.767732527,746,723,689,669.767732527,642,886.767732527,786,820,655,632,655.232267473,0.400976954569,0.00447976992944,0.079837585875,0.999999955373,0.000104872138451,-0.000274819327737,5.22465487428e-05,1793250851458643200
+10,0.166666667,BASELINE,768.188795548,746,723,689,669.188795548,642,886.188795548,786,820,655,632,655.811204452,0.400978962634,0.00448016526022,0.0798395371512,0.99999995587,0.000106365163832,-0.000272420933178,5.22871964063e-05,1793250851475309824
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+12,0.200000000,BASELINE,768,746,723,689,669.964148118,642,886,786,820,655,632,655.035851882,0.400979014356,0.004476695661,0.0798387572284,0.999999956242,0.000103815759064,-0.000272015843387,5.24058236406e-05,1793250851508643584
+13,0.216666667,BASELINE,768,746,723,689,669.464323149,642,886,786,819.464323149,655,632,655,0.400977229191,0.0044785248261,0.0798376062073,0.999999955547,0.000104684953108,-0.000274283067894,5.21120199076e-05,1793250851525310208
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+21,0.350000000,BASELINE,768,746,723,689,669,642,886.199591218,786,820.199591218,655,632,656,0.400978150494,0.00447980371718,0.0798380013776,0.99999995559,0.000106150291498,-0.000273629688257,5.17552168374e-05,1793250851658643200
+22,0.366666667,BASELINE,768,746,723,689,669,642,886.77838939,786,820.77838939,655,632,656,0.400976536281,0.00448062969412,0.0798376375846,0.999999955345,0.000105805535541,-0.000274665843075,5.17184941696e-05,1793250851675309824
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+24,0.400000000,BASELINE,768,746,723,689,669,642,886.067777533,786,820.067777533,655.932222467,632,656,0.400976733264,0.00448099067461,0.0798373542489,0.999999955471,0.000103682588796,-0.000275121468059,5.11423189723e-05,1793250851708643328
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+27,0.450000000,BASELINE,768,746,723,689,669,642,886,786,820,655.673227622,632,655.326772378,0.400976200363,0.00448015587043,0.0798378041796,0.99999995525,0.000105200898288,-0.00027519390402,5.19758408501e-05,1793250851758643456
+28,0.466666667,BASELINE,768,746,723,689,669,642,886,786,820,655.741709102,632,655,0.400975729259,0.00448007936789,0.0798374741732,0.999999955209,0.00010429664199,-0.000275694869314,5.19189372105e-05,1793250851775310080
+29,0.483333333,BASELINE,768,746,723,689,669,642,886,786,820,655.163710179,632,655,0.400976084222,0.00448033479898,0.0798376769628,0.999999955025,0.000106499567771,-0.000275515477216,5.1945581415e-05,1793250851791976704
+30,0.500000000,BASELINE,768,746,723,689,669,642,886.41333744,786,819.58666256,655,632,655.41333744,0.400976372107,0.00448059223844,0.0798378200063,0.999999955044,0.000107338347351,-0.000275126816431,5.19158567707e-05,1793250851808643328
+31,0.516666667,BASELINE,768,746,723,689,669,642,886.990009129,786,819.009990871,655,632,655.990009129,0.400976633484,0.0044808504715,0.0798379394407,0.999999955144,0.000107638071444,-0.000274655461125,5.18638574353e-05,1793250851825309952
+32,0.533333333,BASELINE,768,746,723,689,669,642,887,786,819.575950904,655.575950904,632,656,0.400977542375,0.00447923484872,0.0798389666921,0.999999955872,0.000104148020852,-0.000273383050532,5.16774744624e-05,1793250851841976576
+33,0.550000000,BASELINE,768,746,723,689,669,642,886.839871457,786,820,655.839871457,632,655.839871457,0.400977755352,0.00447805179628,0.0798393263698,0.999999956283,0.000101557772536,-0.00027287498953,5.15665191053e-05,1793250851858643200
+34,0.566666667,BASELINE,768,746,723,689,669,642,886.260737755,786,820,655.260737755,632,655.260737755,0.400976117477,0.0044780870896,0.07983789734,0.999999955866,0.000101496854632,-0.000274403942456,5.16591332893e-05,1793250851875309824
+35,0.583333333,BASELINE,768,746,723,689,669,642,886,786,820,655,632,655.31709061,0.400975277534,0.00447820575266,0.0798370612752,0.999999955515,0.000102128922188,-0.000275448171761,5.16554761389e-05,1793250851891976448
+36,0.600000000,BASELINE,768,746,723,689,669,642,886,786,820,655,632,655.893850085,0.400975091026,0.00447839268809,0.0798367107956,0.999999955217,0.000103328482881,-0.000276095455913,5.15729813817e-05,1793250851908643328
+37,0.616666667,BASELINE,768,746,723,689,669,642,886,786,820,655,632,656,0.400976005686,0.00447980811885,0.0798373667012,0.999999955169,0.000105312178293,-0.000275480758985,5.17882398437e-05,1793250851925309952
+38,0.633333333,BASELINE,768,746,723,689,669,642,886,786,820,655.047549408,632,655.952450592,0.400976997889,0.0044812071142,0.0798381587331,0.999999955205,0.000107094648885,-0.000274616237428,5.20323587811e-05,1793250851941976576
+39,0.650000000,BASELINE,768,746,723,689,669,642,886,786,820,655.623135227,632,655.376864773,0.400976092982,0.00447934642766,0.0798379416287,0.999999955601,0.000104678396993,-0.000274138455231,5.18511534816e-05,1793250851958643200
+40,0.666666667,BASELINE,768,746,723,689,669,642,886,786.203889918,820,655.796110082,632,655,0.400976504426,0.0044781371903,0.0798384599618,0.999999956068,0.000102851396605,-0.000273139998186,5.17733514034e-05,1793250851975309824
+41,0.683333333,BASELINE,768,746,723,689,669,642,886,786.794447085,820,655.205552915,632,655,0.400979412266,0.00447816339453,0.079840373016,0.999999956675,0.000102141883002,-0.000271154106809,5.18916484848e-05,1793250851991976448
+42,0.700000000,BASELINE,768,746,723,689,669,642,886,786.622825593,820,655.377174407,632,655.377174407,0.400978324859,0.0044777552869,0.0798395041022,0.999999956408,0.000101841988285,-0.000272247049729,5.19018081534e-05,1793250852008643072
+43,0.716666667,BASELINE,768,746,723,689,669,642,886,786.044278628,820,655.955721372,632,655.955721372,0.400975104399,0.00447711530115,0.079837149902,0.99999995567,0.000101760788181,-0.00027498377535,5.18542334989e-05,1793250852025309696
+44,0.733333333,BASELINE,768,746,723,689,669,642,886.530060486,786,820,655.469939514,632,656,0.400975506821,0.00447758560701,0.0798370650833,0.999999955713,0.0001007958778,-0.000275225383624,5.16201290484e-05,1793250852041976320
+45,0.750000000,BASELINE,768,746,723.106670265,689,669,642,887,786,819.893329735,655,632,655.893329735,0.400976088015,0.00447817793324,0.0798372062782,0.999999955736,0.000100552028733,-0.000275252057162,5.1504605754e-05,1793250852058642944
+46,0.766666667,BASELINE,768,746,723.69511023,689,669,642,887,786,819.30488977,655,632,655.30488977,0.400976120543,0.00447890576422,0.0798375187988,0.999999955372,0.000103895590264,-0.00027524193725,5.19944669151e-05,1793250852075309568
+47,0.783333333,BASELINE,768,746.279476861,723.720523139,689,669,642,887,786,819.279476861,655.279476861,632,655,0.400976786224,0.00448028514967,0.0798383257098,0.999999955372,0.000106436891946,-0.000274269294869,5.20021251592e-05,1793250852091976448
+48,0.800000000,BASELINE,768,746.859463676,723.140536324,689,669,642,887,786,819.859463676,655.859463676,632,655,0.400978132708,0.0044823651249,0.0798396642182,0.999999955767,0.00010811555708,-0.000272261691733,5.14912905334e-05,1793250852108643072
+49,0.816666667,BASELINE,768,746.564446383,723,689,669,642,886.564446383,786,820,656,632,655,0.400977944049,0.00448188729256,0.0798393247094,0.99999995568,0.000107665075995,-0.000272769822979,5.14320722288e-05,1793250852125310208
+50,0.833333333,BASELINE,768,746,723,689,669,642,886.010393186,786,820,655.989606814,632,655,0.400977271074,0.00448059945906,0.079838465106,0.999999955442,0.000106552857699,-0.000274058563196,5.15243562182e-05,1793250852141977856
+51,0.850000000,BASELINE,768,746,723,689,669,642,886.585009345,786,820,655.414990655,632,655,0.400976957692,0.00447974516446,0.0798385031766,0.999999955428,0.000106481008071,-0.000274048569777,5.20007447657e-05,1793250852158643968
+52,0.866666667,BASELINE,768,746,723,689,669,642,886.834995772,786,820,655,632,655.165004228,0.400976354283,0.00447909842921,0.0798382540242,0.999999955307,0.000106209335214,-0.00027453051442,5.23288062016e-05,1793250852175310592
+53,0.883333333,BASELINE,768,746,723,689,669,642,886.241017444,786,820,655,632,655.758982556,0.400974996868,0.00447899130193,0.0798372581559,0.999999954909,0.000105418166649,-0.000276291388032,5.22712502834e-05,1793250852191977984
+54,0.900000000,BASELINE,768,746,723,689,669,642,886.342349192,786,820,655,632,656,0.40097451294,0.00447915677709,0.0798367465351,0.999999954709,0.0001058203004,-0.000276873614855,5.22078173142e-05,1793250852208644608
+55,0.916666667,BASELINE,768,746,723,689,669,642,886.918469667,786,820,655,632,656,0.400974625467,0.00447950839735,0.0798365655801,0.999999954644,0.000107037274173,-0.000276651009059,5.21403712352e-05,1793250852225310976
+56,0.933333333,BASELINE,768,746,723,689,669,642,886.505066388,786,820,655,632,656,0.400975379978,0.00447915296923,0.0798368517467,0.999999955058,0.000105442378769,-0.000275831990653,5.17896108232e-05,1793250852241977088
+57,0.950000000,BASELINE,768,746,723,688.927136588,669,642,886.072863412,785.927136588,819.927136588,655,632,656,0.40097614211,0.00447890664501,0.0798373086963,0.999999955526,0.000103772853112,-0.000274828800796,5.14601264628e-05,1793250852258643456
+58,0.966666667,BASELINE,768,746,723,688.339246042,669,642,886.660753958,785.339246042,819.339246042,655,632,656,0.400976210078,0.00448025535125,0.0798384285238,0.999999955847,0.000104852156486,-0.000273218745643,5.16111429861e-05,1793250852275310080
+59,0.983333333,BASELINE,768,746,723.243086498,688.243086498,669,642,886.756913502,785.243086498,819.243086498,655,632,655.756913502,0.400976043519,0.00448072879228,0.0798386406387,0.999999955906,0.000105154297968,-0.000272886698469,5.16154876674e-05,1793250852291976960
+60,1.000000000,BASELINE,768,746,723.817835878,688.817835878,669,642,886.182164122,785.817835878,819.817835878,655,632,655.182164122,0.400975556977,0.00448000803726,0.0798376142868,0.999999955609,0.000104396093779,-0.000274298342355,5.14197159255e-05,1793250852308643584
+61,1.016666667,BASELINE,768.395897135,746,723.604102865,689,669,642,886,786,819.604102865,655,632,655,0.400975961744,0.00447989315087,0.0798378413449,0.999999955577,0.00010444159109,-0.000274400551958,5.14107528583e-05,1793250852325310208
+62,1.033333333,BASELINE,768.975495107,746,723.024504893,689,669,642,886,786,819.024504893,655,632,655,0.400976780088,0.00448005939455,0.0798386499997,0.999999955667,0.000104860015215,-0.000273895168866,5.14884711826e-05,1793250852341976832
+63,1.050000000,BASELINE,768.449910698,746,723,689,668.449910698,642,886.550089302,786,819.550089302,655,632,655.550089302,0.400977300436,0.00447970032866,0.0798394369895,0.999999956125,0.000103306092354,-0.000272820261701,5.14390694926e-05,1793250852358643456
+64,1.066666667,BASELINE,768.128239655,746,723,689,668.128239655,642.128239655,886.871760345,786.128239655,820,655,632,656,0.400977553672,0.00447941646814,0.0798399577492,0.999999956394,0.000102563097685,-0.000272120165759,5.14146523691e-05,1793250852375310080
+65,1.083333333,BASELINE,768.720043363,746,723,689,668.720043363,642.720043363,886.279956637,786.720043363,820,655,632,656,0.400976888898,0.00447948829012,0.07983951959,0.999999955926,0.000105066211697,-0.000272865831074,5.15008357351e-05,1793250852391976704
+66,1.100000000,BASELINE,768.696015025,746,723,689,669,642.696015025,886.303984975,786.696015025,820,655.303984975,632,656,0.400976950251,0.00447913519072,0.0798392087729,0.999999955871,0.000106012270742,-0.000272700721424,5.15068634923e-05,1793250852408643328
+67,1.116666667,BASELINE,768.119131537,746,723,689,669,642.119131537,886.880868463,786.119131537,820,655.880868463,632,656,0.400977663474,0.00447840062374,0.0798390122754,0.99999995619,0.000105560504037,-0.000271717975487,5.14409326015e-05,1793250852425309952
+68,1.133333333,BASELINE,768,746,723,689,669,642,887,786,820,655.544600297,632,655.544600297,0.400977485476,0.00447828361744,0.0798390320877,0.999999956327,0.000104544068231,-0.000271582779896,5.15626859757e-05,1793250852441976576
+69,1.150000000,BASELINE,768,746,723,689,669,642,887,786,820,655.030121728,632,655.030121728,0.400977119601,0.00447835272664,0.0798391201263,0.999999956409,0.000103480059431,-0.000271661140457,5.17141643699e-05,1793250852458643200
+70,1.166666667,BASELINE,768,746,723,689,669,642,887,786,820,655.619758121,632,655.619758121,0.400977572264,0.00447889351697,0.0798394297803,0.999999956352,0.000104262123742,-0.000271609070616,5.15104776613e-05,1793250852475309824
+71,1.183333333,BASELINE,768,746,723,689,669,642,887,786,819.793787594,655.793787594,632,655.793787594,0.400977876319,0.00447899253526,0.079839564729,0.999999956362,0.000104430642145,-0.000271525123598,5.14278934458e-05,1793250852491976704
+72,1.200000000,BASELINE,768,746,723,689,669,642,887,786,819.213111637,655.213111637,632,655.213111637,0.400977910516,0.00447828933457,0.0798393824283,0.999999956491,0.000103485015397,-0.000271383290426,5.15652206481e-05,1793250852508643328
+73,1.216666667,BASELINE,768.361105798,746,723,689,669,642,886.638894202,786,819.361105798,655,632,655.361105798,0.400978311464,0.00447876157219,0.0798396113745,0.999999956445,0.0001049244509,-0.000270962332162,5.1773097568e-05,1793250852525310208
+74,1.233333333,BASELINE,768.931578586,746,723,689,669,642,886.068421414,786,819.931578586,655,632,655.931578586,0.40097892505,0.00447991532199,0.0798400787593,0.99999995629,0.000107746731342,-0.00027037953884,5.20218787852e-05,1793250852541976832
+75,1.250000000,BASELINE,769,746,723.509280781,689,669,642,886,786,819.490719219,655,632,655.490719219,0.400979336674,0.00448034088898,0.0798400699018,0.999999956672,0.000105455258168,-0.00027000917155,5.12838306996e-05,1793250852558643200
+76,1.266666667,BASELINE,768.909692296,746,723.909692296,689,669,642,886.090307704,786,819.090307704,655,632,655.090307704,0.400979247009,0.00448048431037,0.0798397136937,0.999999956894,0.000103323423271,-0.000270131469867,5.06417409861e-05,1793250852575310080
+77,1.283333333,BASELINE,768.315614903,746,723.315614903,689,669,642,886.684385097,786,819.684385097,655,632,655.684385097,0.400976514509,0.00447960741378,0.0798377818947,0.999999955849,0.000105969793229,-0.000272840543777,5.12851702808e-05,1793250852591976448
+78,1.300000000,BASELINE,768,746,723,689,669,642,886.730293617,786,820,655.269706383,632,656,0.400975900864,0.00447925159964,0.079837763279,0.999999955702,0.00010624592542,-0.000273208461007,5.1620898029e-05,1793250852608643328
+79,1.316666667,BASELINE,768,746,723,689,669,642,886.154896716,786,820,655.845103284,632,656,0.400977688769,0.00447948639068,0.0798399131032,0.999999956578,0.000103835583327,-0.000270922865027,5.16078707488e-05,1793250852625310208
+80,1.333333333,BASELINE,768.421081863,746,723.421081863,688.578918137,669,642,886,786,820,655.578918137,632,656,0.400977626074,0.00448067198486,0.0798400249855,0.999999956388,0.000106083353271,-0.000270777101096,5.14875702029e-05,1793250852641977088
+81,1.350000000,BASELINE,768.997274757,746,723.997274757,688.002725243,669,642,886,786,820,655.002725243,632,656,0.400976881687,0.00448220781988,0.0798393861654,0.999999955793,0.000110046999733,-0.000271419572201,5.13277541396e-05,1793250852658643456
+82,1.366666667,BASELINE,768.429540496,746.570459504,723.429540496,688.570459504,669,642,886,786,820,655,632,656,0.40097651244,0.00448079365599,0.0798392014264,0.999999956003,0.000106972356413,-0.000271842072529,5.15147966517e-05,1793250852675310080
+83,1.383333333,BASELINE,768,746.850874919,723,689.149125081,669,642,886,786,820,655.149125081,632,656,0.400976379383,0.004479785666,0.0798389540002,0.999999956115,0.000105004253763,-0.000272172264693,5.16272739069e-05,1793250852691976448
+84,1.400000000,BASELINE,768,746.255775449,723,689.744224551,669,642,886,786,820,655.744224551,632,656,0.40097694734,0.00448003430725,0.0798385126478,0.999999955953,0.000106445405993,-0.000272229525826,5.15118263327e-05,1793250852708643328
+85,1.416666667,BASELINE,768.327935506,746,723.327935506,689.672064494,669,642,886.327935506,786,819.672064494,655.672064494,632,655.672064494,0.400977417077,0.00447936727537,0.079838796898,0.999999956137,0.000105786391008,-0.000271809343691,5.15203876157e-05,1793250852725309952
+86,1.433333333,BASELINE,768.903062,746,723.903062,689.096938,669,642,886.903062,786,819.096938,655.096938,632,655.096938,0.400977812777,0.00447801002804,0.0798396280925,0.999999956578,0.000103544313425,-0.000271029274715,5.16224242116e-05,1793250852741976576
+87,1.450000000,BASELINE,768.522635354,746,723.522635354,689,669,642,886.522635354,786,819.477364646,655,632,655,0.400975767199,0.00447982885803,0.0798381482071,0.999999955946,0.000103920610039,-0.00027330598416,5.11022969761e-05,1793250852758643200
+88,1.466666667,BASELINE,768.052762218,746,723,689,669,642,886,786,819.947237782,655,632,655.052762218,0.400973601734,0.00448195238104,0.0798364852648,0.999999955216,0.000104679858759,-0.000275779319647,5.05533544746e-05,1793250852775309824
+89,1.483333333,BASELINE,768.64096621,746,723,689,669,642,886,786,819.35903379,655,632,655.64096621,0.400975241929,0.0044806340503,0.0798377190599,0.999999955771,0.000103938769834,-0.000273959541612,5.09919266349e-05,1793250852791976704
+90,1.500000000,BASELINE,768.772385359,746,723,689,669,642,886,786,819.227614641,655,632,655.772385359,0.400976249291,0.00447985158601,0.0798386994101,0.999999956104,0.00010426456282,-0.00027256387815,5.12722666708e-05,1793250852808643328
+91,1.516666667,BASELINE,768.188174032,746,723,689,669,642,886,786,819.811825968,655,632,655.188174032,0.400976265216,0.00447990864693,0.0798392826958,0.999999956092,0.000106261806154,-0.000271832661801,5.13047093818e-05,1793250852825309952
+92,1.533333333,BASELINE,768,746,723,689,669,642,886,786.390325226,820,655,632,655.390325226,0.400976276909,0.00447993237809,0.0798391146766,0.999999956137,0.000105362784995,-0.000272050181837,5.1119173071e-05,1793250852841976576
+93,1.550000000,BASELINE,768,746,723,689,669,642,886,786.966110489,820,655,632,655.966110489,0.400976286592,0.00447994027287,0.0798385896806,0.999999956207,0.000103087626144,-0.000272718486626,5.08300657022e-05,1793250852858642944
+94,1.566666667,BASELINE,768,746,723,689,669,642,886.538505229,786.461494771,819.461494771,655,632,655.461494771,0.400977261829,0.00447817154457,0.0798394148584,0.999999956384,0.000104074428809,-0.000271498142595,5.18635092666e-05,1793250852875310336
+95,1.583333333,BASELINE,768,746,723,689,669,642,886.885929851,786,819,655,632,655,0.400977818447,0.00447677881244,0.0798398531798,0.999999956472,0.000104609104725,-0.000270827832971,5.25897845917e-05,1793250852891977728
+96,1.600000000,BASELINE,768,746,723,689,669,642,886.296263147,786,819,655,632,655,0.400976377936,0.00447741697921,0.0798383265167,0.999999956171,0.000102408172914,-0.000272943256134,5.1690524521e-05,1793250852908644352
+97,1.616666667,BASELINE,768,746,723,689.289278564,669,642,886,786,819.289278564,655,632,655.289278564,0.400976660496,0.00447856585976,0.0798383666497,0.999999956304,0.000103105422845,-0.000272275087512,5.12661217826e-05,1793250852925310976
+98,1.633333333,BASELINE,768,746,723,689.870655042,669,642,886,786,819.870655042,655,632,655.870655042,0.400978682921,0.00448023043152,0.079839988849,0.999999956862,0.000106729100742,-0.00026879619769,5.13212044574e-05,1793250852941977344
+99,1.650000000,BASELINE,768,746,723.447239961,689.552760039,669.447239961,642,886,786,820,655.447239961,632,656,0.400978082297,0.00448021986975,0.0798399032431,0.999999956703,0.00010602925101,-0.000269671730406,5.12674145641e-05,1793250852958643968
+100,1.666666667,BASELINE,768.022945437,746,724,689.022945437,669.977054563,642,886.022945437,786,820,655.977054563,632,656,0.400976837172,0.00447976447776,0.0798393532247,0.999999956359,0.000104157881154,-0.000271685758114,5.11788483665e-05,1793250852975310848
+101,1.683333333,BASELINE,768.610753696,746,724,689.610753696,669.389246304,642,886.610753696,786,820,655.389246304,632,656,0.400978203064,0.00448015826991,0.0798394004588,0.999999956567,0.000103901930168,-0.000271053738011,5.1001083786e-05,1793250852991977472
+102,1.700000000,BASELINE,768.804534751,746,723.804534751,689.804534751,669,642,886.804534751,786,820,655,632,655.804534751,0.400978769259,0.00448051449985,0.0798397844639,0.999999956714,0.000104215462205,-0.000270392225447,5.09792473387e-05,1793250853008643840
+103,1.716666667,BASELINE,768.225893822,746,723.225893822,689.225893822,669,642,886.225893822,786,820,655,632,655.225893822,0.40097776779,0.00448079709556,0.0798408286497,0.999999956744,0.000105645366852,-0.000269672898109,5.12630809417e-05,1793250853025310208
+104,1.733333333,BASELINE,768,746,723,689,669,642,886.351770258,786,820,655,632,655,0.400976501051,0.00448035418306,0.07984008897,0.999999956327,0.000105529817672,-0.000271217641326,5.14898599198e-05,1793250853041976832
+105,1.750000000,BASELINE,768,746,723,689,669,642,886.928808836,786,820,655,632,655,0.400975064437,0.00447944666616,0.0798382069301,0.999999955616,0.000104424583518,-0.000274212260801,5.16801020117e-05,1793250853058643200
+106,1.766666667,BASELINE,768,746,723,689,669,642,887,786,820,655,632,655,0.400976284312,0.00447994385841,0.0798386242693,0.999999955913,0.000104480926785,-0.000273154855036,5.14264114425e-05,1793250853075310336
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,886,786,820,655,632,656,0.400972461111,0.00447828882628,0.0798364620843,0.999999955163,0.000102161817854,-0.000276752426709,5.14240236269e-05,1793250853118031360
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,723.416968694,689,669,642,886,786,820,655.583031306,632,655.416968694,0.400975077242,0.00447691517781,0.0798377132416,0.999999955985,0.00010112570664,-0.000274089298582,5.17573930349e-05,1793250853134697984
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.163317475,786,820,655.836682525,632,655.163317475,0.400977164967,0.00447662317085,0.0798388514959,0.999999956537,0.000101519413802,-0.000271894255696,5.18945277262e-05,1793250853151364864
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.73671097,786,820,655.26328903,632,655.73671097,0.400977925912,0.00447904707162,0.0798397062607,0.99999995642,0.000105503270704,-0.000270874533704,5.15389341303e-05,1793250853168031232
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.317993811,746.317993811,723,689,669,642,887,786,820,655,632,656,0.400977996765,0.00447969509788,0.0798397371537,0.999999956449,0.000105350351697,-0.000270882017586,5.12557248044e-05,1793250853184697344
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.905974935,746.905974935,723,689,669,642,887,786,820,655,632,656,0.400977481706,0.00447883534749,0.0798390685521,0.999999956601,0.000101685172218,-0.000271761633454,5.1033972151e-05,1793250853201363712
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.513601706,723.486398294,689,669,642,886.513601706,786,820,655,632,656,0.400976934697,0.00447865679059,0.0798384833838,0.999999956306,0.000102209698996,-0.000272627632151,5.11314059062e-05,1793250853218030592
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746,723.934656348,689,669,642,886,786,820,655,632,656,0.400976765047,0.00447850362968,0.0798382331331,0.999999956053,0.000103248935367,-0.00027312835245,5.13200994053e-05,1793250853234697472
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,723.356020255,689,669,642,886,786,820,655,632,656,0.400979607431,0.00447753139971,0.0798404889989,0.999999956791,0.000102066656593,-0.000270780071276,5.17483966583e-05,1793250853251364096
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,723.220090914,689,669,642,886.220090914,786,820,655,632,655.779909086,0.400988409614,0.00447704349658,0.0798445589199,0.999999958558,0.000100972981363,-0.000264604374648,5.17099260676e-05,1793250853268030720
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,723.792164024,689,669,642,886.792164024,786,820,655,632,655.207835976,0.401006743051,0.00447733015721,0.0798515299836,0.999999961872,0.00010002100618,-0.000252307652737,5.0924973138e-05,1793250853284697344
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.624083808,746,723.624083808,689,669,642,886.624083808,786,819.624083808,655,632,655,0.401042058098,0.00447843655842,0.0798634742802,0.999999967298,0.000101198548732,-0.000229447828107,5.01574534238e-05,1793250853301364224
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.033667442,746,723.033667442,689,669,642,886.033667442,786,819.033667442,655,632,655,0.401087062961,0.00448001070886,0.079878256336,0.999999973302,0.00010359120752,-0.000200560628448,4.93998811079e-05,1793250853318030592
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,723.545541167,689,669,642,886.545541167,786,819.545541167,655,632.545541167,655,0.401159983382,0.00448015891002,0.0798956447907,0.999999979359,0.00010246523389,-0.000168610518293,4.85036765136e-05,1793250853334697216
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642.123559724,887,786,820,655,632.876440276,655.123559724,0.401235477257,0.00448079736618,0.0799107984798,0.999999983612,0.000101958644104,-0.000141932703015,4.72747505295e-05,1793250853351363840
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642.699701947,887,786,820,655,632.300298053,655.699701947,0.401314214104,0.0044835474061,0.0799171892158,0.999999984388,0.000104500146417,-0.000135245011173,4.48578180439e-05,1793250853368030720
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746,723.724387597,689,669.275612403,642.724387597,886.724387597,786,820,655,632.275612403,655.724387597,0.401402699741,0.00448554413669,0.0799216102332,0.999999985372,0.000104499414373,-0.000128715847089,4.20579723974e-05,1793250853384697344
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,723.148729487,689,669.851270513,642.148729487,886.148729487,786,820,655,632.851270513,655.148729487,0.401501798403,0.00448672077617,0.0799238869141,0.999999986585,0.000101731076318,-0.000122359264803,3.88412681176e-05,1793250853401364224
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669.562875938,642,886.437124062,786,820,655,632.562875938,655,0.401618880423,0.00448878685607,0.0799279264603,0.999999987694,9.99111313945e-05,-0.000115695083035,3.52632064587e-05,1793250853418030592
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,723.026127087,689,669,642,887,786,820,655,632,655,0.401744119444,0.00449102560796,0.0799327523501,0.999999988796,9.82137813958e-05,-0.000108491425298,3.14931781454e-05,1793250853434696960
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,723.606594319,689,669,642,887,786,820,655,632,655,0.401909503794,0.00449035373722,0.0799412320916,0.999999991169,9.2107575346e-05,-9.21152604732e-05,2.63211187759e-05,1793250853451363584
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746,723.815452552,689.184547448,669,642,887,786.184547448,820,655,632,655.184547448,0.402080803214,0.00449107760435,0.0799488827399,0.999999992988,8.68328176846e-05,-7.77560681543e-05,2.09196031453e-05,1793250853468030464
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746,723.242786861,689.757213139,669,642,887,786.757213139,820,655,632,655.757213139,0.402264542482,0.00449473682144,0.0799547897369,0.999999994129,8.33066641981e-05,-6.76387346251e-05,1.50355230632e-05,1793250853484697856
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,746,723.329737027,690,669,642,887,787,819.670262973,655,632,656,0.402462138791,0.00449902898126,0.0799573828161,0.999999994656,7.98906816128e-05,-6.50505321691e-05,8.61930835145e-06,1793250853501364992
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,746,723.902156609,690,669,642,887,787,819.097843391,655,632,656,0.402669933738,0.00450378697982,0.0799575368916,0.999999994756,7.65557831434e-05,-6.80036801362e-05,1.81144822994e-06,1793250853518031872
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,746,723.507953788,690,669,642,887,786.507953788,819.492046212,655,632,655.507953788,0.402898204701,0.00450589996431,0.0799523062909,0.999999994815,6.52155693152e-05,-7.79649325472e-05,-6.25697252764e-06,1793250853534698496
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.083495724,746,723.083495724,690,669,642,887,786,819.916504276,655.083495724,632,655,0.403139875015,0.00450794947521,0.0799469010599,0.999999994625,5.369990482e-05,-8.74787538759e-05,-1.45998105561e-05,1793250853551365120
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.66282,746,723.66282,690,669,642,887,786,819.33718,655.66282,632,655,0.403436046659,0.00451286038504,0.0799470513408,0.99999999476,5.09433643484e-05,-8.575544747e-05,-2.30289213712e-05,1793250853568031744
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.759344528,746,723.759344528,690.240655472,669.240655472,642,887,786.240655472,819.240655472,655.759344528,632,655.240655472,0.403749718443,0.00451817577137,0.0799492979233,0.999999994393,6.10148416459e-05,-8.21015423579e-05,-2.74041961103e-05,1793250853584698112
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.183582213,746,723.183582213,690.816417787,669.816417787,642,887,786.816417787,819.816417787,655.183582213,632,655.816417787,0.404087758726,0.00452405438099,0.079954463554,0.999999992833,8.89490191932e-05,-7.57593259619e-05,-2.61346030228e-05,1793250853601364480
+137,2.283333333,POSE1_TO_POSE2_PRESS,768,746,723,690.600465815,669.600465815,642,887.399534185,787,820,655,632,656,0.40444086694,0.00453363003922,0.0799543950814,0.99999998885,0.000127200349559,-7.45678706744e-05,-2.36680610476e-05,1793250853618031360
+138,2.300000000,POSE1_TO_POSE2_PRESS,768,746,723,690.013906935,669.013906935,642,887.986093065,787,820,655,632,656,0.404801028547,0.00454493631111,0.079951876489,0.999999982417,0.000170281208998,-7.57875220852e-05,-2.06412190899e-05,1793250853634698240
+139,2.316666667,POSE1_TO_POSE2_PRESS,768,746,723,690.566604873,669,642.566604873,887.433395127,786.433395127,820,655,632,656,0.405232319947,0.00454755423943,0.0799543887507,0.999999995238,6.73530489569e-05,-6.53458544441e-05,-2.67704043012e-05,1793250853651364608
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,746,723.145416403,691,669,642.854583597,887,786,820,655,632,656,0.405672019423,0.00455175972455,0.0799541212811,0.999999997637,-2.64182743914e-07,-6.13172012349e-05,-3.10889861566e-05,1793250853668031232
+141,2.350000000,POSE1_TO_POSE2_PRESS,768,746,723.719646982,691,669,642.280353018,887,786,820,655,632,656,0.406131419281,0.00456126891392,0.0799452964644,0.99999999551,4.6702223798e-05,-7.7034813179e-05,-2.94126348814e-05,1793250853684698624
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.301822292,746,724,691.301822292,669.301822292,642.301822292,887,786,820,655,632.301822292,656,0.406602225309,0.0045726072631,0.0799375336013,0.999999991506,8.78878200091e-05,-9.13815682477e-05,-3.0213270898e-05,1793250853701365504
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.891576777,746,724,691.891576777,669.891576777,642.891576777,887,786,820,655,632.891576777,656,0.40708391264,0.00458569059385,0.0799307838191,0.999999986358,0.000123558648821,-0.000104420556233,-3.33769011356e-05,1793250853718031616
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,724,692,669.528132551,642.528132551,887,786,820,655,632.528132551,656,0.407596139008,0.00459308509243,0.0799250987075,0.999999984096,0.000128509248155,-0.00011873964943,-3.45620947824e-05,1793250853734698240
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.950066103,746,723.950066103,692,669,642,887.099867793,786.049933897,820,655,632.049933897,655.950066103,0.408120775293,0.00459953920938,0.0799197549998,0.999999982343,0.00012848447081,-0.00013252330116,-3.52680065131e-05,1793250853751364864
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.372975077,746,723.372975077,692,669,642,888.254049846,786.627024923,820,655,632.627024923,655.372975077,0.408703800988,0.00460959401393,0.0799154836728,0.999999978799,0.000148988702859,-0.000137610086582,-3.56189332896e-05,1793250853768030976
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.204145058,746.204145058,723.204145058,692.204145058,669,642.204145058,888.591709884,787,820,655.204145058,632.795854942,655.204145058,0.409323090208,0.00461890045344,0.0799232880391,0.99999997834,0.000163226228812,-0.000123849597716,-3.65888530225e-05,1793250853784697344
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.781318347,746.781318347,723.781318347,692.781318347,669,642.781318347,887.437363305,787,820,655.781318347,632.218681653,655.781318347,0.410008642659,0.00462683942706,0.0799531579631,0.99999998261,0.00016601278652,-7.56500410503e-05,-3.86898402395e-05,1793250853801363968
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746.635558257,723.635558257,693,669,643,887.364441743,787,820,655.635558257,632,656,0.410690225662,0.00462961611849,0.0799797504762,0.999999984992,0.000165764799475,-3.24229670664e-05,-3.85708986158e-05,1793250853818031104
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746.048805289,723.048805289,693,669,643,887.951194711,787,820,655.048805289,632,656,0.411369387257,0.00462924379255,0.0800043437517,0.999999985888,0.000163665725307,7.77086667053e-06,-3.70977895793e-05,1793250853834697984
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.466416931,746,723.533583069,693.533583069,669,643,888,787,820,655.533583069,632.533583069,656,0.412040007302,0.00460393699987,0.0799796679547,0.999999988187,0.000145129336227,-3.56219694764e-05,-3.59772330217e-05,1793250853851365376
+152,2.533333333,POSE1_TO_POSE2_PRESS,768,746,723.885664408,694,669.114335592,643,888,787,820,655.885664408,632.885664408,656,0.412721172998,0.00457774700449,0.079950473414,0.999999988759,0.000119901960778,-8.25836776048e-05,-3.58414247921e-05,1793250853868032256
+153,2.550000000,POSE1_TO_POSE2_PRESS,768,746,723.309915603,694,669.690084397,643,888,787,820,655.309915603,632.309915603,656,0.413448023914,0.00455712201858,0.0799210819094,0.999999990079,7.36906139483e-05,-0.000113344331893,-3.95505917024e-05,1793250853884697856
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.265403803,746,723.265403803,694.265403803,669.734596197,642.734596197,888.265403803,787,820,655.265403803,632,656,0.414215149877,0.00455432672972,0.0799146281809,0.999999990552,6.62829743985e-05,-0.000112883174015,-4.19462734884e-05,1793250853901363712
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.840222681,746,723.840222681,694.840222681,669.159777319,642.159777319,888.840222681,787,820,655.840222681,632,656,0.415029229696,0.00457231779076,0.0799349159408,0.999999990774,0.00010411376113,-7.60227704381e-05,-4.28106585969e-05,1793250853918030336
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.426692173,724,695,669,642,889,787,820.426692173,655.573307827,632,656,0.415819400445,0.00458609856659,0.0799478265581,0.999999991075,0.000108145139642,-6.59807911721e-05,-4.24309190556e-05,1793250853934696960
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,724,695,669,642,889.017198814,787,821.017198814,655,632.017198814,656,0.416601598679,0.00459798907798,0.0799573732357,0.999999991917,0.000100151532628,-6.63370270672e-05,-4.16448016828e-05,1793250853951363840
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,724,695,669,642,889.593153525,787,821.593153525,655,632.593153525,656,0.41742381364,0.00460112592265,0.0799498967455,0.999999988965,0.000124212968934,-6.90975675936e-05,-4.32163117212e-05,1793250853968031232
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,723.83101159,695,669,642,890,787,822,655,632.83101159,656,0.418273037896,0.00460362132467,0.0799528433724,0.999999988014,0.000137971750313,-5.36994369529e-05,-4.53016986294e-05,1793250853984698368
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,723.255465022,695,669,642,890,787,822,655,632.255465022,656,0.419187242,0.00460457352164,0.0799808662948,0.999999990746,0.000126944046756,5.38545266326e-06,-4.86233881269e-05,1793250854001364480
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.672274029,723,695,669,642,890.327725971,787.327725971,822.327725971,655,632,656,0.420072992294,0.00459839744449,0.0799846097483,0.999999991661,0.000118344729277,1.55207551277e-05,-4.93207926005e-05,1793250854018030592
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.082981859,723,695,669,642,890.917018141,787.917018141,822.917018141,655,632,656,0.420936032857,0.0045865321155,0.079968975156,0.999999992525,0.000111683567464,-1.34118208106e-05,-4.7923690231e-05,1793250854034696960
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746.49779596,723,695.49779596,669,642.49779596,891,787.50220404,823,655,632,656,0.421838312119,0.00458630020325,0.0799694506633,0.999999992921,0.000107292717491,-1.48918035227e-05,-4.92444192261e-05,1793250854051363328
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746.923127058,723,696,669,643,891.076872942,787,823.076872942,655,632,656,0.422749387668,0.00458920715758,0.0799756921406,0.99999999308,0.00010593840379,-7.67719756055e-06,-5.05715946536e-05,1793250854068029952
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746.34603743,723,696,669,643,891.65396257,787,823.65396257,655,632,656,0.423675853623,0.00460013213868,0.0800022720837,0.999999991005,0.000121921776218,2.68360691304e-05,-4.90422147889e-05,1793250854084696832
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.229814095,723,696,669,643,892,787,824,655,632,655.770185905,0.424572892715,0.00460848538467,0.0799985434958,0.999999989713,0.000135121497452,7.97363312235e-06,-4.74661183911e-05,1793250854101363712
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746.80381145,723,696,669,643,892,787,824,655,632,655.19618855,0.425425860525,0.0046129870488,0.0799494230525,0.999999984436,0.000144152258751,-9.08274258051e-05,-4.58200560588e-05,1793250854118030592
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.612840256,747,723,696,669,642.612840256,892,786.612840256,824,655,632,655.387159744,0.426344954,0.00461411759847,0.0799202812321,0.999999981111,0.000142374869621,-0.000123047029858,-4.86518554416e-05,1793250854134697728
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.024636244,747,723,696,669,642.024636244,892,786.024636244,824,655,632,655.975363756,0.427298385154,0.00461349759592,0.0799015139117,0.999999982159,0.000134985025277,-0.000120692217827,-5.38089186154e-05,1793250854151364864
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746.444552962,723,696,669,642,892,786,824,655,632,656,0.428227730913,0.00460504632186,0.079906209942,0.999999983071,0.00012465128038,-0.000125000636147,-5.19106291042e-05,1793250854168030976
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,746.134403309,723,696,669,642.134403309,892.134403309,786,824.134403309,655,632,656,0.429165153307,0.00459867275786,0.0799195389131,0.99999998515,0.000117809383505,-0.000115331137836,-5.01936240273e-05,1793250854184697344
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,746.710820614,723,696,669,642.710820614,892.710820614,786,824.710820614,655,632,656,0.430132600042,0.0046002580537,0.0799578859362,0.999999989472,0.000122874406277,-5.87343319137e-05,-5.00871272405e-05,1793250854201363712
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,893.286536078,786.286536078,825,655,632,656,0.431102896823,0.00460468066971,0.0799973388929,0.999999990864,0.000125544776468,1.0436439505e-06,-5.00991418391e-05,1793250854218030080
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,893.861544923,786.861544923,825,655,632,656,0.432076062853,0.00461195978313,0.0800379052558,0.999999988776,0.000125804308328,6.40242876847e-05,-5.02304688174e-05,1793250854234696704
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.447131055,747,723,696,669,643,893.552868945,786.552868945,825,655,632,656,0.432947977895,0.00461850140931,0.0800004241445,0.999999989586,0.000135142542132,1.70682526194e-06,-5.06161755857e-05,1793250854251363584
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.964487842,747,723,696,669,643,893.035512158,786.035512158,825.035512158,655,632,656,0.433791437189,0.00462448530933,0.0799399702684,0.999999983361,0.000146189688417,-9.63569976555e-05,-5.12107940951e-05,1793250854268030464
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.384685381,747,723,696,669,643,893.615314619,786.615314619,825.615314619,655,632,656,0.43469093785,0.00462550592194,0.0799068037899,0.999999979978,0.000139297645345,-0.000133227819083,-5.37708444195e-05,1793250854284697088
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.193958983,747,723,696.193958983,669,643,894,787,826,655,632.193958983,656,0.435590623753,0.00462376164226,0.0798966904319,0.999999979716,0.000131462715647,-0.000142021935255,-5.58234978894e-05,1793250854301363968
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.77032019,747,723,696.77032019,669,643,894,787,826,655,632.77032019,656,0.436490675034,0.00461656620528,0.0799320277318,0.999999986412,0.000121768825084,-9.54610837154e-05,-5.68757873332e-05,1793250854318030336
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,696.646099658,669,643,894.353900342,787,826,655,632.646099658,656,0.437397991962,0.00460940153619,0.079965436367,0.999999990691,0.000114717288448,-4.89590945064e-05,-5.53273908121e-05,1793250854334696960
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723,696.05773692,669,643,894.94226308,787,826,655,632.05773692,656,0.438310122398,0.00460225725156,0.0799975672411,0.999999992656,0.000109416337317,-2.49610494358e-06,-5.20560146132e-05,1793250854351363584
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,696,669,643,895,786.478320701,826.521679299,655,632,656,0.439139386089,0.0046132451106,0.0799875041988,0.999999991106,0.000120185047286,-2.28755623675e-05,-5.31132076833e-05,1793250854368030208
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.900300762,747,723,696,669,642.900300762,895,786,827,655,632,656,0.439935810151,0.00462650932199,0.0799578608907,0.999999986917,0.000133882892481,-7.2606924001e-05,-5.44921322812e-05,1793250854384697088
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.324300801,747,723,696,669,642.324300801,895,786,827,655,632,656,0.440618422898,0.00464122303671,0.0798566086219,0.99999996079,0.000153220952493,-0.000227817187399,-5.51580031819e-05,1793250854401363968
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.250516695,747,723,696,668.749483305,642,895,786,826.749483305,655,632.250516695,656,0.441300412261,0.00465291638253,0.079764424309,0.999999917439,0.000166979108812,-0.000366205241272,-5.59879881507e-05,1793250854418030848
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.823810606,747,723,696,668.176189394,642,895,786,826.176189394,655,632.823810606,656,0.441981598374,0.00466071814523,0.0796839235746,0.999999866709,0.000173547861702,-0.000482918778861,-5.70294259852e-05,1793250854434697984
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.590340113,747,723,696,667.590340113,642,895,785.590340113,826.409659887,655,632.590340113,656,0.442759216504,0.00466838855722,0.0796996275836,0.999999877829,0.000183708285761,-0.000455369328543,-5.68452727755e-05,1793250854451364864
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,723,696,666.998942582,641.998942582,895.001057418,785.001057418,827,655,632,656,0.443579461988,0.00467600427281,0.0797579800959,0.999999913116,0.00019546818275,-0.000363884369776,-5.61166752975e-05,1793250854468030976
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,723,696,666.419808276,641.419808276,895.580191724,785.580191724,827,655,632,656,0.444313235036,0.00468557783449,0.0797965853577,0.999999927769,0.000210454203591,-0.000311679982845,-5.50232041277e-05,1793250854484697344
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.159806632,747,723,696,666,641,896,785.840193368,827,655,632,656,0.4450179331,0.0046945134691,0.0798204735558,0.999999934491,0.000221437807337,-0.000281162453434,-5.41404005832e-05,1793250854501363968
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.740688007,747,723,696,666,641,896,785.259311993,827,655,632,656,0.445646021605,0.00470176823076,0.0798055837483,0.999999926571,0.000221875440643,-0.00030778764917,-5.38126855977e-05,1793250854518030592
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,696.322893218,665.677106782,641,896.322893218,785,827,655,632,656.322893218,0.446269136137,0.00471041482508,0.079782169263,0.999999913799,0.000234500707626,-0.000338354492888,-5.41080438702e-05,1793250854534697216
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,723,696.906165929,665.093834071,641,896.906165929,785,827,655,632,656.906165929,0.446888239644,0.00472018378593,0.0797518805206,0.999999896251,0.000256954021856,-0.000372099860139,-5.49058453072e-05,1793250854551364096
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.514221208,747,723,696.514221208,664.514221208,640.514221208,896.514221208,785,827,655,632,656.514221208,0.447473827886,0.00473063136937,0.0797243786566,0.999999880468,0.000266357056393,-0.000405921405227,-5.78460562321e-05,1793250854568030976
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.06443793,747,723,696,663.93556207,640,896.06443793,784.93556207,827,655.06443793,632,656,0.448043644611,0.00474316895051,0.0796970307623,0.99999986271,0.000274609090038,-0.000442047898366,-6.13473680145e-05,1793250854584698112
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.641093402,747,723,696,663.358906598,640,896.641093402,784.358906598,827,655.641093402,632,656,0.448539169574,0.00477128574046,0.0796666596668,0.999999831522,0.000293599989081,-0.000496380349866,-6.60439162728e-05,1793250854601364224
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.784221115,747,723,696,662.784221115,639.784221115,897.215778885,784,827,655.784221115,632,656.215778885,0.449034433893,0.00479070275859,0.0796445316586,0.999999807384,0.000311132407487,-0.000532634808347,-6.87722332162e-05,1793250854618030592
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.212782742,747,723,696,662.212782742,639.212782742,897.787217258,784,827,655.212782742,632,656.787217258,0.449529268555,0.00479578029683,0.079635990396,0.999999799137,0.000326260871456,-0.000539092049088,-6.82563950201e-05,1793250854634696960
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.372244934,747,723,696,661.627755066,639,897.627755066,784,827.372244934,655,631.627755066,657,0.450020655603,0.00479456673795,0.0796505228782,0.999999810368,0.00032863971945,-0.000516375818474,-6.7947271321e-05,1793250854651363328
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.965334912,747,723,696,661.034665088,639,897.034665088,784,827.965334912,655,631.034665088,657,0.450509997303,0.00478962080475,0.0796787445241,0.999999831937,0.000323454491082,-0.00047635158453,-6.77607868275e-05,1793250854668029952
+201,3.350000000,POSE1_TO_POSE2_PRESS,768.459225059,747,723,696,660.459225059,639,897,784.540774941,828,655,631.540774941,656.459225059,0.45096008515,0.00479754312187,0.0796943302181,0.999999836597,0.000337781527317,-0.000456114829098,-6.83275113325e-05,1793250854684697088
+202,3.366666667,POSE1_TO_POSE2_PRESS,768.116506062,747,723,696,659.883493938,639,897,784.883493938,827.883493938,655,632,656.116506062,0.451386146212,0.00480467425855,0.0797011255073,0.999999834639,0.000351724255669,-0.000449798669986,-6.85114624352e-05,1793250854701363968
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+205,3.416666667,POSE1_TO_POSE2_PRESS,768.151797794,747,723,696,658.151797794,638.151797794,897,784,827,655,632,656.151797794,0.452334440085,0.0048126619088,0.0796078975031,0.99999974741,0.000372963303625,-0.00060127730147,-6.74122589069e-05,1793250854751363584
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+207,3.450000000,POSE1_TO_POSE2_PRESS,768.975752932,747,722.024247068,696,657,638,897,783.975752932,828,655.975752932,632,656,0.452903199779,0.00481897423322,0.079577158787,0.999999727399,0.000365298980052,-0.000637645362014,-7.18785028294e-05,1793250854784696832
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.395621544,747,722.604378456,696,657,638,897,783.395621544,828,655.395621544,632,656,0.453171499863,0.00481481080334,0.0795737971033,0.999999741706,0.000307087705951,-0.000645687312025,-7.32939137171e-05,1793250854801363456
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+214,3.566666667,POSE1_TO_POSE2_PRESS,769,747,722.088545932,696,655,637.911454068,897.088545932,783.911454068,828,655,631.911454068,656.088545932,0.454312544887,0.00477534439492,0.0795388136265,0.999999703648,0.000300366991297,-0.000706211793649,-6.12245719155e-05,1793250854901363200
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768.013358513,747,722.986641487,696.013358513,652.986641487,637,898,783,828,655,631.013358513,656,0.455120174746,0.00482727797895,0.0795214436808,0.999999669969,0.000349452915094,-0.000729748382821,-7.3560500685e-05,1793250855301365248
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+241,4.016666667,POSE1_TO_POSE2_PRESS,769,747,722.746348174,696.253651826,652,637,898,783,828,655,632,656,0.45512270787,0.00482447028906,0.0795218159806,0.999999670884,0.000347386136284,-0.000729598640278,-7.238929742e-05,1793250855351364096
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.67904274,747,723,696,652,637,898,783,828.32095726,655,631.67904274,656.32095726,0.455122686769,0.00482650061642,0.0795215614119,0.999999669862,0.000349257786262,-0.000730065397109,-7.28015434558e-05,1793250855368030208
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+247,4.116666667,HOLD_POSE2,769,747,723,696,652,637,898,783,828,655,631,656,0.455121141435,0.00482309640823,0.0795188504527,0.999999668098,0.000346107405362,-0.00073407508863,-7.17426392376e-05,1793250855473760256
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+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.932759541,747.067240459,723,696,651,637,898,783,828,655.932759541,632,657,0.455124894934,0.00482436266735,0.079518879704,0.999999668771,0.000345513736265,-0.000733485105242,-7.12651843487e-05,1793250855877714432
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.358659208,747.641340792,723,696,651,637,898,783,828,655.358659208,632,657,0.455124601134,0.00482575366512,0.0795188339636,0.999999668766,0.000345053303123,-0.000733711364628,-7.12295254189e-05,1793250855894381056
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.222843439,747.777156561,723,696,651,637,897.777156561,783,828,655.222843439,632,657,0.455123011547,0.00482662815924,0.07951795461,0.999999667854,0.000345088579766,-0.000734920086705,-7.13972379643e-05,1793250855911047680
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.816669153,747.183330847,723,696,651,637,897.183330847,783,828,655.816669153,632,657,0.455119264777,0.00482664279527,0.079515687485,0.999999665426,0.00034594909746,-0.000737764379657,-7.19035165164e-05,1793250855927714048
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.60147666,747,723,696,651.39852334,636.60147666,897,783,828,655.60147666,632,656.60147666,0.455104266696,0.00482614230409,0.0795089662869,0.999999657784,0.000344997822595,-0.000748487705516,-7.19278777186e-05,1793250855944380416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.024969018,747,723,696,651.975030982,636.024969018,897,783,828,655.024969018,632,656.024969018,0.455084243672,0.00482541175222,0.0795002558573,0.999999647642,0.000343237384015,-0.000762729882274,-7.17370100961e-05,1793250855961047040
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.548951254,747,722.451048746,696,652,636.548951254,897,783,828,655,632,656,0.455041267443,0.00482538940248,0.0794845394837,0.999999625774,0.000344864339693,-0.000790219408723,-7.12273099781e-05,1793250855977713664
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.873727588,747,722.126272412,696,651.873727588,637,897,783,828,655,631.873727588,656.126272412,0.454993590885,0.0048252450783,0.0794691718523,0.999999603879,0.000346313616151,-0.000816902383161,-7.05659941203e-05,1793250855994380288
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.283479648,747,722.716520352,696,651.283479648,637,897,783,828,655,631.283479648,656.716520352,0.454932461595,0.00482453476458,0.0794562510451,0.999999586072,0.000346546549913,-0.000838418128938,-6.94006176709e-05,1793250856011047424
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.300798288,747,723,696,651.300798288,637,897.300798288,783.300798288,828,655.300798288,631.300798288,656.699201712,0.454863578761,0.00482429816571,0.0794481620025,0.999999575349,0.000347533942048,-0.000850820754301,-6.80186078306e-05,1793250856027714560
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.879559402,747,723,696,651.879559402,637,897.879559402,783.879559402,828,655.879559402,631.879559402,656.120440598,0.454787531008,0.00482449931909,0.0794445379161,0.999999571473,0.00034921851704,-0.000854802091613,-6.64364106725e-05,1793250856044381440
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,652,637,897.543116284,783.543116284,828,656,631.543116284,656.456883716,0.454698142257,0.00482314138505,0.0794446911559,0.9999995701,0.000350891325693,-0.000855910013245,-6.39715452514e-05,1793250856061047552
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,652,637,897,783,828,656,631,656.966481642,0.454603813512,0.00482154101649,0.0794458678477,0.999999569416,0.000352713014989,-0.00085615915358,-6.12637588666e-05,1793250856077713920
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,652,637,897,783,828,656,631,656.39485735,0.454486460731,0.0048226260616,0.0794475393303,0.999999569287,0.000356974484127,-0.000854743720381,-5.83799011689e-05,1793250856094380544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.816599307,747,723,696.183400693,652,637,897,783,828,656,631.183400693,656,0.454360272317,0.00482235568035,0.0794478194597,0.999999568039,0.000359537345549,-0.000855337121042,-5.52492363389e-05,1793250856111047168
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.223523048,747,723,696.776476952,652,637,897,783,828,656,631.776476952,656,0.45421434712,0.0048190575838,0.0794449916213,0.999999564319,0.000358305901878,-0.00086041780132,-5.15672607195e-05,1793250856127713792
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.36142294,747,723,696.63857706,652,637,897,783.36142294,828,656,632,656,0.454040856734,0.0048172462856,0.0794398647847,0.999999557068,0.000360162206391,-0.000868271235922,-4.7450066715e-05,1793250856144380416
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.941451416,747,723,696.058548584,652,637,897,783.941451416,828,656,632,656,0.453850693617,0.00481633427242,0.079433347406,0.999999547598,0.000363886125597,-0.00087780176273,-4.30696318718e-05,1793250856161047040
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.483765914,747,722.483765914,696,652.516234086,637,897,783.483765914,828,655.483765914,631.483765914,656.516234086,0.453644833283,0.00481371227567,0.0794326234005,0.999999545469,0.000368018006362,-0.000878762590455,-3.74376652161e-05,1793250856177713408
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.092471459,747.092471459,722.092471459,696.092471459,653,637,896.907528541,783.092471459,828,655.092471459,631,657,0.453433157773,0.00481098220845,0.0794337012668,0.999999545253,0.00037270617921,-0.00087726275819,-3.15200073238e-05,1793250856194380032
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.679642176,747.679642176,722.679642176,696.679642176,653,637,896.320357824,783.679642176,828,655.679642176,631,657,0.453199800782,0.00480870107014,0.0794409389817,0.999999550952,0.000380125340687,-0.000867746290194,-2.48256871499e-05,1793250856211046656
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747.736858856,723,696.736858856,653.263141144,637,896.263141144,784,828,656,631,656.736858856,0.452944062285,0.00480633890557,0.0794471698801,0.999999556788,0.000385700068418,-0.000858683067177,-1.79454726883e-05,1793250856227713792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747.157768532,723,696.157768532,653.842231468,637,896.842231468,784,828,656,631,656.157768532,0.452661450701,0.00480387945426,0.0794521919102,0.999999562868,0.000389060214916,-0.000850164048482,-1.08420584615e-05,1793250856244380416
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.001046637,747,723,696,654,637,897,784,828,656,631.998953363,656,0.45201643695,0.00479912494514,0.0794648657237,0.99999956978,0.000409150662156,-0.000832471378552,5.16874514763e-06,1793250856277713408
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,746.428074341,723,696,654.571925659,637,897,784,828,656,632,656,0.451665859434,0.00479293932051,0.0794777566381,0.999999583843,0.000408385527318,-0.000815713173261,1.2122431524e-05,1793250856294380032
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,746.149170936,723,696,655.149170936,637,896.850829064,784,827.850829064,655.850829064,631.850829064,656,0.45131076773,0.00478754281067,0.0794920064967,0.999999602656,0.000402711769904,-0.000795126287987,1.68860673071e-05,1793250856311046912
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,746.739068928,723,696,655.739068928,637,896.260931072,784,827.260931072,655.260931072,631.260931072,656,0.450942455557,0.00478449822214,0.0795102373658,0.999999635403,0.000382599000674,-0.000763269642111,1.51855714994e-05,1793250856327713536
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.324176795,747,723,696,656,637,896,783.675823205,827,655,631.324176795,656,0.450538065865,0.00477989696988,0.0795268200407,0.99999966879,0.000353776357628,-0.00073289829602,1.10876786547e-05,1793250856344380416
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.905485277,747,723,696,656,637,896,783.094514723,827,655,631.905485277,656,0.450105060042,0.00477406099728,0.079542095397,0.99999970181,0.000318045183859,-0.000703705061164,5.08820982908e-06,1793250856361047040
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.518987577,746.518987577,723,696,656.962024845,637,896,783.481012423,827,655,632,656,0.4496235975,0.0047685341476,0.0795558726306,0.999999721337,0.000308806129555,-0.000679614246638,9.48153199017e-06,1793250856377713664
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.055616273,746.055616273,723,696,658.055616273,637.055616273,895.944383727,784,827,655.055616273,632,656,0.449125812469,0.00476312555521,0.0795660823822,0.999999734179,0.000303981394156,-0.000662568419925,1.54925722622e-05,1793250856394380288
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.632085968,746.632085968,723,696,658.632085968,637.632085968,895.367914032,784,827,655.632085968,632,656,0.448563274337,0.00475826237231,0.0795456062755,0.999999710557,0.000292326405384,-0.000702221994804,1.77564274847e-05,1793250856411047168
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.786459632,747,723,696,659.213540368,638.213540368,895,784,827,656,632,656,0.447996836315,0.0047522381372,0.0795262937741,0.999999680702,0.000313264799094,-0.000734920554981,1.87981749885e-05,1793250856427713792
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.196211727,747,723,696,659.803788273,638.803788273,895,784,827,656,632,656,0.447423518513,0.00474416568488,0.0795090339955,0.999999637852,0.000391701327688,-0.000755349738091,1.76839965123e-05,1793250856444380672
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,723,696.385596086,660.771192172,639,895,784.771192172,827,656,632,656,0.446847725288,0.00473493786115,0.0795219591609,0.999999653215,0.000395743197141,-0.000732532101219,1.88058591026e-05,1793250856461047296
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,723,696.963201108,661.926402216,639,895,785.926402216,827,656,632,656,0.446270699436,0.00472513471637,0.0795499150266,0.999999697193,0.000362739980214,-0.00068817955638,2.10411662829e-05,1793250856477713920
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,696.461029798,661.461029798,639,895,785.461029798,827,655.461029798,632,656,0.445637123038,0.00471454749223,0.079595011822,0.999999750639,0.000326185964505,-0.000625918333307,2.3482594561e-05,1793250856494380288
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,661.233793814,639,895,785,827,655.116896907,632,656,0.444994564324,0.0047042430998,0.0796368824246,0.99999979478,0.000292548230299,-0.000569375346943,2.58429273541e-05,1793250856511046912
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,662.408009655,639,895,785,827,655.704004827,632,656,0.444331353101,0.00469529099079,0.0796610842821,0.999999816529,0.000271612955965,-0.000540735359607,2.78206416541e-05,1793250856527713536
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,663.287030459,639.287030459,895,785,826.712969541,656,632,656,0.443635349002,0.00468609839003,0.0796713639748,0.999999824401,0.000265015530184,-0.000529245654397,2.93948078081e-05,1793250856544380160
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,663.865905404,639.865905404,895,785,826.134094596,656,632,656,0.44290600195,0.00467666126295,0.0796674880054,0.999999819053,0.000272996422725,-0.000535193870067,3.05586578364e-05,1793250856561046784
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.595285138,665.595285138,641,892.404714862,786.595285138,826.595285138,655.404714862,632,656,0.440594294591,0.00464541223538,0.0796839897052,0.999999856649,0.000218506455137,-0.000487749753437,3.25180275681e-05,1793250856611046912
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.174539804,747,723,696,666.174539804,641,892,786.825460196,826.825460196,655,632,655.825460196,0.439763311579,0.00463450535665,0.0796703276012,0.999999850031,0.000207670585062,-0.000505599634034,3.4345897528e-05,1793250856627713792
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.766880905,747,723,696,666.766880905,641,892,786.233119095,826.233119095,655,632,655.233119095,0.438939853216,0.0046232136045,0.07965338062,0.999999836581,0.000219292757604,-0.000526854145109,3.4256566429e-05,1793250856644380160
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746.408737162,723,696,668,641.591262838,891,787.591262838,824.182525676,655,632,655,0.43191216356,0.00453838717466,0.0797375761779,0.999999898839,0.000137014638039,-0.000425732390081,4.7963148244e-05,1793250856777713920
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746.987188132,723,696,668,641.012811868,891,787.012811868,823.025623736,655,632,655,0.430905513399,0.00452562272911,0.0796831003294,0.999999850145,0.000123925783238,-0.000530971216258,4.92094983787e-05,1793250856794381568
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,668,641.561421874,890.438578126,787,823.561421874,655,632,655.561421874,0.43006181014,0.0045127506384,0.0797413591572,0.999999904287,0.000108199234827,-0.00042107289265,4.91637466965e-05,1793250856811047936
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,668,642,890,787,823.861050765,655,632,656,0.429210912569,0.0045006884955,0.0798003689995,0.999999944699,9.52245700682e-05,-0.000314774552425,4.95144015805e-05,1793250856827714560
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,668,642,890,787,823.272558538,655,632,656,0.428324798439,0.00449125466885,0.0798535473513,0.999999966693,9.13463809456e-05,-0.000235888619343,5.12422396006e-05,1793250856844380928
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746.687885722,723,696,668,642,890,787,822.687885722,655,632,655.687885722,0.427384728603,0.00447985594807,0.0798524397552,0.999999966663,8.15312946262e-05,-0.000239408229223,5.20542396323e-05,1793250856861047296
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746.106507971,723,696,668,642,890,787,822.106507971,655,632,655.106507971,0.426398110797,0.00446676209795,0.0798044992372,0.999999947122,6.6594400032e-05,-0.000314019760719,5.20761388258e-05,1793250856877713664
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,723,696,668,642,890,787,821.530533758,655,631.530533758,655.469466242,0.425441169895,0.0044544172495,0.079772254246,0.999999931478,5.34929414589e-05,-0.000362621671399,5.18367468222e-05,1793250856894380544
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,723,696,668,642,890,787,821,655,631.044287642,655.955712358,0.424489878125,0.00444388305193,0.0797442660425,0.999999915898,4.2433405734e-05,-0.000404633261391,5.17281253483e-05,1793250856911047680
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,723,696,668,642,890,787,821,655,631.619817927,655.380182073,0.423526507152,0.00445305300936,0.0797251118694,0.999999901518,5.09292476021e-05,-0.000437568540013,5.38911133915e-05,1793250856927714304
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.20072773,746.20072773,723,696,668,642,889.79927227,787,821,655,632,655.20072773,0.422609243566,0.0044683345274,0.0797305473348,0.99999990568,6.96187341395e-05,-0.00042523242959,5.44952587861e-05,1793250856944380928
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.792107129,746.792107129,723,696,668,642,889.207892871,787,821,655,632,655.792107129,0.421781712943,0.00449551022508,0.0797838385827,0.999999940052,0.000108146857469,-0.00032479019134,5.20656207054e-05,1793250856961047296
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746.626028529,723,695.626028529,668,642,889,787,821,655.373971471,632,656,0.420949537118,0.00450499571921,0.0798323529001,0.999999962195,0.000119117479116,-0.000242391471519,5.165501616e-05,1793250856977713664
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746.049322455,723,695.049322455,668,642,889,787,821,655.950677545,632,656,0.42011484312,0.00450489113145,0.0798782775807,0.999999977589,0.00011514883266,-0.000169774374534,5.23389550448e-05,1793250856994380288
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746.525933377,723,694.474066623,668,642,888.474066623,787,820.474066623,655.474066623,632,655.474066623,0.419210715973,0.00449017611861,0.0798425986347,0.99999996642,0.000100029538609,-0.000233277581263,5.23119930735e-05,1793250857011046912
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.896563358,746.896563358,723,694.103436642,668,642,888,787,820,655,632,655,0.418307623288,0.00447555541825,0.0798048475815,0.999999950048,8.4547124776e-05,-0.000300058548345,5.21590910201e-05,1793250857027713792
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.307880585,746.307880585,723,694.692119415,668,642,888,787,820,655,632,655,0.417439846535,0.00446778731642,0.0797931784276,0.99999994405,7.22534496984e-05,-0.000322495066114,5.17272745564e-05,1793250857044381184
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,746,723,694.723789621,668.276210379,642,888,787,820,655,632,655.276210379,0.416586965016,0.00446811118688,0.0797880618398,0.999999938951,7.14108734678e-05,-0.000338102750721,5.18189550149e-05,1793250857061047808
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,746,723,694.144733305,668.855266695,642,888,787,820,655,632,655.855266695,0.415750415168,0.00447730735637,0.0797901296971,0.999999935233,8.31236509466e-05,-0.000346223081788,5.24846143758e-05,1793250857077714432
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,723.432466789,694,668.567533211,642,888,787,820,655,632,655.567533211,0.414955322337,0.00448810905027,0.0797808485681,0.9999999288,0.000102290618905,-0.000359390326738,5.26853542562e-05,1793250857094380800
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.00900891,746,723.99099109,693.99099109,668.00900891,642,887.99099109,786.99099109,820,655.00900891,632,655.00900891,0.414175266402,0.00449916875727,0.0797682926796,0.999999921308,0.000123274725284,-0.000373375366263,5.27038542805e-05,1793250857111047168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.583076392,746,723.416923608,693.416923608,668.583076392,642,887.416923608,786.416923608,820,655.583076392,632,655.583076392,0.413471848856,0.00449285373164,0.0797875472767,0.999999937953,0.000102430078977,-0.000333166282929,5.10093739819e-05,1793250857127713792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.83843544,746.16156456,723,693,668.83843544,642,887,786.16156456,820,655.83843544,632,656,0.412757367978,0.004485272268,0.0798004829201,0.999999947784,8.3899839871e-05,-0.000308000863066,5.02872971011e-05,1793250857144380416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.248218477,746.751781523,723,693,668.248218477,642,887,786.751781523,820,655.248218477,632,656,0.412013534442,0.00447433077345,0.0797966535374,0.999999944,7.15100287478e-05,-0.000322748288692,5.21451365022e-05,1793250857161047040
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,747,723,692.664792079,668,642,887,786.664792079,820,655,632.335207921,656,0.411295057386,0.0044707364044,0.0797876808286,0.999999937236,7.58798285596e-05,-0.000341987740071,5.30587260365e-05,1793250857177713920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,747,723,692.086294227,668,642,887,786.086294227,820,655,632.913705773,656,0.410594983808,0.00447247449251,0.079774975155,0.999999927885,9.24135557978e-05,-0.0003644874494,5.32869900898e-05,1793250857194381056
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,746.510062245,723,692,668,642,887,786,820,655,632.510062245,655.510062245,0.409973952075,0.00448424457079,0.0797899606455,0.999999936234,0.000102680000538,-0.000337863759339,5.32634254195e-05,1793250857211047936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.065538366,746,723,692,668.065538366,642,887,786,820,655,632,655.065538366,0.409370992631,0.00449615642795,0.0798099704388,0.999999946498,0.000111604141376,-0.000302823772077,5.33442318616e-05,1793250857227714816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.639323454,746,723,692,668.639323454,642,887,786,820,655,632,655.639323454,0.408800716391,0.00449552813035,0.079831294128,0.99999995521,0.000118639874788,-0.000269304731816,5.45768214952e-05,1793250857244381440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,746,723,691.779130507,669,642,887,786,820,655.220869493,632,656,0.408216927938,0.00449284640959,0.0798342010191,0.999999955934,0.000117004243193,-0.000267153386431,5.54242535386e-05,1793250857261047808
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,746,723,691.184449467,669,642,887,786,820,655.815550533,632,656,0.407610270738,0.00448668936383,0.0798059383172,0.999999942793,0.000100692720957,-0.000318090437658,5.56198237777e-05,1793250857277713920
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.602987692,746,723,691,668.602987692,642,887,786.397012308,820,655.602987692,632,656,0.407057599327,0.0044833281983,0.0797817463365,0.999999929614,0.000100428045956,-0.000357398720945,5.43273424982e-05,1793250857294380800
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.027469549,746,723,691,668.027469549,642,887,786.972530451,820,655.027469549,632,656,0.406529201111,0.00448122412407,0.079759384643,0.999999916236,0.000107378399865,-0.000391478447953,5.23657991539e-05,1793250857311047680
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.546330259,746,723,691,668,642,887,786.453669741,820,655,632,656,0.406086643025,0.00448710584777,0.0797722462257,0.999999927195,0.000111156794581,-0.000361404516982,5.1395968451e-05,1793250857327714816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,746.123772931,723,691,668,642,887,786,820,655,632,655.876227069,0.405656843971,0.00449286170843,0.0797884552781,0.999999938412,0.000113921949916,-0.000328043200836,5.08538565881e-05,1793250857344381696
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,746.715308364,723,691,668,642,887,786,820,655,632,655.284691636,0.40525900363,0.0044966292174,0.0798106429973,0.999999948886,0.000113458714949,-0.000294410358366,5.17403261442e-05,1793250857361048064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.700319702,746.700319702,723,691,668,642,887,786,820,655,632,655.299680298,0.404863254052,0.0044978345794,0.0798250160201,0.999999953426,0.000120119716219,-0.00027563069931,5.24119667366e-05,1793250857377714176
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.122594143,746.122594143,723,691,668,642,887,786,820,655,632,655.877405857,0.404469444321,0.00449666276514,0.0798321385173,0.999999953084,0.000133390628664,-0.000270631919215,5.28842876477e-05,1793250857394380544
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.454514404,746,723,690.545485596,668,642,886.545485596,786,820,655,632,656,0.404104473956,0.00449713441176,0.0798312639054,0.999999950174,0.000135790322062,-0.000279741966646,5.43835457748e-05,1793250857411047168
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.968606258,746,723,690,668,642,886.031393742,786,820,655,632,656,0.403750093038,0.00449794787575,0.0798284202043,0.999999946716,0.000134733834803,-0.000292026133885,5.59950616522e-05,1793250857427713792
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.392819417,746,723,690,668,642,886.607180583,786,820,655,632,656,0.403444635291,0.00449701225768,0.0798287847476,0.999999947691,0.000124522950381,-0.000293450926532,5.47564774131e-05,1793250857444380416
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.188176292,746,723,689.811823708,668.188176292,642,886.811823708,786.188176292,820,655.188176292,632,656,0.403155327689,0.00449539045917,0.0798303627193,0.999999949285,0.000113265734232,-0.000292834583324,5.33804236492e-05,1793250857461047296
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.780355034,746,723,689.219644966,668.780355034,642,886.219644966,786.780355034,820,655.780355034,632,656,0.402900693452,0.00449229547529,0.0798345458442,0.999999952262,9.97621121788e-05,-0.000287836051953,5.17092317797e-05,1793250857477714688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.638555267,746.361444733,723,689.361444733,669,642.361444733,886.361444733,786.638555267,820,656,632,656,0.40266245868,0.0044901020686,0.0798354507579,0.999999952911,9.44006774576e-05,-0.000287276128179,5.23418514817e-05,1793250857494381312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.064003585,746.935996415,723,689.935996415,669,642.935996415,886.935996415,786.064003585,820,656,632,656,0.402433892969,0.00448844022937,0.0798344228466,0.999999952264,9.38398555943e-05,-0.000289333196351,5.43327928099e-05,1793250857511047936
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,746.486534199,723,689.486534199,669,642.486534199,886.486534199,786,820,655.486534199,632,656,0.402243089237,0.00448723590398,0.0798330479911,0.999999952678,8.91860434614e-05,-0.000289192750979,5.52988916006e-05,1793250857527714304
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.092944293,786,820,655,632,656,0.402063548691,0.00448656820861,0.0798327676004,0.99999995356,8.54411506146e-05,-0.000287114345885,5.6079922349e-05,1793250857544380672
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.681180187,786,820,655,632,656,0.40191880184,0.00448845452497,0.0798385512856,0.999999956279,8.92741058939e-05,-0.000276176769738,5.65593840002e-05,1793250857561047040
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.265237427,669,642,887,786,820,655,632,656,0.401779442197,0.00448785052976,0.0798417396888,0.99999995469,0.000117974103677,-0.000270701895875,5.85037762997e-05,1793250857577713664
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,746,723,689.844349723,669,642,887,786,820,655,632,656,0.401646457639,0.0044842995664,0.0798418569041,0.999999945653,0.000176101093345,-0.000271691437667,6.21817281448e-05,1793250857594380544
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,746,723,689.579142814,668.579142814,642,886.579142814,786,819.579142814,655.420857186,632,655.579142814,0.401528491268,0.00448183722763,0.07983870756,0.999999945708,0.000168114651309,-0.000277362877644,5.82372694964e-05,1793250857611047424
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.003592813,668.003592813,642,886.003592813,786,819.003592813,655.996407187,632,655.003592813,0.401416045076,0.00447977503037,0.0798343575395,0.999999948907,0.000135827154734,-0.000284755224385,5.14910714077e-05,1793250857627714560
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.56925511,746,723,689,668.56925511,642,886.56925511,786,819.56925511,656,632,655.56925511,0.40133193914,0.00447811924466,0.0798315924491,0.999999948839,0.000125276960024,-0.000289950690613,5.0555256261e-05,1793250857644381184
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.853100466,746,723.146899534,689,669,642,886.853100466,786,820,655.853100466,632,655.853100466,0.401253885765,0.00447706193399,0.0798288719593,0.999999948555,0.000117127024881,-0.000294395343999,5.00229333772e-05,1793250857661047808
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.26086373,746,723.73913627,689,669,642,886.26086373,786,820,655.26086373,632,655.26086373,0.401193641517,0.0044778112072,0.0798262564982,0.999999948023,0.000115839715059,-0.000296605685444,5.06031801891e-05,1793250857677714176
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,746,723.675984483,689.324015517,668.675984483,642,886,786.324015517,820,655,632,655.324015517,0.401142481323,0.00447831926623,0.0798249287162,0.999999947735,0.000114942521856,-0.000297801839831,5.13117730401e-05,1793250857694380544
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,746,723.096897142,689.903102858,668.096897142,642,886,786.903102858,820,655,632,655.903102858,0.40109847228,0.00447863743646,0.0798246146221,0.999999947642,0.000114352436513,-0.000298199605094,5.21214026524e-05,1793250857711046912
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47cd401d09c31e1fb8883e108888f1b461d82846
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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+185,3.083333333,pose1_to_pose2_press,0.609867516645,0.0101501295171,1.07003358557,0.580438195447,0.0188227643821,1.06970497719
+186,3.100000000,pose1_to_pose2_press,0.610485765616,0.0101500700997,1.07003361653,0.58105644481,0.0188227063107,1.06970500876
+187,3.116666667,pose1_to_pose2_press,0.611112707198,0.0101501154654,1.07003355524,0.581683385671,0.0188227492972,1.0697049494
+188,3.133333333,pose1_to_pose2_press,0.611743474685,0.010150160729,1.0700334879,0.582314152616,0.0188227927569,1.06970488314
+189,3.150000000,pose1_to_pose2_press,0.612365168688,0.0101501332395,1.07003343915,0.582935847232,0.0188227673816,1.06970483535
+190,3.166666667,pose1_to_pose2_press,0.612960655738,0.0101501853904,1.07003340457,0.583531334121,0.0188228189402,1.06970479979
+191,3.183333333,pose1_to_pose2_press,0.613521985326,0.0101502295619,1.07003347665,0.58409266297,0.0188228606631,1.06970487374
+192,3.200000000,pose1_to_pose2_press,0.614058094733,0.0101502020657,1.07003350639,0.58462877317,0.018822835754,1.06970490115
+193,3.216666667,pose1_to_pose2_press,0.61457118917,0.0101500223309,1.07003360057,0.585141868569,0.0188226593373,1.06970499568
+194,3.233333333,pose1_to_pose2_press,0.615061816846,0.0101501485607,1.07003326792,0.585632494172,0.0188227789469,1.06970466767
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+196,3.266666667,pose1_to_pose2_press,0.615978559034,0.0101500901602,1.07003354267,0.586549238177,0.0188227269913,1.06970493425
+197,3.283333333,pose1_to_pose2_press,0.616410312068,0.0101500343495,1.07003358512,0.58698099152,0.0188226724065,1.06970497328
+198,3.300000000,pose1_to_pose2_press,0.616828331812,0.0101501013854,1.07003356096,0.587399009711,0.0188227346422,1.06970495338
+199,3.316666667,pose1_to_pose2_press,0.61723857016,0.0101501886661,1.07003349899,0.58780924653,0.0188228170443,1.06970489123
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+202,3.366666667,pose1_to_pose2_press,0.618351563376,0.010150187854,1.07003342735,0.588922238501,0.0188228130624,1.06970482182
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+205,3.416666667,pose1_to_pose2_press,0.619198068883,0.010150136446,1.07003371646,0.589768746007,0.0188227689918,1.06970510406
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+207,3.450000000,pose1_to_pose2_press,0.619676304473,0.0101501890117,1.07003341092,0.590246980621,0.018822819331,1.06970481137
+208,3.466666667,pose1_to_pose2_press,0.61989833292,0.0101500985608,1.07003352157,0.590469011009,0.0188227356905,1.06970492164
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+263,4.383333333,pose2_to_pose3_retreat,0.621546010227,0.01015019454,1.07003361254,0.592116685126,0.0188228227083,1.06970500595
+264,4.400000000,pose2_to_pose3_retreat,0.621545776362,0.0101500394317,1.07003333992,0.592116454363,0.0188226781489,1.06970473403
+265,4.416666667,pose2_to_pose3_retreat,0.621545570344,0.01015012786,1.07003329061,0.592116247372,0.0188227632003,1.06970468271
+266,4.433333333,pose2_to_pose3_retreat,0.621545314951,0.010150152488,1.07003327687,0.592115991714,0.0188227869516,1.06970466955
+267,4.450000000,pose2_to_pose3_retreat,0.621545175483,0.0101501367782,1.07003328563,0.592115852425,0.0188227718984,1.06970467967
+268,4.466666667,pose2_to_pose3_retreat,0.621544774343,0.0101500915933,1.07003331082,0.592115451799,0.018822728602,1.06970470878
+269,4.483333333,pose2_to_pose3_retreat,0.621544618853,0.0101500740786,1.07003332058,0.592115296508,0.0188227118194,1.06970472007
+270,4.500000000,pose2_to_pose3_retreat,0.621544536164,0.0101500647643,1.07003332577,0.592115213924,0.0188227028944,1.06970472607
+271,4.516666667,pose2_to_pose3_retreat,0.621544019786,0.0101500614504,1.07003333857,0.592114697584,0.0188226997304,1.06970473939
+272,4.533333333,pose2_to_pose3_retreat,0.621541414143,0.0101501295846,1.07003336324,0.592112091214,0.0188227652079,1.06970475892
+273,4.550000000,pose2_to_pose3_retreat,0.621535579834,0.0101500979199,1.07003342394,0.59210625753,0.0188227355949,1.06970481812
+274,4.566666667,pose2_to_pose3_retreat,0.621522965763,0.010150091971,1.07003353186,0.592093643029,0.0188227283,1.06970492869
+275,4.583333333,pose2_to_pose3_retreat,0.621502635302,0.0101502038509,1.0700336142,0.592073311564,0.0188228364967,1.0697050024
+276,4.600000000,pose2_to_pose3_retreat,0.621472599888,0.0101501521096,1.07003338074,0.592043277208,0.0188227884338,1.06970477567
+277,4.616666667,pose2_to_pose3_retreat,0.621433348874,0.0101502122525,1.07003352942,0.592004025568,0.0188228465242,1.06970492267
+278,4.633333333,pose2_to_pose3_retreat,0.621384590452,0.0101502116089,1.07003363206,0.591955266578,0.0188228436292,1.06970502176
+279,4.650000000,pose2_to_pose3_retreat,0.621327859038,0.0101501615461,1.07003357261,0.5918985357,0.0188227954912,1.0697049651
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+281,4.683333333,pose2_to_pose3_retreat,0.62118883494,0.0101502151932,1.07003353275,0.591759511109,0.0188228467255,1.06970492396
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+286,4.766666667,pose2_to_pose3_retreat,0.620630355816,0.0101501119946,1.07003353233,0.591201033266,0.0188227475055,1.06970492468
+287,4.783333333,pose2_to_pose3_retreat,0.620474158568,0.0101502413531,1.07003346464,0.591044834072,0.0188228703051,1.06970486388
+288,4.800000000,pose2_to_pose3_retreat,0.620303133208,0.010150207105,1.07003339936,0.59087380915,0.0188228375171,1.06970480237
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+290,4.833333333,pose2_to_pose3_retreat,0.61991737852,0.0101501752075,1.07003341791,0.590488054875,0.0188228061474,1.06970480911
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+296,4.933333333,pose2_to_pose3_retreat,0.618326029154,0.0101503111728,1.07003374343,0.588896705203,0.0188229393433,1.06970513642
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a222bb3ce569f4d83866c25ed7c63442f4de1d4c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 26134185
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..306cf5ed242185c00bf0b7a8cb9aebc36401c3de
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,768,747,723,689,669,642,887,786,819,655,632,655,0.400978004879,0.00447846329906,0.0798378422024,0.999999954419,0.000109369192776,-0.000276530328999,5.22551539989e-05,1793250858316980224
+1,0.016666667,BASELINE,768,746.422816442,723,689,669,642,887,786,819.577183558,655.577183558,632,655.577183558,0.400978652544,0.00447948838871,0.0798387014759,0.999999954467,0.000110820660274,-0.000275816394995,5.20618290353e-05,1793250858333646848
+2,0.033333333,BASELINE,768,746,723,689.153624878,669.153624878,642,886.846375122,786,820,655.846375122,632,656,0.400979205945,0.00448014824723,0.079839284628,0.999999954595,0.000111580249235,-0.000275070638829,5.19271637209e-05,1793250858350313472
+3,0.050000000,BASELINE,768,746,723,689.728033315,669.728033315,642,886.271966685,786,820,655.271966685,632,656,0.400979501156,0.004479807726,0.0798391114747,0.999999954948,0.000110444760623,-0.000274237720564,5.19531690576e-05,1793250858366980608
+4,0.066666667,BASELINE,768.310353326,746,723,689.689646674,669.689646674,642,886,786,820,655,632,655.689646674,0.400979548267,0.00447987166344,0.0798391484164,0.999999954967,0.000110610394048,-0.000274114583301,5.18892467376e-05,1793250858383647232
+5,0.083333333,BASELINE,768.89978768,746,723,689.10021232,669.10021232,642,886,786,820,655,632,655.10021232,0.400979372277,0.00448029930487,0.0798393742832,0.999999954685,0.000111946043919,-0.000274629707046,5.17444581882e-05,1793250858400313856
+6,0.100000000,BASELINE,768.519669659,746,723,689,669,642,886.480330341,786,820,655.480330341,632,655.480330341,0.400980118305,0.00448021818029,0.0798399467453,0.99999995495,0.000112120207861,-0.000273564609852,5.18743078724e-05,1793250858416979968
+7,0.116666667,BASELINE,768.058869651,746,723.058869651,689,669,642,887,786,820,655.941130349,632,656,0.400980879923,0.0044798928262,0.079840441434,0.999999955303,0.000111697390284,-0.000272418519917,5.20154862334e-05,1793250858433646336
+8,0.133333333,BASELINE,768.635807561,746,723.635807561,689,669,642,887,786,820,655.364192439,632,656,0.400980116657,0.00447833531412,0.0798396269073,0.99999995544,0.000108114728701,-0.000273408252893,5.17612841829e-05,1793250858450312960
+9,0.150000000,BASELINE,768.788062031,745.788062031,723.788062031,689,669,642,886.788062031,786,820,655,632,656,0.400980120769,0.00447774062702,0.0798394395222,0.999999955576,0.000106533850184,-0.000273553440242,5.16387006025e-05,1793250858466979840
+10,0.166666667,BASELINE,768.213314019,745.213314019,723.213314019,689,669,642,886.213314019,786,820,655,632,656,0.400981438528,0.00447879417036,0.0798403257215,0.999999955728,0.000108379762453,-0.000272252876,5.17414306305e-05,1793250858483646720
+11,0.183333333,BASELINE,768.372339331,745.744678663,723.372339331,689,669,642,886.372339331,786,820,655,632,656,0.400981777969,0.00447969616843,0.0798412187418,0.999999955895,0.000110165911176,-0.000270893963501,5.18686276838e-05,1793250858500313856
+12,0.200000000,BASELINE,768.964428939,746.928857877,723.964428939,689,669,642,886.964428939,786,820,655,632,656,0.400981540019,0.00448050872636,0.0798421157878,0.999999956069,0.000111916788337,-0.000269500614424,5.2010264896e-05,1793250858516980992
+13,0.216666667,BASELINE,768.457631246,746.457631246,723.457631246,689.542368754,669,642,887,786,820,655.542368754,632,656,0.400982073507,0.00448060266416,0.0798419903412,0.999999955956,0.000111529347675,-0.000270088901419,5.19805871945e-05,1793250858533647616
+14,0.233333333,BASELINE,768.119051899,746,723,689.880948101,669,642,887,786,820,655.880948101,632,656,0.400982308688,0.00448053479869,0.0798417751569,0.999999955851,0.000110918151792,-0.000270738343268,5.1928361913e-05,1793250858550313728
+15,0.250000000,BASELINE,768.69438514,746,723,689.30561486,669,642,887,786,820,655.30561486,632,656,0.400981211588,0.00448002284255,0.0798414665224,0.999999955852,0.000109973210309,-0.000271136726849,5.18316872682e-05,1793250858566980096
+16,0.266666667,BASELINE,769,746,723,689,669.275658889,642,887,786.275658889,820,655.275658889,632,655.724341111,0.400979658557,0.00447939612189,0.0798408489943,0.999999955577,0.000109625258315,-0.000272287099514,5.18407063219e-05,1793250858583646720
+17,0.283333333,BASELINE,769,746,723,689,669.863663724,642,887,786.863663724,820,655.863663724,632,655.136336276,0.400977588916,0.00447863936288,0.0798398814622,0.999999954987,0.000109953748367,-0.000274289542423,5.19694857074e-05,1793250858600313344
+18,0.300000000,BASELINE,769,746,723,689,669.552794713,642,887,786.552794713,820,655.552794713,632,655.447205287,0.400978447217,0.00447980318328,0.0798400694913,0.999999955007,0.000111001062212,-0.000273795065896,5.19779744313e-05,1793250858616979968
+19,0.316666667,BASELINE,768.970994851,746,723,689,669,642,886.970994851,786,820,655,632,656,0.400980006186,0.00448134845527,0.079840503466,0.999999955178,0.000112096196441,-0.000272723947001,5.1960281859e-05,1793250858633646592
+20,0.333333333,BASELINE,768.396611827,746,723,689,669,642,886.396611827,786,820,655,632,656,0.400978121778,0.00447916558796,0.0798390033714,0.999999954782,0.000110010710877,-0.000274981927308,5.21330328717e-05,1793250858650313472
+21,0.350000000,BASELINE,768,746,723,689,669,642,886.177976241,786,820,655,632,656,0.40097742902,0.00447821026532,0.0798385475355,0.99999995466,0.000109494351646,-0.000275607832351,5.22654250278e-05,1793250858666980352
+22,0.366666667,BASELINE,768,746,723,689,669,642,886.753021688,786,820,655,632,656,0.400979394861,0.00447999362416,0.0798404214654,0.999999955153,0.000112478750702,-0.000272592538536,5.2307775597e-05,1793250858683646976
+23,0.383333333,BASELINE,768.337064337,746,723.337064337,689,669,642,887,786,820,655.337064337,632,656,0.400979577206,0.00447984133491,0.0798405333654,0.999999955271,0.000111792310548,-0.000272469072233,5.21556962368e-05,1793250858700313600
+24,0.400000000,BASELINE,768.927880397,746,723.927880397,689,669,642,887,786,820,655.927880397,632,656,0.400978416883,0.00447823183429,0.0798393187587,0.999999955105,0.000108342357413,-0.000274522656503,5.18572444405e-05,1793250858716980224
+25,0.416666667,BASELINE,768.493169066,746.506830934,724,689,669,642,886.493169066,786,820,656,632,656,0.400979005679,0.00448007794795,0.0798392714913,0.999999954979,0.000111780295522,-0.000273633659801,5.16806592425e-05,1793250858733646848
+26,0.433333333,BASELINE,768.084120616,746.915879384,723.915879384,689.084120616,669,642,886,786,819.915879384,656,632,655.915879384,0.400979761142,0.00448186996494,0.0798395277333,0.999999954889,0.000115406946673,-0.000272471650683,5.16042909149e-05,1793250858750313216
+27,0.450000000,BASELINE,768.661345633,746.338654367,723.338654367,689.661345633,669,642,886,786,819.338654367,656,632,655.338654367,0.400980067991,0.00448052842704,0.0798406116864,0.999999955068,0.000114525936287,-0.000272107584556,5.20160555356e-05,1793250858766979840
+28,0.466666667,BASELINE,768.758002087,746,723,689.758002087,669,642,886.241997913,786.241997913,819.241997913,655.758002087,632,655.241997913,0.400980125353,0.00447948154671,0.0798411782777,0.999999955353,0.000112604204015,-0.000271842749437,5.21230034043e-05,1793250858783646976
+29,0.483333333,BASELINE,768.172484794,746,723,689.172484794,669,642,886.827515206,786.827515206,819.827515206,655.172484794,632,655.827515206,0.400979828564,0.00447885293696,0.0798410104665,0.99999995578,0.000109205152714,-0.000271718774124,5.17972596604e-05,1793250858800314368
+30,0.500000000,BASELINE,768.410893064,746,723.410893064,689,669,642,887,786.589106936,820,655,632,656,0.400979480647,0.00447921973783,0.0798408629763,0.999999955588,0.000109464105424,-0.000272287985194,5.19612098135e-05,1793250858816980992
+31,0.516666667,BASELINE,768.993377467,746,723.993377467,689,669,642,887,786.006622533,820,655,632,656,0.400979111379,0.00448000222798,0.0798407239723,0.999999955138,0.000111250662021,-0.000273146674942,5.23296590013e-05,1793250858833647360
+32,0.533333333,BASELINE,768.430518263,746,723.430518263,689.569481737,669,642,886.430518263,786,820,655,632,656,0.400979795731,0.0044791198849,0.0798411696458,0.999999955529,0.000109620891642,-0.000272411310983,5.213752983e-05,1793250858850313472
+33,0.550000000,BASELINE,768,746,723.144991257,690,669,642,886,786,820,655,632.144991257,656,0.400980073615,0.00447868668721,0.0798412037506,0.99999995561,0.000109596406508,-0.0002721371996,5.20629818333e-05,1793250858866979840
+34,0.566666667,BASELINE,768,746,723.718958111,690,669,642,886,786,820,655,632.718958111,656,0.400979113059,0.00447963899079,0.0798400002821,0.99999995474,0.000114437608162,-0.000273282001909,5.23553867672e-05,1793250858883646464
+35,0.583333333,BASELINE,768,746,723.69828979,689.69828979,669,642,886.30171021,786,820,655.30171021,633,656,0.40097899356,0.00447937744278,0.0798398960324,0.999999954788,0.000114330282467,-0.000273152518729,5.23518250099e-05,1793250858900313344
+36,0.600000000,BASELINE,768,746,723.107108768,689.107108768,669,642,886.892891232,786,820,655.892891232,633,656,0.400979680998,0.0044779512853,0.0798408464098,0.999999955715,0.000109475175585,-0.000271800443793,5.20643029978e-05,1793250858916979968
+37,0.616666667,BASELINE,768,746,723,689.472697742,669,642,886.527302258,786,820,655.527302258,632.527302258,656,0.400980419103,0.00447864228498,0.0798414505543,0.999999955899,0.00011033459524,-0.00027081603415,5.18323607386e-05,1793250858933647104
+38,0.633333333,BASELINE,768.049814031,746.049814031,723,689.950185969,669,642,886.049814031,786,820,655.049814031,632,655.950185969,0.400981030367,0.00447993106523,0.0798419143273,0.999999955872,0.000112464260737,-0.000270081875856,5.16032184596e-05,1793250858950314240
+39,0.650000000,BASELINE,768.625101299,746.625101299,723,689.374898701,669,642,886.625101299,786,820,655.625101299,632,655.374898701,0.400980185362,0.00448258406234,0.0798417054951,0.999999955357,0.000114655268107,-0.000271129386866,5.12738851815e-05,1793250858966980864
+40,0.666666667,BASELINE,768.799694974,746.799694974,723.200305026,689.200305026,669,642.200305026,886.799694974,786.200305026,820,655.799694974,632,655.200305026,0.400979917484,0.00448312288023,0.0798417367767,0.999999955303,0.000114985125406,-0.000271211710264,5.11432675818e-05,1793250858983647232
+41,0.683333333,BASELINE,768.224647577,746.224647577,723.775352423,689.775352423,669,642.775352423,886.224647577,786.775352423,820,655.224647577,632,655.775352423,0.400980729327,0.0044797063677,0.0798422172772,0.999999956115,0.000111833034042,-0.000269488304098,5.1384418929e-05,1793250859000313600
+42,0.700000000,BASELINE,768.360873499,746,723.639126501,689.639126501,669.360873499,642.639126501,886.360873499,787,820,655.360873499,632.360873499,655.639126501,0.400980674862,0.00447866632881,0.0798421626762,0.999999956227,0.000110275113338,-0.000269691661259,5.14860594765e-05,1793250859016980224
+43,0.716666667,BASELINE,768.953109414,746,723.046890586,689.046890586,669.953109414,642.046890586,886.953109414,787,820,655.953109414,632.953109414,655.046890586,0.40098006499,0.00447914988955,0.0798417650121,0.999999955897,0.000109739243909,-0.000271130300713,5.1498257161e-05,1793250859033646848
+44,0.733333333,BASELINE,769,746,723,689,669.466886025,642,887,786.466886025,820,655.466886025,633,655.533113975,0.400979631506,0.00448077437711,0.0798413220258,0.999999955707,0.000111388335936,-0.000271110663714,5.17541284467e-05,1793250859050313472
+45,0.750000000,BASELINE,768.889062773,746,723,689,669,642,886.889062773,786,819.889062773,655,632.889062773,656,0.400979337078,0.00448198230157,0.0798408792121,0.999999955504,0.000112875469864,-0.000271211932101,5.19205449295e-05,1793250859066980096
+46,0.766666667,BASELINE,768.315945813,746,723,689,669,642,886.315945813,786,819.315945813,655,632.315945813,656,0.400979558791,0.00448104606576,0.0798404533526,0.999999955209,0.000112905170643,-0.000272339290141,5.16269920189e-05,1793250859083646976
+47,0.783333333,BASELINE,768,746,723,689,669,642,886.264066643,786,819.264066643,655.264066643,632,655.735933357,0.400979955799,0.00448072070727,0.0798405744517,0.999999955215,0.000113185856513,-0.000272226485791,5.14984875079e-05,1793250859100313600
+48,0.800000000,BASELINE,768,746,723,689,669,642,886.852550594,786,819.852550594,655.852550594,632,655.147449406,0.400980568164,0.00448114583793,0.0798413675132,0.999999955588,0.000113774888442,-0.000270590088388,5.1572752064e-05,1793250859116980480
+49,0.816666667,BASELINE,768,746,723,689,669,642,887,786,820,655.566494496,632,655,0.400980776877,0.00448173370082,0.0798418365888,0.999999955613,0.000114033302289,-0.000270388407507,5.15736533712e-05,1793250859133647360
+50,0.833333333,BASELINE,768.011917721,746,723,689,669,642,887,786,820,655.011917721,632,655.011917721,0.400980823321,0.00448232477995,0.0798421629452,0.999999955525,0.000114126902091,-0.000270677662864,5.15524127774e-05,1793250859150313728
+51,0.850000000,BASELINE,768.589120309,746,723,689,669,642,887,786,820,655.589120309,632,655.589120309,0.400979574098,0.00448048782941,0.0798408575209,0.999999955577,0.000111645888819,-0.000271501618954,5.16443150041e-05,1793250859166980352
+52,0.866666667,BASELINE,769,746,723,689,669,642,887,786.164605317,820,656,632.164605317,655.835394683,0.400978866905,0.00447957031276,0.0798401143891,0.999999955595,0.000110619748381,-0.000271863530351,5.16159630048e-05,1793250859183646976
+53,0.883333333,BASELINE,769,746,723,689,669,642,887,786.73584723,820,656,632.73584723,655.26415277,0.400979498729,0.00448092414121,0.0798407603296,0.999999955536,0.000113187687232,-0.000271084018788,5.12905381611e-05,1793250859200313344
+54,0.900000000,BASELINE,769,746,723,689.318702266,669,642,887,786.681297734,820,655.681297734,632.681297734,655.318702266,0.400980142971,0.00448076673228,0.0798415628421,0.999999955769,0.000113495504485,-0.000270084267737,5.13283960549e-05,1793250859216979968
+55,0.916666667,BASELINE,769,746,723,689.911546679,669,642,887,786.088453321,820,655.088453321,632.088453321,655.911546679,0.400980797894,0.00447930938317,0.079842500035,0.999999956256,0.000111859204305,-0.000268895070549,5.16787434601e-05,1793250859233647104
+56,0.933333333,BASELINE,769,746,723,689.507382194,669,642,887,786,820,655,632,655.507382194,0.400980808233,0.00447991220003,0.0798424832294,0.999999956177,0.00011195727214,-0.00026916434447,5.16018530658e-05,1793250859250313728
+57,0.950000000,BASELINE,768.928725293,746,723.071274707,689.071274707,669,642,887,786,820,655,632,655.071274707,0.400980691282,0.00448079084164,0.0798422673328,0.999999956012,0.000112269004371,-0.000269671865082,5.14571283677e-05,1793250859266980352
+58,0.966666667,BASELINE,768.352545127,746,723.647454873,689.647454873,669,642,887,786,820,655,632,655.647454873,0.400980473364,0.00448106409354,0.0798418262282,0.999999955951,0.000111939741316,-0.000270055272445,5.13626211411e-05,1793250859283646976
+59,0.983333333,BASELINE,768,746,723.777779789,690,669,642,887,786,820,655.222220211,632,656,0.400980068206,0.004480748293,0.0798416461568,0.999999955971,0.000111267834717,-0.000270254295938,5.13780071064e-05,1793250859300313600
+60,1.000000000,BASELINE,768,746,723.205244742,690,669,642,887,786,820,655.794755258,632,656,0.400979367877,0.00447950389196,0.0798418775863,0.99999995612,0.00011005577415,-0.000270162651038,5.15666320952e-05,1793250859316980224
+61,1.016666667,BASELINE,768.382397656,746,723,690,669,642,887,786.382397656,820,655.617602344,632,655.617602344,0.400979537493,0.00447973677169,0.0798417479676,0.999999956093,0.000110364191844,-0.000270158867641,5.14670434954e-05,1793250859333647104
+62,1.033333333,BASELINE,768.978482125,746,723,690,669,642,887,786.978482125,820,655.021517875,632,655.021517875,0.400980193241,0.00448079516761,0.0798414165922,0.999999955965,0.000111522264802,-0.000270204181947,5.12063988678e-05,1793250859350313984
+63,1.050000000,BASELINE,768.446105654,746,723,689.446105654,669,642,887,786.446105654,820,655.553894346,632,655.553894346,0.400980406988,0.00448044858154,0.0798412655498,0.999999956032,0.000111725838776,-0.000269861954725,5.12710004144e-05,1793250859366980352
+64,1.066666667,BASELINE,768.128687834,746,723,689,669,642,887,786,820,656,632.128687834,656,0.400980281864,0.00448031770408,0.0798411506662,0.999999956025,0.000111991816137,-0.000269763314581,5.13298359064e-05,1793250859383647232
+65,1.083333333,BASELINE,768.704020843,746,723,689,669,642,887,786,820,656,632.704020843,656,0.400979038054,0.00448111812324,0.0798411378413,0.999999955742,0.000112598448911,-0.000270560481389,5.1326382536e-05,1793250859400314112
+66,1.100000000,BASELINE,769,746,723,689,669,642,887,786,820,655.721492624,632.721492624,656,0.400979099482,0.00448075642283,0.0798414907085,0.999999955861,0.000111962244673,-0.000270366822347,5.14227185075e-05,1793250859416980480
+67,1.116666667,BASELINE,769,746,723,689,669,642,887,786,820,655.147902978,632.147902978,656,0.400980543827,0.00447916344122,0.0798422310316,0.999999956403,0.000110009238051,-0.000269123370091,5.16247826144e-05,1793250859433647104
+68,1.133333333,BASELINE,768.557084862,746.442915138,723,689,669,642,887,786,820,655,632,656,0.400980910864,0.00447851960529,0.0798424030189,0.999999956478,0.000109628746451,-0.000269004270497,5.15964287959e-05,1793250859450313472
+69,1.150000000,BASELINE,768,746.961738347,723.038261653,689.038261653,669,642,886.961738347,786,820,655.038261653,632,656,0.400980799945,0.00447823824232,0.0798423057629,0.999999956364,0.000109833526931,-0.000269362127637,5.14996750528e-05,1793250859466980096
+70,1.166666667,BASELINE,768,746.386835578,723.613164422,689.613164422,669,642,886.386835578,786,820,655.613164422,632,656,0.400979235293,0.00447841546538,0.0798412017853,0.999999955854,0.00011058402194,-0.00027093046462,5.15664283237e-05,1793250859483646720
+71,1.183333333,BASELINE,768.187386835,746,724,690,669,642,886.187386835,786,820,656,632.187386835,655.812613165,0.400979026847,0.00447852451169,0.0798410732728,0.999999955777,0.000111118734451,-0.000270985665389,5.1620275661e-05,1793250859500313344
+72,1.200000000,BASELINE,768.760209924,746,724,690,669,642,886.760209924,786,820,656,632.760209924,655.239790076,0.400981607983,0.0044784933252,0.0798429511956,0.99999995659,0.000111209603757,-0.000267928494342,5.16475767764e-05,1793250859516980224
+73,1.216666667,BASELINE,769,746,723.655518466,689.655518466,669,642,886.655518466,786,820,656,632.655518466,655.344481534,0.40098183623,0.00447897565691,0.0798428179,0.999999956542,0.000111711580362,-0.000267904451476,5.16137202737e-05,1793250859533647104
+74,1.233333333,BASELINE,769,746,723.06300374,689.06300374,669,642,886.06300374,786,820,656,632.06300374,655.93699626,0.400980370353,0.0044798277314,0.0798412364892,0.999999955875,0.000112509561958,-0.000270064318204,5.15358291325e-05,1793250859550313728
+75,1.250000000,BASELINE,768.482652129,746.517347871,723,689,669,642,886.517347871,786,820,656,632,655.482652129,0.400980366854,0.00448028715205,0.0798416124046,0.999999956078,0.000112984332393,-0.000269127855387,5.14711331674e-05,1793250859566980352
+76,1.266666667,BASELINE,768,746.90455601,723,689,669,642,886.90455601,786,820,655.90455601,632,655.09544399,0.400980448858,0.00448063884275,0.0798420985962,0.9999999563,0.00011321830075,-0.000268214026084,5.14057901173e-05,1793250859583646976
+77,1.283333333,BASELINE,768,746.330512922,723,689,669,642,886.330512922,786,820,655.330512922,632,655.669487078,0.400980087092,0.00448068460119,0.0798419699367,0.999999956111,0.000112437620894,-0.000269261095213,5.13293294819e-05,1793250859600313344
+78,1.300000000,BASELINE,768,746,723,689,669,642,886.249308678,786,820,655,632,656,0.400979909487,0.00448048041404,0.0798416465314,0.999999956032,0.000111322957941,-0.000270039968486,5.11944205649e-05,1793250859616979968
+79,1.316666667,BASELINE,768,746,723,689,669,642,886.836972678,786,820,655,632,656,0.400979981819,0.00447993700718,0.0798410588221,0.999999956105,0.000109755021788,-0.00027045485316,5.09801871503e-05,1793250859633646592
+80,1.333333333,BASELINE,768,746,723,689,669,642,886.579223036,786,819.579223036,655,632,656,0.400980301907,0.00448054024057,0.0798412523008,0.999999955988,0.000111711714369,-0.000270087684055,5.09545878927e-05,1793250859650313472
+81,1.350000000,BASELINE,768,746,723,689,669,642,886,786,819.003064246,655.003064246,632.003064246,656,0.400980712202,0.00448157622222,0.0798417434326,0.999999955792,0.00011499978962,-0.000269425661575,5.10007754428e-05,1793250859666980352
+82,1.366666667,BASELINE,768,746,723,689,669,642,886,786,819.578769039,655.578769039,632.578769039,656,0.400980204657,0.00448121582536,0.0798418118273,0.999999955792,0.000114213962127,-0.000269771708357,5.09284858208e-05,1793250859683647232
+83,1.383333333,BASELINE,768,746,723,689,669,642,886,786,820,655.846029444,632.846029444,656,0.40098007893,0.00448075637172,0.0798418208476,0.999999955898,0.000113060221991,-0.000269866857455,5.09148343804e-05,1793250859700313856
+84,1.400000000,BASELINE,768,746,723,689,669,642,886,786,820,655.272200169,632.272200169,656,0.400980994372,0.00448002680235,0.0798416679616,0.999999956291,0.00011090322928,-0.000269277839589,5.10610820132e-05,1793250859716980224
+85,1.416666667,BASELINE,768.310940532,746,723,689,669,642,886.310940532,786,820,655.310940532,632,656,0.400981435701,0.00447989944374,0.0798416633497,0.999999956407,0.000110399930515,-0.000269014171292,5.12792974831e-05,1793250859733646848
+86,1.433333333,BASELINE,768.902484139,746,723,689,669,642,886.902484139,786,820,655.902484139,632,656,0.400981449174,0.00448031554017,0.0798417925453,0.999999956275,0.000111388980285,-0.000269044109299,5.15624591139e-05,1793250859750313216
+87,1.450000000,BASELINE,768.516631524,746,723,689,669,642,887,786,820,655.516631524,632,655.516631524,0.400980717605,0.00448056230429,0.079841590644,0.999999956033,0.000112132925194,-0.000269664533814,5.13965050221e-05,1793250859766979840
+88,1.466666667,BASELINE,768,746,723,689,669,642,887,786.061905731,820,655.061905731,632,655.061905731,0.400980025829,0.00448070778265,0.0798414606888,0.999999955843,0.000112713919947,-0.000270165104484,5.11834357813e-05,1793250859783646464
+89,1.483333333,BASELINE,768,746,723,689,669,642,887,786.638422531,820,655.638422531,632,655.638422531,0.400980887351,0.0044802891421,0.079842472093,0.999999956273,0.000112342523121,-0.000268700444842,5.13156440192e-05,1793250859800313344
+90,1.500000000,BASELINE,768,746,723,689.217405543,669,642.217405543,887,786.782594457,820,655.782594457,632,656,0.400981109785,0.00447985276457,0.0798426240432,0.999999956375,0.000112003262833,-0.000268440798498,5.14201471925e-05,1793250859816980480
+91,1.516666667,BASELINE,768,746,723,689.800537232,669,642.800537232,887,786.199462768,820,655.199462768,632,656,0.400980257129,0.00447938654942,0.0798413301939,0.999999955928,0.000111718063637,-0.000270208261932,5.14780440594e-05,1793250859833647104
+92,1.533333333,BASELINE,768,746,723,689.617770427,669,642.617770427,887,786,820,655,632.382229573,656,0.400980966649,0.00447954396037,0.079841952425,0.999999956069,0.000112688091951,-0.000269257391499,5.16060657957e-05,1793250859850313728
+93,1.550000000,BASELINE,768,746,723,689.036826325,669,642.036826325,887,786,820,655,632.963173675,656,0.400982488318,0.00448002558368,0.0798435707928,0.99999995651,0.000114310691261,-0.000266893306572,5.17705442409e-05,1793250859866980352
+94,1.566666667,BASELINE,768,746,723.541770666,689,669,642,886.458229334,786,820,655,632.458229334,656,0.400980636897,0.00448101429462,0.0798427368088,0.999999956008,0.000114816698553,-0.000268599108295,5.15353677594e-05,1793250859883646720
+95,1.583333333,BASELINE,768.119369397,746,723.880630603,689.119369397,669,642,886.119369397,786,820,655,632,656,0.400979068883,0.00448160033724,0.0798418540609,0.999999955599,0.000114758124762,-0.000270177976851,5.13512255977e-05,1793250859900313344
+96,1.600000000,BASELINE,768.693768529,746,723.306231471,689.693768529,669,642,886.693768529,786,820,655,632,656,0.40097945145,0.00448052060378,0.0798414181234,0.9999999558,0.000112835474085,-0.000270222970851,5.146473265e-05,1793250859916979968
+97,1.616666667,BASELINE,769,746,723,689.725453582,669,642,887,786,820,655,632,655.725453582,0.400979038054,0.00447969168369,0.0798413779726,0.999999955894,0.000111634605168,-0.000270353914166,5.15681747789e-05,1793250859933646592
+98,1.633333333,BASELINE,769,746,723,689.137391568,669,642,887,786,820,655,632,655.137391568,0.400977715717,0.00447914917753,0.0798417897863,0.999999955869,0.000111257967983,-0.000270583006456,5.16601233603e-05,1793250859950313216
+99,1.650000000,BASELINE,768.556737615,745.556737615,723.443262385,689,669,642,887,786,820,655,632,655.443262385,0.400978051456,0.00447949944981,0.0798419510269,0.99999995586,0.000111415067777,-0.000270558973651,5.16115910504e-05,1793250859966980352
+100,1.666666667,BASELINE,768,745.021695191,723.978304809,689.021695191,669,642,887,786,820,655,632,656,0.400978946188,0.00448011870257,0.0798420795944,0.999999955883,0.000111712295739,-0.00027037368446,5.15104715944e-05,1793250859983647232
+101,1.683333333,BASELINE,768,745.601086456,723.398913544,689.601086456,669,642,887,786,820,655,632,656,0.400981216448,0.00448065589389,0.0798433319438,0.999999956564,0.000111428900485,-0.000268026816397,5.11584595365e-05,1793250860000313856
+102,1.700000000,BASELINE,768,746.178948368,723,690,669,642,886.821051632,786,820,655,632,656,0.400982636546,0.00448082588441,0.0798438805658,0.99999995694,0.000111234958818,-0.000266734682985,5.09876198377e-05,1793250860016980224
+103,1.716666667,BASELINE,768,746.753429844,723,690,669,642,886.246570156,786,820,655,632,656,0.400982177513,0.00448018424364,0.079842873725,0.99999995665,0.000111238738219,-0.000267773850691,5.12172290252e-05,1793250860033646848
+104,1.733333333,BASELINE,768.337108078,746.662891922,723,689.662891922,669,642,886.337108078,786.337108078,820,655.337108078,632.337108078,655.662891922,0.40098082307,0.00448139436219,0.0798421902463,0.9999999561,0.000113057673639,-0.000269057231244,5.12496313395e-05,1793250860050313472
+105,1.750000000,BASELINE,768.927701798,746.072298202,723,689.072298202,669,642,886.927701798,786.927701798,820,655.927701798,632.927701798,655.072298202,0.400978795332,0.00448399689584,0.0798417499169,0.999999955345,0.00011624150068,-0.000270524245742,5.11337455934e-05,1793250860066979840
+106,1.766666667,BASELINE,769,746,723,689,669,642.506964999,886.493035001,786.493035001,820,655.493035001,633,655.506964999,0.400979347164,0.00448220120498,0.0798418471749,0.999999955698,0.000114370312533,-0.000269990731732,5.12633760167e-05,1793250860083646720
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,886,786,820,655,632,655,0.400977045868,0.0044809447093,0.0798401024555,0.999999955361,0.00011144215914,-0.000272561306728,5.06909178771e-05,1793250860127164160
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.421985948,746,723,689,669,642,886.578014052,786,820,655,632.578014052,655,0.400979965937,0.00448003369015,0.0798417058766,0.999999956349,0.000111404841279,-0.000268838721764,5.11493000712e-05,1793250860143830784
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,887,786,820,655,632.839387428,655.160612572,0.400981851957,0.00447945499201,0.0798428458903,0.999999956968,0.000111320860731,-0.000266502470046,5.14683869712e-05,1793250860160497152
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,887,786,820,655,632.244389848,655.755610152,0.400980941341,0.00447977507306,0.079842732595,0.999999956616,0.000111110678527,-0.000267915627452,5.14107426496e-05,1793250860177163520
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.340550925,746,723,689,669,642,887,786,820,655,632,656,0.400979489239,0.00448076859775,0.0798418025618,0.999999956001,0.000112044544756,-0.00026982621035,5.13516176301e-05,1793250860193829888
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.918481603,746,723,689,669,642,887,786,820,655,632,656,0.400977659696,0.0044822315438,0.0798403032247,0.999999955197,0.000113775865694,-0.000272083521745,5.12914604986e-05,1793250860210496256
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.505145286,746,723.494854714,689,669,642.494854714,886.505145286,786,820,655,632,656,0.400979444753,0.00448048331646,0.0798415561714,0.999999955896,0.000112491052695,-0.000270001149311,5.14990363168e-05,1793250860227162880
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.072251059,746,723.927748941,689,669,642.927748941,886,786,819.927748941,655,632,656,0.40098140245,0.00447858875571,0.079843013823,0.999999956682,0.000111043010355,-0.000267638997243,5.17220565697e-05,1793250860243829504
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.658750808,746,723.341249192,689,669,642.341249192,886,786,819.341249192,655,632,656,0.400980364164,0.00447940589911,0.0798427115844,0.999999956386,0.000111958451808,-0.000268357751217,5.17420753415e-05,1793250860260496640
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,886.243612806,786,819.243612806,655,632,656,0.400982317697,0.00447967622127,0.07984362715,0.999999956749,0.000111674459336,-0.000267127606426,5.1707045615e-05,1793250860277163520
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,886.826195939,786,819.826195939,655,632,656,0.400988434138,0.00447918567953,0.079846237206,0.999999958016,0.000109721537659,-0.00026318570409,5.15954197181e-05,1793250860293830144
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,887,786,820,655,632.402297454,656,0.401010404457,0.00448032792101,0.079853687323,0.999999961336,0.000111547412088,-0.000249519011386,5.12309486804e-05,1793250860310496512
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,887,786,820,655,632.975643173,656,0.401039115505,0.00448216438693,0.0798631953307,0.999999965255,0.000114979949539,-0.000231717545569,5.07589732773e-05,1793250860327162880
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.448584522,746,723,689.551415478,669,642,887,786,820,655.551415478,632.448584522,656,0.40109887422,0.00448160509463,0.0798804989172,0.999999973234,0.000112666544351,-0.000195898827417,4.96192168428e-05,1793250860343829504
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746,723,689.869147796,669,642,886.869147796,786,820,656,632.130852204,655.869147796,0.40116221206,0.00448094756674,0.0798969177715,0.999999979227,0.000110572155552,-0.000164221692017,4.84963828698e-05,1793250860360496128
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746,723,689.277177008,669,642,886.277177008,786,820,656,632.722822992,655.277177008,0.401233308428,0.00448031842875,0.0799090000526,0.99999998156,0.000110147931777,-0.000149956278049,4.75375883015e-05,1793250860377162752
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.306157846,746,723,689.306157846,669,642,886.306157846,786,819.693842154,655.693842154,633,655,0.401314496805,0.00448190907566,0.0799180910681,0.999999983668,0.000109560686508,-0.00013643277333,4.52474507546e-05,1793250860393829888
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.881888696,746,723,689.881888696,669,642,886.881888696,786,819.118111304,655.118111304,633,655,0.401404571226,0.0044854542506,0.0799245482635,0.999999985571,0.000108829900296,-0.000123562523034,4.17850613317e-05,1793250860410497280
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,690,669,642,887,786,819.45755688,655,632.54244312,655.45755688,0.401513042673,0.00448680676499,0.0799275762901,0.999999986659,0.000106900081667,-0.000117387795989,3.83967365624e-05,1793250860427163648
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.965995039,746,723,689.965995039,669,642,887,786.034004961,820,655.034004961,632,656,0.40162763684,0.00448766340548,0.0799299070396,0.999999987559,0.000104723107389,-0.000112655014236,3.49794905734e-05,1793250860443830272
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.37654357,746,723,689.37654357,669,642,887,786.62345643,820,655.62345643,632,656,0.401764681822,0.00448966426786,0.0799353051878,0.999999988834,0.000103563984088,-0.000103247935229,3.07775899871e-05,1793250860460496640
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.209151264,746.209151264,723,689.209151264,669,642,887,786.790848736,820,656,632,655.790848736,0.401913585031,0.00449149986021,0.0799416198774,0.999999990396,0.000100185829295,-9.21313553079e-05,2.61405356259e-05,1793250860477163008
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.788202149,746.788202149,723,689.788202149,669,642,887,786.211797851,820,656,632,655.211797851,0.402083460387,0.00449304315998,0.0799495555381,0.99999999243,9.28831518195e-05,-7.79913964309e-05,2.07338797836e-05,1793250860493829632
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.63506396,746.63506396,723,689.63506396,669,642,886.63506396,786,820,656,632,655,0.402270696948,0.00449572718647,0.0799548962234,0.999999993677,8.78635218347e-05,-6.86442656185e-05,1.46208514746e-05,1793250860510496256
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.059666245,746.059666245,723,689.059666245,669,642,886.059666245,786,820,656,632,655,0.402467945879,0.00449906907977,0.0799587403653,0.9999999945,8.41605438073e-05,-6.20611976327e-05,8.10045172606e-06,1793250860527163136
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,746.516433517,723,689.516433517,669.516433517,642,886.516433517,786.516433517,820,655.483566483,632,655.516433517,0.402686173999,0.0045033625784,0.0799542208497,0.999999994389,7.77722083443e-05,-7.19302654047e-05,4.41058373066e-07,1793250860543830016
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.09474013,746.90525987,723,690,669.90525987,642.09474013,887,786.90525987,819.90525987,655,632,656,0.402911805977,0.00450747297528,0.0799492371031,0.999999994071,7.05713730548e-05,-8.25961944249e-05,-7.38777223479e-06,1793250860560496896
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.684145482,746.315854518,723,690,669.315854518,642.684145482,887,786.315854518,819.315854518,655,632,656,0.403163422939,0.00451005251749,0.0799468816512,0.999999994209,6.07503681277e-05,-8.74846357144e-05,-1.5413261681e-05,1793250860577163520
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,723.26864419,690.26864419,669,643,887.26864419,786,819.537288381,655.26864419,632,656,0.403443552685,0.00451363373997,0.0799475710854,0.999999994491,5.53809087552e-05,-8.60843145759e-05,-2.325459871e-05,1793250860593830144
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,723.847477425,690.847477425,669,643,887.847477425,786,820.69495485,655.847477425,632,656,0.403756604599,0.0045183715488,0.0799517762866,0.999999995005,5.51514109788e-05,-7.74226963174e-05,-3.08833043345e-05,1793250860610496512
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.577311471,746,723.577311471,690.577311471,669,642.577311471,887.577311471,786.422688529,820.577311471,656,632,655.577311471,0.404098468519,0.0045248130907,0.0799558144295,0.99999999154,0.000107574574295,-6.97855011299e-05,-2.18415340873e-05,1793250860627162880
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.003396281,746,723.003396281,690.003396281,669,642.003396281,887.003396281,786.996603719,820.003396281,656,632,655.003396281,0.404450640596,0.00453186418266,0.0799597928033,0.999999982032,0.000178835452327,-6.25148170071e-05,-6.83551275986e-06,1793250860643829248
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.569483069,746,723,690,669,642.569483069,887,786.430516931,820,655.430516931,632.569483069,655.569483069,0.40485544336,0.00454243604962,0.0799589366208,0.999999989645,0.000130196755456,-5.87626614389e-05,-1.75088738716e-05,1793250860660496384
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746.147642369,723,690.147642369,669,642.852357631,887,786.147642369,820,655,633,655.852357631,0.405265513153,0.00455106599267,0.0799571782374,0.999999994627,8.21876595798e-05,-5.72613864339e-05,-2.66851381348e-05,1793250860677163264
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746.741787949,723,690.741787949,669,642.258212051,887,786.741787949,820,655,633,655.258212051,0.405690564021,0.00455375974112,0.0799527784357,0.999999996839,3.8241189468e-05,-6.25039291759e-05,-3.08715398903e-05,1793250860693829888
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746.672783501,723,691.327216499,669,642,887.327216499,787,820,655,632.672783501,655,0.406142730344,0.00456244767453,0.0799480687422,0.999999995639,5.24982669776e-05,-7.08790234292e-05,-3.06965486057e-05,1793250860710496768
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746.09405515,723,691.90594485,669,642,887.90594485,787,820,655,632.09405515,655,0.406615738749,0.00457574298154,0.0799431208528,0.999999990081,0.000111492943545,-8.16619240659e-05,-2.71692143945e-05,1793250860727163392
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,723,692,669.480824919,642,888,786.519175081,820,655,632,655.480824919,0.407115331903,0.00458572105121,0.0799377841064,0.999999986384,0.000133759844741,-9.16948354355e-05,-3.05282652971e-05,1793250860743829760
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746.056324368,723.056324368,692,669.943675632,642,887.887351263,786.056324368,820,655,632.056324368,656,0.407623155654,0.00459482216506,0.0799319067425,0.999999983368,0.000146497929233,-0.00010293134468,-3.47477010169e-05,1793250860760496384
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746.644730056,723.644730056,692,669.355269944,642,886.710539888,786.644730056,820,655,632.644730056,656,0.408159996212,0.00460172015159,0.0799216351673,0.999999982029,0.000136550023008,-0.000126912826267,-3.44706877832e-05,1793250860777163008
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.230198232,747,724,692.230198232,669.230198232,642.230198232,886.460396464,786.769801768,820,655,632.769801768,656,0.408729999612,0.00460999380078,0.0799182219043,0.999999980089,0.000141422111719,-0.000136359306699,-3.50449375349e-05,1793250860793829888
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.811189971,747,724,692.811189971,669.811189971,642.811189971,887.622379942,786.188810029,820,655,632.188810029,656,0.40935053903,0.00462036378855,0.0799252598577,0.999999977413,0.000168878032173,-0.000123656249706,-3.69164063423e-05,1793250860810497024
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.611609541,746.611609541,724,693,669.611609541,642.611609541,888,786,820,655,632,656,0.410020858769,0.00462731830506,0.0799538303535,0.999999982549,0.000166971265431,-7.46571457072e-05,-3.80518129625e-05,1793250860827164160
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.036234312,746.036234312,724,693,669.036234312,642.036234312,888,786,820,655,632,656,0.410715144482,0.00463262849379,0.0799927673692,0.999999987823,0.000150928271189,-8.1838534331e-06,-3.88328532719e-05,1793250860843831040
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,724,693,669,642,887.4634833,786.5365167,820,655,632.5365167,656,0.411387514599,0.00462826758228,0.0799936506314,0.999999986735,0.000157466220216,-1.18117702756e-05,-3.99380949483e-05,1793250860860497408
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,724,693.113421168,669,642,887.226842337,787,820,655.113421168,632.886578832,656,0.412062474009,0.00462018123737,0.0799848796538,0.999999986012,0.0001594740418,-2.94240838828e-05,-4.0976011862e-05,1793250860877164032
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,724,693.70872108,669,642,888.417442161,787,820,655.70872108,632.29127892,656,0.412754691755,0.00459902854789,0.0799459576095,0.999999986179,0.000135787578754,-8.64337612645e-05,-4.16353225565e-05,1793250860893830656
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.295552991,746,724,694.295552991,669,642,888.704447009,787,820,655.704447009,632,656,0.413483028111,0.00458193926199,0.0799222192991,0.999999986258,0.000111209851612,-0.000115383086889,-4.24589606215e-05,1793250860910497280
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.874271878,746,724,694.874271878,669,642,888.125728122,787,820,655.125728122,632,656,0.414245969372,0.00456874307349,0.0799130283435,0.999999988481,8.57782121853e-05,-0.000117448121601,-4.34400390061e-05,1793250860927163904
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.55077272,746,724,694.55077272,669,642.44922728,888,787,820,655,632,656,0.415040837443,0.004572589517,0.0799334445438,0.999999990634,9.96639517919e-05,-8.3322796246e-05,-4.30875768578e-05,1793250860943830272
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,724,694.023693663,669,643,888.023693663,787.023693663,820.023693663,655.023693663,632,656,0.415844018246,0.00458133260144,0.0799604707659,0.999999990588,0.00012346707463,-4.22181201685e-05,-4.23999889953e-05,1793250860960496640
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,724,694.61138485,669,643,888.61138485,787.61138485,820.61138485,655.61138485,632,656,0.416634141679,0.00459403754976,0.0799492330306,0.999999988715,0.000123580725327,-7.40795829965e-05,-4.25455336168e-05,1793250860977163264
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.196148994,723.803851006,695,669,643,889.196148994,787.803851006,821.196148994,655.803851006,632,656,0.417458692812,0.00460244676788,0.0799476708161,0.999999987741,0.000128363345619,-7.85016636915e-05,-4.33409538653e-05,1793250860993829888
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.77519924,723.22480076,695,669,643,889.77519924,787.22480076,821.77519924,655.22480076,632,656,0.418350450001,0.00460247031656,0.0799649961275,0.999999988419,0.000142260232918,-2.93594921998e-05,-4.54049923418e-05,1793250861010496768
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.646800331,723.353199669,695.353199669,669.353199669,643,890.353199669,787.353199669,822.353199669,655.353199669,632,656,0.419238032667,0.00459952113356,0.0799778458946,0.999999989944,0.000133742533918,6.22062447476e-07,-4.71584711804e-05,1793250861027163392
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.069466121,723.930533879,695.930533879,669.930533879,643,890.930533879,787.930533879,822.930533879,655.930533879,632,656,0.420122966217,0.00459468550525,0.0799878555563,0.999999992483,0.000111000916742,1.84446115205e-05,-4.87148740633e-05,1793250861043829760
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746.500897128,724,696,669.499102872,643,891.500897128,788,823.500897128,655.499102872,632.500897128,656,0.420982646428,0.00459083111065,0.0799727600492,0.999999992902,0.000107946506149,-7.82431470183e-06,-4.98236406493e-05,1793250861060496128
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.926560091,747,724,696,669,643,892,787.926560091,823.926560091,655.073439909,632.926560091,656,0.421851499154,0.00458821145947,0.0799599340169,0.999999992331,0.000108738274355,-3.1002716028e-05,-5.05177589932e-05,1793250861077163008
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.331776547,747,724,696,669,643,892,787.331776547,823.331776547,655.668223453,632.331776547,656,0.422809987069,0.0045934043815,0.0799875956303,0.999999991829,0.000117717687321,1.05705836222e-05,-4.87029743493e-05,1793250861093829632
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.255971824,747,723.744028176,696,669,643,892,787,823.255971824,655.744028176,632.255971824,656,0.423739249124,0.00459979336853,0.0799994319198,0.999999990717,0.000125659444764,2.25296786795e-05,-4.76146857063e-05,1793250861110496512
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.834845583,747,723.165154417,696,669,643,892,787,823.834845583,655.165154417,632.834845583,656,0.424631643632,0.00460769116179,0.0799913049699,0.99999999012,0.000132292227563,-2.86878540874e-06,-4.744285308e-05,1793250861127163136
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,723,696,669,643,892,787,824.409703918,655,632.590296082,656,0.425519071105,0.00461380709118,0.0799562121097,0.999999987157,0.000138600597504,-6.42181502893e-05,-4.84893978845e-05,1793250861143830016
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,723,696,669,643,892,787,824.982959284,655,632.017040716,656,0.426404515713,0.00461921171029,0.0799103546137,0.99999997848,0.00014477946264,-0.000139918906176,-5.00223117311e-05,1793250861160496640
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,723,696,669,643,892,786.428780088,825,655,632,656,0.427332875633,0.00461167375207,0.0799027746819,0.999999980918,0.00013324841305,-0.000133224766182,-5.15771731496e-05,1793250861177163264
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.842592501,747,723,695.842592501,669,643,892.157407499,786,825,655,632.157407499,656,0.428272714038,0.0046040917952,0.0799031605755,0.999999983415,0.00012330691975,-0.000123509982592,-5.20547334115e-05,1793250861193829888
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.263194951,747,723,695.263194951,669,643,892.736805049,786,825,655,632.736805049,656,0.429239799991,0.00459745490756,0.0799217579787,0.999999985353,0.00011908141462,-0.000112464637739,-4.9642379717e-05,1793250861210496256
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,723,695.313964677,669,643,893,786.313964677,825,655,633,656,0.430222759611,0.00459736802613,0.0799588334793,0.999999989776,0.000119022415366,-6.24219890292e-05,-4.88400860202e-05,1793250861227162880
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,723,695.889261516,669,643,893,786.889261516,825,655,633,656,0.431218931817,0.0046027331191,0.0800112894389,0.999999991085,0.000122431455492,2.00805204414e-05,-4.93779444176e-05,1793250861243829760
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,893.465860422,787,825.465860422,655.465860422,632.534139578,656,0.432148953114,0.00461042415423,0.0800199890307,0.999999989701,0.000131059277384,3.11007232154e-05,-4.95420474887e-05,1793250861260496640
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,894,786.956371398,826,655.956371398,632,656,0.433057029097,0.0046184456015,0.080012971697,0.999999988757,0.000140293000663,1.7936313032e-05,-4.98278904695e-05,1793250861277163264
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,894,786.367877245,826,655.367877245,632,656,0.433887965378,0.00462366917701,0.0799399319868,0.999999985023,0.000141557423104,-8.44614301824e-05,-5.27467719289e-05,1793250861293829888
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+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,723,696,669.796490001,643,894.796490001,786,826,655,632.796490001,656.796490001,0.435711218254,0.00462263634103,0.0799089547584,0.999999983449,0.000125982351241,-0.000118395414089,-5.66896477582e-05,1793250861327163136
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+233,3.883333333,POSE1_TO_POSE2_PRESS,768.884452978,747,723,696,652.884452978,637,898,783.884452978,828,656,632,656,0.455591759611,0.00482566848252,0.0795197298156,0.999999665088,0.000338588424115,-0.000741095078118,-7.72031033844e-05,1793250862227162880
+234,3.900000000,POSE1_TO_POSE2_PRESS,768.292419842,747,723,696,652.292419842,637,898,783.292419842,828,656,632,656,0.455591493583,0.00482712598308,0.0795175194901,0.999999661551,0.00034272264217,-0.000744068544322,-7.6169168561e-05,1793250862243829760
+235,3.916666667,POSE1_TO_POSE2_PRESS,768.29233481,747,723,696,652,637,898,783,828,656,632,656.29233481,0.455591747792,0.00482756145666,0.0795167955201,0.999999660111,0.000343722078568,-0.000745594117818,-7.56404193189e-05,1793250862260496640
+236,3.933333333,POSE1_TO_POSE2_PRESS,768.869985796,747,723,696,652,637,898,783,828,656,632,656.869985796,0.455592509747,0.00482699944114,0.0795175222196,0.999999660736,0.000341661996414,-0.000745706561262,-7.56047265945e-05,1793250862277163264
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.555116202,747,723,696,652,637,898,783.444883798,828,655.555116202,632,657,0.455592275387,0.00482728655719,0.0795164897588,0.999999659613,0.000342340090344,-0.000746920031755,-7.54130398289e-05,1793250862293830144
+238,3.966666667,POSE1_TO_POSE2_PRESS,768.019468993,747,723,696,652,637,897.980531007,783.980531007,828,655.019468993,632,656.980531007,0.455591773019,0.00482772218736,0.0795150102702,0.999999658084,0.000343596633812,-0.000748412010373,-7.51856136725e-05,1793250862310497024
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.608290835,747,723,696,652,637,897.391709165,783.391709165,828,655.608290835,632,656.391709165,0.455591895509,0.00482528860732,0.0795153998533,0.999999659601,0.000338511832123,-0.000748696781215,-7.523800666e-05,1793250862327163392
+240,4.000000000,POSE1_TO_POSE2_PRESS,768.806293627,747,722.806293627,696.193706373,652,637,897.193706373,783,828,656,632,656.193706373,0.455592166958,0.00482418902387,0.0795154885669,0.999999660343,0.000335632896416,-0.000748985155722,-7.54087084363e-05,1793250862343830016
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.227647248,747,722.227647248,696.772352752,652,637,897.772352752,783,828,656,632,656.772352752,0.455592734422,0.00482574040471,0.0795149793825,0.999999659584,0.000337137534205,-0.000749280691571,-7.58145175295e-05,1793250862360496640
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.350415064,747,722.350415064,696.649584936,652,637,898,783,828,656,631.649584936,657,0.455592943775,0.00482679368609,0.0795147742606,0.999999659052,0.000338318812097,-0.00074948242872,-7.5581546658e-05,1793250862377163008
+243,4.050000000,POSE1_TO_POSE2_PRESS,768.928098546,747,722.928098546,696.071901454,652,637,898,783,828,656,631.071901454,657,0.455592920868,0.00482752391542,0.0795147663445,0.999999658666,0.00033929036866,-0.000749623330911,-7.49342827587e-05,1793250862393829632
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747,723,696,652,637,898,783,828,656,631.50422269,656.49577731,0.455592894985,0.00482702400343,0.0795142630201,0.999999657894,0.000340288501667,-0.000750231179107,-7.46213975813e-05,1793250862410496512
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747,723,696,652,637,898,783.082080979,828,656,632,656.082080979,0.455593162234,0.00482652259875,0.079513972108,0.999999657463,0.000341027511861,-0.000750484951958,-7.44752748933e-05,1793250862427163136
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,747,723,696,652,637,898,783.672040716,828,656,632,656.672040716,0.455595245861,0.004827094007,0.0795154312719,0.99999965948,0.0003401398137,-0.000748137139718,-7.50668767324e-05,1793250862443830016
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,747,722.743202023,696,651.743202023,637,898,783.743202023,828,656,632,657,0.455595623863,0.00482703240733,0.0795155946975,0.999999659914,0.000338794167385,-0.000748149481877,-7.52571542724e-05,1793250862460496896
+248,4.133333333,POSE1_TO_POSE2_PRESS,769,747,722.164956888,696,651.164956888,637,898,783.164956888,828,656,632,657,0.45559386685,0.00482617843936,0.0795141361812,0.999999658361,0.00033687528383,-0.000751116149654,-7.49450737469e-05,1793250862477163520
+249,4.150000000,HOLD_POSE2,769,747,723,697,651,638,898,783,828,656,631,656,0.455595478296,0.00482753507994,0.0795137440384,0.999999659745,0.000337368299028,-0.000749064967736,-7.48002194152e-05,1793250862510892800
+250,4.166666667,HOLD_POSE2,768.413077867,747.586922133,723,697,651,637.413077867,898,783,828,655.413077867,631.586922133,656.586922133,0.455595932832,0.00482864607956,0.0795140567717,0.999999658519,0.000339282196372,-0.000749807563485,-7.50817676793e-05,1793250862527559424
+251,4.183333333,HOLD_POSE2,768,747.828466727,723,696.828466727,651,637,898,783,828,655,632,656.828466727,0.455596199917,0.00482884126284,0.0795142045184,0.99999965802,0.000339614601906,-0.000750309883581,-7.52098953777e-05,1793250862544226048
+252,4.200000000,HOLD_POSE2,768,747.249346709,723,696.249346709,651,637,898,783,828,655,632,656.249346709,0.455596021596,0.00482686034027,0.0795139602341,0.999999659247,0.000336189164878,-0.000750241275689,-7.49734746813e-05,1793250862560892672
+253,4.216666667,HOLD_POSE2,768,747,723,696,651,637,898,783,828,655.328476992,632,656,0.455596485538,0.00482482022314,0.0795144603432,0.999999660476,0.000334051360329,-0.000749585657184,-7.4693081345e-05,1793250862577559040
+254,4.233333333,HOLD_POSE2,768,747,723,696,651,637,898,783,828,655.905320492,632,656,0.455597435104,0.0048227353482,0.0795155232994,0.999999661711,0.00033288715472,-0.000748486190926,-7.43794396331e-05,1793250862594225664
+255,4.250000000,HOLD_POSE2,768.48108882,747,723,696,651,637,898,783,828,656,632,656.48108882,0.455595600497,0.00482322744152,0.07951439338,0.999999659774,0.000334093662522,-0.000750559062006,-7.41256523714e-05,1793250862610892288
+256,4.266666667,HOLD_POSE2,769,747,723,696,651,637,897.942118066,783,828,656,631.942118066,657,0.455593736414,0.00482409357242,0.0795130583196,0.999999657779,0.000335309344184,-0.000752688754373,-7.39477660764e-05,1793250862627558912
+257,4.283333333,HOLD_POSE2,769,747,723,696,651,637,897.354003241,783,828,656,631.354003241,657,0.455596610506,0.00482375063812,0.0795137886095,0.999999661034,0.000332344605362,-0.000749632537361,-7.43575110315e-05,1793250862644225536
+258,4.300000000,HOLD_POSE2,769,747,723,696,651,636.768238526,897.231761474,783,828,656,631,657,0.455598854262,0.00482465962433,0.0795146710014,0.999999662519,0.000332594580299,-0.000747503081253,-7.47178297899e-05,1793250862660892160
+259,4.316666667,HOLD_POSE2,769,747,723,696,651,636.186027494,897.813972506,783,828,656,631,657,0.455600144877,0.00482746165595,0.0795157833888,0.999999661328,0.000337705566239,-0.000746774992711,-7.50034105129e-05,1793250862677558784
+260,4.333333333,HOLD_POSE2,769,747,723,696,651,636.390736936,897.609263064,783,828,656,631.390736936,657,0.455599868041,0.00482617851467,0.0795157624954,0.9999996609,0.00033734542091,-0.000747541548223,-7.46905216093e-05,1793250862694225920
+261,4.350000000,HOLD_POSE2,769,747,723,696,651,636.964943972,897.035056028,783,828,656,631.964943972,657,0.455598855209,0.00482297718517,0.0795152094712,0.99999966083,0.000334416312338,-0.000749009912149,-7.40966219729e-05,1793250862710893312
+262,4.366666667,HOLD_POSE2,769,747,723,696,651,637,897.537475486,783,828,655.462524514,632,656.462524514,0.455599741755,0.00482369868295,0.0795149341767,0.999999660939,0.000335461871381,-0.00074838177618,-7.42360908283e-05,1793250862727559936
+263,4.383333333,HOLD_POSE2,768.885900822,747,723,696,651,637,897.885900822,783,828,655,632,656.114099178,0.455600148059,0.00482459311791,0.0795146044179,0.999999660802,0.000336107516577,-0.00074825869631,-7.44044936052e-05,1793250862744226560
+264,4.400000000,HOLD_POSE2,768.291595817,747,723,696,651,637,897.291595817,783,828,655,632,656.708404183,0.455598013419,0.0048251419028,0.0795139694361,0.999999659577,0.000333982384462,-0.000750834940339,-7.44939826851e-05,1793250862760893184
+265,4.416666667,HOLD_POSE2,768.294906348,747,723,696.294906348,651,637,897.294906348,783.294906348,828,655.294906348,631.705093652,656.705093652,0.455597617321,0.00482543177208,0.0795139414886,0.999999659479,0.000333476199795,-0.000751189103833,-7.44966093865e-05,1793250862777559552
+266,4.433333333,HOLD_POSE2,768.873892103,747,723,696.873892103,651,637,897.873892103,783.873892103,828,655.873892103,631.126107897,656.126107897,0.455598895938,0.00482547223135,0.0795144982893,0.999999660474,0.000334529526045,-0.000749402766222,-7.44155626959e-05,1793250862794225920
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,636,898,783,828,656,632,657,0.455597043181,0.00482202773862,0.0795126425426,0.999999659648,0.000332169186669,-0.000751644700297,-7.34674712288e-05,1793250862826944256
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,636,897.411044949,783.588955051,828,656,632,657,0.455599227206,0.00482280218349,0.0795142041176,0.999999661462,0.000331419375104,-0.000749514602639,-7.3923654154e-05,1793250862843610880
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,636.174756791,897,783.825243209,828,656,632,657,0.455600630002,0.00482437241836,0.0795151499789,0.999999662136,0.000332412496682,-0.000748145791999,-7.42089305873e-05,1793250862860277504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,636.753273211,897,783.246726789,828,656,632,657,0.45560022784,0.0048277812536,0.07951467329,0.999999660171,0.000337432506214,-0.000748535865172,-7.40993432444e-05,1793250862876944384
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.668999583,747,722.668999583,696,651,636.668999583,897,783,828,656,632,656.668999583,0.455600559591,0.00482752573533,0.0795150119108,0.999999660533,0.000337193169273,-0.000748152414436,-7.41737509903e-05,1793250862893611008
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.091859292,747,722.091859292,696,651,636.091859292,897,783,828,656,632,656.091859292,0.455601437098,0.00482454531541,0.0795159568155,0.999999662625,0.000333042855433,-0.000747193752683,-7.43849819182e-05,1793250862910277888
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.483649159,747,722.483649159,696,651,636.483649159,897.483649159,783,828,655.516350841,632,656,0.455599096688,0.00482369348943,0.0795136415799,0.999999660573,0.000332682918959,-0.000750120628598,-7.41230320693e-05,1793250862926944256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,898,783,828,655,631.939798124,656,0.455596380004,0.00482333911893,0.0795110458443,0.999999658073,0.000332937914319,-0.000753365845213,-7.37979611869e-05,1793250862943610880
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,898,783,828,655,631.351372487,656,0.455595706393,0.00482381419131,0.0795114036372,0.999999658607,0.000332293095241,-0.000752950845736,-7.37049487441e-05,1793250862960277504
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.766210595,747,723,696,651,637,898,783,828,655.233789405,631,656.233789405,0.455588899286,0.00482471317647,0.0795084627602,0.999999655281,0.000331962081601,-0.00075747764482,-7.39315151056e-05,1793250862976944384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.185886445,747,723,696,651,637,898,783,828,655.814113555,631,656.814113555,0.455573000793,0.00482624050704,0.0795006324243,0.999999646137,0.000332096206632,-0.000769329433195,-7.46317776948e-05,1793250862993611008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.38987392,747,723,696,651,637,898,783,828,656,631.38987392,657,0.455541296045,0.00482618740543,0.079488069489,0.99999962895,0.000332948539971,-0.000791015671258,-7.44236339905e-05,1793250863010277632
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.963483563,747,723,696,651,637,898,783,828,656,631.963483563,657,0.455502142287,0.00482538949432,0.0794732762227,0.999999607434,0.000334139342878,-0.000817336587034,-7.37873860444e-05,1793250863026944512
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,897.462186859,783,828,655.462186859,632,656.462186859,0.455443494734,0.00482463331966,0.0794573011111,0.999999584148,0.000334013363165,-0.000845484864518,-7.27665451594e-05,1793250863043611392
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,897.116172967,783,828,655,632,656,0.45538234322,0.00482391633259,0.0794430275469,0.999999563862,0.000334446835944,-0.000869078346051,-7.15833158206e-05,1793250863060278016
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,897.710934415,783,828,655,632,656,0.455316336313,0.00482334909333,0.0794360947288,0.99999955918,0.000337553857454,-0.000873395986277,-6.98388278459e-05,1793250863076944384
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,897.703888593,783.296111407,828,655.296111407,631.703888593,656.296111407,0.455241198892,0.00482303180835,0.0794335804713,0.999999556561,0.000339947116777,-0.000875605290488,-6.80444423027e-05,1793250863093610752
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,897.127774684,783.872225316,828,655.872225316,631.127774684,656.872225316,0.455157427676,0.00482295087978,0.0794352443984,0.99999955591,0.00034166544347,-0.000875820955092,-6.62028737993e-05,1793250863110277632
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.553115114,747,723,696,651,637,897,783.553115114,828,655.553115114,631.446884886,657,0.455055260887,0.00482082778294,0.0794382399192,0.999999559167,0.000341834800546,-0.000872226733137,-6.35314594235e-05,1793250863126944256
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.02172922,747,723,696,651,637,897.02172922,783,828,655,632,657,0.454946971626,0.00481822629995,0.0794414986975,0.999999563318,0.000341752330465,-0.000867696113789,-6.06034907169e-05,1793250863143610880
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.612260022,747,723,696,651,637,897.612260022,783,828,655,632,657,0.454815651563,0.00481833732788,0.0794417146671,0.999999562379,0.000346633566583,-0.000867076395152,-5.71506249213e-05,1793250863160277504
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,722.802650359,696,651,636.802650359,898,783,828,655,632,656.802650359,0.454672445266,0.0048179322693,0.0794419676916,0.999999561737,0.000350625631427,-0.000866444360138,-5.34923095988e-05,1793250863176944128
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,747,722.227964457,696,651,636.227964457,898,783,828,655,632,656.227964457,0.454506512279,0.0048165404435,0.0794422915662,0.999999561707,0.000352917583358,-0.000865788776084,-4.9441171276e-05,1793250863193611008
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747,722.34791433,696,651.34791433,636.34791433,897.65208567,783,828,655.34791433,632,656.34791433,0.454316842796,0.00481480006766,0.079441489087,0.999999558241,0.000355466955522,-0.000869003487442,-4.46479853506e-05,1793250863210277632
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,722.924577479,696,651.924577479,636.924577479,897.075422521,783,828,655.924577479,632,656.924577479,0.454111566882,0.0048128305249,0.0794399460459,0.999999552472,0.000358185578111,-0.000874762863938,-3.93669130725e-05,1793250863226944256
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,746.499921537,723,696,652,637,897.500078463,783,827.499921537,655.499921537,631.499921537,657,0.453870902543,0.00480973356316,0.0794325103685,0.999999544395,0.000360898197474,-0.00088309523173,-3.32546437124e-05,1793250863243610880
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.922219608,746.077780392,723,696,652,637,897.922219608,783.077780392,827,655,631,656.922219608,0.453622694901,0.0048065179332,0.0794257897416,0.999999537481,0.000363925101118,-0.000889870887362,-2.69430766267e-05,1793250863260277248
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.328766079,746.671233921,723,696,652,637,897.328766079,783.671233921,827,655,631,656.328766079,0.453359779821,0.00480364026825,0.0794296883264,0.999999541186,0.000369041655978,-0.00088375893103,-2.01393980207e-05,1793250863276943872
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.258151368,747,723,696,652.258151368,637,897,784,827.258151368,655,631.258151368,656,0.453078524282,0.00480137483511,0.0794359181538,0.999999546749,0.000377780080541,-0.000873854978109,-1.27303766339e-05,1793250863293611008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.83695037,747,723,696,652.83695037,637,897,784,827.83695037,655,631.83695037,656,0.452774488232,0.00479986985009,0.0794450435977,0.999999554395,0.000391017198462,-0.000859241018443,-4.56946450069e-06,1793250863310277632
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.58791743,747,723,696,653.41208257,637,897,784,827.58791743,655.41208257,631.58791743,656.41208257,0.452439703643,0.0047960586036,0.0794531951597,0.99999956179,0.000395542183386,-0.00084850447913,2.61942153774e-06,1793250863326944256
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.0142233,747,723,696,653.9857767,637,897,784,827.0142233,655.9857767,631.0142233,656.9857767,0.452092860023,0.00479134288181,0.079460964782,0.999999569087,0.000396650422139,-0.00083928859646,9.42709578666e-06,1793250863343611136
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,654.560707029,637,897,783.439292971,827,655.439292971,631.560707029,656.439292971,0.4517096786,0.00478735795535,0.0794779628345,0.999999590321,0.000395382249786,-0.000814122400372,1.53125789249e-05,1793250863360277760
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,746.860229027,722.860229027,696,655,637,896.860229027,783.139770973,827.139770973,655.139770973,632,656,0.451320294336,0.00478346259854,0.0794943749985,0.999999614263,0.000385745926546,-0.000788895165748,1.78508162356e-05,1793250863376944640
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,746.267882396,722.267882396,696,655,637,896.267882396,783.732117604,827.732117604,655.732117604,632,656,0.450913816745,0.00477979710935,0.0795081303936,0.999999646533,0.000349209318534,-0.000764783300127,9.62664965118e-06,1793250863393611008
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,746.315218861,722,696,655.315218861,637.315218861,896,784,828,655.684781139,632,656,0.450485063118,0.0047737384573,0.0795252870797,0.999999680046,0.000320669431096,-0.000732828247762,6.38646791184e-06,1793250863410277376
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,746.890687066,722,696,655.890687066,637.890687066,896,784,828,655.109312934,632,656,0.450037918023,0.00476570397426,0.0795452519231,0.999999714259,0.000298731750121,-0.000694397741779,7.26113673339e-06,1793250863426944000
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,722.46669548,696,656.46669548,638,896,784,827.53330452,655.46669548,631.53330452,656,0.449533824949,0.00476067404431,0.0795550926706,0.999999728217,0.000289278887288,-0.000678055927552,1.10861265225e-05,1793250863443610880
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,657.087471669,638,896,784,827,656,631.043735834,656,0.449010582183,0.00475618009376,0.0795606404289,0.999999733951,0.000286509689739,-0.000670648401776,1.55000810912e-05,1793250863460278016
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,658.264097028,638,896,784,827,656,631.632048514,656,0.448415176957,0.00474958700021,0.0795422950162,0.999999693165,0.000330508182026,-0.000709990190219,1.86329979735e-05,1793250863476944640
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,659.217992118,638,896,784,827,656,631.782007882,656,0.447813834561,0.00474186387013,0.0795253181717,0.999999659847,0.000364882228361,-0.000739428047821,2.03232605094e-05,1793250863493611520
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,659.799979887,638,896,784,827,656,631.200020113,656,0.447202578523,0.00473225384478,0.0795106265159,0.999999643393,0.00038318570863,-0.000752328667167,1.96046289221e-05,1793250863510278144
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.378499673,747,723,696.378499673,660.378499673,638.378499673,896,784.378499673,827,656,631.378499673,656,0.446604333662,0.00472211057903,0.079530909835,0.999999674713,0.000365687723399,-0.000718628046951,2.050364391e-05,1793250863526944512
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.955203408,747,723,696.955203408,660.955203408,638.955203408,896,784.955203408,827,656,631.955203408,656,0.446012902217,0.00471168807844,0.0795695080502,0.99999972734,0.000329442042708,-0.000660524351183,2.22497510462e-05,1793250863543611136
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.470202558,747,723,696.470202558,661.529797442,639,895.470202558,785,826.470202558,656,631.470202558,656,0.445369661549,0.00470144851999,0.0796160054195,0.999999777786,0.000299922033682,-0.000594870454786,2.45794319249e-05,1793250863560277760
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,746.892903379,723,696,662.107096621,639.107096621,894.892903379,785,826.107096621,656,631.107096621,656,0.444709293816,0.00469131634599,0.0796573698749,0.999999817606,0.000272157290688,-0.000538508415379,2.69599597773e-05,1793250863576944384
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746.302597363,723,696,662.697402637,639.697402637,894.302597363,785,826.697402637,656,631.697402637,656,0.443991337483,0.0046815991674,0.0796725735388,0.999999829548,0.000249756481348,-0.000526939327685,2.93481534943e-05,1793250863593611008
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,696,663.861350336,640,894,785,827,655.138649664,632,656,0.442498055767,0.00466540848632,0.0796709821794,0.999999823296,0.00028155370351,-0.00052262547316,3.15773554751e-05,1793250863626944512
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.56387263,746,723,696,664.43612737,640.43612737,893.56387263,785.43612737,826.56387263,655,632,656,0.441745122575,0.00465298973331,0.0796840983912,0.999999844815,0.000255685038335,-0.000493967822083,3.1488649983e-05,1793250863643611136
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.584550558,746.584550558,723,696,665.584550558,641,892.415449442,786.584550558,826,655.584550558,632,656,0.440127779447,0.00463044281594,0.079668644074,0.999999849159,0.000195507638341,-0.000512183202321,3.3563640344e-05,1793250863676944128
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.835624766,666.164375234,641,892,786.835624766,826,655.835624766,632,656,0.43927653588,0.00462052625737,0.0796501207447,0.999999836376,0.000185988429042,-0.00053982797904,3.52457926046e-05,1793250863693610752
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.243188095,666.756811905,641,892,786.243188095,826,655.243188095,632,656,0.438457677152,0.00460738705414,0.0796713882635,0.99999985644,0.000197081065702,-0.000497033687317,3.51638454118e-05,1793250863710277376
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.342833732,667,641,891.657166268,786.342833732,825.657166268,655.342833732,632,656,0.437679330761,0.0045966240122,0.0797325762143,0.999999901243,0.000183995432442,-0.000402940755743,3.60290328125e-05,1793250863726944256
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.924388764,667,641,891.075611236,786.924388764,825.075611236,655.924388764,632,656,0.436929193875,0.00458751553468,0.0798215614796,0.999999950126,0.000154074031723,-0.00027312765423,3.75537266102e-05,1793250863743610624
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,667,641,891,787.495843678,825,655.504156322,632,656,0.4360589417,0.00457591997709,0.0798608737683,0.999999963491,0.000159630014877,-0.000214031838433,4.1547487545e-05,1793250863760277504
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746.931585914,723,696,667,641.068414086,891,787.931585914,825,655.068414086,632,656,0.435162956044,0.00456404145491,0.0798847518127,0.999999969404,0.000166625805969,-0.000177121323011,4.53485888281e-05,1793250863776944384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746.338900545,723,696,667,641.661099455,891,787.338900545,825,655.661099455,632,656,0.434207330109,0.00455284281403,0.0798472412661,0.999999962349,0.000144025196572,-0.000229233467856,4.48456351504e-05,1793250863793611264
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746.247726162,723,696,667.247726162,642,890.752273838,787.247726162,824.752273838,655.752273838,632,656,0.433224593771,0.0045427507615,0.0798004717437,0.999999943191,0.000131281643252,-0.000307216452425,4.4734576768e-05,1793250863810277888
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746.826262303,723,696,667.826262303,642,890.173737697,787.826262303,824.173737697,655.173737697,632,656,0.432205654456,0.00453413642968,0.079741337912,0.999999902215,0.000131701057952,-0.000419746992476,4.51468494432e-05,1793250863826944256
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746.597232956,722.597232956,696,667.597232956,642,890,787.597232956,824,655,632,656,0.431238211414,0.00452338305077,0.0797143500285,0.99999988089,0.00011935618028,-0.000470909675013,4.7091693386e-05,1793250863843610880
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746.021600117,722.021600117,696,667.021600117,642,890,787.021600117,824,655,632,656,0.430292870402,0.00451171160303,0.0797011590442,0.999999870735,0.000101532926353,-0.000495733544971,4.96943100884e-05,1793250863860277504
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722.564311068,696.564311068,667,642,890.564311068,787,823.435688932,655,632,655.435688932,0.42947965149,0.00449935536267,0.0797797875665,0.999999930497,9.49308563316e-05,-0.00035711432666,4.96356628543e-05,1793250863876944384
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,723,696.702532177,667.148733911,642,891,787.148733911,823,655,632,655.148733911,0.428633745885,0.00448781799787,0.0798442409373,0.999999964927,8.75405604785e-05,-0.000244915993696,4.99939252176e-05,1793250863893611008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,723,695.544615091,667.727692454,642,891,787.727692454,823,655,632,655.727692454,0.427678391636,0.00447872652251,0.0798573367735,0.999999969826,7.66048151853e-05,-0.000227574194724,5.18582535018e-05,1793250863910277888
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.306501685,746,723,695,668,642,890.693498315,787.693498315,822.693498315,655,632,656,0.426707451556,0.00446580837266,0.0798344557889,0.999999961693,6.31521956771e-05,-0.000264355900997,5.23586796087e-05,1793250863926944256
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.539193876,746.460806124,723,695,668,642,889.539193876,787,821.539193876,655,632,655.539193876,0.424748241557,0.00444210666233,0.0797485900579,0.999999920241,3.87101112484e-05,-0.000394120854549,5.18459091711e-05,1793250863960277760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746.963537872,723,695,668,642,889,787,820.963537872,655,632,655.036462128,0.423781392784,0.00443872979355,0.0797250800344,0.999999906897,3.38875544548e-05,-0.000427001326455,5.22336377519e-05,1793250863976944384
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746.376051707,723,695,668,642,889,787,820.376051707,655,632,655.623948293,0.422890389335,0.0044625228403,0.0797263217599,0.999999905411,6.25491010202e-05,-0.000427261052416,5.20900224498e-05,1793250863993611008
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746.209609433,723,695.209609433,668.209609433,642,889,787,820,655.209609433,632,655.790390567,0.422019623665,0.00448494486608,0.0797533427269,0.999999921663,9.12907111609e-05,-0.000381603712629,5.21309457596e-05,1793250864010277632
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746.792024731,723,695.792024731,668.792024731,642,889,787,820,655.792024731,632,655.207975269,0.421184852233,0.0045049284337,0.0798262139801,0.999999959072,0.000120174724204,-0.000254279473988,5.25000840626e-05,1793250864026944256
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746.312281361,723,694,668.687718639,642,888.312281361,787,820,655,631.312281361,655,0.416843762995,0.00447276429784,0.0797962437481,0.999999942737,8.46313880331e-05,-0.000323368940934,5.28703212287e-05,1793250864110277632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.272091501,746,723,694,668.727908499,642,887.727908499,787,820,655.272091501,631.272091501,655.272091501,0.4160110613,0.00447845024331,0.0797954599357,0.999999939568,9.17283811942e-05,-0.000330998191332,5.37536490338e-05,1793250864126944512
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.848564227,746,723,694,668.151435773,642,887.151435773,787,820,655.848564227,631.848564227,655.848564227,0.415155031312,0.00448938141166,0.0797762595207,0.999999926274,9.99272305909e-05,-0.000366867289697,5.36134855579e-05,1793250864143610880
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.574953217,746,723,694,668,642,887.425046783,787,820,655.574953217,632,655.574953217,0.414390268037,0.00449467071022,0.0797760709121,0.999999927983,0.000109913202503,-0.000359413797625,5.2677125405e-05,1793250864160277504
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,746,723,693.998438615,668,642,887.998438615,786.998438615,820,655,632,655.001561385,0.413658121269,0.00449791155505,0.0797826858096,0.999999934805,0.000120427820724,-0.000336511199439,5.1461702436e-05,1793250864176944384
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,746,723,693.411235543,668,642,887.411235543,786.411235543,820,655,632,655.588764457,0.412963215208,0.00448677912107,0.0798004847131,0.999999946993,9.0401823491e-05,-0.000308446055935,5.1976518566e-05,1793250864193611008
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.172589897,746,723,692.827410103,668.172589897,642,887,786,820,655,632,655.827410103,0.412255238542,0.00447722005233,0.0798080016973,0.999999950918,7.53703011925e-05,-0.000299518746083,5.26437319588e-05,1793250864210277632
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.74852194,746,723,692.25147806,668.74852194,642,887,786,820,655,632,655.25147806,0.411516715767,0.0044713379319,0.0797914898662,0.999999937793,9.53808223965e-05,-0.000335316499272,5.36670975827e-05,1793250864226944256
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,746,723,692,668.675242219,642,887,786,820,655,632,655.324757781,0.410811847887,0.00447272583339,0.0797830070399,0.999999931913,9.81992393044e-05,-0.000351620838161,5.37851388575e-05,1793250864243610624
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,746,723,692,668.098770944,642,887,786,820,655,632,655.901229056,0.41013306531,0.00447974858907,0.0797807473416,0.9999999325,8.76923865215e-05,-0.000352816205606,5.32014806685e-05,1793250864260277248
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,746,723,692.478389535,668,642,887,786,820,655,632,656,0.409533896522,0.00448944285721,0.0798032531149,0.9999999443,0.000106335086753,-0.000311803937009,5.35812509281e-05,1793250864276943872
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.943061511,746,723,692.943061511,668,642,887,786,820,655,632,655.943061511,0.408952570355,0.00449815076088,0.0798288251682,0.999999954848,0.000127482389432,-0.00026666904065,5.42136889162e-05,1793250864293610752
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.35284287,746,723,692.35284287,668,642,887,786,820,655,632,655.35284287,0.408384182251,0.00449244702383,0.0798351567353,0.99999995676,0.000115638707792,-0.000264658181662,5.53468853372e-05,1793250864310277376
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.232892906,746,723,691.767107094,668.232892906,642,887,786.232892906,820,655,632,655.232892906,0.407805937547,0.00448703958871,0.0798232283411,0.999999950846,0.000103534352616,-0.000290684062776,5.56080272304e-05,1793250864326943744
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.811965157,746,723,691.188034843,668.811965157,642,887,786.811965157,820,655,632,655.811965157,0.407213041736,0.00448207258662,0.0797841577653,0.999999930147,9.10425248093e-05,-0.000358384635998,5.45729195531e-05,1793250864343610368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.610525981,746,723,691,668.610525981,642,887,786.610525981,820,655.389474019,632,656,0.406684361838,0.00448180121604,0.0797666445999,0.99999992078,9.913042317e-05,-0.000381835255406,5.30576913681e-05,1793250864360277248
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.033768841,746,723,691,668.033768841,642,887,786.033768841,820,655.966231159,632,656,0.406186560859,0.00448378779416,0.0797594975633,0.999999918095,0.000117114321714,-0.000384007775265,5.1311591616e-05,1793250864376943872
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,746,723,691,668,642,887,786.540108531,820,655.459891469,632,656,0.405766103614,0.00449030002917,0.0797798841828,0.999999933102,0.000113788448015,-0.000343820288548,5.13376523263e-05,1793250864393610496
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.117842787,746,723,691,668.117842787,642,887,786.882157213,820,655,632,656,0.405355228655,0.00449600623218,0.079800817288,0.999999945582,0.000112124607407,-0.000305952468316,5.15422794577e-05,1793250864410277120
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.711886548,746,723,691,668.711886548,642,887,786.288113452,820,655,632,656,0.404963638052,0.00449731792253,0.0798170392064,0.999999949638,0.000122532415696,-0.00028810394707,5.20231263159e-05,1793250864426943744
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746.296745038,723,690.703254962,668.703254962,642,887.296745038,786,820,655,632,656,0.404581107225,0.00449776833731,0.0798264382316,0.999999950891,0.000129044072255,-0.000280694604277,5.26980371793e-05,1793250864443610368
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,746.872953157,723,690.127046843,668.127046843,642,887.872953157,786,820,655,632,656,0.40420710857,0.00449740763576,0.079829411717,0.999999949791,0.000131886482151,-0.000283116480001,5.3555710056e-05,1793250864460276992
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,746.551769034,723,690,668.448230966,642,887.551769034,786,820,655,632,656,0.40385729248,0.0044983952993,0.0798301358106,0.999999948382,0.000132535928976,-0.00028743257743,5.52586665646e-05,1793250864476943616
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.976161003,746,723,690,668.976161003,642,887,786,820,655.023838997,632,656,0.40351703323,0.00449961262159,0.0798303464711,0.999999947099,0.000131755679256,-0.000291891340415,5.69434454543e-05,1793250864493610496
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.386468379,746,723,690,668.386468379,642,887,786,820,655.613531621,632,656,0.40324125912,0.00449722838491,0.0798334723327,0.999999951185,0.000111762911933,-0.000287018784189,5.25215659702e-05,1793250864510277120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.199303198,746,723,690,668.199303198,642,887,786,820,655.800696802,632,656,0.402975010638,0.00449478238992,0.0798350978774,0.999999953168,9.81125170765e-05,-0.000285481721531,5.03766804848e-05,1793250864526944000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.777618117,746,723,690,668.777618117,642,887,786,820,655.222381883,632,656,0.402726876919,0.00449221895043,0.079833870293,0.999999951827,9.65233134287e-05,-0.00029028771469,5.25619188151e-05,1793250864543610624
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,746,723,689.648071973,669,642,886.648071973,786,820,655.351928027,632,655.648071973,0.402503826729,0.00449015978832,0.0798316142961,0.999999951068,9.4908144414e-05,-0.000293092729875,5.43415947788e-05,1793250864560277248
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,746,723,689.076264278,669,642,886.076264278,786,820,655.923735722,632,655.076264278,0.402296448351,0.00448841569135,0.0798287157614,0.999999950681,9.32767524501e-05,-0.000294647562717,5.58678813103e-05,1793250864576943872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.501713689,746,723,689,668.501713689,642,886.498286311,786,820,656,632.498286311,655.498286311,0.402121062267,0.00448812769445,0.0798321965363,0.999999953034,8.92917856147e-05,-0.00028779014969,5.6003720916e-05,1793250864593610496
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.075728001,642,886.924271999,786,820,655.924271999,632.924271999,655.924271999,0.401954433432,0.00448835683388,0.0798367221511,0.999999955488,8.65809805035e-05,-0.000279976224362,5.60538330795e-05,1793250864610277376
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.670078679,642,886.329921321,786,820,655.329921321,632.329921321,655.329921321,0.401814059066,0.00449059287001,0.0798416796496,0.999999956188,9.50768936223e-05,-0.000274478009208,5.69823517547e-05,1793250864626944000
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.256374443,786,820,655.256374443,632,655.256374443,0.401683395581,0.00449264593986,0.0798440189907,0.999999953653,0.000124370538537,-0.000271705400872,5.83315524624e-05,1793250864643610624
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.832620275,786,820,655.832620275,632,655.832620275,0.401564848106,0.00449447072754,0.0798430917284,0.999999944974,0.0001796129445,-0.000272333457457,6.0205626472e-05,1793250864660277248
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.591860577,642,886.591860577,786,820,655.591860577,632,656,0.401458778529,0.00448872804174,0.0798397003389,0.999999946303,0.000165000180255,-0.000277645462934,5.55131505775e-05,1793250864676943872
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.01663893,642,886.01663893,786,820,655.01663893,632,656,0.401357817098,0.0044798874187,0.0798353001965,0.999999950848,0.000121790428946,-0.000284874961422,4.81324908478e-05,1793250864693610496
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.556619055,642,886,786,820,655,632,656,0.401280661064,0.00447924297043,0.0798319779941,0.999999949738,0.000118257755186,-0.000290035705508,4.91827624633e-05,1793250864710277120
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.86505262,642,886,786,820,655.13494738,632,656,0.401209075637,0.00447892746894,0.0798285777315,0.999999948482,0.000116428876415,-0.000294862343258,5.03728461482e-05,1793250864726943744
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.269207453,642,886,786,820,655.730792547,632,656,0.401154094132,0.00447890159617,0.0798248011971,0.999999947289,0.000116382501821,-0.000298758345296,5.11827061865e-05,1793250864743610624
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.315693804,746,723,689,668.315693804,642,886,786,820,655.684306196,632,656,0.401109209527,0.00447848557557,0.079823678191,0.999999946958,0.000116119979893,-0.000299817638357,5.20576045472e-05,1793250864760277248
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.8915754,746,723,689,668.8915754,642,886,786,820,655.1084246,632,656,0.401072646559,0.00447774800382,0.0798247421633,0.999999947343,0.000115679314149,-0.000298538979583,5.29861061315e-05,1793250864776943872
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886.468529779,786,820,655.468529779,632,655.531470221,0.401045714163,0.00447917757636,0.0798254321736,0.999999947273,0.000116217026248,-0.000298507207354,5.32981775748e-05,1793250864793610752
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886.953460378,786,820,655.953460378,632,655,0.401021925337,0.0044807896081,0.0798260485512,0.999999947185,0.000116660543713,-0.000298600052973,5.34689420937e-05,1793250864810277120
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886.366076061,786,820,655.366076061,632,655,0.401008709447,0.00447868053905,0.0798268172387,0.999999948094,0.000113372213636,-0.000296780147505,5.36591297103e-05,1793250864826943744
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886,786,820,655.218272567,632,655.218272567,0.400998362888,0.00447758915336,0.0798281331688,0.99999994911,0.000111786665815,-0.000293924918698,5.37753710592e-05,1793250864843610368
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886,786,820,655.797599688,632,655.797599688,0.400992762621,0.00447818116399,0.0798303543177,0.999999950304,0.000113017767566,-0.0002893571147,5.3769294521e-05,1793250864860277248
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768.625978147,746,723,689,669,642,886,786,820,656,632.374021853,656,0.400986514635,0.00447952439535,0.0798305445361,0.999999950406,0.000114127302102,-0.000288625793372,5.34662056445e-05,1793250864876944128
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.051115889,746,723,689,669,642,886,786,820,656,632.948884111,656,0.40097991884,0.00448127101348,0.0798296441955,0.999999949926,0.000115171558038,-0.000289954567685,5.30036285523e-05,1793250864893610752
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.525415889,746,723,689,669,642,886.525415889,786,820,656,632.474584111,655.474584111,0.400979727336,0.00447996220141,0.0798312926811,0.999999950833,0.000113207592789,-0.00028764864624,5.27000155196e-05,1793250864910277376
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.895161459,746,723,689,669,642,886.895161459,786,820,655.895161459,632,655.104838541,0.400979733936,0.00447863483192,0.0798327591013,0.999999951676,0.000111428660406,-0.000285452039391,5.24332901459e-05,1793250864926943744
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.303060241,746,723,689,669,642,886.303060241,786,820,655.303060241,632,655.696939759,0.400977756263,0.00447860716879,0.0798322231694,0.999999951646,0.000111874255837,-0.000285412212871,5.22659024857e-05,1793250864943610624
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,820,655,632.280088931,655.719911069,0.400977356658,0.00447885936266,0.0798328470918,0.99999995188,0.000112535809655,-0.00028431604961,5.23475210227e-05,1793250864960277248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,820,655,632.85385193,655.14614807,0.400978611664,0.00447940498742,0.079834687125,0.999999952386,0.000113423796529,-0.000282112314166,5.26902232679e-05,1793250864976943872
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768,746,723,689.431736235,669,642,886.431736235,786,820,655,632.568263765,655.431736235,0.400977407154,0.00447938235463,0.0798344650109,0.999999952245,0.000113669074458,-0.000282531444723,5.25836361022e-05,1793250864993610496
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746,723,689.988816438,669,642,886.988816438,786,819.988816438,655,632,656,0.400975403008,0.00447916364065,0.0798335660437,0.999999951893,0.000113678970882,-0.000283817568876,5.23293524261e-05,1793250865010277376
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.401408686,669,642,886.401408686,786,819.401408686,655,632,656,0.400975509445,0.00447884883331,0.0798341065139,0.999999952047,0.000112878922862,-0.000283587015245,5.23769665653e-05,1793250865026944000
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,819.183411081,655.183411081,632.183411081,656,0.400976001944,0.00447888084969,0.0798347287593,0.999999952387,0.000111971530659,-0.000282756513595,5.23174562981e-05,1793250865043610624
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,819.762645626,655.762645626,632.762645626,656,0.400977327612,0.00447966135394,0.0798355274853,0.999999953128,0.000110832476677,-0.000280631251021,5.20267585041e-05,1793250865060277248
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.340999407,786,819.659000593,655.659000593,633,656,0.400977627312,0.00448001975886,0.0798363027228,0.999999953427,0.000111097812677,-0.000279458116275,5.20177568008e-05,1793250865076943872
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83b73752585823d230fb82b4e1207338787df46a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
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+224,3.733333333,pose1_to_pose2_press,0.622452947747,0.0101501361139,1.07003337924,0.593023625663,0.0188227761966,1.06970478268
+225,3.750000000,pose1_to_pose2_press,0.622477973529,0.0101501212827,1.07003334821,0.593048650322,0.0188227573717,1.06970474823
+226,3.766666667,pose1_to_pose2_press,0.622497613783,0.0101502185855,1.07003342771,0.593068288661,0.018822848059,1.06970482598
+227,3.783333333,pose1_to_pose2_press,0.622512530837,0.0101502112409,1.07003341575,0.593083206034,0.0188228417867,1.0697048141
+228,3.800000000,pose1_to_pose2_press,0.622523737619,0.0101501613839,1.07003334777,0.593094413901,0.0188227957114,1.06970474716
+229,3.816666667,pose1_to_pose2_press,0.622531402733,0.0101502280637,1.07003334187,0.593102078271,0.0188228600225,1.06970474327
+230,3.833333333,pose1_to_pose2_press,0.622536685372,0.010150236416,1.07003334946,0.593107360129,0.0188228655959,1.0697047485
+231,3.850000000,pose1_to_pose2_press,0.622540132658,0.0101502702294,1.07003342873,0.593110806771,0.0188228971189,1.06970482382
+232,3.866666667,pose1_to_pose2_press,0.622542155598,0.0101502976789,1.07003350188,0.593112829323,0.0188229231848,1.06970489388
+233,3.883333333,pose1_to_pose2_press,0.622543435031,0.0101502181261,1.07003356449,0.59311411002,0.0188228479478,1.06970495787
+234,3.900000000,pose1_to_pose2_press,0.622544428153,0.0101501563756,1.07003361309,0.593115104123,0.0188227895474,1.06970500754
+235,3.916666667,pose1_to_pose2_press,0.622544820629,0.0101502170866,1.07003351765,0.593115495648,0.0188228470891,1.06970491401
+236,3.933333333,pose1_to_pose2_press,0.622544822134,0.0101502173347,1.07003351726,0.593115497149,0.0188228473242,1.06970491363
+237,3.950000000,pose1_to_pose2_press,0.62254486724,0.0101502247712,1.07003350568,0.593115542139,0.0188228543723,1.06970490227
+238,3.966666667,pose1_to_pose2_press,0.622544914282,0.0101502325267,1.07003349359,0.593115589058,0.0188228617226,1.06970489042
+239,3.983333333,pose1_to_pose2_press,0.622544939496,0.0101502366837,1.07003348711,0.593115614208,0.0188228656625,1.06970488407
+240,4.000000000,pose1_to_pose2_press,0.622545014506,0.0101502490504,1.07003346784,0.593115689024,0.0188228773831,1.06970486518
+241,4.016666667,pose1_to_pose2_press,0.622545143325,0.0101502702881,1.07003343475,0.59311581751,0.0188228975114,1.06970483273
+242,4.033333333,pose1_to_pose2_press,0.622545255492,0.0101502887806,1.07003340594,0.593115929387,0.0188229150379,1.06970480448
+243,4.050000000,pose1_to_pose2_press,0.622545367188,0.0101503071954,1.07003337725,0.593116040795,0.0188229324907,1.06970477635
+244,4.066666667,pose1_to_pose2_press,0.622545613135,0.0101502513775,1.07003332272,0.593116287535,0.0188228792628,1.06970471924
+245,4.083333333,pose1_to_pose2_press,0.622545845245,0.0101501053315,1.07003327966,0.593116521777,0.0188227402228,1.06970467003
+246,4.100000000,pose1_to_pose2_press,0.622545875009,0.0101500977621,1.07003330555,0.593116552048,0.0188227344412,1.06970469763
+247,4.116666667,pose1_to_pose2_press,0.622545874191,0.0101501164563,1.07003335689,0.593116551604,0.0188227545599,1.06970475305
+248,4.133333333,pose1_to_pose2_press,0.622545874033,0.0101501200572,1.07003336678,0.593116551519,0.0188227584349,1.06970476372
+249,4.150000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584355,1.06970476372
+250,4.166666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584355,1.06970476372
+251,4.183333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584356,1.06970476372
+252,4.200000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584357,1.06970476372
+253,4.216666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584357,1.06970476372
+254,4.233333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584358,1.06970476372
+255,4.250000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584359,1.06970476372
+256,4.266666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584359,1.06970476372
+257,4.283333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584359,1.06970476372
+258,4.300000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.018822758436,1.06970476372
+259,4.316666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584361,1.06970476372
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+261,4.350000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584362,1.06970476372
+262,4.366666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584362,1.06970476372
+263,4.383333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584363,1.06970476372
+264,4.400000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584364,1.06970476372
+265,4.416666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584364,1.06970476372
+266,4.433333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584366,1.06970476372
+267,4.450000000,pose2_to_pose3_retreat,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584368,1.06970476372
+268,4.466666667,pose2_to_pose3_retreat,0.622545801615,0.0101501491033,1.07003343289,0.593116477692,0.0188227823585,1.06970482092
+269,4.483333333,pose2_to_pose3_retreat,0.62254559665,0.010150281499,1.07003377228,0.59311627117,0.0188229093521,1.06970515729
+270,4.500000000,pose2_to_pose3_retreat,0.622545069673,0.0101502322244,1.0700337023,0.593115744658,0.0188228617926,1.06970509093
+271,4.516666667,pose2_to_pose3_retreat,0.62254505402,0.0101502307607,1.07003370022,0.593115729019,0.0188228603799,1.06970508896
+272,4.533333333,pose2_to_pose3_retreat,0.622544544304,0.0101501831001,1.07003363254,0.593115219753,0.0188228143781,1.06970502478
+273,4.550000000,pose2_to_pose3_retreat,0.62254395406,0.0101501656763,1.07003361844,0.593114629699,0.0188227976341,1.06970501163
+274,4.566666667,pose2_to_pose3_retreat,0.622542404665,0.0101501396278,1.07003361494,0.59311308063,0.0188227727233,1.06970500903
+275,4.583333333,pose2_to_pose3_retreat,0.622538432876,0.0101502605309,1.07003342156,0.593109107016,0.0188228874714,1.0697048169
+276,4.600000000,pose2_to_pose3_retreat,0.622529671166,0.0101500630619,1.0700333472,0.593100346505,0.018822694206,1.06970474672
+277,4.616666667,pose2_to_pose3_retreat,0.62251486897,0.0101500664353,1.07003350831,0.593085547623,0.0188227084005,1.06970489777
+278,4.633333333,pose2_to_pose3_retreat,0.622490321234,0.010150063206,1.07003348874,0.593060998765,0.0188227015642,1.06970488424
+279,4.650000000,pose2_to_pose3_retreat,0.622456500969,0.0101502213575,1.07003356225,0.593027176599,0.0188228532036,1.06970495969
+280,4.666666667,pose2_to_pose3_retreat,0.622414045054,0.0101501392999,1.07003371923,0.592984722503,0.0188227772952,1.06970511145
+281,4.683333333,pose2_to_pose3_retreat,0.622363975467,0.0101501441248,1.07003366431,0.592934651221,0.0188227757343,1.06970505094
+282,4.700000000,pose2_to_pose3_retreat,0.622305963889,0.0101501603399,1.07003354182,0.592876640281,0.018822794066,1.06970493147
+283,4.716666667,pose2_to_pose3_retreat,0.622240571434,0.0101500912505,1.07003338697,0.592811249407,0.0188227308094,1.06970478627
+284,4.733333333,pose2_to_pose3_retreat,0.622167042352,0.0101501196848,1.07003343669,0.592737719364,0.0188227555607,1.06970483042
+285,4.750000000,pose2_to_pose3_retreat,0.622082214152,0.0101501530682,1.0700335069,0.59265289039,0.0188227860918,1.06970489735
+286,4.766666667,pose2_to_pose3_retreat,0.621985642519,0.0101501551199,1.07003347771,0.592556319547,0.0188227911921,1.06970487467
+287,4.783333333,pose2_to_pose3_retreat,0.621875005546,0.0101502272766,1.07003348168,0.592445682593,0.0188228631901,1.06970487765
+288,4.800000000,pose2_to_pose3_retreat,0.62174943167,0.0101501921691,1.07003346867,0.592320108454,0.0188228271097,1.06970486707
+289,4.816666667,pose2_to_pose3_retreat,0.6216070332,0.0101502778298,1.07003346516,0.592177708764,0.0188229084559,1.06970486385
+290,4.833333333,pose2_to_pose3_retreat,0.621445935532,0.0101502701049,1.07003355914,0.59201661199,0.018822903659,1.06970495919
+291,4.850000000,pose2_to_pose3_retreat,0.621266607244,0.0101500978102,1.07003359192,0.591837285482,0.0188227371097,1.06970498977
+292,4.866666667,pose2_to_pose3_retreat,0.621070621094,0.0101501075702,1.07003358543,0.59164129832,0.0188227431899,1.06970498464
+293,4.883333333,pose2_to_pose3_retreat,0.62085890266,0.0101502198954,1.07003361108,0.591429578281,0.0188228496023,1.06970500541
+294,4.900000000,pose2_to_pose3_retreat,0.620630153227,0.0101501612525,1.07003360188,0.591200829549,0.0188227927858,1.06970498913
+295,4.916666667,pose2_to_pose3_retreat,0.620385135855,0.0101500157386,1.07003351026,0.590955813831,0.0188226526358,1.06970489983
+296,4.933333333,pose2_to_pose3_retreat,0.620123068213,0.0101503079561,1.07003350536,0.590693743914,0.018822937051,1.06970490018
+297,4.950000000,pose2_to_pose3_retreat,0.619840215898,0.0101502855427,1.0700336447,0.590410890505,0.0188229101683,1.06970502936
+298,4.966666667,pose2_to_pose3_retreat,0.619538891192,0.0101501386336,1.07003341719,0.590109568448,0.0188227722421,1.06970481082
+299,4.983333333,pose2_to_pose3_retreat,0.619219851931,0.010150069304,1.07003352301,0.589790530983,0.018822708686,1.06970491807
+300,5.000000000,pose2_to_pose3_retreat,0.618884582397,0.0101501367655,1.07003366944,0.589455260498,0.0188227725613,1.0697050654
+301,5.016666667,pose2_to_pose3_retreat,0.61853200939,0.0101501710419,1.07003364574,0.589102686647,0.0188228036034,1.06970504243
+302,5.033333333,pose2_to_pose3_retreat,0.618158605103,0.010150088323,1.07003347601,0.588729283372,0.0188227239356,1.06970487266
+303,5.050000000,pose2_to_pose3_retreat,0.617762194586,0.0101502078051,1.07003345418,0.588332870451,0.0188228352545,1.06970485777
+304,5.066666667,pose2_to_pose3_retreat,0.617333196152,0.0101501714434,1.07003360733,0.587903874214,0.0188228055819,1.06970500122
+305,5.083333333,pose2_to_pose3_retreat,0.616874607409,0.0101502729069,1.07003362999,0.587445285443,0.0188229064707,1.06970502098
+306,5.100000000,pose2_to_pose3_retreat,0.616387636053,0.0101502418698,1.07003361301,0.586958313434,0.0188228730576,1.0697050081
+307,5.116666667,pose2_to_pose3_retreat,0.615884489068,0.0101502023194,1.07003353693,0.586455166895,0.0188228347328,1.06970493314
+308,5.133333333,pose2_to_pose3_retreat,0.615369569527,0.0101501910381,1.07003349071,0.585940247609,0.0188228238671,1.06970488519
+309,5.150000000,pose2_to_pose3_retreat,0.614846366495,0.0101501713631,1.07003348822,0.585417044924,0.0188228050743,1.06970488311
+310,5.166666667,pose2_to_pose3_retreat,0.614313014779,0.0101501154028,1.07003347793,0.584883694624,0.0188227539338,1.06970487586
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+312,5.200000000,pose2_to_pose3_retreat,0.613185463181,0.010150129107,1.07003358813,0.583756140964,0.0188227606221,1.06970498592
+313,5.216666667,pose2_to_pose3_retreat,0.612581341739,0.0101502908995,1.0700335802,0.583152018215,0.0188229181675,1.06970498299
+314,5.233333333,pose2_to_pose3_retreat,0.611958466777,0.0101501799137,1.0700336956,0.582529144575,0.0188228112046,1.06970508679
+315,5.250000000,pose2_to_pose3_retreat,0.61131944811,0.0101501319398,1.07003363114,0.581890126097,0.0188227639073,1.06970502275
+316,5.266666667,pose2_to_pose3_retreat,0.610655273962,0.0101501799807,1.0700335037,0.581225951661,0.0188228113524,1.06970490453
+317,5.283333333,pose2_to_pose3_retreat,0.609971454219,0.0101501277067,1.07003360472,0.580542133768,0.0188227651878,1.0697050011
+318,5.300000000,pose2_to_pose3_retreat,0.609276845157,0.0101501751643,1.0700335959,0.57984752481,0.0188228130205,1.06970499279
+319,5.316666667,pose2_to_pose3_retreat,0.608577836882,0.0101501932049,1.07003360842,0.579148514484,0.0188228240471,1.0697050038
+320,5.333333333,pose2_to_pose3_retreat,0.607879438406,0.0101502415497,1.07003350498,0.578450115487,0.0188228706346,1.06970490062
+321,5.350000000,pose2_to_pose3_retreat,0.6071799043,0.0101502443738,1.07003365524,0.57775058175,0.0188228746199,1.06970504837
+322,5.366666667,pose2_to_pose3_retreat,0.606472634445,0.0101501393955,1.07003368828,0.577043313003,0.0188227733389,1.06970507972
+323,5.383333333,pose2_to_pose3_retreat,0.605741790425,0.0101501128056,1.07003371968,0.576312468769,0.0188227459459,1.06970510905
+324,5.400000000,pose2_to_pose3_retreat,0.604975760547,0.0101502281111,1.0700338048,0.575546437533,0.0188228565915,1.06970519271
+325,5.416666667,pose2_to_pose3_retreat,0.60416353536,0.0101501143399,1.07003355624,0.574734214875,0.0188227516098,1.06970494968
+326,5.433333333,pose2_to_pose3_retreat,0.603334670103,0.0101501230969,1.07003385565,0.573905349094,0.0188227584352,1.06970524494
+327,5.450000000,pose2_to_pose3_retreat,0.602497181787,0.0101501307714,1.07003361997,0.573067860421,0.0188227649188,1.06970500972
+328,5.466666667,pose2_to_pose3_retreat,0.601684106139,0.0101501765852,1.0700333491,0.572254782428,0.0188228033408,1.06970475368
+329,5.483333333,pose2_to_pose3_retreat,0.60089471317,0.0101501442578,1.07003346951,0.571465390942,0.018822775652,1.06970486367
+330,5.500000000,pose2_to_pose3_retreat,0.600116177002,0.0101501039741,1.07003364818,0.570686856475,0.0188227411241,1.0697050418
+331,5.516666667,pose2_to_pose3_retreat,0.599337069174,0.0101500968439,1.07003355178,0.569907749337,0.0188227363234,1.06970494507
+332,5.533333333,pose2_to_pose3_retreat,0.598551134114,0.0101500653731,1.07003344956,0.569121814009,0.0188227040472,1.06970484553
+333,5.550000000,pose2_to_pose3_retreat,0.59773742102,0.0101500377857,1.07003355422,0.568308100769,0.0188226760951,1.06970495371
+334,5.566666667,pose2_to_pose3_retreat,0.596903045947,0.0101501630727,1.07003349781,0.567473726228,0.0188228027937,1.06970488674
+335,5.583333333,pose2_to_pose3_retreat,0.596079642771,0.0101501814586,1.07003340462,0.56665032128,0.0188228152844,1.06970479661
+336,5.600000000,pose2_to_pose3_retreat,0.595273566298,0.0101501138291,1.07003361619,0.565844244471,0.0188227465688,1.06970500966
+337,5.616666667,pose2_to_pose3_retreat,0.594493288632,0.0101502328766,1.07003361819,0.565063964133,0.0188228565099,1.0697050105
+338,5.633333333,pose2_to_pose3_retreat,0.593733748875,0.0101501939462,1.0700332971,0.564304426431,0.0188228250984,1.06970470385
+339,5.650000000,pose2_to_pose3_retreat,0.592992020985,0.0101501565814,1.07003332126,0.56356269851,0.0188227871502,1.06970471527
+340,5.666666667,pose2_to_pose3_retreat,0.592246723759,0.0101502037417,1.07003356224,0.562817399917,0.0188228293418,1.06970494754
+341,5.683333333,pose2_to_pose3_retreat,0.591496336164,0.0101502639652,1.07003374583,0.562067012056,0.0188228888414,1.06970513576
+342,5.700000000,pose2_to_pose3_retreat,0.59074992796,0.0101502026128,1.07003373717,0.561320605704,0.0188228336955,1.06970512506
+343,5.716666667,pose2_to_pose3_retreat,0.590007098024,0.0101501165819,1.07003360581,0.560577777643,0.0188227543341,1.06970500171
+344,5.733333333,pose2_to_pose3_retreat,0.589265817442,0.0101502431598,1.07003364833,0.559836492575,0.018822865354,1.06970503544
+345,5.750000000,pose2_to_pose3_retreat,0.588549522534,0.010150046653,1.07003317488,0.559120201462,0.0188226819955,1.06970456909
+346,5.766666667,pose2_to_pose3_retreat,0.587862416798,0.0101501111932,1.07003372809,0.558433096008,0.0188227472183,1.06970511492
+347,5.783333333,pose2_to_pose3_retreat,0.587195302049,0.010150133047,1.0700336348,0.557765980847,0.0188227678128,1.06970502539
+348,5.800000000,pose2_to_pose3_retreat,0.586549799955,0.0101501018486,1.07003350895,0.557120478953,0.01882273727,1.06970489887
+349,5.816666667,pose2_to_pose3_retreat,0.585924471229,0.0101500768383,1.07003355401,0.556495149839,0.0188227109104,1.069704943
+350,5.833333333,pose2_to_pose3_retreat,0.585309303897,0.0101501062144,1.07003360849,0.555879981643,0.0188227375263,1.06970500199
+351,5.850000000,pose2_to_pose3_retreat,0.584703501778,0.0101501800309,1.07003360827,0.555274180345,0.018822814193,1.06970500347
+352,5.866666667,pose2_to_pose3_retreat,0.584114149451,0.0101501692645,1.07003358711,0.554684826925,0.0188227998801,1.06970498657
+353,5.883333333,pose2_to_pose3_retreat,0.583546800694,0.0101500994785,1.07003372153,0.554117479472,0.0188227343842,1.06970511745
+354,5.900000000,pose2_to_pose3_retreat,0.583008605503,0.0101500631024,1.07003333752,0.553579283869,0.0188226967403,1.06970473694
+355,5.916666667,pose2_to_pose3_retreat,0.582492199564,0.0101500901275,1.07003327787,0.553062877519,0.0188227226637,1.06970468488
+356,5.933333333,pose2_to_pose3_retreat,0.581990648466,0.0101501700281,1.07003347925,0.552561325999,0.0188228008494,1.06970487883
+357,5.950000000,pose2_to_pose3_retreat,0.581501286163,0.0101501757472,1.07003369469,0.552071964634,0.0188228092873,1.06970508202
+358,5.966666667,pose2_to_pose3_retreat,0.581026318952,0.0101500938678,1.07003368402,0.551596998735,0.0188227318639,1.06970507153
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+361,6.016666667,pose2_to_pose3_retreat,0.579770171084,0.0101500476369,1.07003349026,0.550340849352,0.0188226806517,1.06970488196
+362,6.033333333,pose2_to_pose3_retreat,0.579409278416,0.0101501951668,1.07003339708,0.549979956064,0.0188228260831,1.06970478888
+363,6.050000000,pose2_to_pose3_retreat,0.579069688659,0.0101501248586,1.07003353245,0.54964036789,0.0188227611879,1.06970492543
+364,6.066666667,pose2_to_pose3_retreat,0.578742384618,0.0101500804336,1.07003368931,0.549313065059,0.0188227207884,1.06970508033
+365,6.083333333,pose2_to_pose3_retreat,0.578427327315,0.0101501523691,1.07003370648,0.548998006089,0.018822786971,1.06970509498
+366,6.100000000,pose2_to_pose3_retreat,0.578132159433,0.0101502156867,1.07003355919,0.54870283621,0.0188228435641,1.06970494882
+367,6.116666667,pose2_to_pose3_retreat,0.577856972851,0.0101501335208,1.07003335663,0.548427651409,0.0188227676162,1.06970475097
+368,6.133333333,pose2_to_pose3_retreat,0.577603593613,0.0101500664965,1.07003324939,0.548174272294,0.0188227011857,1.06970464818
+369,6.150000000,pose2_to_pose3_retreat,0.577371973917,0.0101501509603,1.07003360965,0.54794265168,0.0188227822161,1.06970500026
+370,6.166666667,pose2_to_pose3_retreat,0.577163183187,0.0101500859283,1.07003340304,0.547733861531,0.0188227193655,1.06970479944
+371,6.183333333,pose2_to_pose3_retreat,0.576971723732,0.0101501609921,1.07003354291,0.547542400937,0.0188227904689,1.06970493674
+372,6.200000000,pose2_to_pose3_retreat,0.576797493987,0.0101501171782,1.07003356328,0.547368171992,0.0188227493046,1.06970495536
+373,6.216666667,pose2_to_pose3_retreat,0.576641763963,0.0101500309547,1.07003349912,0.547212443309,0.0188226676833,1.06970489253
+374,6.233333333,pose2_to_pose3_retreat,0.576501851967,0.0101500457396,1.07003352695,0.547072531102,0.018822681689,1.06970491884
+375,6.250000000,pose2_to_pose3_retreat,0.576377215622,0.0101501639519,1.07003365926,0.546947893049,0.0188227936974,1.06970504034
+376,6.266666667,pose2_to_pose3_retreat,0.576264569401,0.0101499996321,1.07003352545,0.54683524716,0.0188226307662,1.06970491343
+377,6.283333333,pose2_to_pose3_retreat,0.576163322068,0.0101502204762,1.07003357394,0.546734000497,0.0188228543116,1.06970497327
+378,6.300000000,pose2_to_pose3_retreat,0.576072947357,0.010150265857,1.07003361879,0.546643625577,0.0188228987791,1.06970501306
+379,6.316666667,pose2_to_pose3_retreat,0.575992797749,0.0101502925497,1.07003348557,0.546563474285,0.018822919709,1.06970487874
+380,6.333333333,pose2_to_pose3_retreat,0.57592354749,0.010150226097,1.07003349623,0.546494224268,0.0188228540041,1.06970488732
+381,6.350000000,pose2_to_pose3_retreat,0.5758647294,0.0101500686052,1.07003359924,0.546435408763,0.0188227050904,1.06970498518
+382,6.366666667,pose2_to_pose3_retreat,0.575816955688,0.0101500297894,1.07003356377,0.546387635594,0.0188226680936,1.06970494904
+383,6.383333333,pose2_to_pose3_retreat,0.57577787215,0.0101501292259,1.07003365582,0.546348549583,0.0188227590628,1.06970503917
+384,6.400000000,pose2_to_pose3_retreat,0.575746847516,0.0101501627362,1.07003363954,0.546317525689,0.0188227951731,1.06970502518
+385,6.416666667,pose2_to_pose3_retreat,0.5757230168,0.0101501117103,1.07003348745,0.546293695481,0.0188227463327,1.0697048853
+386,6.433333333,pose2_to_pose3_retreat,0.575705134426,0.0101500261558,1.07003334002,0.546275813665,0.0188226623216,1.06970472862
+387,6.450000000,pose2_to_pose3_retreat,0.575692370835,0.0101501012166,1.07003345405,0.546263050529,0.0188227391841,1.06970484946
+388,6.466666667,pose2_to_pose3_retreat,0.575683053838,0.0101501872746,1.07003358258,0.546253732673,0.0188228225543,1.06970498409
+389,6.483333333,pose2_to_pose3_retreat,0.575676595566,0.0101502024539,1.0700335955,0.546247271979,0.018822829357,1.06970499291
+390,6.500000000,pose2_to_pose3_retreat,0.575672281418,0.0101502172285,1.07003359596,0.546242958826,0.0188228475707,1.06970499499
+391,6.516666667,pose2_to_pose3_retreat,0.57566957228,0.0101502001814,1.07003354489,0.54624025042,0.0188228330819,1.06970494595
+392,6.533333333,pose2_to_pose3_retreat,0.575667526674,0.0101501236464,1.07003338385,0.546238205366,0.0188227585494,1.06970478839
+393,6.550000000,pose2_to_pose3_retreat,0.575666344637,0.0101500925883,1.07003332956,0.546237023694,0.0188227287478,1.06970473461
+394,6.566666667,pose2_to_pose3_retreat,0.575666189501,0.0101500913593,1.07003333081,0.546236868616,0.0188227277053,1.06970473561
+395,6.583333333,pose2_to_pose3_retreat,0.575665914141,0.0101500891781,1.07003333305,0.546236593358,0.0188227258549,1.06970473738
+396,6.600000000,pose2_to_pose3_retreat,0.575665400146,0.0101500851064,1.07003333722,0.546236079553,0.0188227224009,1.0697047407
+397,6.616666667,pose2_to_pose3_retreat,0.575665133493,0.0101500829941,1.07003333938,0.546235812999,0.018822720609,1.06970474242
+398,6.633333333,pose2_to_pose3_retreat,0.575665010021,0.0101500854733,1.07003337228,0.546235689313,0.0188227222602,1.06970477276
+399,6.650000000,pose2_to_pose3_retreat,0.575664895807,0.0101500881066,1.07003340585,0.546235574874,0.0188227240316,1.06970480372
+400,6.666666667,pose2_to_pose3_retreat,0.575664876225,0.0101500885581,1.0700334116,0.546235555253,0.0188227243353,1.06970480903
+401,6.683333333,pose2_to_pose3_retreat,0.575664715077,0.0101500922735,1.07003345897,0.546235393787,0.0188227268346,1.06970485273
+402,6.700000000,pose2_to_pose3_retreat,0.575664585636,0.0101500952579,1.07003349701,0.546235264092,0.0188227288422,1.06970488783
+403,6.716666667,pose2_to_pose3_retreat,0.575664518813,0.0101500967986,1.07003351666,0.546235197137,0.0188227298786,1.06970490595
+404,6.733333333,pose2_to_pose3_retreat,0.575664489621,0.0101501079883,1.07003352182,0.546235167794,0.0188227405467,1.06970491091
+405,6.750000000,pose2_to_pose3_retreat,0.575664469448,0.0101501311853,1.07003352036,0.546235147378,0.0188227629403,1.06970490999
+406,6.766666667,pose2_to_pose3_retreat,0.575664459554,0.0101501425619,1.07003351965,0.546235137365,0.0188227739228,1.06970490955
+407,6.783333333,pose2_to_pose3_retreat,0.575664457432,0.0101501450024,1.07003351949,0.546235135217,0.0188227762789,1.06970490945
+408,6.800000000,pose2_to_pose3_retreat,0.575664441905,0.0101501628559,1.07003351837,0.546235119504,0.018822793514,1.06970490875
+409,6.816666667,pose2_to_pose3_retreat,0.575664381728,0.0101501842059,1.07003346773,0.546235059132,0.0188228143001,1.06970486059
+410,6.833333333,pose2_to_pose3_retreat,0.575664312495,0.0101502072117,1.07003340796,0.546234989693,0.0188228367169,1.06970480372
+411,6.850000000,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532845,1.06970476168
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..69725c7eacadcbea4c32ac0d86006b0a92150cdc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113cd0e8a516851e0243516f9e19605bf3579f825e10c182fe94ec2c5fd8bbec
+size 26137824
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f572169cac93209471fb603a3ea1bd0e2cc3275
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+19,0.316666667,BASELINE,768,746,723,688.978514845,669,642,886.021485155,786,820,655,632,655,0.400976961391,0.00447981254996,0.0798394916306,0.999999954469,0.000113340700684,-0.000274838474271,5.17702973987e-05,1793250865699710720
+20,0.333333333,BASELINE,768,746,723,688.403564611,669,642,886.596435389,786,820,655,632,655,0.400976260122,0.0044800428718,0.079838611072,0.999999954193,0.000112826751241,-0.000276072763718,5.16463047773e-05,1793250865716377088
+21,0.350000000,BASELINE,768,746,723,688.171376541,669,642,886.828623459,786,820,655,632,655.171376541,0.400975976191,0.004480240832,0.0798382313775,0.999999954098,0.000112264742859,-0.000276671390175,5.15053041508e-05,1793250865733043968
+22,0.366666667,BASELINE,768,746,723,688.746296227,669,642,886.253703773,786,820,655,632,655.746296227,0.400976674974,0.00448036258968,0.079839031076,0.999999954431,0.000111589569382,-0.000275773210408,5.13242545137e-05,1793250865749710592
+23,0.383333333,BASELINE,768,746,723,689,669,642,886,786,820,655,632,655.667984331,0.400977480409,0.00448110604353,0.0798399310915,0.999999954689,0.000112921147563,-0.000274296495029,5.12990610902e-05,1793250865766377216
+24,0.400000000,BASELINE,768,746,723,689,669,642,886,786,820,655,632,655.073734928,0.40097837008,0.00448234052755,0.0798409103398,0.999999954879,0.000115837705034,-0.000272362838601,5.13969665269e-05,1793250865783043840
+25,0.416666667,BASELINE,768,746,723,689,669,642,886,786.50549482,820,655,632,655.50549482,0.400978432744,0.0044813688342,0.0798402677091,0.999999954737,0.000114968514006,-0.000273238270862,5.1468968985e-05,1793250865799710976
+26,0.433333333,BASELINE,768,746,723.082107734,689,669,642,886,786.917892266,820,655.082107734,632,656,0.400978204868,0.004480144803,0.0798393274417,0.999999954538,0.000113560164564,-0.000274540218903,5.15311645176e-05,1793250865816378112
+27,0.450000000,BASELINE,768,746,723.655792169,689,669,642,886,786.344207831,820,655.655792169,632,656,0.400976938922,0.00447928109333,0.0798379807491,0.999999954292,0.000112134586045,-0.000276013314031,5.15566146386e-05,1793250865833044480
+28,0.466666667,BASELINE,768,746,723.76407218,689,669,642,886.23592782,786,820,656,632,656,0.400976312701,0.00447939794557,0.0798375802118,0.999999954247,0.000111820663689,-0.000276299073311,5.15804244526e-05,1793250865849711104
+29,0.483333333,BASELINE,768,746,723.174259939,689,669,642,886.825740061,786,820,656,632,656,0.400976646047,0.00448098561035,0.0798385988784,0.999999954506,0.00011317419123,-0.000274803865511,5.16017738562e-05,1793250865866377472
+30,0.500000000,BASELINE,768,745.591899897,723,689.408100103,669,642,886.591899897,786,820,655.591899897,632,656,0.400976608782,0.0044808574476,0.0798388330972,0.999999954611,0.000112750615904,-0.000274586858113,5.16444330142e-05,1793250865883043840
+31,0.516666667,BASELINE,768,745.012664915,723,689.987335085,669,642,886.012664915,786,820,655.012664915,632,656,0.400976416101,0.00448000976051,0.0798387383615,0.999999954652,0.000111581820724,-0.000274905858146,5.16960283181e-05,1793250865899710464
+32,0.533333333,BASELINE,768,745.563432358,723,689.436567642,669,642,886.563432358,786,820,655,632,656,0.400977463948,0.00448111750097,0.0798393225552,0.999999954716,0.000112814912603,-0.000274186742671,5.15904054039e-05,1793250865916377344
+33,0.550000000,BASELINE,768.138805166,746,723,689.138805166,669,642,887,786,819.861194834,655,632.138805166,656,0.400978226708,0.00448197782135,0.0798398308662,0.999999954727,0.000114213081562,-0.00027357816368,5.15457304478e-05,1793250865933043968
+34,0.566666667,BASELINE,768.712129546,746,723,689.712129546,669,642,887,786,819.287870454,655,632.712129546,656,0.400978010216,0.00448192677755,0.0798400541228,0.999999954569,0.000115959936189,-0.000273388254696,5.17028501226e-05,1793250865949710592
+35,0.583333333,BASELINE,769,746,723,689.705754751,669,642,886.705754751,786,819.294245249,655.294245249,632.705754751,655.705754751,0.400977569636,0.00448172708818,0.0798398177065,0.999999954432,0.000115923576862,-0.000273948303009,5.14752466366e-05,1793250865966377472
+36,0.600000000,BASELINE,769,746,723,689.11477323,669,642,886.11477323,786,819.88522677,655.88522677,632.11477323,655.11477323,0.400976903073,0.00448137749483,0.0798391177258,0.999999954313,0.00011408890745,-0.000275264657587,5.08596630181e-05,1793250865983044096
+37,0.616666667,BASELINE,768.532950423,746.467049577,723,689,669,642,886.467049577,786,820,655.532950423,632,655.467049577,0.400977469613,0.00448033282239,0.0798393163399,0.999999954523,0.000113142810563,-0.000274840616643,5.11432104997e-05,1793250865999710720
+38,0.633333333,BASELINE,768,746.95363738,723.04636262,689,669,642,887,786,820,655,632,655.95363738,0.400978164947,0.004479261289,0.0798396001888,0.999999954743,0.000112634734846,-0.000274163217474,5.16029702601e-05,1793250866016377088
+39,0.650000000,BASELINE,768,746.377777314,723.622222686,689,669,642,887,786,820,655,632,655.377777314,0.40097693699,0.0044797962407,0.0798383840341,0.999999954175,0.000114683338832,-0.000275382841775,5.16002846542e-05,1793250866033043712
+40,0.666666667,BASELINE,768,746,723.80178145,689,668.80178145,642,887,786,820,655,632,655,0.400976575944,0.00448099185849,0.079838013833,0.999999953951,0.000116527916998,-0.000275447185189,5.14659148693e-05,1793250866049710336
+41,0.683333333,BASELINE,768,746,723.225526633,689,668.225526633,642,887,786,820,655,632,655,0.400977868245,0.00448344747809,0.0798392570082,0.999999954387,0.000117983383326,-0.000273308212666,5.10804011039e-05,1793250866066376960
+42,0.700000000,BASELINE,768,746,723,689,668.359985007,642,886.640014993,786.359985007,820,655,632,655.359985007,0.40097781496,0.00448255272683,0.0798396659221,0.999999954673,0.00011559577797,-0.000273308307699,5.09331939945e-05,1793250866083043840
+43,0.716666667,BASELINE,768,746,723,689,668.951448983,642,886.048551017,786.951448983,820,655,632,655.951448983,0.400976896429,0.00447950360687,0.079839538386,0.999999954846,0.000110736985556,-0.000274683874401,5.09392237779e-05,1793250866099710976
+44,0.733333333,BASELINE,768.528030728,746,723,689,669,642,886,786.471969272,819.471969272,655,632,655.471969272,0.400977415898,0.00448056582929,0.0798398397832,0.999999954789,0.000113019997797,-0.000273927011221,5.11184741297e-05,1793250866116377856
+45,0.750000000,BASELINE,768.896589912,746,723,689,669,642,886,786,819.103410088,655,632,655,0.400977821202,0.00448168488191,0.0798401778661,0.999999954752,0.000115258449194,-0.000273094939031,5.1292749113e-05,1793250866133044736
+46,0.766666667,BASELINE,768.320623577,746,723,689,669,642,886,786,819.679376423,655,632,655,0.400977117156,0.00448138350485,0.0798405083062,0.999999954932,0.000114374721641,-0.000272790614185,5.1373500183e-05,1793250866149711104
+47,0.783333333,BASELINE,768.26159067,746,723.26159067,689,669,642.26159067,886.26159067,786,820,655.26159067,632,655,0.400977324317,0.0044812596971,0.0798407879543,0.999999955086,0.000114572681862,-0.000272143057169,5.13830488338e-05,1793250866166377472
+48,0.800000000,BASELINE,768.851650246,746,723.851650246,689,669,642.851650246,886.851650246,786,820,655.851650246,632,655,0.400978675643,0.00448135885595,0.0798410038249,0.999999955203,0.000116128873889,-0.000271064517247,5.1303191475e-05,1793250866183043840
+49,0.816666667,BASELINE,768.567457843,746,724,689,669,642.567457843,887,786,820,656,632,655.432542157,0.400978363905,0.00448120706362,0.0798406447389,0.99999995509,0.000115884965874,-0.000271572869831,5.13669644736e-05,1793250866199710464
+50,0.833333333,BASELINE,768,746,723.989657843,689,668.989657843,642,887,786,820,655.989657843,632,656,0.400977511996,0.00448098231357,0.0798401069961,0.999999954905,0.000115045255186,-0.000272589984974,5.14732650538e-05,1793250866216377088
+51,0.850000000,BASELINE,768,746,723.412563959,689,668.412563959,642,887,786,820,655.412563959,632,656,0.400977666915,0.00448137817977,0.0798403608045,0.999999955041,0.000114685979162,-0.000272280900682,5.12665933232e-05,1793250866233043968
+52,0.866666667,BASELINE,768,746,723,689,668.163448371,642,886.836551629,786,820,655.163448371,632,655.836551629,0.40097771577,0.00448167084042,0.0798404114191,0.99999995516,0.000114510693647,-0.000271934498473,5.11740257282e-05,1793250866249710848
+53,0.883333333,BASELINE,768,746,723,689,668.736748637,642,886.263251363,786,820,655.736748637,632,655.263251363,0.400977498668,0.0044817047099,0.0798399525188,0.999999955237,0.000114796770103,-0.00027149452044,5.13675778292e-05,1793250866266377728
+54,0.900000000,BASELINE,768,746,723,689,669,642,886,786,819.679883645,655.679883645,632,655,0.40097773285,0.00448172051244,0.0798399541426,0.999999955091,0.00011582161346,-0.000271582378418,5.14406824612e-05,1793250866283044352
+55,0.916666667,BASELINE,768,746,723,689,669,642,886,786,819.087968044,655.087968044,632,655,0.400978350199,0.00448172097498,0.0798403467808,0.999999954754,0.000117473717116,-0.000272118402926,5.14115194842e-05,1793250866299710720
+56,0.933333333,BASELINE,768,746,723,689.492337486,669,642,886.492337486,786,819.492337486,655,632,655,0.400978675575,0.00448236982845,0.0798407632968,0.999999954956,0.000116627090037,-0.000271746186627,5.13913131774e-05,1793250866316377600
+57,0.950000000,BASELINE,768,746,723,690,669,642,886.9296237,786,819.9296237,655,632,655.0703763,0.400978868676,0.00448293660103,0.0798411421995,0.999999955212,0.000115536183184,-0.000271271207765,5.13695406753e-05,1793250866333043968
+58,0.966666667,BASELINE,768,746,723,690,669,642,886.353311161,786,819.353311161,655,632,655.646688839,0.400978477261,0.00448209962706,0.0798412207355,0.999999955201,0.000115824802115,-0.000271197218571,5.13252690606e-05,1793250866349710592
+59,0.983333333,BASELINE,768,746,723,689.773170705,669,642,886,786.226829295,819.226829295,655,632,656,0.400978354551,0.00448139127951,0.079841093237,0.999999955213,0.000115819126291,-0.000271166719086,5.12663961327e-05,1793250866366377472
+60,1.000000000,BASELINE,768,746,723,689.186965414,669,642,886,786.813034586,819.813034586,655,632,656,0.400978657566,0.00448088672055,0.0798406393087,0.999999955261,0.000115347185917,-0.000271205122319,5.11843896721e-05,1793250866383044096
+61,1.016666667,BASELINE,768,746,723,689,669,642,886.39406939,786.60593061,820,655.39406939,632,656,0.400979565069,0.00448098661681,0.0798409910442,0.999999955536,0.000114345443039,-0.00027058595391,5.1343038053e-05,1793250866399710720
+62,1.033333333,BASELINE,768,746,723,689,669,642,886.972682803,786.027317197,820,655.972682803,632,656,0.400980755654,0.00448136958153,0.0798417200748,0.999999955915,0.000113095591897,-0.000269658842485,5.16143859112e-05,1793250866416377600
+63,1.050000000,BASELINE,768.550225427,746,723,689.550225427,669,642,887,786,820,656,632,656,0.400977514632,0.0044814100213,0.0798390971478,0.999999954655,0.00011488143525,-0.000273591314097,5.13851969946e-05,1793250866433044480
+64,1.066666667,BASELINE,768.872797652,746,723,689.745595305,669.127202348,642,886.872797652,786,820,655.872797652,632,656,0.400974974777,0.00448134741109,0.0798372405902,0.999999953698,0.000116389849944,-0.000276466113839,5.12180587732e-05,1793250866449711104
+65,1.083333333,BASELINE,768.297626144,746,723,688.595252288,669.702373856,642,886.297626144,786,820,655.297626144,632,656,0.40097567756,0.00448098166101,0.0798386678887,0.999999954159,0.000116391503337,-0.00027476809075,5.13567902322e-05,1793250866466377728
+66,1.100000000,BASELINE,768.28398852,746,723,688.28398852,669.71601148,642,886.28398852,786,820,655,632,655.71601148,0.40097666031,0.00448090230001,0.0798398646241,0.999999954644,0.000116114142768,-0.000273102193962,5.14242119272e-05,1793250866483044096
+67,1.116666667,BASELINE,768.872512473,746,723,688.872512473,669.127487527,642,886.872512473,786,820,655,632,655.127487527,0.400977943282,0.00448113004872,0.079840814115,0.999999955156,0.000115537581238,-0.000271470747961,5.14151645017e-05,1793250866499710720
+68,1.133333333,BASELINE,769,746,723,689.455209798,669,642,887,786,820,655,632,655.455209798,0.400977644771,0.00448157859018,0.0798402901063,0.999999954977,0.000115159222009,-0.000272308815652,5.13077778324e-05,1793250866516377344
+69,1.150000000,BASELINE,769,746,723,690,669,642.035856032,887,786.035856032,819.964143968,655,632,656,0.400977047885,0.00448200106896,0.0798395328977,0.999999954678,0.000114784077369,-0.000273584417663,5.11780119749e-05,1793250866533044224
+70,1.166666667,BASELINE,769,746,723,690,669,642.609898996,887,786.609898996,819.390101004,655,632,656,0.400978536471,0.00448111594862,0.0798413912389,0.999999955468,0.000113634538762,-0.000271177473742,5.11205020334e-05,1793250866549711104
+71,1.183333333,BASELINE,768.816655459,746,723,689.816655459,669,642.816655459,887,786.816655459,819.183344541,655.183344541,632,656,0.400979277645,0.0044805937882,0.079842238691,0.999999955936,0.000112671249053,-0.000269861821113,5.10734340368e-05,1793250866566377984
+72,1.200000000,BASELINE,768.244476805,746,723,689.244476805,669,642.244476805,887,786.244476805,819.755523195,655.755523195,632,656,0.400978433718,0.00448084138709,0.0798409422662,0.999999955731,0.00011210295276,-0.000270860560804,5.1048511137e-05,1793250866583044864
+73,1.216666667,BASELINE,768.341873594,746,723,689,669,642,887,786,820,656,632,655.658126406,0.400979109432,0.00448057531411,0.0798407334716,0.999999955773,0.000112715234353,-0.00027042480627,5.1188101499e-05,1793250866599711488
+74,1.233333333,BASELINE,768.938796566,746,723,689,669,642,887,786,820,656,632,655.061203434,0.400980918851,0.00447992602437,0.0798413360865,0.999999955996,0.000114208267406,-0.000268918869991,5.14504243744e-05,1793250866616377600
+75,1.250000000,BASELINE,768.481171626,746,723,689,669,642,887,786,820,655.481171626,632,655,0.400978982979,0.00448021853346,0.0798403797407,0.999999955452,0.000113397755868,-0.000271288388679,5.13813957013e-05,1793250866633043968
+76,1.266666667,BASELINE,768,746,723,689,669,642,887,786,820,655,632,655,0.400977027364,0.00448082606944,0.0798394874652,0.99999995486,0.000113202992453,-0.000273555789633,5.12988132657e-05,1793250866649710336
+77,1.283333333,BASELINE,768,746,723,689,669,642,887,786,820,655,632,655,0.400977097787,0.00448246331102,0.0798397973646,0.999999954497,0.000117371254802,-0.000273118404858,5.13368661605e-05,1793250866666377216
+78,1.300000000,BASELINE,768.248370617,746.248370617,723.248370617,689,669,642,887,786,820,655.248370617,632.248370617,655.248370617,0.400977143754,0.00448244382338,0.0798398523097,0.999999954558,0.000117324710272,-0.000272933287999,5.12443469108e-05,1793250866683044096
+79,1.316666667,BASELINE,768.837817159,746.837817159,723.837817159,689,669,642,887,786,820,655.837817159,632.837817159,655.837817159,0.400977156135,0.00448014922571,0.0798395571379,0.999999955196,0.000111490165279,-0.000273094599081,5.09725189468e-05,1793250866699711232
+80,1.333333333,BASELINE,768.57968498,746.57968498,723.57968498,689,669,642,886.57968498,786,820,655.57968498,632.57968498,655.57968498,0.400977737068,0.00448010326317,0.079840401808,0.999999955476,0.000111647498828,-0.000271979942356,5.1093777891e-05,1793250866716377600
+81,1.350000000,BASELINE,768,746,723.000172783,689,669,642,886,786,820,655.000172783,632,655.000172783,0.400978533357,0.0044809106072,0.0798416783913,0.999999955621,0.000114078682131,-0.000270381882121,5.13641564511e-05,1793250866733044224
+82,1.366666667,BASELINE,768,746,723.571657142,689,669,642,886,786,820,655.571657142,632,655.571657142,0.400977815066,0.00448091972008,0.079840462439,0.999999955158,0.000114602158082,-0.000271874479568,5.13361076635e-05,1793250866749710336
+83,1.383333333,BASELINE,768,746,724,689,669,642,886,786,820,656,632,656,0.40097729687,0.00448072814989,0.0798397198969,0.999999954914,0.000114418982171,-0.000272854602788,5.12885315341e-05,1793250866766376960
+84,1.400000000,BASELINE,768,746,724,689,669,642,886,786,820,656,632,656,0.400977377445,0.00447993604674,0.0798403940085,0.999999955331,0.000112121189935,-0.000272301175706,5.11825209122e-05,1793250866783043584
+85,1.416666667,BASELINE,768,746,723.693877349,689,669,642,886,786,820,656,632,656,0.400977048534,0.00448010558718,0.0798405191954,0.999999955274,0.000112209768288,-0.000272463078421,5.12257256189e-05,1793250866799710464
+86,1.433333333,BASELINE,768,746,723.101220932,689,669,642,886,786,820,656,632,656,0.400976336341,0.00448117523538,0.0798401305834,0.999999954775,0.000114532012771,-0.000273294536792,5.1408597325e-05,1793250866816377088
+87,1.450000000,BASELINE,768,746,723,689,669,642,886,786,820,655.521482855,632,655.521482855,0.400977500291,0.00448163850331,0.0798407309483,0.999999955054,0.000114970934959,-0.000272104789674,5.13147900237e-05,1793250866833043712
+88,1.466666667,BASELINE,768.055345324,746,723,689,669,642,886.055345324,786,820,655,632,655,0.400978896653,0.00448191973886,0.0798414514569,0.999999955447,0.000115009805729,-0.000270663400744,5.11935302741e-05,1793250866849710592
+89,1.483333333,BASELINE,768.629836884,746,723,689,669,642,886.629836884,786,820,655,632,655,0.400978848328,0.00448166502879,0.0798413882002,0.999999955419,0.000114934767403,-0.000270766597454,5.13493136056e-05,1793250866866377216
+90,1.500000000,BASELINE,768.790363292,746,723,689,669,642,887,786,820,655.209636708,632,655.209636708,0.40097897427,0.00448167764052,0.0798415846354,0.999999955435,0.00011507409086,-0.000270630278659,5.14480280335e-05,1793250866883043840
+91,1.516666667,BASELINE,768.200947039,746,723,689,669,642,887,786,820,655.799052961,632,655.799052961,0.400979415915,0.0044821745346,0.0798422515303,0.999999955529,0.000115601753855,-0.000270060051638,5.14433559595e-05,1793250866899710464
+92,1.533333333,BASELINE,768,746,723,689,669.381554367,642,887,786,820,655.618445633,632,656,0.400978939087,0.00448134997032,0.0798418702132,0.999999955458,0.00011499288694,-0.000270549898695,5.15994427793e-05,1793250866916377344
+93,1.550000000,BASELINE,768,746,723,689,669.960478917,642,887,786,820,655.039521083,632,656,0.400977987152,0.00447984184302,0.0798409466776,0.999999955302,0.000113796116652,-0.000271588100101,5.18386868501e-05,1793250866933043968
+94,1.566666667,BASELINE,768,746,723.536915278,689.536915278,669.463084722,642,887,786,820,655,632,656,0.400976208349,0.00448098268745,0.0798391637361,0.999999954571,0.000115045686057,-0.000273791628661,5.15863193083e-05,1793250866949710336
+95,1.583333333,BASELINE,768,746,724,689.887114138,669.112885862,642,886.887114138,786,820,655.112885862,632.112885862,656,0.400975332179,0.00448200796958,0.0798381643962,0.999999954135,0.000116136325845,-0.0002749619896,5.13681301965e-05,1793250866966376960
+96,1.600000000,BASELINE,768,746,724,689.312303328,669.687696672,642,886.312303328,786,820,655.687696672,632.687696672,656,0.40097839746,0.00448176618546,0.0798406291845,0.999999955096,0.000115843193187,-0.000271555288558,5.14371882864e-05,1793250866983043840
+97,1.616666667,BASELINE,768,746,723.73080879,689,669.73080879,642,886,786.26919121,820,655.73080879,633,656,0.400980082844,0.00448271001138,0.0798418279402,0.999999955432,0.000117447227149,-0.000269622372345,5.14421355693e-05,1793250866999710720
+98,1.633333333,BASELINE,768,746,723.1413627,689,669.1413627,642,886,786.8586373,820,655.1413627,633,656,0.400980126575,0.00448506434921,0.0798415205055,0.999999955023,0.000121308306845,-0.000269442807729,5.13708106743e-05,1793250867016377344
+99,1.650000000,BASELINE,768,746,723,689,669,642,886,786.559770665,820,655,632.559770665,656,0.400979307883,0.00448459460243,0.0798408407106,0.999999954771,0.000120708435391,-0.000270688447335,5.11308162708e-05,1793250867033043712
+100,1.666666667,BASELINE,768.019191613,746,723.019191613,689.019191613,669,642,886.019191613,786,820,655.019191613,632,656,0.400978254284,0.00448324329107,0.0798401093968,0.999999954594,0.000118701453345,-0.000272280256481,5.08520047522e-05,1793250867049710592
+101,1.683333333,BASELINE,768.593757402,746,723.593757402,689.593757402,669,642,886.593757402,786,820,655.593757402,632,656,0.400978276458,0.00448216359941,0.0798412866997,0.999999955203,0.000116701523698,-0.000270878154167,5.09897683149e-05,1793250867066376960
+102,1.700000000,BASELINE,768.831568918,746.168431082,723.831568918,690,669.168431082,642,887,786.168431082,820,656,632,656,0.400978012614,0.00448159403201,0.0798416400228,0.999999955488,0.000115299621816,-0.000270405506125,5.10954919467e-05,1793250867083043584
+103,1.716666667,BASELINE,768.256634934,746.743365066,723.256634934,690,669.743365066,642,887,786.743365066,820,656,632,656,0.400977058474,0.00448225563299,0.0798400046971,0.999999955001,0.000115341040669,-0.000272176065761,5.1123888235e-05,1793250867099710208
+104,1.733333333,BASELINE,768.329049809,746.670950191,723.329049809,689.670950191,669.670950191,642,886.670950191,786.670950191,820,655.670950191,632,656,0.400977093601,0.00448280002485,0.0798398343846,0.999999954821,0.000116210162182,-0.000272493221035,5.10050212293e-05,1793250867116376832
+105,1.750000000,BASELINE,768.923402628,746.076597372,723.923402628,689.076597372,669.076597372,642,886.076597372,786.076597372,820,655.076597372,632,656,0.400977926344,0.00448324991459,0.0798408452681,0.999999954885,0.000117746635576,-0.000271638540077,5.07674202414e-05,1793250867133043712
+106,1.766666667,BASELINE,769,746,724,689,669,642,886.498031269,786,820,655,632,656,0.400978656838,0.00448239829882,0.0798412742837,0.999999955343,0.000115510512205,-0.000270917998444,5.07404754347e-05,1793250867149710592
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,887,786,820,656,632,656,0.400976749638,0.00448038586366,0.0798397386796,0.999999954975,0.000113804297553,-0.000272922527259,5.10986181476e-05,1793250867193168896
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.590899847,746,723.409100153,689,669,642,887,786,820,655.409100153,632.590899847,656,0.400977809245,0.00448188874388,0.0798403349145,0.999999955103,0.000115099933364,-0.000271964684819,5.07986337884e-05,1793250867209835520
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.821865078,746,723,689,669,642,886.821865078,786.178134922,820,655.178134922,632.821865078,656,0.400978357049,0.00448313618022,0.0798407418577,0.999999955098,0.000116461674429,-0.000271423982502,5.06862627443e-05,1793250867226501888
+110,1.833333333,POSE1_TO_POSE2_PRESS,768.242876653,746,723,689,669,642,886.242876653,786.757123347,820,655.757123347,632.242876653,656,0.400977753154,0.0044838087965,0.0798407228418,0.999999954797,0.000117972171102,-0.000271821962188,5.09960741865e-05,1793250867243168512
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.33529172,786.66470828,820,655.66470828,632,656,0.40097801013,0.00448286731084,0.079841004935,0.999999955044,0.00011680011982,-0.000271422533524,5.09812869464e-05,1793250867259835136
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.912867483,786.087132517,820,655.087132517,632,656,0.400978889175,0.00448075946426,0.0798415046115,0.99999995568,0.000113689641315,-0.000270446892214,5.07319425039e-05,1793250867276502016
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.486715995,746,723.486715995,689.486715995,669,642,887,786,820,655.486715995,632,655.513284005,0.400978557436,0.00448079925436,0.079841392099,0.999999955627,0.000113581124079,-0.000270669517088,5.08357361796e-05,1793250867293168640
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.937958514,746,723.937958514,689.937958514,669.062041486,642,887,786.062041486,820,656,632.062041486,655,0.40097819381,0.004481285004,0.0798412786296,0.999999955457,0.000114149506701,-0.000271025317331,5.10042895316e-05,1793250867309835008
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.34430317,746,723.34430317,689.34430317,669.65569683,642,887,786.65569683,820,656,632.65569683,655,0.400979400169,0.00448232265225,0.0798420889074,0.999999955329,0.000115948087973,-0.000270698112059,5.1190159272e-05,1793250867326501376
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669.756991023,642,887,787,820,656,632.756991023,655.243008977,0.40098623921,0.00448237818513,0.0798446204437,0.999999956425,0.000115807188738,-0.000266693882264,5.11123952329e-05,1793250867343167488
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,746,723,689,669.178437551,642,887,787,820,656,632.178437551,655.821562449,0.401000855806,0.00448107762233,0.0798495286774,0.999999959151,0.000112988273023,-0.000257612451825,5.0670608148e-05,1793250867359833856
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.603085391,786.603085391,820,655.603085391,632,656,0.401036768704,0.00448138381697,0.0798615733548,0.99999996482,0.000113487788058,-0.000234396354487,5.03849489142e-05,1793250867376500480
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.029160853,786.029160853,820,655.029160853,632,656,0.401082179003,0.00448240656867,0.079876800635,0.999999971088,0.000115467205942,-0.00020487669285,5.01689171257e-05,1793250867393167104
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,723,689.557810617,669,642,886,786,820,655.557810617,632,655.442189383,0.40115124872,0.00448459463459,0.0798941150979,0.999999977634,0.000116313375174,-0.000169909179972,4.83217116211e-05,1793250867409834496
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746,723.143356559,689.856643441,669,642,886,786,820,655.856643441,632,655,0.401223060896,0.00448608720229,0.0799090523134,0.999999982053,0.000116257641119,-0.000142175470145,4.65162472768e-05,1793250867426501376
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746,723.722446958,689.277553042,669,642,886,786,820,655.277553042,632,655,0.401299359364,0.00448527619586,0.0799164242725,0.999999983098,0.000113644945697,-0.000137315358626,4.51030523299e-05,1793250867443168256
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.300712571,746,724,689.300712571,669.300712571,642,886,786.300712571,820,655,632.300712571,655.300712571,0.401386388333,0.00448558111552,0.0799219033193,0.999999984306,0.00011163027884,-0.00013074380118,4.28183579447e-05,1793250867459834880
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.878218969,746,724,689.878218969,669.878218969,642,886,786.878218969,820,655,632.878218969,655.878218969,0.401483294293,0.0044869132003,0.0799256400161,0.999999985627,0.000110166073377,-0.000122596926884,3.97314834643e-05,1793250867476501248
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.546211898,746,724,690,669.546211898,642,886.453788102,787,820,655,632.546211898,655.546211898,0.401601303568,0.00448814637988,0.0799299216332,0.999999986835,0.000108183290513,-0.000115439558869,3.60430583207e-05,1793250867493167616
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,724,690,669,642,886.970491288,787,820,655,632,655.029508712,0.401726636044,0.00448943363498,0.0799345186911,0.999999988024,0.00010598810815,-0.000108106500066,3.2116511426e-05,1793250867509833984
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,724,690,669,642,886.382096854,787,820,655,632,655.617903146,0.401883860625,0.00449224563771,0.0799423321771,0.999999990128,0.00010239474363,-9.24378716118e-05,2.67245506605e-05,1793250867526500608
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.203372156,746,723.796627844,690,669.203372156,642,886.203372156,787,819.796627844,655.203372156,632,656,0.402050486464,0.00449507825724,0.0799499049922,0.999999991849,9.88623163718e-05,-7.79642093988e-05,2.12229275568e-05,1793250867543167232
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.783422737,746,723.216577263,690,669.783422737,642,886.783422737,787,819.216577263,655.783422737,632,656,0.402234524949,0.00449794906213,0.0799570320449,0.999999993166,9.54427552983e-05,-6.57038214526e-05,1.55181925138e-05,1793250867559834112
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.639132592,746,723,689.639132592,669.639132592,642,887.360867408,786.639132592,819.360867408,655.639132592,632,656,0.402431056627,0.00450004164088,0.0799595452373,0.999999994189,8.83034485198e-05,-6.11326502791e-05,9.31102741721e-06,1793250867576500992
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.063240609,746,723,689.063240609,669.063240609,642,887.936759391,786.063240609,819.936759391,655.063240609,632,656,0.40263503245,0.00450167051012,0.0799593092396,0.99999999501,7.89477131057e-05,-6.11431345967e-05,2.80448641896e-06,1793250867593167872
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.508632872,746,723,689.508632872,669.508632872,642,887.491367128,786,820,655,632,656,0.402860786204,0.00450618803607,0.0799530542578,0.999999994647,7.27424203838e-05,-7.33878144679e-05,-5.27232935876e-06,1793250867609834496
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.916988222,746,723.083011778,690,669.916988222,642.083011778,887.083011778,786.083011778,820,655.083011778,632.083011778,656,0.403096567592,0.0045108243017,0.0799467318645,0.999999994026,6.67576645023e-05,-8.54961086071e-05,-1.35124345701e-05,1793250867626501120
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.324178201,746,723.675821799,690,669.324178201,642.675821799,887.675821799,786.675821799,820,655.675821799,632.675821799,656,0.403377432866,0.0045140013737,0.0799445553804,0.999999994155,5.97405492868e-05,-8.74983583295e-05,-2.15657289907e-05,1793250867643167744
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.262435427,746,723.737564573,690.262435427,669,643,887.737564573,786.737564573,820,655.737564573,632.737564573,655.737564573,0.403682671749,0.00451891872232,0.0799458491167,0.999999994239,5.84541195578e-05,-8.52744383255e-05,-2.88794590242e-05,1793250867659834112
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.841571369,746,723.158428631,690.841571369,669,643,887.158428631,786.158428631,820,655.158428631,632.158428631,655.158428631,0.404017324076,0.00452593619307,0.0799513306283,0.999999994285,6.40833382435e-05,-7.7950482221e-05,-3.53007007595e-05,1793250867676500736
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,723.417913106,690.582086894,669,642.582086894,887,786.417913106,820,655,632,655.417913106,0.4043781721,0.00453511278101,0.0799558142757,0.999999990645,0.000114999151379,-6.8653268657e-05,-2.7771573333e-05,1793250867693167360
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,723.993202598,690.006797402,669,642.006797402,887,786.993202598,820,655,632,655.993202598,0.404748884807,0.00454510244227,0.0799599221504,0.999999981431,0.000182968845348,-5.86129719641e-05,-1.49890600766e-05,1793250867709833984
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,724,690.582488444,669,642,887,786.417511556,820,655.582488444,632,656,0.405165637337,0.00455048469129,0.0799549564627,0.999999994644,7.9572899369e-05,-6.20025190637e-05,-2.31495734119e-05,1793250867726501120
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.83114702,746,724,691,669,642,887,786.16885298,820,656,632.16885298,656,0.405591866109,0.00455615403845,0.0799502106401,0.999999997186,1.56092265362e-05,-6.72734019839e-05,-2.93047697356e-05,1793250867743168000
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.252282509,746,724,691,669,642,887,786.747717491,820,656,632.747717491,656,0.406039768465,0.00456265429245,0.0799462621398,0.999999995236,5.23710715063e-05,-7.67226545723e-05,-2.99825637756e-05,1793250867759834112
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.32470675,746,724,691.32470675,669,642.32470675,887,787,820,656,632.67529325,656,0.406509025953,0.00457191270537,0.079939925336,0.999999991695,8.8990674973e-05,-8.79354422779e-05,-3.09561175381e-05,1793250867776500480
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.900247449,746,724,691.900247449,669,642.900247449,887,787,820,656,632.099752551,656,0.406994780197,0.00458330177964,0.0799317435821,0.999999986557,0.000125500401624,-0.00010051055089,-3.21581439118e-05,1793250867793167104
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746.484294767,723.515705233,692.484294767,669,643,887,787,820,656,632.484294767,656,0.40749666408,0.00459061443416,0.0799266529154,0.999999982912,0.000142604595726,-0.000112829176298,-3.33184943383e-05,1793250867809833984
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.930790457,747,723.069209543,693,669,642.930790457,887.069209543,787,820,655.930790457,633,656,0.408010803237,0.00459756169252,0.0799217171002,0.999999979723,0.000153654386682,-0.0001255288429,-3.44562710061e-05,1793250867826500352
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.352611821,747,723.647388179,693,669,642.352611821,887.647388179,787,820,655.352611821,633,656,0.408590199177,0.00460810695618,0.0799131541422,0.999999978104,0.000150099904408,-0.000141426157219,-3.54922972837e-05,1793250867843167488
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,747,724,693,669.225945661,642.225945661,888,787,820,655,633,656,0.409203309026,0.00461770830161,0.0799192189984,0.999999978249,0.000156590012226,-0.00013282338655,-3.65872031461e-05,1793250867859834880
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,747,724,693,669.805095327,642.805095327,888,787,820,655,633,656,0.409869121279,0.0046258340894,0.0799481504263,0.999999979614,0.000178782078836,-8.59214584613e-05,-3.7774150956e-05,1793250867876501760
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.762581929,747,724,693.381290965,669.618709035,643,888,787,820,655,633,656,0.410553585739,0.00463111233309,0.0799765428168,0.999999983319,0.000174100777564,-3.97419902507e-05,-3.83534718116e-05,1793250867893168384
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.911976364,747,724,693.955988182,669.044011818,643,888,787,820,655,633,656,0.411247511334,0.00463494618659,0.0800046617848,0.999999987101,0.000155788212515,6.07101558539e-06,-3.86245795347e-05,1793250867909834752
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.470785137,747,724,694,669.529214863,643,888,787,820,655,633,656,0.411909325342,0.0046211240805,0.0799838302915,0.999999986103,0.000159145361244,-2.99614947019e-05,-3.96092247259e-05,1793250867926501120
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746.893492789,724,694,669.893492789,643,888,787,820,655,632.893492789,656,0.412581004484,0.00460408612412,0.0799570512264,0.999999984702,0.000153756533576,-7.29895095791e-05,-4.03538485141e-05,1793250867943167232
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.296932832,724,694,669.296932832,643,888,787,820,655,632.296932832,656,0.413310327552,0.00457898897272,0.0799215856249,0.999999987384,9.98574678126e-05,-0.000116973328393,-3.97218261014e-05,1793250867959833856
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.289171841,724,694.289171841,669,643,888,787,820,655,632.289171841,656,0.414068662994,0.00456752630713,0.0799106383366,0.999999987971,8.2151184612e-05,-0.000125223479555,-4.03630245395e-05,1793250867976500480
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746.864915315,724,694.864915315,669,643,888,787,820,655,632.864915315,656,0.414855750019,0.00456957552429,0.0799239888908,0.999999989268,0.000100312235553,-9.80612825889e-05,-4.22659951755e-05,1793250867993167360
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.563818538,724,695,669.436181462,643,888.436181462,787.436181462,820.436181462,655,632.563818538,656,0.41565116771,0.00458013147693,0.0799420226799,0.999999991184,0.000100481196031,-7.58694768671e-05,-4.21887367487e-05,1793250868009833984
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.006345528,724,694.993654472,670,643,889.006345528,787.993654472,821.006345528,655,632,656,0.416449204697,0.00459320737553,0.0799611315358,0.999999993036,9.54357296504e-05,-5.56338861388e-05,-4.15325546057e-05,1793250868026500608
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746.601613101,724,694.398386899,670,643,889.601613101,787.398386899,821.601613101,655,632,656,0.417253326681,0.00459813398188,0.0799467748304,0.9999999892,0.000118333016325,-7.55411553199e-05,-4.34860464466e-05,1793250868043166976
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,724,694.191266984,669.808733016,642.808733016,890.191266984,787,822.191266984,655,632,656,0.418103852926,0.00460049569783,0.0799486522617,0.999999988101,0.000132173626024,-6.56842870036e-05,-4.48817463719e-05,1793250868059833600
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,724,694.769561561,669.230438439,642.230438439,890.769561561,787,822.769561561,655,632,656,0.419048277868,0.00459766737316,0.0799833793724,0.999999990819,0.000127688102567,4.40013635528e-06,-4.51487575063e-05,1793250868076500480
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,723.653648885,695,669,642,891,787,823,655.346351115,632,656,0.419941822401,0.00459310560907,0.0799895096874,0.999999991256,0.000122451468558,1.9307194211e-05,-4.60448971502e-05,1793250868093167104
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,723.07785636,695,669,642,891,787,823,655.92214364,632,656,0.420801661004,0.00458739552257,0.0799766959618,0.999999992064,0.000116717259367,-2.33817369053e-06,-4.73578050706e-05,1793250868109833728
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642,891.507354994,787,823.507354994,655.492645006,632,656,0.421674816513,0.00458615264011,0.0799722977892,0.999999992859,0.000108494996078,-1.08441463953e-05,-4.89141826122e-05,1793250868126500352
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,723,695.092364144,669,642.092364144,891.907635856,787,824,655,632.092364144,656,0.422561436962,0.00458745319151,0.0799742021444,0.999999993317,0.000103726177876,-9.74541986034e-06,-5.01218415029e-05,1793250868143167232
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,723,695.668598654,669,642.668598654,891.331401346,787,824,655,632.668598654,656,0.423507688104,0.00459841893045,0.0800022303879,0.999999991216,0.000119087020394,3.09069842876e-05,-4.93032284387e-05,1793250868159833856
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,723,696,669,642.753872128,891.246127872,787,824,655,633,656,0.424426362432,0.00460699443218,0.0799988573385,0.999999989948,0.000132964115488,1.20955722952e-05,-4.77354985988e-05,1793250868176500480
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,723,696,669,642.174590338,891.825409662,787,824,655,633,656,0.425307709451,0.00461233455671,0.0799529801114,0.99999998469,0.000144832840309,-8.72049034283e-05,-4.51537784448e-05,1793250868193167104
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,723,696,669,642.402985569,892,787,824.402985569,655,633,656,0.426238036834,0.00461371676411,0.0799237000471,0.999999981435,0.00014416072048,-0.000118531184763,-4.79311819676e-05,1793250868209833728
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,723,696,669,642.979825496,892,787,824.979825496,655,633,656,0.42718949507,0.00461339146306,0.0799015802644,0.999999981798,0.000138078281322,-0.000120532316321,-5.30205966096e-05,1793250868226500608
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.429933637,747,723,696,669,643,892,787,825,655,633,656,0.428098862979,0.00460542217458,0.0799035924349,0.999999982239,0.000128185482579,-0.000128401681739,-5.10258147884e-05,1793250868243167232
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,892.157046748,786.842953252,825,655.157046748,632.842953252,656,0.429026813599,0.00459950649341,0.0799145684251,0.999999984064,0.000121062483329,-0.000121476173308,-4.96017817204e-05,1793250868259833856
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,892.734010502,786.265989498,825,655.734010502,632.265989498,656,0.430008529996,0.0045998225541,0.0799471736947,0.999999988554,0.000121714710155,-7.44229634685e-05,-5.03903256591e-05,1793250868276500480
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,723.308984817,696,669,643,893,786.308984817,825,656,632.308984817,656,0.431004771229,0.00460391485812,0.0799881693664,0.99999999078,0.00012548109768,-1.34190553581e-05,-5.01380334407e-05,1793250868293167104
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,723.882257451,696,669,643,893,786.882257451,825,656,632.882257451,656,0.432013436117,0.00461123714317,0.0800363417032,0.999999988328,0.000131911158536,5.95174741997e-05,-4.89954697411e-05,1793250868309833728
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,723.541856455,696,669,643,893.458143545,787,825.458143545,655.541856455,633,656,0.432899197307,0.00461599133438,0.0800033839454,0.999999989299,0.000137583750101,4.5445288782e-06,-4.95084572463e-05,1793250868326500608
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.035666206,747,723,696,669,643,894.035666206,787,826,655.035666206,632.964333794,656,0.43375512028,0.00461988513075,0.0799503230434,0.99999998532,0.000142311513982,-8.09618701099e-05,-5.05203456374e-05,1793250868343167744
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.628193269,747,723,696,669,643,894.628193269,787,826,655.628193269,632.371806731,656,0.434641162431,0.00462070922449,0.0799107964698,0.999999981391,0.000135344402439,-0.000127001589733,-5.26405260827e-05,1793250868359833856
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,696,669.214658344,643,895,786.785341656,826,656,632.214658344,656,0.435541252117,0.0046187130315,0.0798982286937,0.999999980501,0.000127526352593,-0.000140608263906,-5.44532219064e-05,1793250868376500480
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,696,669.790912001,643,895,786.209087999,826,656,632.790912001,656,0.436465005236,0.00461196602182,0.0799310734241,0.999999986493,0.000118274883086,-9.95809770473e-05,-5.5747955544e-05,1793250868393167104
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,696,669.627066025,643,895,786.372933975,826,655.627066025,632.627066025,656,0.437387731751,0.00460773071505,0.0799655246949,0.999999990479,0.000116392233811,-5.0277736295e-05,-5.44654261525e-05,1793250868409833472
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723,696,669.04175923,643,895,786.95824077,826,655.04175923,632.04175923,656,0.438309873595,0.00460492573541,0.0800008908322,0.99999999161,0.000118705869578,3.73836756032e-06,-5.17152356841e-05,1793250868426500096
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.462528964,747,723,696,669,643,895,786.462528964,826.537471036,655,632.537471036,656,0.43915839022,0.00461507594416,0.0799899644729,0.999999990498,0.000126025046009,-1.81725739141e-05,-5.28351768008e-05,1793250868443166976
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.11618114,747,723,696,668.88381886,643,895,786,827,655,633,656,0.439973022863,0.00462680201509,0.079957941031,0.99999998661,0.000136798278204,-7.17038008692e-05,-5.40792251993e-05,1793250868459833856
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.694679052,747,723,696,668.305320948,643,895,786,827,655,633,656,0.440675330226,0.00464083825997,0.0798561188668,0.999999959784,0.000159785871598,-0.000227848702091,-5.46339666807e-05,1793250868476500480
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+187,3.116666667,POSE1_TO_POSE2_PRESS,768.403139321,747,723,696.596860679,667,642,895.403139321,786,827,655,632,656.596860679,0.442906668091,0.00466632018203,0.0796996545763,0.999999878105,0.000185005165151,-0.000454294657657,-5.63779073021e-05,1793250868526500352
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+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,723,696.181936828,662.181936828,640,897,784,828,656,632,657,0.449951416752,0.00478815611911,0.0796397793852,0.999999807592,0.000316025776295,-0.000529298953911,-6.91844362759e-05,1793250868709833984
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,723,696,661.211517592,639.605758796,897.394241204,784,828,655.605758796,632,657,0.450490088706,0.0047920235458,0.0796669390195,0.999999824244,0.000327627407798,-0.000489276486264,-6.91492528133e-05,1793250868726500608
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+208,3.466666667,POSE1_TO_POSE2_PRESS,769,747,723,696,656,637.381292207,898.237415586,783.381292207,828,656,632,657,0.45384716677,0.00482012494713,0.079564603029,0.999999729754,0.000316850398493,-0.000659672215784,-7.02153548148e-05,1793250868876500480
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768.893372733,747,723,696,653.893372733,637,898,783,828,655,631.106627267,657,0.455142467363,0.00482756564948,0.0795498313843,0.99999969784,0.000357506797924,-0.000687313741239,-6.41021951593e-05,1793250868976500224
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+253,4.216666667,HOLD_POSE2,769,747,723,696,650.669473117,637,898,783,828,655.669473117,632,656.669473117,0.456054189188,0.00482341944483,0.0794934496458,0.999999635932,0.000325902401094,-0.000784886669265,-7.66582022107e-05,1793250869643757056
+254,4.233333333,HOLD_POSE2,769,747,723,696,650.093523934,637,898,783,828,655.093523934,632,656.093523934,0.456054788463,0.00482343405033,0.079493850649,0.999999635502,0.0003264269417,-0.000785223243161,-7.65946178928e-05,1793250869660423680
+255,4.250000000,HOLD_POSE2,769,747,722.516751543,696,650,637,898,783,828,655.483248457,632,656,0.456056937586,0.00482306626862,0.0794953555406,0.999999637918,0.000325951823614,-0.000782332433504,-7.6648793534e-05,1793250869677090048
+256,4.266666667,HOLD_POSE2,768.93867117,747,722.06132883,696,650,636.93867117,898,783,828,655.93867117,632,656,0.456058958573,0.0048227350424,0.0794967343194,0.999999640363,0.000325461404603,-0.000779397953149,-7.67303252909e-05,1793250869693756672
+257,4.283333333,HOLD_POSE2,768.35072987,747,722.64927013,696,650,636.35072987,898,783,828,655.35072987,632,656,0.456057299352,0.00482335424274,0.0794951926321,0.999999638404,0.000326503668603,-0.000781460903184,-7.68507284811e-05,1793250869710423296
+258,4.300000000,HOLD_POSE2,768.233477667,747,723,696,650,636,897.766522333,783,827.766522333,655,632,656,0.456056166722,0.00482347572864,0.0794942641162,0.999999637236,0.000326693563866,-0.000782877717173,-7.68223339811e-05,1793250869727090176
+259,4.316666667,HOLD_POSE2,768.812164584,747,723,696,650,636,897.187835416,783,827.187835416,655,632,656,0.456055812685,0.004822861317,0.0794942422073,0.999999637243,0.000325623186154,-0.000783339184195,-7.65739341072e-05,1793250869743756800
+260,4.333333333,HOLD_POSE2,769,747,723,696,650,636.389406864,897.389406864,783,827.389406864,655,631.610593136,656.389406864,0.456056444792,0.00482320426401,0.0794943094621,0.999999637202,0.000325827475583,-0.000783279133964,-7.68570285516e-05,1793250869760423424
+261,4.350000000,HOLD_POSE2,769,747,723,696,650,636.96595493,897.96595493,783,827.96595493,655,631.03404507,656.96595493,0.456057550821,0.00482400729852,0.0794944195674,0.999999637137,0.000326644344623,-0.000782968452945,-7.73955485848e-05,1793250869777090048
+262,4.366666667,HOLD_POSE2,768.458363935,747,723,696,650,637,898,783,828,655,631,657,0.456057594328,0.00482461800282,0.0794934958383,0.999999636136,0.000327243455004,-0.000784020758383,-7.71386606587e-05,1793250869793756928
+263,4.383333333,HOLD_POSE2,768,747,722.879411508,696,650,636.879411508,898,783,828,655.120588492,631.120588492,657,0.456057658314,0.004824856412,0.0794929294239,0.999999635623,0.000327221658722,-0.000784710891484,-7.68646324292e-05,1793250869810423808
+264,4.400000000,HOLD_POSE2,768,747,722.287459222,696,650,636.287459222,898,783,828,655.712540778,631.712540778,657,0.456058062994,0.00482368675016,0.079494013306,0.999999637247,0.000324826240853,-0.000783650998821,-7.67187208017e-05,1793250869827090432
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,722,696,650,637,898,783,828,655,631,657,0.456058962319,0.00482137551036,0.0794951795175,0.999999638206,0.000324678057122,-0.000782526049974,-7.63211847082e-05,1793250869864171008
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,722,696,650,637,898,783,828,655,631.582820981,657,0.45605735623,0.00482318736977,0.0794942818777,0.999999636365,0.000327439802881,-0.000783713482397,-7.64580489281e-05,1793250869880837888
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.834556022,747,722.165443978,696,650,636.834556022,898,783,828,655,631.834556022,657,0.456056603982,0.0048241458036,0.0794937595574,0.99999963566,0.000328393950116,-0.000784195253014,-7.66429429195e-05,1793250869897504512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.252431537,747,722.747568463,696,650,636.252431537,898,783,828,655,631.252431537,657,0.45605800218,0.00482295483467,0.0794941825011,0.999999637827,0.000324795553465,-0.000782899772627,-7.69488027791e-05,1793250869914171136
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,650,636.326417245,898,783,828,655,631,656.673582755,0.45605802361,0.00482288870845,0.0794937003319,0.999999637428,0.000324427626659,-0.000783577829524,-7.6789534065e-05,1793250869930837760
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,650,636.902757929,898,783,828,655,631,656.097242071,0.456056990908,0.00482368382526,0.0794925251572,0.999999635064,0.000326533129844,-0.000785766937868,-7.6274136683e-05,1793250869947504640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,650,636.519890649,898,783,828,655,631,656,0.45605827799,0.00482221593431,0.0794937541996,0.999999637252,0.00032549791827,-0.000783423940065,-7.61239302183e-05,1793250869964171008
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.057306163,747,722.942693837,696,650,636,898,783,828,655,631,656,0.456059777669,0.00482061094837,0.0794952619726,0.999999639909,0.000324017030817,-0.000780645404841,-7.60733790501e-05,1793250869980837632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.631259582,747,722.368740418,696,650,636,898,783,828,655,631,656,0.456058949112,0.00482191100168,0.0794948832353,0.999999638574,0.000324265249006,-0.000782233455305,-7.62530216232e-05,1793250869997504512
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747,722,696,650,636.211468764,897.788531236,783,828,655,631.211468764,656,0.456055847357,0.00482245946634,0.0794931095673,0.999999636001,0.000324491432965,-0.000785413627283,-7.63409730865e-05,1793250870014171136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,722,696,650,636.802918656,897.197081344,783,828,655,631.802918656,656,0.456048660969,0.00482165742644,0.0794888293951,0.999999631184,0.000324678024324,-0.0007914546288,-7.626416785e-05,1793250870030837760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.616032615,747,722.383967385,696,650,636.616032615,897.383967385,782.616032615,828,655.383967385,632,656.383967385,0.456031489427,0.00482173193815,0.0794813903419,0.999999621732,0.000324880431586,-0.000803242793741,-7.60954105121e-05,1793250870047504640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.040181701,747,722.959818299,696,650,636.040181701,897.959818299,782.040181701,828,655.959818299,632,656.959818299,0.456009327911,0.00482224449692,0.0794723726717,0.999999609796,0.000325090742638,-0.00081790304157,-7.5880701091e-05,1793250870064171520
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.540668759,747,722.459331241,696,650,636,897.459331241,782.540668759,828,656,631.459331241,657,0.455962864268,0.00482246161533,0.0794555131778,0.999999584255,0.000326015780565,-0.00084829294235,-7.48499412516e-05,1793250870080838144
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.877037199,747,722.122962801,696,650,636.122962801,897,783,828,655.877037199,631,657,0.455912282282,0.00482244413162,0.0794394649122,0.999999560113,0.000326733060408,-0.000876109167769,-7.38387204302e-05,1793250870097504768
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.290716383,747,722.709283617,696,650,636.709283617,897,783,828,655.290716383,631,657,0.455853050625,0.00482162611309,0.0794286901975,0.999999548181,0.000326465421876,-0.000889780832322,-7.31317982164e-05,1793250870114171136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.708295485,650,636.708295485,897.291704515,783,828,655,631.291704515,657,0.455784661397,0.00482103274452,0.0794220581627,0.999999539504,0.000327579206651,-0.000899161895801,-7.20501512012e-05,1793250870130838016
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.129710053,650,636.129710053,897.870289947,783,828,655,631.870289947,657,0.455707266031,0.00482066031118,0.0794195003054,0.99999953414,0.000330051571703,-0.000904323306449,-7.05999758482e-05,1793250870147504640
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.44849729,650,636.44849729,897.55150271,783,828,655,631.55150271,657,0.455617783005,0.00482021969903,0.0794213159138,0.999999535557,0.000330072542338,-0.000902901548745,-6.8610024011e-05,1793250870164171520
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.026347985,747,722.973652015,696,650,636.973652015,897.026347985,783,828,655,631,657,0.455524004128,0.00481973367417,0.0794245338234,0.999999539061,0.000329686418348,-0.000899319947637,-6.63916090045e-05,1793250870180837888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.599068742,747,722.400931258,696,650,636.400931258,897.599068742,783,828,655,631,657,0.455413575213,0.00481871447938,0.0794306240946,0.999999545336,0.000335547809822,-0.000890398066491,-6.26700718147e-05,1793250870197504768
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,722.176962305,696,650,636.176962305,897.823037695,783,827.823037695,655.176962305,631,657,0.455293138431,0.00481768077098,0.0794355911114,0.999999550666,0.000340582159966,-0.000882718282589,-5.89945340609e-05,1793250870214171392
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,722.76692835,696,650,636.76692835,897.23307165,783,827.23307165,655.76692835,631,657,0.45514934479,0.00481661319012,0.0794379366184,0.999999554017,0.000343686317728,-0.000877937370632,-5.54263526942e-05,1793250870230837760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.649933218,747,723,696,650,637,897.350066782,783,827.350066782,656,631.350066782,657,0.45498326005,0.00481594285968,0.0794368358609,0.999999552882,0.000347048834765,-0.000878157993349,-5.12895560424e-05,1793250870247504384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.071253534,747,723,696,650,637,897.928746466,783,827.928746466,656,631.928746466,657,0.454802617977,0.00481553195556,0.079433484503,0.999999548804,0.000350580074949,-0.000881644893373,-4.67814219163e-05,1793250870264171264
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.506511477,746.493488523,723,696,650.506511477,637,897.493488523,783,828,656,631.493488523,656.493488523,0.45459501097,0.0048120060568,0.0794346047303,0.999999548383,0.00035205242879,-0.000881803860834,-4.14195296824e-05,1793250870280837888
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.91666046,746.08333954,722.91666046,696,651,637,897,783,828,655.91666046,631,656,0.454377795695,0.00480826152079,0.0794357951142,0.999999547981,0.000353739845507,-0.000881831461775,-3.57783031775e-05,1793250870297504512
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.344573683,746.655426317,722.344573683,696,651,637,897,783,828,655.344573683,631,656,0.454126438145,0.00480579999529,0.0794337145573,0.999999544777,0.000358384010742,-0.000883829232277,-2.9201985144e-05,1793250870314171392
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.236453229,747,722,696,651.236453229,637,897,783,827.763546771,655,631,656,0.45385871411,0.00480340989178,0.0794319603011,0.99999954166,0.000364359487023,-0.000885108173218,-2.25032023313e-05,1793250870330838016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.831020141,747,722,696,651.831020141,637,897,783,827.168979859,655,631,656,0.453566202684,0.00480112795863,0.0794307002346,0.999999538679,0.00037235126326,-0.000885298430662,-1.56189442778e-05,1793250870347504640
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.58565159,747,722.41434841,696,652,637,897,783,827,655,631.41434841,656,0.453249204512,0.00479725050876,0.0794323555121,0.999999540158,0.000379358030227,-0.000880743786036,-7.90691103378e-06,1793250870364171264
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.006785652,747,722.993214348,696,652,637,897,783,827,655,631.993214348,656,0.452922483855,0.00479273955715,0.0794351683303,0.999999543307,0.000385973697864,-0.000874305172311,1.33791169875e-07,1793250870380838144
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,653.13350583,637,897,783,827.566752915,655,632,656.566752915,0.452567653403,0.0047908621677,0.0794470679663,0.999999557748,0.000389011556572,-0.000856229019718,6.81096966775e-06,1793250870397504768
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747,722.856193646,696,654,637,897,783,827.856193646,655,631.856193646,656.856193646,0.452200532766,0.00478809070176,0.0794594805567,0.999999573446,0.000388565865704,-0.000837836844307,1.23785292506e-05,1793250870414171136
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,722.268085593,696,654,637,897,783,827.268085593,655,631.268085593,656.268085593,0.451796470777,0.00478246040115,0.0794731449587,0.999999593351,0.000377488573018,-0.000818894771152,1.45677962075e-05,1793250870430837760
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,722.314906268,696,654.314906268,637,897,783,827,655.314906268,631.314906268,656,0.451377964528,0.00477656130444,0.0794873398609,0.999999617568,0.000356414790492,-0.000798520929549,1.40368920531e-05,1793250870447504384
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,722.893612315,696,654.893612315,637,897,783,827,655.893612315,631.893612315,656,0.450947358149,0.00477043703423,0.0795019791696,0.999999644659,0.000326966858158,-0.000776947680121,1.12272766307e-05,1793250870464171520
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,655.470550733,637,897,783.470550733,827,655.529449267,632,656,0.450489033885,0.00476434926672,0.0795221423559,0.999999680354,0.000305452710218,-0.00073882727379,1.11485403791e-05,1793250870480838144
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.047099717,747,723,696,656.047099717,637.047099717,896.952900283,784,827,655,631.952900283,656,0.450019816529,0.00475827816656,0.0795430484986,0.999999715097,0.000285979824082,-0.000698485311273,1.18090585256e-05,1793250870497505024
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.623747124,747,723,696,656.623747124,637.623747124,896.376252876,784,827,655,631.376252876,656,0.449498321082,0.00475230201307,0.0795583187798,0.999999735765,0.000269365052177,-0.000675071194681,1.38652482138e-05,1793250870514171648
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.795812205,747,723,696,657.408375589,638,895.795812205,784,827,655.204187795,631.204187795,656,0.448944527239,0.00474622528138,0.0795622867205,0.999999731088,0.000293083062894,-0.000672053623889,1.64539199597e-05,1793250870530838016
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.208249487,747,723,696,658.583501027,638,895.208249487,784,827,655.791750513,631.791750513,656,0.448330091237,0.0047399597084,0.079545033833,0.999999672601,0.000392528309769,-0.00070733179775,2.00423587284e-05,1793250870547504384
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,659,638,895,784,827,655.626153093,631.626153093,656,0.447705374567,0.00473265176553,0.079525521303,0.999999644757,0.000412547817236,-0.000734758853353,2.04612307149e-05,1793250870564171008
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,659,638,895,784,827,655.047057825,631.047057825,656,0.447075013655,0.00472477154393,0.0795047681911,0.999999636984,0.000388961230215,-0.000757875511595,1.91399561505e-05,1793250870580837376
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,722.470483746,696,660.059032509,638.529516254,895,784,827,655.529516254,631.529516254,656,0.446457295227,0.0047131248109,0.0795363364819,0.999999684396,0.000352257451277,-0.000711820255712,2.08511048302e-05,1793250870597504512
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.105713209,747,722.105713209,696,661.105713209,639,895,784,826.894286791,656,631.894286791,656,0.445834174477,0.0047016279387,0.0795748083872,0.999999734644,0.000315512746855,-0.000656229719347,2.29190032452e-05,1793250870614171648
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.681225032,747,722.681225032,696,661.681225032,639,895,784,826.318774968,656,631.318774968,656,0.445182076125,0.00469227757466,0.0796233944613,0.999999788045,0.000283742182474,-0.000585453142228,2.53803671953e-05,1793250870630838272
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.73734869,747,723,696,662.26265131,639.26265131,895,784.26265131,826.26265131,656,631.26265131,656,0.444494417778,0.00468342263139,0.0796598368141,0.999999822254,0.000256935079678,-0.000537303987984,2.7955500059e-05,1793250870647504896
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768.148578705,747,723,696,662.851421295,639.851421295,895,784.851421295,826.851421295,656,631.851421295,656,0.44376260659,0.00467518282168,0.0796812010293,0.999999837839,0.000236290812242,-0.000517249966709,3.06718935529e-05,1793250870664171520
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,746.566137276,722.566137276,696,663.433862724,640,895,785.433862724,826.566137276,655.566137276,632,656,0.443002610025,0.00466444974465,0.07968127223,0.999999836234,0.000250284574499,-0.000513704733799,3.15834486114e-05,1793250870680837888
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.013966714,746.013966714,722.013966714,695.986033286,664.013966714,640,894.972066571,786,826,655,632,656,0.442233008888,0.0046528952655,0.079674727522,0.999999829311,0.000274358833504,-0.000514868572161,3.18657362886e-05,1793250870697504256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.586026531,746.586026531,722.586026531,695.413973469,664.586026531,640,893.827946938,786,826,655,632,656,0.441459765548,0.00464214615703,0.0796910059832,0.999999856175,0.000234061472315,-0.000481540971843,3.13457963613e-05,1793250870714170880
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.838551864,746.838551864,723,695.161448136,665.161448136,640.161448136,892.838551864,786,826,655,632,656,0.44066320909,0.00463147219716,0.0796918849867,0.99999986645,0.000200030189961,-0.000475473809596,3.18358500527e-05,1793250870730837504
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.254326934,746.254326934,723,695.745673066,665.745673066,640.745673066,892.254326934,786,826,655,632,656,0.439805603693,0.00462099502614,0.0796524381386,0.999999836524,0.000182407602825,-0.000540792304301,3.49707276382e-05,1793250870747504384
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746.331237248,723,696,666.662474495,641,892,786,825.668762752,655,632,656,0.438956911439,0.00460975045746,0.0796560693129,0.999999842197,0.000181782156902,-0.000530332641968,3.61646882423e-05,1793250870764171264
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.917833865,723,696,667.83566773,641,892,786,825.082166135,655,632,656,0.438115090598,0.00459791428256,0.0796929104518,0.999999874019,0.000194260247747,-0.000461453632913,3.58623455047e-05,1793250870780837888
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.504710977,667.504710977,641.495289023,891.504710977,786.495289023,825,655,632,656,0.437316451454,0.00458777501415,0.0797748248399,0.999999926913,0.000168900325774,-0.000340922647098,3.7673151261e-05,1793250870797504768
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.071053791,667,642,891,787,825,655,632,656,0.436514122919,0.00457782842525,0.0798555711076,0.999999963902,0.000142931254127,-0.000223990934732,3.99239377412e-05,1793250870814171136
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.645392097,667,642,891,787,825,655,632,656,0.435635840696,0.00456728878514,0.0798760393652,0.999999968406,0.000156303742446,-0.000192147818025,4.28530961397e-05,1793250870830837760
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746.774019077,723,695.774019077,667,642,891,787,824.774019077,655,632,655.774019077,0.434736787349,0.0045566786697,0.0798744258838,0.999999968419,0.000156324606977,-0.000191581166779,4.49540410952e-05,1793250870847504384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746.183342867,723,695.183342867,667,642,891,787,824.183342867,655,632,655.183342867,0.433804212755,0.00454595481724,0.0798371761849,0.999999960711,0.000134798193389,-0.000241489476914,4.57183889803e-05,1793250870864171008
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746.399230045,723,695,667.399230045,642,891.399230045,787,824,655,632,655.399230045,0.432779363933,0.00453620239801,0.0797788468271,0.999999930559,0.000127749628418,-0.000347144023127,4.53083417448e-05,1793250870880837632
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746.978155587,723,695,667.978155587,642,891.978155587,787,824,655,632,655.978155587,0.431712982062,0.00452688722652,0.0797110294087,0.999999876734,0.000127217617122,-0.000477890229178,4.43696925652e-05,1793250870897504256
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746.4453416,723,695.5546584,668,641.4453416,890.8906832,787,824,655,632,656,0.430782602149,0.00451338678662,0.0797104692535,0.999999878685,0.000108970048257,-0.000477979263848,4.78598039824e-05,1793250870914171392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,723,696,667.866972681,641.133027319,890,787,823.866972681,655,631.866972681,655.866972681,0.429882458625,0.0045000404453,0.0797304577566,0.999999896384,9.25715368914e-05,-0.000442831822055,5.06213918268e-05,1793250870930838016
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,723,696,667.28194027,641.71805973,890,787,823.28194027,655,631.28194027,655.28194027,0.429066932979,0.00448777533853,0.079811306095,0.999999948513,8.48161860169e-05,-0.000305364938336,5.03175006489e-05,1793250870947504640
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,723,696,667.300181584,642,890,787.300181584,823,655,631.300181584,655,0.428182885639,0.00447761595144,0.0798518267594,0.999999967872,7.53541817964e-05,-0.000236614432438,5.09090700661e-05,1793250870964171264
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,723,696,667.879595967,642,890,787.879595967,823,655,631.879595967,655,0.427235098577,0.00446941533277,0.0798548340943,0.999999969701,6.43046280263e-05,-0.000231784802904,5.23336092007e-05,1793250870980837632
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,723,695.542784188,668,642,890,787.542784188,822.542784188,655,632,655.457215812,0.426235017936,0.00445657355415,0.0798102794475,0.999999951877,5.19373936027e-05,-0.000301524984631,5.12954859668e-05,1793250870997504512
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746.034196663,723,695,668,642,890,787,821.965803337,655,632,656,0.425223547772,0.00444376595074,0.0797553791691,0.99999992285,4.03915194128e-05,-0.000387524608434,4.99326591598e-05,1793250871014171136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746.608519115,723,695,668,642,890,787,821.391480885,655,632,656,0.424248844487,0.00445072713256,0.0797341288932,0.999999908661,4.72781359739e-05,-0.000421383790078,5.36444049255e-05,1793250871030837760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746.811356723,723,695,668,642,889.811356723,787.188643277,821,655,632,656,0.423308546105,0.00446656062919,0.079723757591,0.999999901445,6.68867635695e-05,-0.000435436696686,5.5055740533e-05,1793250871047504384
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746.218810447,723,695,668,642,889.218810447,787.781189553,821,655,632,656,0.422441911675,0.00450139058759,0.0797366791904,0.999999909346,0.000113734414558,-0.000407082512141,5.154168235e-05,1793250871064171264
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746.361888567,723,695,668,642,889,787.638111433,821,655.361888567,632,656,0.421610619078,0.00451039495235,0.0797866335542,0.999999939401,0.000124251341289,-0.000321250246359,5.05712386754e-05,1793250871080838144
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746.935651353,723,695,668,642,889,787.064348647,821,655.935651353,632,656,0.42080001805,0.0045042792533,0.07985826942,0.999999971899,0.000113497783111,-0.000201766394743,5.10899998808e-05,1793250871097504768
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746.487115878,723,695,668.512884122,642,889,787,820.487115878,655.487115878,632,655.487115878,0.41989791078,0.00449304027385,0.0798569766448,0.99999997286,9.90590421217e-05,-0.000204558292136,5.12193689753e-05,1793250871114171136
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,746,723,694.907562651,668.907562651,642,888.907562651,787,820,655,632,655,0.418987865555,0.00448179749256,0.0798412999224,0.999999968209,8.50396425699e-05,-0.00023180924334,5.11330875339e-05,1793250871130837760
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,746,723,694.317885029,668.317885029,642,888.317885029,787,820,655,632,655,0.418097298564,0.00447401551182,0.0797978036284,0.999999948579,7.57800388673e-05,-0.000307544730112,5.01513659902e-05,1793250871147504384
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746.267035594,723,694.267035594,668,642,888.267035594,787,820,655,632,655.267035594,0.417238729142,0.00447172084643,0.0797825883938,0.999999937866,7.53931935352e-05,-0.000340678390243,5.02187930802e-05,1793250871164171008
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746.846392454,723,694.846392454,668,642,888.846392454,787,820,655,632,655.846392454,0.416417583714,0.00447584407235,0.0798004503116,0.999999942545,8.5383808945e-05,-0.000323985519009,5.15132907215e-05,1793250871180837632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746.577352372,723,694.577352372,668,642,888.577352372,787,820,655,632,656,0.415591993593,0.0044864611075,0.0797921190702,0.999999935317,0.000101356760546,-0.000340995372254,5.30519296756e-05,1793250871197504256
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746.002216218,723,694.002216218,668,642,888.002216218,787,820,655,632,656,0.414764799789,0.00449942106728,0.0797743375081,0.999999922855,0.000119488101,-0.000370164948411,5.46786532893e-05,1793250871214171136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746,723,693.428410049,668,642,887.428410049,787,820,655,632,656,0.414019561495,0.00449713147383,0.0797806561459,0.999999932469,0.000113505097307,-0.000345747812814,5.13520397513e-05,1793250871230837760
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.149946928,746,723,692.850053072,668,642,887,786.850053072,820,655,632.149946928,656,0.413284355976,0.00449248126989,0.079789166415,0.999999941572,0.000102534053558,-0.000322334946383,4.94280881869e-05,1793250871247504128
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.741728649,746,723,692.258271351,668,642,887,786.258271351,820,655,632.741728649,656,0.412577778776,0.00448104909134,0.0798038598615,0.999999949938,7.71400735849e-05,-0.000302492060454,5.16936903864e-05,1793250871264170752
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.674333844,746,723,692.325666156,668.325666156,642,887,786,820,655,632.674333844,656,0.41186081569,0.00447523302755,0.0798015188739,0.999999946447,8.06758211863e-05,-0.000312692184651,5.31133521407e-05,1793250871280837632
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.096470954,746,723,692.903529046,668.903529046,642,887,786,820,655,632.096470954,656,0.41113580979,0.00447376609861,0.0797859863743,0.999999932953,0.000106614827969,-0.000346157696462,5.38779151916e-05,1793250871297504256
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.47694228,746,723,692.52305772,668.52305772,642,887,786,820,655,632,655.52305772,0.410473922115,0.00448090786128,0.0797855582034,0.99999993273,0.000102917891136,-0.000347908227333,5.39308327773e-05,1793250871314170880
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,746,723.049812834,692,668,642,887,786,820,655,632,655.049812834,0.409829461676,0.00448938347673,0.0797903043762,0.999999936329,9.64190146249e-05,-0.000339324636807,5.38947387897e-05,1793250871330837760
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,746,723.626374269,692,668,642,887,786,820,655,632,655.626374269,0.409235530038,0.00449372096019,0.0798177587291,0.999999949277,0.000123093619303,-0.000288670824202,5.44254640229e-05,1793250871347504384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.791169161,746,723.791169161,692.208830839,668,642,887,786,820,655.208830839,632.208830839,656,0.408647806289,0.00449496764283,0.0798345485865,0.99999995604,0.000132046121697,-0.000259750009965,5.4906686612e-05,1793250871364171008
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.1978591,746,723.1978591,692.8021409,668,642,887,786,820,655.8021409,632.8021409,656,0.408071511977,0.0044905238403,0.0798317039992,0.999999955921,0.000108370394213,-0.000270841905595,5.52967698885e-05,1793250871380837888
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,723,692.615681389,668,642,887,786,820,655.615681389,632.615681389,656,0.40749630117,0.00448828160223,0.0798038322445,0.99999994225,9.85492825163e-05,-0.000320675029015,5.4364662356e-05,1793250871397504768
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,723,692.039073563,668,642,887,786,820,655.039073563,632.039073563,656,0.40692163243,0.00448714089017,0.0797634384461,0.999999918024,9.56601594325e-05,-0.000389891861674,5.27710123135e-05,1793250871414171648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,723,691.465357481,668,642,887,786.534642519,820,655,632,656,0.406440856203,0.00448847466085,0.0797619967298,0.999999918508,0.000108742070562,-0.000385336139156,5.17271748537e-05,1793250871430838272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.111472732,746,723,691,668,642,887,786.888527268,820,655,631.888527268,656,0.405978520059,0.00449013258579,0.0797680767124,0.999999924018,0.000118216552425,-0.000367964324135,5.09101233831e-05,1793250871447504640
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.702607582,746,723,691,668,642,887,786.297392418,820,655,631.297392418,656,0.405566162592,0.0044924113553,0.0797943386618,0.999999942234,0.000107172960118,-0.000318520267515,5.0896949147e-05,1793250871464171264
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.71361412,746,723,690.71361412,668,642,887,786,820,655,631.28638588,655.71361412,0.405162263738,0.00449461911904,0.0798133673811,0.999999950767,0.000113426656004,-0.000288080305892,5.10805256558e-05,1793250871480837888
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.13728382,746,723,690.13728382,668,642,887,786,820,655,631.86271618,655.13728382,0.404766928625,0.00449675499458,0.079825072991,0.999999950933,0.00013719257151,-0.000276880581538,5.14632977455e-05,1793250871497504768
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,746,723,690.440178874,668,642,887.440178874,786,820,655,632,655,0.40439097267,0.00450003991788,0.0798294882417,0.99999995018,0.000140096875324,-0.00027800696128,5.21926452191e-05,1793250871514171392
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,746.017931337,723,691,668,642,887.982068663,786,820,655,632,655,0.404022377408,0.00450358540904,0.0798315518251,0.99999994922,0.000136598548713,-0.000282993397221,5.3064533187e-05,1793250871530838272
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,746.593683369,723,691,668,642,887.406316631,786,820,655,632,655,0.403694257355,0.00450405973715,0.079831373348,0.999999947605,0.000136849121817,-0.000288161893019,5.49994407498e-05,1793250871547504896
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,746.825265315,723,690.825265315,668.34946937,642,887,786,820,655,632.174734685,655.174734685,0.403380117657,0.00450307139434,0.0798314623197,0.999999947353,0.000130880621924,-0.000291713737827,5.53825235522e-05,1793250871564171264
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,746.231506071,723,690.231506071,669.536987857,642,887,786,820,655,632.768493929,655.768493929,0.403099503757,0.0044985754763,0.0798321926501,0.999999950142,0.000109998401084,-0.000291388752975,5.20442345119e-05,1793250871580837632
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.648560095,669.29712019,642,887,786.351439905,820,655,632.648560095,655.648560095,0.402841075448,0.00449567881453,0.0798309077537,0.999999950136,0.000101095481429,-0.000294641291384,5.19000176667e-05,1793250871597504256
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,746,723,689.072524524,668.145049049,642,887,786.927475476,820,655,632.072524524,655.072524524,0.402596825318,0.0044938041934,0.0798283349808,0.999999948514,9.98482046466e-05,-0.000300180127425,5.37970449917e-05,1793250871614170880
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.501946711,746.501946711,723,689,668.501946711,642,886.498053289,786.498053289,820,655.501946711,632,655.501946711,0.402392272369,0.00449231885075,0.0798271855472,0.999999948996,9.52888583909e-05,-0.000300001892737,5.41037945194e-05,1793250871630837760
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.923591755,746.923591755,723,689,669,642,886.076408245,786,820,655.923591755,632,656,0.402198673326,0.00449092115542,0.0798273348068,0.999999950229,9.04494263447e-05,-0.000297364613144,5.41852198219e-05,1793250871647504640
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.347720486,746.347720486,723,689,669,642,886.652279514,786,820,655.347720486,632,656,0.402039300831,0.00448972986829,0.0798346331911,0.999999954412,8.68975835239e-05,-0.000284035979049,5.42910637649e-05,1793250871664171520
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,746,723,689.235170128,668.764829872,642,886.764829872,786,820,655,632.235170128,656,0.401888594162,0.0044900784501,0.0798418795616,0.999999957017,9.34525124907e-05,-0.000272392973947,5.50816291933e-05,1793250871680837888
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.828758765,668.171241235,642,886.171241235,786,820,655,632.828758765,656,0.401751094931,0.00449277391819,0.0798490466584,0.999999957052,0.00011541098845,-0.000263319006051,5.69157661505e-05,1793250871697504512
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,745.589869463,723,689.589869463,668,642,886,786,820,655,632.589869463,656,0.401624937467,0.00450052536294,0.0798472057193,0.999999950125,0.000157377591212,-0.00026790877671,5.66361089716e-05,1793250871714171136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,745.013451046,723,689.013451046,668,642,886,786,820,655,632.013451046,656,0.401503378539,0.00451032675894,0.0798417124619,0.999999938288,0.000207456510209,-0.000278038524909,5.54994114642e-05,1793250871730837760
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,887.712644157,786,820,655,632,656,0.401314706788,0.0045017140405,0.0798316953203,0.999999945941,0.000146706989788,-0.00029051436495,4.68742496494e-05,1793250871764171008
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,820,655.896742785,632,655.103257215,0.401129930009,0.00448963078259,0.0798261797957,0.999999944977,0.000132162228123,-0.000299919289815,5.12628073001e-05,1793250871814171392
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,746.470507121,723,689,669,642,886.470507121,786,820,656,632,655,0.401091689654,0.00448565400898,0.0798261444431,0.999999945875,0.000126333876528,-0.000299277152355,5.21769386013e-05,1793250871830838016
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,746.957261267,723,689,669,642,886.957261267,786,820,655.957261267,632,655.042738733,0.401057128748,0.00447989624914,0.0798261706323,0.999999947149,0.000117740755531,-0.000298347785768,5.31673784931e-05,1793250871847504640
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,768.200012104,746,723,689,669,642,886,786,820,655,632,655.799987896,0.401011738474,0.00448449638327,0.0798243066385,0.999999945852,0.000121070844542,-0.000301357769241,5.31215648279e-05,1793250871880837632
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.627743892,746,723,689,669,642,886.372256108,786,820,655.372256108,632,655,0.400993547724,0.00448239507952,0.0798278775381,0.999999948476,0.00011864710597,-0.000293479683813,5.3291983443e-05,1793250871914171392
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.047378821,746,723,689,669,642,886.952621179,786,820,655.952621179,632,655,0.400988115694,0.00447873570139,0.0798293561232,0.999999949835,0.000114242416015,-0.000290486273243,5.38217880122e-05,1793250871930838272
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768.529972735,746,723,689,669,642,887,786,820,656,632,655.529972735,0.400981470109,0.00448344353013,0.079828606322,0.999999948865,0.000119050744169,-0.000292037120578,5.30129617284e-05,1793250871947504640
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.893859928,746,723,688.893859928,668.893859928,642,886.893859928,786,820,655.893859928,632,656,0.400976023527,0.00448731531929,0.079828239541,0.999999948082,0.000123047283355,-0.00029318006322,5.23461569602e-05,1793250871964171520
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.321715903,746,723,688.321715903,668.321715903,642,886.321715903,786,820,655.321715903,632,656,0.400976314757,0.00448425093702,0.0798304240943,0.999999949148,0.000119884017641,-0.000290758573443,5.28253359931e-05,1793250871980837888
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,746,723,688.25994059,668.25994059,642,886.25994059,786,820,655,632,656,0.400976744526,0.00448322166207,0.0798319120432,0.999999949859,0.000118718639915,-0.000288785051867,5.28373748596e-05,1793250871997504512
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,746,723,688.853817489,668.853817489,642,886.853817489,786,820,655,632,656,0.400977352271,0.00448480681572,0.0798325050898,0.999999950125,0.000120119876451,-0.000287387018566,5.22492956561e-05,1793250872014171136
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.436105211,746,723,689,669,642,886.563894789,786,820,655,632,656,0.400976330665,0.00448429869473,0.0798327744356,0.999999950353,0.000118932569826,-0.00028710020878,5.21744871441e-05,1793250872030837760
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886,786,820,655,632.014466774,656,0.400974804173,0.00448309175272,0.0798329306193,0.999999950571,0.000116877396052,-0.00028716871036,5.22732075587e-05,1793250872047504640
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886,786,820,655,632.587347535,656,0.400974325132,0.00448129350866,0.0798327986077,0.999999950955,0.000113947998805,-0.000286946607675,5.26009886259e-05,1793250872064171264
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886,786.164878509,820,655.164878509,632.835121491,656,0.400974034576,0.00448045950887,0.0798326350041,0.999999951157,0.000112642773266,-0.000286730642624,5.27596112267e-05,1793250872080837888
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886,786.754385624,820,655.754385624,632.245614376,656,0.400974229442,0.0044821088268,0.0798323900382,0.9999999509,0.000115520444596,-0.000286530484473,5.24825825869e-05,1793250872097504768
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886.337732169,786.662267831,820,656,632,656,0.400974575372,0.00448217777423,0.0798326317739,0.999999950985,0.00011621159107,-0.000285961973474,5.24533220095e-05,1793250872114171648
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886.9166787,786.0833213,820,656,632,656,0.400975029193,0.00448111799268,0.0798332211206,0.999999951315,0.000115341082221,-0.000285130378283,5.26010218306e-05,1793250872130838016
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768.505314653,746,723,689,669,642,887,786,820,656,632,656,0.400975557244,0.00448162161702,0.0798338165149,0.99999995166,0.00011547581587,-0.000283892429488,5.2445223055e-05,1793250872147504640
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768,746.071687844,723,689,669,642,886.928312156,786,820,655.928312156,632,656,0.400976009139,0.00448229777874,0.07983430718,0.999999951956,0.000115746908331,-0.000282771195977,5.2260625421e-05,1793250872164171264
+404,6.733333333,POSE2_TO_POSE3_RETREAT,768,746.642795334,723,689,669,642,886.357204666,786,820,655.357204666,632,656,0.400975843564,0.00448234491094,0.0798340611578,0.999999951905,0.00011579063882,-0.000282938982588,5.22308488568e-05,1793250872180837888
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768,746.778534377,723,689,669,642,886,786,820,655.221465623,632,655.778534377,0.400974930921,0.00448240055863,0.0798335342552,0.999999951585,0.000116562994931,-0.000283749216816,5.22406271762e-05,1793250872197504512
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768,746.18723458,723,689,669,642,886,786,820,655.81276542,632,655.18723458,0.40097277072,0.0044824704267,0.0798325382993,0.999999950811,0.000118552111696,-0.000285632299679,5.23164597502e-05,1793250872214171136
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,820,656,632,655.395876973,0.400971804563,0.00448287293408,0.079832160065,0.999999950469,0.000119793783452,-0.000286312862042,5.23069836644e-05,1793250872230838016
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,820,656,632,655.975194247,0.400971391697,0.00448342957887,0.0798320680688,0.999999950329,0.000120689106229,-0.000286436203902,5.22579774999e-05,1793250872247504896
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768.551966308,746.551966308,723.551966308,689,669,642,886,786,820,655.448033692,632.551966308,656,0.400973987516,0.00448243963152,0.0798337940579,0.999999951633,0.000117145635434,-0.000283374016105,5.20532574869e-05,1793250872264171520
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769,746.872479616,723.872479616,689,669,642,886.127520384,786,819.872479616,655.127520384,632.872479616,655.872479616,0.400975795848,0.00448212613014,0.0798349907392,0.999999952525,0.000114661748866,-0.000281284339536,5.17881360881e-05,1793250872280838144
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769,746.300771538,723.300771538,689,669,642,886.699228462,786,819.300771538,655.699228462,632.300771538,655.300771538,0.400974392332,0.0044844098646,0.0798340604177,0.999999951822,0.000116560340154,-0.000283078556122,5.13368841209e-05,1793250872297504768
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c06d628d35a2dc8daa1ccfc676a53e42010100c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+271,4.516666667,pose2_to_pose3_retreat,0.623545250811,0.0101500677094,1.07003360424,0.594115926675,0.0188227019125,1.06970499966
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+386,6.433333333,pose2_to_pose3_retreat,0.575701668797,0.0101501133845,1.07003345172,0.546272348424,0.0188227513489,1.06970485313
+387,6.450000000,pose2_to_pose3_retreat,0.575690522218,0.010150063481,1.07003339921,0.546261200907,0.0188226979332,1.06970479199
+388,6.466666667,pose2_to_pose3_retreat,0.575682553403,0.0101500572871,1.07003343754,0.546253233099,0.0188226951998,1.06970483136
+389,6.483333333,pose2_to_pose3_retreat,0.575676993424,0.0101500658836,1.07003346765,0.546247673956,0.0188227067551,1.06970486477
+390,6.500000000,pose2_to_pose3_retreat,0.575673201712,0.0101500856795,1.07003338341,0.546243880764,0.0188227216367,1.06970478347
+391,6.516666667,pose2_to_pose3_retreat,0.575670651545,0.0101500971182,1.07003333644,0.546241329756,0.0188227302742,1.06970473781
+392,6.533333333,pose2_to_pose3_retreat,0.575669165511,0.0101500967453,1.07003334544,0.546239843818,0.0188227301608,1.06970474508
+393,6.550000000,pose2_to_pose3_retreat,0.575668455942,0.0101500965672,1.07003334973,0.546239134296,0.0188227301066,1.06970474855
+394,6.566666667,pose2_to_pose3_retreat,0.575668287594,0.010150096525,1.07003335075,0.546238965958,0.0188227300938,1.06970474937
+395,6.583333333,pose2_to_pose3_retreat,0.5756680129,0.0101500964561,1.07003335242,0.546238691282,0.0188227300728,1.06970475072
+396,6.600000000,pose2_to_pose3_retreat,0.575667638755,0.0101500963622,1.07003335468,0.546238317161,0.0188227300443,1.06970475255
+397,6.616666667,pose2_to_pose3_retreat,0.575667213001,0.0101500964922,1.07003335712,0.546237891431,0.0188227302363,1.06970475451
+398,6.633333333,pose2_to_pose3_retreat,0.57566699188,0.0101500973687,1.07003335791,0.546237670309,0.0188227311026,1.0697047551
+399,6.650000000,pose2_to_pose3_retreat,0.575666963534,0.010150097481,1.07003335801,0.546237641963,0.0188227312137,1.06970475518
+400,6.666666667,pose2_to_pose3_retreat,0.57566680832,0.0101500980962,1.07003335857,0.546237486748,0.0188227318218,1.0697047556
+401,6.683333333,pose2_to_pose3_retreat,0.575666559576,0.0101500990821,1.07003335946,0.546237238004,0.0188227327964,1.06970475626
+402,6.700000000,pose2_to_pose3_retreat,0.575666356239,0.010150099888,1.07003336018,0.546237034666,0.0188227335931,1.06970475681
+403,6.716666667,pose2_to_pose3_retreat,0.575666311449,0.0101501000656,1.07003336034,0.546236989876,0.0188227337686,1.06970475693
+404,6.733333333,pose2_to_pose3_retreat,0.575666026941,0.0101501011932,1.07003336136,0.546236705367,0.0188227348833,1.0697047577
+405,6.750000000,pose2_to_pose3_retreat,0.575665554201,0.0101501030669,1.07003336305,0.546236232625,0.0188227367355,1.06970475897
+406,6.766666667,pose2_to_pose3_retreat,0.575665050585,0.0101501126694,1.07003341616,0.54623572892,0.0188227459689,1.06970481033
+407,6.783333333,pose2_to_pose3_retreat,0.575664867513,0.0101501183394,1.07003345016,0.54623554579,0.0188227514056,1.06970484332
+408,6.800000000,pose2_to_pose3_retreat,0.575664782201,0.0101501209816,1.07003346601,0.546235460451,0.0188227539391,1.0697048587
+409,6.816666667,pose2_to_pose3_retreat,0.575664622253,0.0101501259354,1.07003349572,0.546235300452,0.0188227586891,1.06970488753
+410,6.833333333,pose2_to_pose3_retreat,0.575664473774,0.010150115253,1.0700335742,0.546235152499,0.0188227498005,1.06970496638
+411,6.850000000,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532846,1.06970476168
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9346c16da36259b5886f112cb4475df9a249d35b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b8f7a512e77ce5c535e072468f631a24d1ef6e934620303fd1fbea628126628
+size 25558127
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..919d88fbb9e0100c87cec50ce6a1619140176e4d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+41,0.683333333,BASELINE,764,745,713.19951915,679.19951915,658.80048085,634,879,785.80048085,805,652,630,651.19951915,0.400778450215,-0.00544051343536,0.0598720653019,0.999999932856,-8.68758165125e-05,-0.000354152052603,-3.62807758303e-05,1793245174591079424
+42,0.700000000,BASELINE,764,745,713.377130878,679,659,634,878.622869122,786,804.622869122,652,630,651,0.400777958938,-0.00544139022914,0.0598720351792,0.999999932718,-8.75171827266e-05,-0.000354408475946,-3.60454445152e-05,1793245174607746048
+43,0.716666667,BASELINE,764,745,713.953644821,679,659,634,878.046355179,786,804.046355179,652,630,651,0.40077669685,-0.00544240199291,0.0598717846736,0.999999932272,-8.91089345717e-05,-0.000355284118439,-3.58858612738e-05,1793245174624412672
+44,0.733333333,BASELINE,764,745,713.459451546,679.540548454,659,634,878.540548454,786,804.540548454,652,630,651.540548454,0.400775307383,-0.00544199979425,0.0598705635756,0.999999931671,-8.85149245251e-05,-0.000357105483721,-3.60496139165e-05,1793245174641079808
+45,0.750000000,BASELINE,764,745,713,680,658.873701121,634,879.126298879,786,805,652,630,651.873701121,0.400774594465,-0.0054417459389,0.0598698004985,0.999999931294,-8.84977858295e-05,-0.000358142466857,-3.62377020609e-05,1793245174657746688
+46,0.766666667,BASELINE,764,745,713,680,658.29533025,634,879.70466975,786,805,652,630,651.29533025,0.400776343039,-0.00544246558666,0.0598709806185,0.999999931781,-9.12295648038e-05,-0.00035607586456,-3.64117023292e-05,1793245174674413568
+47,0.783333333,BASELINE,764.265607907,745,713,679.734392093,658,634,879.468784185,785.734392093,805,652,630,651.265607907,0.400777329519,-0.00544233224566,0.0598718944344,0.999999932309,-9.13021412184e-05,-0.000354560088378,-3.65168946125e-05,1793245174691080192
+48,0.800000000,BASELINE,764.808356489,745,713,679.191643511,658,634,878.383287022,785.191643511,805,652,630,651.808356489,0.400777520815,-0.00544130887899,0.0598725303836,0.999999932884,-8.86000521194e-05,-0.000353619055075,-3.6550291271e-05,1793245174707746304
+49,0.816666667,BASELINE,765,745,713.395918626,679,658,634,878,785.395918626,805,652.395918626,630,652,0.400777153975,-0.0054408735655,0.0598722495911,0.99999993273,-8.82231326036e-05,-0.000354149450841,-3.65380213028e-05,1793245174724412928
+50,0.833333333,BASELINE,764.992328701,745,714,679,658.007671299,634,878.007671299,785.992328701,805,653,630,651.992328701,0.400776486628,-0.00544076704272,0.0598714666919,0.999999932182,-8.9086066646e-05,-0.000355482599876,-3.65010958652e-05,1793245174741079808
+51,0.850000000,BASELINE,764.401113622,745,714,679,658.598886378,634,878.598886378,785.401113622,805,653,630,651.401113622,0.400776134174,-0.00544125491307,0.0598705527885,0.999999931839,-8.77207600999e-05,-0.000356785620637,-3.64847637303e-05,1793245174757746176
+52,0.866666667,BASELINE,764,745,713.814055347,679,658.814055347,634,878.814055347,785,805,652.814055347,630,651,0.40077632512,-0.00544164978534,0.0598704021291,0.999999931859,-8.70697497024e-05,-0.000356896408173,-3.64012807727e-05,1793245174774412544
+53,0.883333333,BASELINE,764,745,713.235767953,679,658.235767953,634,878.235767953,785,805,652.235767953,630,651,0.40077766264,-0.00544184843184,0.0598718619127,0.999999932648,-8.79259024331e-05,-0.000354491586577,-3.61761097522e-05,1793245174791079424
+54,0.900000000,BASELINE,764,745,713,679,658.341468343,634,878,785,805,652.341468343,630,651,0.400777522756,-0.00544213165951,0.059871967584,0.999999932596,-8.90788954309e-05,-0.00035436621222,-3.60342832269e-05,1793245174807746816
+55,0.916666667,BASELINE,764,745,713,679,658.91798111,634,878,785,805,652.91798111,630,651,0.400776365925,-0.0054424731073,0.0598711411731,0.999999931964,-9.04362137744e-05,-0.000355809860014,-3.59498255979e-05,1793245174824414208
+56,0.933333333,BASELINE,764.491832198,745,713,679,658.508167802,634,878,785.491832198,804.508167802,652.508167802,630,651.491832198,0.400776507218,-0.00544148087585,0.0598710759535,0.99999993205,-8.87226389954e-05,-0.000355976939141,-3.61856770162e-05,1793245174841080832
+57,0.950000000,BASELINE,765,745,713.067735646,679,658,634,878,785.932264354,804.067735646,652.067735646,630,652,0.400776917279,-0.00544053555224,0.0598711571787,0.999999932266,-8.68303887955e-05,-0.000355814376688,-3.63934124017e-05,1793245174857747200
+58,0.966666667,BASELINE,765,745,713.663063244,679,658,634,878,785.336936756,804.663063244,652.663063244,630,652,0.400777743705,-0.00544167859366,0.0598713956665,0.999999932606,-8.75137716612e-05,-0.000354733458736,-3.59683402885e-05,1793245174874413568
+59,0.983333333,BASELINE,764.751917295,745,714,679.248082705,658.248082705,634,878,785,805,652.751917295,630,652,0.400777319785,-0.00544199506215,0.0598713726847,0.999999932397,-8.8236589537e-05,-0.000355155792586,-3.58289176198e-05,1793245174891079680
+60,1.000000000,BASELINE,764.18033937,745,714,679.81966063,658.81966063,634,878,785,805,652.18033937,630,652,0.40077526544,-0.00544123369509,0.0598710087513,0.999999931471,-8.90108300246e-05,-0.000357538338597,-3.60619764401e-05,1793245174907746304
+61,1.016666667,BASELINE,764.395126627,745,713.604873373,679.604873373,658.604873373,634,878,785.395126627,805,652.395126627,630,652,0.400775064262,-0.00544163898894,0.0598707077472,0.999999931381,-8.93424111368e-05,-0.000357696789332,-3.61728739774e-05,1793245174924413184
+62,1.033333333,BASELINE,764.972384777,745,713.027615223,679.027615223,658.027615223,634,878,785.972384777,805,652.972384777,630,652,0.400775717293,-0.00544258204899,0.0598704357502,0.999999931678,-8.94699507118e-05,-0.000356830055004,-3.62274619055e-05,1793245174941079808
+63,1.050000000,BASELINE,764.436639565,745,713.563360435,679,658,634,878,785.436639565,805,653,630,652,0.400776555908,-0.00544396373269,0.0598710679511,0.99999993192,-9.09073316838e-05,-0.000355820686345,-3.5885828107e-05,1793245174957746432
+64,1.066666667,BASELINE,764,745,713.848203131,679,658.151796869,634,878,785.151796869,805,652.848203131,630,652,0.40077685569,-0.0054448625248,0.0598714205401,0.999999931983,-9.21161571683e-05,-0.000355355856836,-3.56562103193e-05,1793245174974412800
+65,1.083333333,BASELINE,764,745,713.268859799,679,658.731140201,634,878,785.731140201,805,652.268859799,630,652,0.400775611548,-0.00544433914927,0.0598708576291,0.999999931555,-9.24958839138e-05,-0.000356444944099,-3.57981629543e-05,1793245174991079424
+66,1.100000000,BASELINE,764,745,713,679,659,634,878,786,804.691788267,652,630,652,0.400774755991,-0.0054433282368,0.0598702343453,0.999999931344,-9.05693054765e-05,-0.000357504062702,-3.60627282758e-05,1793245175007746048
+67,1.116666667,BASELINE,764,745,713,679,659,634,878,786,804.116684005,652,630,652,0.400774236927,-0.00544189514717,0.0598695587823,0.999999931308,-8.66456076495e-05,-0.000358537230217,-3.64334686841e-05,1793245175024412416
+68,1.133333333,BASELINE,764,745,713.467680851,679,658.532319149,634,878,785.532319149,804.467680851,652.467680851,630,652,0.400775065849,-0.00544273188062,0.0598700211136,0.999999931513,-8.62746623597e-05,-0.000358097218366,-3.60084018459e-05,1793245175041079296
+69,1.150000000,BASELINE,764,745,714,679,658,634,878,785.053657189,805,652.946342811,630,652,0.400776190862,-0.00544394256452,0.0598707739184,0.999999931778,-8.70252312948e-05,-0.000357226930824,-3.5481567792e-05,1793245175057746176
+70,1.166666667,BASELINE,764,745,714,679,658,634,878,785.632336953,805,652.367663047,630,652,0.400776855811,-0.00544315912376,0.0598715349362,0.999999932011,-8.99011892024e-05,-0.000355815547145,-3.59409750407e-05,1793245175074413312
+71,1.183333333,BASELINE,764,745,714,679,658,634,878.421729089,786,805,652,630,652,0.400777105091,-0.00544277049412,0.059871953629,0.999999932179,-9.08676377007e-05,-0.000355075046639,-3.61367726846e-05,1793245175091080448
+72,1.200000000,BASELINE,764,745,714,679,658,634,879.578254187,786,805,652,630,652,0.400776630134,-0.00544306976008,0.059871775875,0.999999932248,-8.85070695682e-05,-0.000355503453364,-3.58732725034e-05,1793245175107747072
+73,1.216666667,BASELINE,764.365198866,745,714,679,658.365198866,634,879.269602269,786,805,652,630,652,0.400777216549,-0.00544285771301,0.059871832411,0.999999932425,-8.86847896922e-05,-0.000354961833968,-3.58799423387e-05,1793245175124413952
+74,1.233333333,BASELINE,764.940013149,745,714,679,658.940013149,634,878.119973702,786,805,652,630,652,0.400778412166,-0.00544235218448,0.0598720234238,0.999999932662,-9.03194267324e-05,-0.000353863442745,-3.60416833202e-05,1793245175141080576
+75,1.250000000,BASELINE,765,745,714,679,659,634,878.526259649,786,805,652,630,652,0.400777047371,-0.00544250173802,0.0598714463561,0.999999931956,-9.14779401892e-05,-0.000355537805285,-3.6240124578e-05,1793245175157746688
+76,1.266666667,BASELINE,764.887191773,745,713.887191773,679.112808227,659,634,879,786,804.887191773,652,630,652,0.40077553821,-0.0054425703996,0.0598706582653,0.999999931273,-9.18361473798e-05,-0.000357342662593,-3.64246928557e-05,1793245175174413056
+77,1.283333333,BASELINE,764.30492952,745,713.30492952,679.69507048,659,634,879,786,804.30492952,652,630,652,0.400774669798,-0.00544198478215,0.0598693644343,0.999999931158,-8.90947310413e-05,-0.000358346085567,-3.65337326641e-05,1793245175191079936
+78,1.300000000,BASELINE,764,745,713.271816795,679.728183205,658.728183205,634,878.728183205,786,804.271816795,652.271816795,630,652,0.400774645985,-0.00544125639225,0.0598692514546,0.999999931331,-8.71951346434e-05,-0.000358322485604,-3.66061912636e-05,1793245175207746560
+79,1.316666667,BASELINE,764,745,713.842498255,679.157501745,658.157501745,634,878.157501745,786,804.842498255,652.842498255,630,652,0.400775550818,-0.00544037102295,0.0598704368302,0.999999931827,-8.62211259503e-05,-0.000357169665929,-3.66384285349e-05,1793245175224413184
+80,1.333333333,BASELINE,764,745,713.580751179,679.419248821,658,634,878,785.580751179,805,652.580751179,630,652,0.400775395655,-0.0054402184032,0.0598706158542,0.999999931705,-8.59218645058e-05,-0.000357598322257,-3.6471505141e-05,1793245175241080320
+81,1.350000000,BASELINE,764,745,713.001687057,679.998312943,658,634,878,785.001687057,805,652.001687057,630,652,0.400774836428,-0.0054403451034,0.0598704112627,0.999999931348,-8.58798128513e-05,-0.000358629828282,-3.62286628199e-05,1793245175257747712
+82,1.366666667,BASELINE,764,745,713,680,658,634,878,785,805,652.589367808,630,652,0.40077696244,-0.00544041447199,0.0598720388674,0.999999932229,-8.57884142639e-05,-0.000356203476351,-3.60655101637e-05,1793245175274414080
+83,1.383333333,BASELINE,764,745,713.176439596,679.823560404,658.176439596,634,878,785,805,652.823560404,630,652,0.400778300738,-0.00544055293542,0.0598730072654,0.999999932782,-8.64448360595e-05,-0.000354491066645,-3.60522380515e-05,1793245175291080448
+84,1.400000000,BASELINE,764,745,713.754368265,679.245631735,658.754368265,634,878,785,805,652.245631735,630,652,0.400777828736,-0.00544084900566,0.0598724634539,0.999999932586,-8.88032544886e-05,-0.00035442622597,-3.63794898944e-05,1793245175307747328
+85,1.416666667,BASELINE,764,745,714,679.330492421,659,634,878,785.330492421,805,652,630,652,0.400776561304,-0.00544223546429,0.0598713772738,0.999999931894,-9.0401182569e-05,-0.000355972884639,-3.6358380071e-05,1793245175324414208
+86,1.433333333,BASELINE,764,745,714,679.905282658,659,634,878,785.905282658,805,652,630,652,0.400774705895,-0.00544442793081,0.0598698901784,0.999999930832,-9.14369610612e-05,-0.00035871075299,-3.60797635832e-05,1793245175341080832
+87,1.450000000,BASELINE,764,745,714,679.520134317,658.520134317,634,878,785.520134317,805,652,630,651.520134317,0.400775775926,-0.00544387093262,0.0598707124997,0.99999993136,-9.15526746716e-05,-0.000357205243549,-3.60907607397e-05,1793245175357747200
+88,1.466666667,BASELINE,764,745,713.943906114,679,658.056093886,634,878,785.056093886,805,652,630,651.056093886,0.400777063286,-0.00544286864486,0.0598717884163,0.999999932055,-9.153993611e-05,-0.000355250514286,-3.61604496917e-05,1793245175374413568
+89,1.483333333,BASELINE,764,745,713.351559266,679,658.648440734,634,878,785.648440734,805,652,630,651.648440734,0.400774910477,-0.00544279533103,0.0598709327743,0.999999931382,-9.20345867141e-05,-0.000357004932015,-3.62449723069e-05,1793245175391080704
+90,1.500000000,BASELINE,764,745,713.234661606,679.234661606,659,634,878.234661606,785.765338394,805,652,630,652,0.400774558482,-0.0054426306225,0.0598709765783,0.999999931479,-9.13436465202e-05,-0.0003569210697,-3.61422639161e-05,1793245175407747584
+91,1.516666667,BASELINE,764,745,713.811938266,679.811938266,659,634,878.811938266,785.188061734,805,652,630,652,0.400776835747,-0.00544233247415,0.0598723336085,0.999999932695,-8.89216977039e-05,-0.00035415324702,-3.57661909823e-05,1793245175424413952
+92,1.533333333,BASELINE,764,745,713.612545292,679.612545292,658.612545292,634,879,785,805.387454708,652.387454708,630,652,0.400778118951,-0.00544237373101,0.0598730282237,0.999999932976,-8.96649175245e-05,-0.000353160851916,-3.58526629454e-05,1793245175441080576
+93,1.550000000,BASELINE,764,745,713.037879303,679.037879303,658.037879303,634,879,785,805.962120697,652.962120697,630,652,0.400778921843,-0.00544257898244,0.0598734027718,0.999999932806,-9.19374907772e-05,-0.000353026311847,-3.61626284091e-05,1793245175457747712
+94,1.566666667,BASELINE,764.55005232,745,713.55005232,679.55005232,658.55005232,634,879.55005232,785.55005232,805.44994768,652.44994768,630,652,0.400777612196,-0.00544180558217,0.0598724919938,0.999999932374,-9.11486146087e-05,-0.000354425810389,-3.64244884731e-05,1793245175474414336
+95,1.583333333,BASELINE,765,745,714,679.863272577,659,634,879.726545155,785.863272577,805,652.136727423,630,652,0.400775999123,-0.00544089026542,0.0598713557463,0.999999931885,-8.94722765651e-05,-0.000356208488935,-3.66201230214e-05,1793245175491080704
+96,1.600000000,BASELINE,765,745,714,679.283699039,659,634,878.567398078,785.283699039,805,652.716300961,630,652,0.400773886123,-0.0054397389747,0.0598697829983,0.999999931266,-8.56212605807e-05,-0.000358881631013,-3.66122548736e-05,1793245175507746816
+97,1.616666667,BASELINE,764.705209377,745,713.705209377,679,658.705209377,634,878,785,805.294790623,652.705209377,630,652,0.400773869913,-0.00543913748971,0.0598700184314,0.999999931502,-8.41810931768e-05,-0.000358566489099,-3.66039596358e-05,1793245175524413184
+98,1.633333333,BASELINE,764.127759025,745,713.127759025,679,658.127759025,634,878,785,805.872240975,652.127759025,630,652,0.400775864209,-0.00543906318553,0.0598719876377,0.999999932564,-8.50525660511e-05,-0.000355386033544,-3.65952548838e-05,1793245175541079552
+99,1.650000000,BASELINE,764.438492929,745,713.438492929,679,658,634,878,785,805.561507071,652,630,652,0.400775413407,-0.00544018524093,0.059871006363,0.999999932081,-8.45977473243e-05,-0.000356901903608,-3.60906955819e-05,1793245175557746432
+100,1.666666667,BASELINE,764.998320661,745,713.998320661,679,658,634,878,785,805,652,630,652,0.400774269154,-0.00544164397816,0.0598691926624,0.999999931154,-8.37779076741e-05,-0.000359744590882,-3.54481362864e-05,1793245175574413312
+101,1.683333333,BASELINE,764.393480537,745,713.393480537,679,658,634,878,785,805,652,630,652,0.400773559073,-0.00544195033823,0.0598694681858,0.999999930786,-8.71903234751e-05,-0.0003599198287,-3.58378794721e-05,1793245175591079936
+102,1.700000000,BASELINE,764,745,713.200728529,679.200728529,658,634,878,785.200728529,805,652,630,651.799271471,0.400773223125,-0.00544212762026,0.0598695984317,0.999999930641,-8.91391516277e-05,-0.000359817262012,-3.61049378732e-05,1793245175607746560
+103,1.716666667,BASELINE,764,745,713.775146072,679.775146072,658,634,878,785.775146072,805,652,630,651.224853928,0.400773583689,-0.00544206460237,0.0598694582195,0.999999930931,-8.83632714202e-05,-0.000359197516745,-3.61435984229e-05,1793245175624412928
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+106,1.766666667,BASELINE,764,745,714,679.484547728,659,634,878,785,805,652.515452272,630,651.484547728,0.400775722234,-0.00544251130339,0.059871245975,0.99999993208,-8.86252679228e-05,-0.00035591886693,-3.61518942095e-05,1793245175674413824
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785,805,652,630,652,0.400776668712,-0.00544281398573,0.0598718320278,0.999999931565,-9.16879423502e-05,-0.000356610318897,-3.5959326773e-05,1793245175716926976
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.576361387,658,634,878.423638613,785,804.423638613,652,630,652,0.400774727697,-0.00544255160398,0.0598702258685,0.999999931179,-9.04900823456e-05,-0.000357970181079,-3.62076974412e-05,1793245175733593856
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+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.270497049,680,658,634,878.729502951,785,804,652,630,652,0.400774549003,-0.00544104446029,0.0598701385288,0.999999931591,-8.74836927072e-05,-0.000357585245471,-3.60252854972e-05,1793245175766927360
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.314011147,745,713,679.685988853,658.314011147,634,878.685988853,785,804.314011147,652.314011147,630,652,0.40077479503,-0.00544168508132,0.0598703392255,0.999999931396,-8.88547776198e-05,-0.000357805663082,-3.58810862553e-05,1793245175783593728
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.515781183,745,713,679,658.515781183,634,878.484218817,785.484218817,805,652.515781183,630,652,0.400776851996,-0.00544276016747,0.0598715313918,0.999999931187,-9.07522262817e-05,-0.000357897562793,-3.60528255308e-05,1793245175816926720
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658.060428142,634,879,785.939571858,804.939571858,652.060428142,630,652,0.400780144564,-0.00544133879826,0.0598733832608,0.999999932043,-8.76493456086e-05,-0.000356258355357,-3.62084965191e-05,1793245175833593088
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658.635073252,634,879,785.364926748,804.364926748,652.635073252,630,652,0.400785823744,-0.00544189238595,0.0598743887651,0.999999932242,-8.67064551184e-05,-0.000355976761598,-3.57529661404e-05,1793245175850258944
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658.789625225,634,879,785.210374775,804.210374775,653,630,652,0.400795890907,-0.00544221668909,0.0598756086578,0.999999932316,-8.66214460877e-05,-0.000355815722842,-3.54987704238e-05,1793245175866925056
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658.213181549,634,879,785.786818451,804.786818451,653,630,652,0.400813593508,-0.00544214201877,0.0598772016031,0.999999932172,-8.80292193669e-05,-0.000355864459448,-3.55949131365e-05,1793245175883591680
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,679.374019922,658.374019922,634,878.625980078,785.625980078,805,653,630,652,0.400842210285,-0.00544390196916,0.0598794374348,0.999999932832,-8.93714726839e-05,-0.00035368331749,-3.54513603983e-05,1793245175900258304
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713,679.967534695,658.967534695,634,878.032465305,785.032465305,805,653,630,652,0.400877232084,-0.00544673857291,0.0598820505466,0.999999933953,-9.06752755233e-05,-0.000350193563782,-3.51671415858e-05,1793245175916924928
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,680,658.454269193,634,878.545730807,785,804.454269193,652.454269193,630,652,0.400923859967,-0.00544612869872,0.0598795568449,0.99999993312,-8.94263942689e-05,-0.000352754517962,-3.64275815462e-05,1793245175933591808
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.122507745,680,658,634,878.877492255,785,804,652,630,651.877492255,0.400975352734,-0.00544601081327,0.0598766996585,0.999999932059,-8.89812424173e-05,-0.000355740402879,-3.75920998094e-05,1793245175950258432
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.6973179,680,658,634,878.3026821,785,804,652,630,651.3026821,0.401042327283,-0.00544844567277,0.0598735914966,0.999999930597,-9.20488409809e-05,-0.000359002469586,-3.80724708123e-05,1793245175966925056
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713.721387287,679.721387287,658,634,878,785,804.278612713,652,630,651,0.401124996401,-0.00545083055982,0.0598738839961,0.999999931068,-9.42440006302e-05,-0.000357043781943,-3.87552695169e-05,1793245175983591680
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713.132879766,679.132879766,658,634,878,785,804.867120234,652,630,651,0.40122512224,-0.00545315986347,0.0598779589771,0.999999933659,-9.54687654294e-05,-0.000349278163573,-3.96632240833e-05,1793245176000258304
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.447829313,679.447829313,658,633.552170687,878,785,805,652,630,651.447829313,0.401346462909,-0.00545565366064,0.0598830100245,0.9999999382,-9.60218209052e-05,-0.000335739593427,-4.07185433395e-05,1793245176016924928
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679.973787052,658.026212948,633.026212948,878,785.026212948,805,652,630,651.973787052,0.40147515472,-0.00545818788786,0.0598882727043,0.999999943054,-9.64757812183e-05,-0.000320679434349,-4.18320562332e-05,1793245176033591552
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.396477534,658.603522466,633.603522466,878,785.603522466,805,652,630,651.396477534,0.401628318863,-0.00546056353244,0.0598920000463,0.999999946418,-9.89649090176e-05,-0.00030902599228,-4.32654691108e-05,1793245176050258176
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.820257183,714,679.179742817,658.820257183,634,878.179742817,786,805,652,630,651,0.401788687082,-0.0054630363354,0.0598943072821,0.999999948875,-0.00010148148823,-0.000299898581462,-4.48666566656e-05,1793245176066925056
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.246424925,714,679.753575075,658.246424925,634,878.753575075,786,805,652,630,651,0.401964850348,-0.00546572215957,0.0598935009084,0.999999949589,-0.000104058254869,-0.000296309542336,-4.68356931161e-05,1793245176083591680
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658.496735008,634,878.503264992,786,805,652,630,652,0.402637721954,-0.00547311184329,0.0598956830145,0.999999953273,-0.000118452990141,-0.000276638759997,-5.38021391097e-05,1793245176133592064
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713.92179758,679,658.07820242,634,878.92179758,785.92179758,805,652.07820242,630,652,0.402897234759,-0.00547567193958,0.0598958707296,0.999999954314,-0.000123650935076,-0.000269964380655,-5.65833992271e-05,1793245176150258688
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713.342809618,679,658.657190382,634,878.342809618,785.342809618,805,652.657190382,630,652,0.403189052075,-0.00548064973397,0.0598971654122,0.999999954195,-0.000133202040589,-0.000265208653118,-5.94275787255e-05,1793245176166925312
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744.760239557,713.239760443,679.239760443,659,634,878,785,805.239760443,652.760239557,630,652,0.403489460376,-0.00548498495116,0.0598943051379,0.999999952374,-0.000142694736388,-0.000266412414097,-6.25701191853e-05,1793245176183591680
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744.172470167,713.827529833,679.827529833,659,634,878,785,805.827529833,652.172470167,630,652,0.403802338352,-0.00548838747617,0.0598854140013,0.999999948083,-0.000152102650724,-0.000276266290065,-6.61457262605e-05,1793245176200258304
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+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.986760603,714,680,658.013239397,634,878.986760603,785,805.013239397,652,630,652,0.404504047509,-0.00548261760925,0.0598596743877,0.999999921796,-0.000221276832556,-0.00031909159808,-7.49993710396e-05,1793245176233591808
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+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713.704981979,679.704981979,658.704981979,634,878.704981979,785.295018021,804.704981979,652,630,652,0.405792456315,-0.00546880382442,0.0598619990801,0.999999924494,-0.000204338277277,-0.000319342923194,-8.53110672608e-05,1793245176283592192
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.776540142,714,682.223459858,654,627,880,782.223459858,808,652,629,651.223459858,0.451075562089,-0.00553365510355,0.0595554605332,0.999999764276,-9.26590604801e-05,-0.000677378349697,-6.34139279065e-05,1793245178697772032
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.064291272,714,682,654,627,880,782.935708728,808,652,629,651.935708728,0.450653851759,-0.00552459631075,0.059542527886,0.999999747353,-8.54504705634e-05,-0.000703098059256,-6.03764299199e-05,1793245178731105792
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.510954073,627.510954073,880,782.489045927,807.489045927,652,629,652,0.450407730587,-0.00551679118123,0.0595393429597,0.999999744397,-8.02345388328e-05,-0.000708016851002,-5.90009764934e-05,1793245178747772160
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.747314553,745,714,681.252685447,655,629,880,783.747314553,807.252685447,652,629,651,0.447313498004,-0.00544050090238,0.0595804478396,0.99999979467,-1.95065231219e-06,-0.000639827655656,-3.57356517197e-05,1793245178897772288
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.757900321,745,713.757900321,679.757900321,658,633.757900321,878,785,805,652,629.757900321,652,0.405864166759,-0.00537024995446,0.0598255360962,0.999999933328,0.000232622335458,-0.000280037389321,2.84448198067e-05,1793245179831105792
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5655b051509986e5c673a794ec8c3486a7c499a8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+263,4.383333333,pose2_to_pose3_retreat,0.617693309299,-0.000122199036118,1.05005077155,0.588264941887,0.00855349051845,1.04971726205
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+265,4.416666667,pose2_to_pose3_retreat,0.617693065892,-0.000122128616966,1.05005077109,0.588264697909,0.00855355905379,1.04971726304
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+268,4.466666667,pose2_to_pose3_retreat,0.61769267033,-0.000122098577838,1.05005084398,0.588264301804,0.00855358723111,1.04971733548
+269,4.483333333,pose2_to_pose3_retreat,0.617691271433,-0.000122059253888,1.05005104696,0.588262901793,0.00855362270328,1.04971753681
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+271,4.516666667,pose2_to_pose3_retreat,0.617677663825,-0.000122124692459,1.0500509925,0.588249295766,0.00855356232911,1.04971747537
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+274,4.566666667,pose2_to_pose3_retreat,0.617602976716,-0.000122239753377,1.05005087059,0.588174610126,0.00855345277674,1.04971736599
+275,4.583333333,pose2_to_pose3_retreat,0.617558511169,-0.000122270071179,1.05005099595,0.588130145299,0.00855342496675,1.04971749313
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+331,5.516666667,pose2_to_pose3_retreat,0.591513168246,-0.000122234898445,1.05005090599,0.562084801933,0.00855345238984,1.04971739382
+332,5.533333333,pose2_to_pose3_retreat,0.590783913357,-0.000122310373798,1.05005080948,0.56135554733,0.0085533779718,1.04971729945
+333,5.550000000,pose2_to_pose3_retreat,0.590079883618,-0.000122298338472,1.05005089366,0.560651518098,0.00855339198626,1.04971739035
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+384,6.400000000,pose2_to_pose3_retreat,0.575673659779,-0.000122267231351,1.0500507434,0.546245292949,0.00855341865378,1.04971724084
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+392,6.533333333,pose2_to_pose3_retreat,0.575671003889,-0.000122199288659,1.0500508158,0.546242636996,0.00855348650324,1.0497173163
+393,6.550000000,pose2_to_pose3_retreat,0.575670695212,-0.00012216552135,1.05005083382,0.546242328026,0.00855351928856,1.04971733469
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+395,6.583333333,pose2_to_pose3_retreat,0.575670436532,-0.000122137940472,1.05005084822,0.546242069104,0.00855354605949,1.04971734933
+396,6.600000000,pose2_to_pose3_retreat,0.575670229191,-0.000122147167904,1.05005082921,0.546241861775,0.00855353675012,1.04971732708
+397,6.616666667,pose2_to_pose3_retreat,0.575670025643,-0.000122156226514,1.05005081054,0.54624165824,0.00855352761106,1.04971730524
+398,6.633333333,pose2_to_pose3_retreat,0.575669887794,-0.000122162361299,1.0500507979,0.546241520399,0.0085535214218,1.04971729045
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0292e0e87a0d5c113b838f9caf6b7f26169bf096
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:733625ad0e06281671f62859a5217b1ddbe028c2cb6ffce15365c3f070e9e16b
+size 25493578
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..143a9e195e0b620989f25dcd39d5b22fc7eb0c3a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/franka_data.csv
@@ -0,0 +1,404 @@
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+21,0.350000000,BASELINE,764,745,713.794438277,679,658.794438277,634,879,785,805,653,630,652,0.400972812495,-0.00537616253546,0.0598448339661,0.999999935521,0.000246332359392,-0.000260254827951,2.33667861255e-05,1793245181179949568
+22,0.366666667,BASELINE,764,745,713.219093655,679,658.219093655,634,879,785,805,653,630,652,0.400973773446,-0.00537617703594,0.0598455352327,0.999999935875,0.000246472990308,-0.000258762035591,2.33191334393e-05,1793245181196616448
+23,0.383333333,BASELINE,764.353536399,745,713.353536399,679,658,634,878.646463601,785.353536399,805.353536399,652.646463601,630,652,0.400973957629,-0.00537714122779,0.0598457199439,0.999999936075,0.000246012093836,-0.000258410072773,2.34889841081e-05,1793245181213283072
+24,0.400000000,BASELINE,764.924497055,745,713.924497055,679,658,634,878.075502945,785.924497055,805.924497055,652.075502945,630,652,0.4009736641,-0.00537868947814,0.0598455869743,0.999999936182,0.000245181259103,-0.000258759717949,2.37925989492e-05,1793245181229949440
+25,0.416666667,BASELINE,765,745,713.483555502,679,658,634,878.516444498,785.483555502,805.483555502,652.516444498,630,652,0.400974798463,-0.00537932106264,0.0598466738318,0.999999936779,0.000244163692218,-0.000257414273258,2.37646464838e-05,1793245181246616064
+26,0.433333333,BASELINE,764.891628073,745,713.108371927,679.108371927,658,634,878.891628073,785,805.108371927,652.891628073,630,652,0.400975667199,-0.00537947311879,0.0598474904956,0.999999937252,0.000243471958339,-0.000256235182261,2.36697751575e-05,1793245181263282944
+27,0.450000000,BASELINE,764.313645933,745,713.686354067,679.686354067,658,634,878.313645933,785,805.686354067,652.313645933,630,652,0.400974441974,-0.00537815255111,0.0598463308043,0.999999936881,0.000244315472405,-0.000256896317049,2.35038753977e-05,1793245181279949568
+28,0.466666667,BASELINE,764,745,713.736782832,679.736782832,658,634,878,785,806,652,630,652,0.400974170045,-0.00537761150806,0.0598458588093,0.999999936645,0.000244983213184,-0.000257178762949,2.34967819991e-05,1793245181296616192
+29,0.483333333,BASELINE,764,745,713.161247553,679.161247553,658,634,878,785,806,652,630,652,0.400975029243,-0.00537799540347,0.0598462027944,0.999999936571,0.000245442391599,-0.000257011878706,2.36781189588e-05,1793245181313283072
+30,0.500000000,BASELINE,764.422712942,745,713.422712942,679,658,634,878,785.422712942,805.577287058,652,630,651.577287058,0.400974724858,-0.00537840452123,0.0598461137351,0.99999993638,0.000245521988641,-0.000257674195715,2.37192382019e-05,1793245181329949696
+31,0.516666667,BASELINE,764.990179495,745,714,679.009820505,658,634,878,786,805.009820505,652,630,651,0.400973980727,-0.00537881933891,0.0598458594989,0.999999936154,0.000245430518265,-0.000258640628321,2.3701857755e-05,1793245181346616320
+32,0.533333333,BASELINE,764.410737166,745,714,679.589262834,658,634,878,786,805.589262834,652,630,651,0.400973998787,-0.00537899535567,0.0598458007929,0.999999936542,0.000243985938195,-0.000258526861826,2.34568338097e-05,1793245181363282944
+33,0.550000000,BASELINE,764,745,714,680,658,634,878,785.832445791,805.832445791,652,630,651,0.400974007322,-0.0053792238512,0.0598458560751,0.999999936869,0.000242793121422,-0.000258402532376,2.32734544867e-05,1793245181379949568
+34,0.566666667,BASELINE,764,745,714,680,658,634,878,785.256956662,805.256956662,652,630,651,0.400973992666,-0.00537958011388,0.0598461888779,0.999999937049,0.000242213258962,-0.000258252485902,2.32401579353e-05,1793245181396616192
+35,0.583333333,BASELINE,764,745,713.680962179,679.680962179,657.680962179,634,878,785,805,652,630,651,0.400974121206,-0.00537930639509,0.0598460588856,0.999999937038,0.000242461403575,-0.000258064046651,2.32330476123e-05,1793245181413282560
+36,0.600000000,BASELINE,764,745,713.10455997,679.10455997,657.10455997,634,878,785,805,652,630,651,0.400974365261,-0.00537852447703,0.0598455555616,0.999999936872,0.000243377492548,-0.000257844636342,2.3247061435e-05,1793245181429949184
+37,0.616666667,BASELINE,764.482082753,744.517917247,713,679,657.482082753,634,878,785,805.482082753,652,630,651.482082753,0.400974814618,-0.00537850154262,0.0598461398721,0.999999937134,0.000243335086229,-0.000256853542108,2.33555099043e-05,1793245181446615808
+38,0.633333333,BASELINE,764.930273492,744.069726508,713.069726508,679.069726508,658,634,878.069726508,785,806,652,630,652,0.40097525169,-0.00537853815124,0.0598469261779,0.999999937369,0.000243420232659,-0.000255845633505,2.34965024239e-05,1793245181463282944
+39,0.650000000,BASELINE,764.351881586,744.648118414,713.648118414,679.648118414,658,634,878.648118414,785,806,652,630,652,0.400975267252,-0.00537778216131,0.0598474277981,0.999999936706,0.000245985400208,-0.000255962566178,2.37222455969e-05,1793245181479949824
+40,0.666666667,BASELINE,764,745,714,679.774050611,658,634,879,785,805.774050611,652,630,652,0.400974771496,-0.00537781859672,0.0598472485506,0.999999936384,0.000246502064859,-0.000256709463951,2.38325175709e-05,1793245181496616448
+41,0.683333333,BASELINE,764,745,714,679.197091071,658,634,879,785,805.197091071,652,630,652,0.400973481415,-0.00537908605715,0.0598460115817,0.999999936595,0.000243836400273,-0.000258435006299,2.37634061608e-05,1793245181513283072
+42,0.700000000,BASELINE,764,745,714,679,658,634,878.621345255,785,805,652,630,652,0.40097390318,-0.00537906063683,0.0598463946662,0.999999936945,0.000243049963321,-0.000257825071262,2.37080833204e-05,1793245181529949440
+43,0.716666667,BASELINE,764,745,714,679,658,634,878.046229186,785,805,652,630,652,0.40097521312,-0.00537836441789,0.0598476182995,0.999999937369,0.000243238545401,-0.000256003396487,2.3659914547e-05,1793245181546616320
+44,0.733333333,BASELINE,764,745,713.457807692,679,657.457807692,634,878,785,805.542192308,652.542192308,630,652,0.400974652125,-0.00537947277544,0.0598469693837,0.999999937419,0.000242152578982,-0.000256828601673,2.37443087487e-05,1793245181563282944
+45,0.750000000,BASELINE,764.12980633,745,713.12980633,679,657.12980633,634,878.12980633,785,806,653,630,652,0.400973883236,-0.00537992891755,0.0598462807357,0.999999937139,0.000242141341083,-0.000257927628967,2.37265478138e-05,1793245181579949312
+46,0.766666667,BASELINE,764.710574556,745,713.710574556,679,657.710574556,634,878.710574556,785,806,653,630,652,0.400972960237,-0.00537757119898,0.0598460226851,0.999999935823,0.000246250870224,-0.000259174175269,2.33136333565e-05,1793245181596616192
+47,0.783333333,BASELINE,764.712171718,745,714,679.287828282,658,634,879,785.287828282,806,652.712171718,630,652,0.400972872991,-0.00537671221674,0.0598460151804,0.999999935653,0.000247244940682,-0.000258892243142,2.31943267108e-05,1793245181613283072
+48,0.800000000,BASELINE,764.138409292,745,714,679.861590708,658,634,879,785.861590708,806,652.138409292,630,652,0.400973615999,-0.00537734210768,0.0598462565727,0.999999936631,0.000245144055144,-0.000257091891342,2.33666956547e-05,1793245181629949696
+49,0.816666667,BASELINE,764,745,714,680,658,634,878.572554252,785.572554252,806,652,630,652,0.400974259449,-0.0053787959132,0.0598465083135,0.999999937594,0.00024219182876,-0.000256141897265,2.33622900845e-05,1793245181646616320
+50,0.833333333,BASELINE,764,745,714,680,658,634,878.009213195,785.009213195,806,652,630,652,0.400974871246,-0.005380511661,0.0598467633442,0.999999938545,0.000238968940718,-0.000255462252516,2.33016836235e-05,1793245181663282944
+51,0.850000000,BASELINE,764,745,713.403855377,679.403855377,658,634,878,785,805.403855377,652,630,652,0.400976062684,-0.00537929139873,0.0598480592274,0.999999938312,0.000241350816706,-0.000254128694321,2.33261936e-05,1793245181679949568
+52,0.866666667,BASELINE,764,745,713,679.191241437,658.191241437,633.808758563,878,785,805,652,629.808758563,651.808758563,0.400976268542,-0.00537761934156,0.0598484192332,0.999999937434,0.00024501974794,-0.000254065570389,2.34247610701e-05,1793245181696616192
+53,0.883333333,BASELINE,764,745,713,679.764448657,658.764448657,633.235551343,878,785,805,652,629.235551343,651.235551343,0.400974486658,-0.00537514241527,0.05984687545,0.999999935289,0.00025107318648,-0.000256561595143,2.36684167372e-05,1793245181713282560
+54,0.900000000,BASELINE,764,745,713.340259486,680,658.659740514,633,878,785.340259486,805.340259486,652,629.340259486,651.340259486,0.400973554624,-0.00537639364751,0.0598462220714,0.999999935549,0.00024879906246,-0.000257763193821,2.36595844817e-05,1793245181729949440
+55,0.916666667,BASELINE,764,745,713.917886589,680,658.082113411,633,878,785.917886589,805.917886589,652,629.917886589,651.917886589,0.400973215453,-0.00538024567172,0.0598461898459,0.999999937455,0.000240715566945,-0.00025806179087,2.3474614712e-05,1793245181746616064
+56,0.933333333,BASELINE,764,745,714,679.492560269,658.507439731,633.507439731,878,785.492560269,805.492560269,652,630,652,0.40097264996,-0.00537973168443,0.05984609491,0.999999937383,0.000241310405807,-0.000257784837994,2.34638103634e-05,1793245181763282688
+57,0.950000000,BASELINE,764,745,714,679.096663446,658.903336554,634,878,785,805,652.096663446,630.096663446,652,0.400972354642,-0.00537856013139,0.0598461289279,0.999999936946,0.000243607074456,-0.000257318134571,2.3488645233e-05,1793245181779949568
+58,0.966666667,BASELINE,764,745,714,679.67441153,658.32558847,634,878,785,805,652.67441153,630.67441153,652,0.400973590615,-0.00537771676673,0.0598468564561,0.999999936299,0.000247216205695,-0.000256381740812,2.35472116587e-05,1793245181796616192
+59,0.983333333,BASELINE,764,745,713.748598391,679.748598391,658,634,878.251401609,785,805.251401609,652.748598391,630.748598391,651.748598391,0.400973541523,-0.00537720692482,0.0598467757655,0.999999935894,0.000248711303123,-0.000256522073949,2.34933724301e-05,1793245181813282816
+60,1.000000000,BASELINE,764,745,713.17258697,679.17258697,658,634,878.82741303,785,805.82741303,652.17258697,630.17258697,651.17258697,0.400971833158,-0.00537712772745,0.0598456515027,0.999999935811,0.00024747676012,-0.000258052676967,2.32943950043e-05,1793245181829949696
+61,1.016666667,BASELINE,764,745,713.411358757,679,658.411358757,634,878.588641243,785,806,652.411358757,630,651,0.400973152202,-0.00537766716106,0.0598466140079,0.999999936305,0.000246883013798,-0.000256694993725,2.33603543159e-05,1793245181846616320
+62,1.033333333,BASELINE,764,745,713.998698783,679,658.998698783,634,878.001301217,785,806,652.998698783,630,651,0.400975766386,-0.00537847124801,0.0598484692427,0.999999937042,0.000246563403472,-0.000254101687535,2.3539654859e-05,1793245181863282688
+63,1.050000000,BASELINE,764,745,713.422704812,679,658.422704812,634,878.577295188,785,805.422704812,652.422704812,630,651,0.400973340764,-0.00537836289863,0.0598464473857,0.999999936867,0.00024374900786,-0.000257499041611,2.33712953227e-05,1793245181879949568
+64,1.066666667,BASELINE,764,745,713.156309277,679,658.156309277,634,878.843690723,785.156309277,805,652,630,651,0.400972162448,-0.00537810747716,0.0598453240859,0.999999936786,0.000242080692872,-0.000259395611365,2.32107181372e-05,1793245181896616448
+65,1.083333333,BASELINE,764,745,713.736508684,679,658.736508684,634,878.263491316,785.736508684,805,652,630,651,0.400974397007,-0.00537745870973,0.0598466609,0.999999937007,0.000243535419353,-0.00025718618023,2.30733390443e-05,1793245181913283072
+66,1.100000000,BASELINE,764,745,713.68602295,679.31397705,658.68602295,634,878,785.68602295,805,652,629.68602295,651.31397705,0.400975016919,-0.00537807710651,0.0598474217318,0.999999937176,0.000243819522775,-0.0002562393174,2.32881412039e-05,1793245181929949952
+67,1.116666667,BASELINE,764,745,713.110826753,679.889173247,658.110826753,634,878,785.110826753,805,652,629.110826753,651.889173247,0.400974293495,-0.00537974974459,0.0598477033643,0.999999937305,0.000243129704126,-0.000256342872271,2.37959472267e-05,1793245181946616576
+68,1.133333333,BASELINE,764,745,713,680,658,634,878.472796078,785.472796078,805,652.472796078,629.472796078,652,0.40097393064,-0.00537822223239,0.0598468972371,0.999999936755,0.00024443664435,-0.00025727420519,2.3478720433e-05,1793245181963283200
+69,1.150000000,BASELINE,764,745,713,680,658,634,878.941913083,785.941913083,805,652.941913083,630,652,0.400973647309,-0.0053763175248,0.0598459524002,0.999999936173,0.000245887260483,-0.000258194230539,2.3015058721e-05,1793245181979949824
+70,1.166666667,BASELINE,764,745,713,680,658,634,878.359718363,785.359718363,805,652.359718363,630,652,0.400973305056,-0.00537790063351,0.059846098384,0.999999936802,0.000244334430937,-0.000257229697592,2.3006761233e-05,1793245181996616192
+71,1.183333333,BASELINE,764,745,713.220128356,680,658,634,878.220128356,785,805,652.220128356,630,652,0.400973444384,-0.00537845271682,0.0598466845079,0.999999937077,0.00024410890976,-0.000256377616568,2.29739074216e-05,1793245182013283072
+72,1.200000000,BASELINE,764,745,713.796178719,680,658,634,878.796178719,785,805,652.796178719,630,652,0.400974362372,-0.00537733775195,0.059847982287,0.999999936779,0.000246029491951,-0.000255707357103,2.29013488837e-05,1793245182029949696
+73,1.216666667,BASELINE,764,745,713.629711395,680,658,634,879,785.370288605,805,653,630,651.629711395,0.400974552831,-0.00537806571357,0.0598478144706,0.99999993697,0.000245421921813,-0.000255518509125,2.32105799735e-05,1793245182046616320
+74,1.233333333,BASELINE,764,745,713.056664089,680,658,634,879,785.943335911,805,653,630,651.056664089,0.400974344917,-0.00537980280537,0.0598468441388,0.999999937425,0.00024343001277,-0.000255593267373,2.37288673756e-05,1793245182063282944
+75,1.250000000,BASELINE,764.530960652,745,713.530960652,679.469039348,658,634,878.469039348,785.469039348,805,652.469039348,630,651.530960652,0.400974455599,-0.00537865275461,0.059847104745,0.999999937316,0.000244166683473,-0.000255347839376,2.34102773675e-05,1793245182079949312
+76,1.266666667,BASELINE,765,745,713.881537601,679,658,633.881537601,878.118462399,785,805.118462399,652,630,651.881537601,0.400974734311,-0.00537742228508,0.05984754513,0.999999937156,0.000245405911809,-0.000254811723558,2.31383826105e-05,1793245182096615680
+77,1.283333333,BASELINE,765,745,713.300758624,679,658,633.300758624,878.699241376,785,805.699241376,652,630,651.300758624,0.400975532344,-0.00537711438106,0.0598481599819,0.999999937038,0.000247437936502,-0.000253278275574,2.34071133895e-05,1793245182113282560
+78,1.300000000,BASELINE,765,745,713,679,658,633.277688564,878.722311436,785,805.722311436,652,630,651.277688564,0.400975838526,-0.00537737027704,0.059848577268,0.999999937138,0.000247594906205,-0.00025272396778,2.34911673528e-05,1793245182129949440
+79,1.316666667,BASELINE,765,745,713,679,658,633.853631234,878.146368766,785,805.146368766,652,630,651.853631234,0.400975616431,-0.00537823172793,0.0598487823566,0.999999937473,0.000245737954709,-0.000253221315137,2.33768673672e-05,1793245182146616064
+80,1.333333333,BASELINE,764.572676315,744.572676315,713,679,658,634,878.427323685,785,805,652,630,652,0.400975122548,-0.0053781365972,0.0598482351533,0.999999937043,0.000245837576267,-0.000254812422905,2.34145921569e-05,1793245182163283456
+81,1.350000000,BASELINE,764.000258229,744.000258229,713.000258229,679.000258229,658,634,878.999741771,785.000258229,805.000258229,652,630,652,0.4009745354,-0.00537771550301,0.0598474311932,0.99999993635,0.000246603551747,-0.000256776102823,2.35039804418e-05,1793245182179951104
+82,1.366666667,BASELINE,764.593315432,744.593315432,713.593315432,679.593315432,658,634,878.406684568,785.593315432,805.593315432,652,630,652,0.400972439025,-0.00537723184665,0.0598456442457,0.999999935898,0.000246659023989,-0.000258498474876,2.32813207315e-05,1793245182196617216
+83,1.383333333,BASELINE,764.820128487,745,713.820128487,679.820128487,658,634,878,785.820128487,805.820128487,652,630,652,0.400971909011,-0.00537684964138,0.0598451857692,0.999999935796,0.000247009317189,-0.000258577218474,2.30863236862e-05,1793245182213283328
+84,1.400000000,BASELINE,764.247758424,745,713.247758424,679.247758424,658,634,878,785.247758424,805.247758424,652,630,652,0.400974796958,-0.00537668881298,0.0598476261554,0.999999936454,0.000248002940722,-0.000255069392318,2.29516894418e-05,1793245182229949696
+85,1.416666667,BASELINE,764,745,713.327999046,679,658,633.672000954,878,785,805,652,629.672000954,652,0.40097593734,-0.00537783511162,0.0598486456547,0.999999937361,0.000245650945817,-0.000253781666097,2.30090621402e-05,1793245182246616320
+86,1.433333333,BASELINE,764,745,713.906341904,679,658,633.093658096,878,785,805,652,629.093658096,652,0.400975743898,-0.00537997906916,0.0598485806681,0.999999938446,0.00024074542245,-0.000254188421487,2.32129832921e-05,1793245182263282688
+87,1.450000000,BASELINE,764.495303218,745,714,679.495303218,658.495303218,633.495303218,878,785.495303218,805,652,629.495303218,652,0.40097504455,-0.00537946123756,0.0598472925311,0.999999937515,0.000243316053129,-0.000255369289159,2.35477155711e-05,1793245182279949312
+88,1.466666667,BASELINE,765,745,714,679.915778233,658.915778233,634,878.084221767,785.915778233,805,652,630,652,0.400974661538,-0.00537845104288,0.0598462566787,0.999999936545,0.000246575268848,-0.000256018112729,2.37786050733e-05,1793245182296615936
+89,1.483333333,BASELINE,765,745,714,679.339107058,658.339107058,634,878.660892942,785.339107058,805,652,630,652,0.400976699766,-0.00537756941298,0.0598480779326,0.999999937692,0.000245413700072,-0.000252681408898,2.32545222468e-05,1793245182313282560
+90,1.500000000,BASELINE,764.762982166,745,714,679,658,634,878.525964332,785,805,652,630,652,0.400976809415,-0.00537757767835,0.0598487135062,0.999999938171,0.000244183836624,-0.000251993062604,2.30766532139e-05,1793245182329949184
+91,1.516666667,BASELINE,764.187637108,745,714,679,658,634,877.375274215,785,805,652,630,652,0.400974166144,-0.00537885621023,0.0598476565998,0.999999937703,0.000242856487167,-0.000255085071185,2.33929814356e-05,1793245182346616064
+92,1.533333333,BASELINE,764,745,713.612186121,679,658,634,878.163441638,785,805,652,629.612186121,652,0.400973504236,-0.00537828103271,0.0598470556638,0.999999937121,0.000244254902096,-0.000256037811535,2.32862580585e-05,1793245182363282688
+93,1.550000000,BASELINE,764,745,713.036683817,679,658,634,879.88994855,785,805,652,629.036683817,652,0.400973801238,-0.00537680872446,0.0598466754016,0.999999936482,0.000246972492031,-0.000255955220765,2.2974792455e-05,1793245182379949568
+94,1.566666667,BASELINE,764,745,713,679,658,634,878.888535051,785,805,652,629.555732474,652,0.400974931441,-0.00537863822895,0.0598475273279,0.999999937018,0.000246016377506,-0.000254743889291,2.33515192806e-05,1793245182396616192
+95,1.583333333,BASELINE,764,745,713,679.145069265,658,634,878,785,805,652,630,652,0.400975593856,-0.00537992592363,0.0598481337009,0.999999937457,0.000244962303423,-0.000254013776424,2.35725630894e-05,1793245182413282816
+96,1.600000000,BASELINE,764,745,713,679.721816046,658,634,878,785,805,652,630,652,0.400974695489,-0.0053789324632,0.0598477597617,0.999999937377,0.000244360986673,-0.000254944279102,2.31909262387e-05,1793245182429949440
+97,1.616666667,BASELINE,764,745,713.297962515,679.702037485,658,634,878,785,805.297962515,652,630,652,0.400973712351,-0.00537889894434,0.059847075746,0.99999993724,0.000243872624392,-0.000255960607614,2.30206134844e-05,1793245182446616064
+98,1.633333333,BASELINE,764,745,713.873549611,679.126450389,658,634,878,785,805.873549611,652,630,652,0.400972650227,-0.00537975984471,0.0598461028185,0.999999937052,0.000243489506718,-0.00025705690372,2.30472005673e-05,1793245182463282688
+99,1.650000000,BASELINE,764,745,713.549636561,679,658,634,878,785,805.549636561,652,630,652,0.400972366213,-0.00537844937545,0.0598459826326,0.999999936474,0.000245756189718,-0.000257145059672,2.30647901309e-05,1793245182479949568
+100,1.666666667,BASELINE,764.028183289,745,713.028183289,679,658,634,878.028183289,785.028183289,805,652.028183289,630,652,0.400972343388,-0.00537674556796,0.059846103237,0.999999935866,0.000248413640717,-0.000256954902336,2.30743942274e-05,1793245182496616448
+101,1.683333333,BASELINE,764.619196649,745,713.619196649,679,658,634,878.619196649,785.619196649,805,652.619196649,630,652,0.400973161702,-0.00537939512194,0.0598462379937,0.999999936981,0.000243976437298,-0.000256874970883,2.29751140736e-05,1793245182513283072
+102,1.700000000,BASELINE,765,745,714,679,658,634,879,785.794874793,805.205125207,652.794874793,629.794874793,651.794874793,0.400973706243,-0.00538045204185,0.0598463925023,0.999999937513,0.000241875343113,-0.000256794315071,2.29429463555e-05,1793245182529949696
+103,1.716666667,BASELINE,765,745,714,679,658,634,879,785.218157608,805.781842392,652.218157608,629.218157608,651.218157608,0.400973754836,-0.00537862384534,0.0598465827919,0.999999937015,0.000244006198593,-0.00025671234707,2.30323553339e-05,1793245182546616320
+104,1.733333333,BASELINE,764.643510866,745,714,679.356489134,658,634,879,785.356489134,805.643510866,652,629.356489134,651.356489134,0.400974166959,-0.00537843843829,0.0598472789529,0.999999937284,0.000244462601426,-0.000255209715909,2.32081434901e-05,1793245182563282944
+105,1.750000000,BASELINE,764.070123782,745,714,679.929876218,658,634,879,785.929876218,805.070123782,652,629.929876218,651.929876218,0.400974800264,-0.00537925255008,0.0598482829002,0.999999938017,0.000243900220696,-0.000252842713586,2.343648716e-05,1793245182579949568
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,713,680,659,634,878,785,805,652,630,652,0.400970857955,-0.00537951436409,0.0598442452319,0.999999936553,0.000242712474308,-0.000259708101949,2.31522009787e-05,1793245182610176768
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.419944958,745,713,680,658.419944958,634,878,785,805,652,630,652,0.400971941792,-0.00537887446805,0.0598457809843,0.999999936701,0.000244106847918,-0.000257828506679,2.31270451989e-05,1793245182626844416
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,679.841701887,658,634,878,785.158298113,805.158298113,652,630,652,0.400972965759,-0.00537855815159,0.0598468783655,0.999999936865,0.000245006972685,-0.000256331624949,2.31324347934e-05,1793245182643511552
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713,679.268211222,658,634,878,785.731788778,805.731788778,652,630,652,0.400973832694,-0.00537909053635,0.0598468259641,0.999999937087,0.000244610756105,-0.00025583854386,2.32179403844e-05,1793245182660178432
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.313098262,785.686901738,805.686901738,652.313098262,630,652,0.400974451426,-0.00537939651755,0.0598468065798,0.999999937376,0.000243608898714,-0.000255670499686,2.3116493866e-05,1793245182676844800
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.901277136,785.098722864,805.098722864,652.901277136,630,652,0.400974852095,-0.00537950358599,0.0598468162037,0.999999937725,0.000242074939877,-0.00025578802517,2.28507957092e-05,1793245182693510656
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.939636318,745,714,679,658,634.939636318,878,785,805,652.060363682,630,652,0.400973782778,-0.00537942930202,0.0598475460095,0.999999937677,0.000242648532592,-0.00025541134828,2.31001334302e-05,1793245182726843392
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.366352597,745,714,679,658,634.366352597,878,785,805,652.633647403,630,652,0.400975267224,-0.00538086242906,0.0598483002502,0.999999937994,0.000242340963292,-0.000254424605585,2.34608520604e-05,1793245182743510272
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.208262393,745,713.791737607,679.208262393,658,634,878,785.208262393,805.208262393,652.791737607,630,652,0.400978013328,-0.00538121421956,0.0598495843842,0.999999938319,0.000242537022661,-0.000252940165713,2.36603019131e-05,1793245182760177152
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.785234211,745,713.214765789,679.785234211,658,634,878,785.785234211,805.785234211,652.214765789,630,652,0.400982993081,-0.00537965160297,0.0598518066454,0.999999938652,0.00024362471033,-0.000250574598838,2.35742401799e-05,1793245182776843520
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713.371242985,679.628757015,658,634,878,785.628757015,805.628757015,652.371242985,630,652,0.401000859298,-0.00537910052792,0.0598590762766,0.999999941581,0.000243840620126,-0.000238349485942,2.38417009088e-05,1793245182793510144
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,713.962610172,679.037389828,658,634,878,785.037389828,805.037389828,652.962610172,630,652,0.401026366394,-0.0053791492345,0.0598693386872,0.999999945787,0.000243539619431,-0.000220278269855,2.4318778647e-05,1793245182810176768
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.45569373,745,714,679,658,634,878.54430627,785,805.54430627,652.45569373,630,652,0.401082256942,-0.00538198568736,0.0598885687172,0.999999952897,0.000241329209128,-0.000187941958118,2.53664765539e-05,1793245182826843648
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785,805.876111007,652,630,651.876111007,0.401143156296,-0.00538526217621,0.0599068214182,0.999999958588,0.000238929139365,-0.000158237596245,2.64302326772e-05,1793245182843510272
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785,805.301838106,652,630,651.301838106,0.401214809567,-0.00538945435141,0.0599193208247,0.999999961678,0.000236308086202,-0.000141601517872,2.74123570578e-05,1793245182860176640
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785,805,652,630,651,0.401295018097,-0.00539203181386,0.0599291696833,0.999999963753,0.000236037229272,-0.000126542633505,2.76955979508e-05,1793245182876843520
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785,805,652,630,651,0.40138470523,-0.00539282029096,0.0599360819257,0.999999964809,0.000238370220169,-0.000113231167177,2.72045263707e-05,1793245182893510144
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.433561785,634,878.566438215,785,805,652,630,651,0.401487732491,-0.00539473600382,0.0599414218489,0.999999966021,0.000237972140068,-0.000103035267061,2.66595463827e-05,1793245182910176768
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.97696419,679,658.97696419,634,878,785,805.02303581,652,630,651.02303581,0.401596665575,-0.00539709836819,0.059946143516,0.99999996729,0.000236455355222,-9.39621435197e-05,2.60651683305e-05,1793245182926843392
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.396822604,679,658.396822604,634,878,785,805.603177396,652,630,651.603177396,0.401732122497,-0.00540043500742,0.0599496211864,0.99999996925,0.00023169401835,-8.48798573889e-05,2.47461259279e-05,1793245182943510272
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.181218509,679.181218509,658,634,878,785,805.818781491,652,630,652,0.401874898245,-0.005403778874,0.0599507071674,0.999999970571,0.000228073118577,-7.93678373182e-05,2.32476372979e-05,1793245182960176896
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.754712746,679.754712746,658,634,878,785,805.245287254,652,630,652,0.402033516715,-0.0054071383849,0.0599466159631,0.999999970697,0.000226920873442,-8.15842161879e-05,2.13607094963e-05,1793245182976843520
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679.671149316,658,634,878.328850684,785.328850684,805.328850684,652,630,652,0.402214369642,-0.00541189475752,0.0599467005623,0.999999971923,0.000223047071879,-7.7645618044e-05,1.93912732808e-05,1793245182993509888
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679.096530244,658,634,878.903469756,785.903469756,805.903469756,652,630,652,0.402411839631,-0.00541769508287,0.0599499059711,0.999999973887,0.000217139299845,-6.91070638279e-05,1.73601737439e-05,1793245183010176512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.505017668,679,658.494982332,634,879,785.505017668,806,652,630,652,0.402635873076,-0.00542381072897,0.0599505745007,0.99999997518,0.000212946831419,-6.36602571121e-05,1.55539207656e-05,1793245183026843136
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.087094695,745,713.087094695,679.087094695,659,634,878.912905305,785,805.912905305,652,630,652,0.402871842633,-0.00542984363078,0.059950979702,0.999999976356,0.000209076147584,-5.82295732736e-05,1.35979336749e-05,1793245183043509760
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+140,2.333333333,POSE1_TO_POSE2_PRESS,764.278529321,745,713.721470679,679.278529321,658,633.721470679,879,785,806,652,630,652,0.405562768783,-0.00548980742635,0.0599035704453,0.999999982707,0.000128292065242,-0.000133766804612,-1.52550909453e-05,1793245183176844544
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679.303763828,658.303763828,634,879,785,805.696236172,652,629.696236172,652,0.406043268059,-0.0054990275308,0.0599216718558,0.999999991531,7.54351345969e-05,-0.000104533052745,-1.7883046173e-05,1793245183193511168
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.893193027,658.893193027,634,879,785,805.106806973,652,629.106806973,652,0.406562512109,-0.0055088220388,0.0599533828509,0.99999999844,-1.24196682497e-05,-5.07159205331e-05,-1.98325524285e-05,1793245183210177280
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.47314331,745,714,679.52685669,658.52685669,634,878.52685669,785,805.47314331,652,629.47314331,652,0.407109475166,-0.00550711148252,0.0599799036711,0.999999999611,-1.67981531801e-05,-7.27825394467e-06,-2.10416808823e-05,1793245183226844160
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.050826573,658,634,878.050826573,785,806,652.050826573,630,652,0.40766076889,-0.0055024725795,0.0600026600135,0.999999999339,-3.03862893207e-06,2.84849221402e-05,-2.23776468769e-05,1793245183243511040
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.626761302,658,634,878.626761302,785,806,652.626761302,630,652,0.408193428269,-0.00549388489712,0.0599983909194,0.999999999579,7.25201684792e-06,8.69162333668e-06,-2.67168113382e-05,1793245183260177664
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.793323485,745,714,680,658.206676515,634,879,785,805.793323485,652.793323485,630,652,0.408744912949,-0.00549348427927,0.0599904749324,0.99999999941,3.82737742256e-06,-1.50675529781e-05,-3.06298837186e-05,1793245183276844288
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.206078758,745,714,680,658.793921242,634,879,785,805.206078758,652.206078758,630,652,0.409331061964,-0.00550815908797,0.0599758436614,0.999999998057,-2.48521958084e-05,-4.61293813052e-05,-3.3758362076e-05,1793245183293510656
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679.623527682,659,634,879,785,805.376472318,652,630,652,0.409969072832,-0.0055168553501,0.0599760760145,0.999999997487,-4.16815351103e-05,-4.45572610639e-05,-3.6099229661e-05,1793245183310177280
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679.043514265,659,634,879,785,805.956485735,652,630,652,0.410635122977,-0.00552231928924,0.0599843444395,0.999999997599,-5.2104002284e-05,-2.53414792424e-05,-3.80142725821e-05,1793245183326844160
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.534598042,745,714,679.534598042,659,634,879,785,806,652,630,652,0.411332036933,-0.00552197713761,0.0599908499003,0.99999999951,-8.54942604726e-06,-8.53441181783e-06,-2.88792824983e-05,1793245183343510528
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.887904193,680.112095807,659,634,879.112095807,785,806,652,630,652,0.412025947124,-0.0055197179777,0.059991281067,0.999999999454,2.43377484029e-05,-4.19901666657e-06,-2.19605710603e-05,1793245183360176896
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.312310045,680.687689955,659,634,879.687689955,785,806,652,630,652,0.412697086301,-0.00551147946974,0.059967187233,0.999999998317,-4.98526557015e-06,-5.06242028965e-05,-2.79116482053e-05,1793245183376843776
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.261951764,713,680.476096471,659,634,879.738048236,785,806,652,630,652,0.413381666564,-0.00550756260958,0.0599395506165,0.999999993907,-2.0635884873e-05,-0.000103383992641,-3.27480143349e-05,1793245183393510400
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.834633217,713,679.330733566,659,634,879.165366783,785,806,652,630,652,0.414082190858,-0.00550877212831,0.0599077115144,0.999999985749,-2.00681826593e-05,-0.000163657955697,-3.6262100373e-05,1793245183410176512
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,713.42248141,679.42248141,659,634,879.42248141,785,806,652,630,652,0.414902826759,-0.0055147439574,0.0599307126412,0.999999991998,-1.58800048398e-05,-0.000120204435239,-3.60927754774e-05,1793245183426843136
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.984095924,745.984095924,714,680,659,634,879.984095924,785,806,652,630,651.984095924,0.415771260338,-0.00552248128272,0.0599755723177,0.999999998715,-1.05088755003e-05,-3.56953986652e-05,-3.44390092999e-05,1793245183443509504
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.411097483,745.411097483,714,680,659,634,879.411097483,785,806,652,630,651.411097483,0.416605831833,-0.00552433500925,0.0600062041523,0.999999999265,-1.51886166377e-05,1.17858024397e-05,-3.31704418645e-05,1793245183460176128
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.163384009,745,714,680,659,634,879.163384009,785.163384009,806,652,630,651.163384009,0.417438801602,-0.00552573601615,0.060024694206,0.999999998418,-2.02039285223e-05,4.09746846876e-05,-3.28098611544e-05,1793245183476843008
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.741631216,745,714,680,659,634,879.741631216,785.741631216,806,652,630,651.741631216,0.418267704232,-0.00552598748134,0.0600123539575,0.999999998775,-2.60713184026e-05,2.3715873656e-05,-3.47548323537e-05,1793245183493509632
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.67460341,745,714,680,659,633.67460341,880,785.67460341,806,652,630,651.67460341,0.419105283475,-0.00552556368025,0.0599922516232,0.999999998867,-2.80632290844e-05,-9.16631137008e-06,-3.73520997492e-05,1793245183510176256
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.08638099,745,714,680,659,633.08638099,880,785.08638099,806,652,630,651.08638099,0.419949870858,-0.00552459446034,0.0599658797811,0.999999997324,-2.69248790986e-05,-5.46676390278e-05,-4.04762326601e-05,1793245183526842880
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,679.506098073,659,633.493901927,879.506098073,785,806,652,630,651,0.420778931774,-0.0055256185207,0.0599339240217,0.999999993244,-3.07132499957e-05,-0.000103702010637,-4.25962356057e-05,1793245183543509504
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.072572181,745,714,679.072572181,659,633.927427819,879,785,806,652,630,651.072572181,0.42161026311,-0.00552682626495,0.0599029986754,0.999999986923,-3.48599017992e-05,-0.000151538663441,-4.44377526322e-05,1793245183560176128
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.649532055,745,714,679.649532055,659,633.350467945,879,785,806,652,630,651.649532055,0.422475948359,-0.00552692604607,0.0598859150045,0.999999980877,-3.56027426636e-05,-0.00018682432788,-4.55450066783e-05,1793245183576842752
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.775636337,680.224363663,659,633,879.224363663,785.224363663,806,652,630,651.775636337,0.423386828795,-0.0055284310729,0.0599026781731,0.999999984968,-3.90597125614e-05,-0.000162598281672,-4.58309855266e-05,1793245183593509888
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713.204097869,680.795902131,659,633,879.795902131,785.795902131,806,652,630,651.204097869,0.424367643283,-0.00553211054236,0.059971815105,0.999999996832,-4.67164587094e-05,-4.62852837626e-05,-4.48461431627e-05,1793245183610178048
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713,681,659,633.381668205,880,786,806,651.618331795,630,651.381668205,0.425333882803,-0.00553563909699,0.0600171174561,0.999999997472,-4.87225886568e-05,2.84598716048e-05,-4.32576332798e-05,1793245183626844672
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713,681,659,633.975337082,880,786,806,651.024662918,630,651.975337082,0.426292026481,-0.00553908382454,0.0600491806935,0.999999994804,-4.75900381e-05,8.01158276411e-05,-4.13338116122e-05,1793245183643511040
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.5548636,680.4451364,659,634,880,786,806,651.5548636,630,652,0.427211038486,-0.00554243539156,0.0600331150332,0.999999994939,-5.96116964743e-05,6.80294791577e-05,-4.40499256598e-05,1793245183660177664
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.867301733,680,659.132698267,634,880,786,806,652,630,652,0.428115243976,-0.00554462434255,0.0600118714535,0.999999995551,-6.83703010128e-05,4.51297345605e-05,-4.67547097592e-05,1793245183676844288
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.293056964,680,659.706943036,634,880,786,806,652,630,652,0.428975825263,-0.00554295818574,0.0599803399838,0.999999996729,-6.43741065378e-05,-4.55781840988e-06,-4.87526017781e-05,1793245183693510912
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713.281357904,680.281357904,660,634,880,785.718642096,806.281357904,651.718642096,630,652,0.429824099051,-0.00554017927128,0.059948251393,0.999999995079,-5.94066728883e-05,-6.16757244265e-05,-5.0091218682e-05,1793245183710177280
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.855950014,680.855950014,660,634,880,785.144049986,806.855950014,651.144049986,630,652,0.430659545776,-0.00553624062905,0.0599155821666,0.999999989279,-5.34270036037e-05,-0.000126537620343,-5.07427318498e-05,1793245183726844160
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.553809827,680.553809827,660,634,880,785.446190173,807,651.446190173,630.446190173,652,0.431615334953,-0.0055394385701,0.0599408247389,0.999999993914,-6.24053367536e-05,-7.52512459381e-05,-5.1138143936e-05,1793245183743510528
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713,680.040256918,660,633.959743082,880,785.959743082,807,652,630.959743082,651.959743082,0.432604476957,-0.00554483075052,0.0599840575457,0.999999995787,-7.52745032102e-05,1.10099853839e-05,-5.13749156311e-05,1793245183760176896
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713,680.615596257,660,633.384403743,880,785.384403743,807,652,630.384403743,651.384403743,0.433501757356,-0.00554765091096,0.0600088708427,0.999999994988,-7.33395442096e-05,4.56220567895e-05,-5.06420017536e-05,1793245183776843520
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713,681,660,633.191097551,880,785,807,651.808902449,630,651.191097551,0.434380067023,-0.00554920361775,0.0600161292307,0.999999994565,-7.44656669921e-05,5.22672026306e-05,-5.09292938603e-05,1793245183793510400
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713,681,660,633.766925008,880,785,807,651.233074992,630,651.766925008,0.435220183754,-0.00554820460563,0.0599880449489,0.999999995236,-8.17545565852e-05,2.60753768709e-06,-5.32705302927e-05,1793245183810176768
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.351620915,681,660,633.648379085,880,785.351620915,807,651,630,652,0.436032055796,-0.00554916715387,0.0599598857156,0.999999993577,-8.66343535928e-05,-4.85738213355e-05,-5.46033407305e-05,1793245183826843904
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713.942347418,681,660,633.057652582,880,785.942347418,807,651,630,652,0.436824721127,-0.00555146358197,0.0599316755161,0.999999989356,-8.98759440582e-05,-0.00010078994384,-5.52504116448e-05,1793245183843511040
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713.478398655,681,660,633.521601345,880,786,807.521601345,651.521601345,630.521601345,651.478398655,0.437617617729,-0.00554857851665,0.0599147089387,0.99999998545,-8.2430858982e-05,-0.000138434870266,-5.60481759501e-05,1793245183860177408
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.900809739,744.900809739,713,681,660,634,880.099190261,786,807.900809739,652,630.900809739,651.099190261,0.438414033071,-0.00554592674005,0.0599041449139,0.999999982092,-7.66464050714e-05,-0.000163408260955,-5.69172666726e-05,1793245183876844032
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.325258242,744.325258242,713,681,660,634,880.674741758,786,807.325258242,652,630.325258242,651.674741758,0.439227227013,-0.00554708658026,0.0599184892556,0.999999985629,-8.43877508683e-05,-0.000135094822698,-5.80506331813e-05,1793245183893510400
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,744.25611464,713,681,659.74388536,633.74388536,880.74388536,785.74388536,807.25611464,651.74388536,630,652,0.440028075897,-0.00554797123483,0.0599450452166,0.999999990227,-8.79458884327e-05,-9.19147563485e-05,-5.79857045978e-05,1793245183910176768
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,744.845052417,713,681,659.154947583,633.154947583,880.154947583,785.154947583,807.845052417,651.154947583,630,652,0.44081288221,-0.00554849828324,0.0599874702787,0.999999994275,-8.60679108214e-05,-2.94153833569e-05,-5.63635812285e-05,1793245183926843648
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713.426527553,681,659,633,879.573472447,785,807.573472447,651.426527553,630,652,0.441511641642,-0.00554860363048,0.0599692060322,0.999999992792,-8.52859248238e-05,-6.32618793123e-05,-5.60444013085e-05,1793245183943510272
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.005315198,745,713.994684802,681,659,632.994684802,879.010630396,785,807,652,630,652,0.442179310669,-0.00554854968386,0.0599290352188,0.999999986133,-8.49523821846e-05,-0.000131744754129,-5.62222087069e-05,1793245183960176896
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.581615859,745,713.418384141,681,659,632.418384141,880.163231719,785,807,652,630,652,0.442807326038,-0.00554755750431,0.0598632273063,0.999999968601,-9.07572804732e-05,-0.000225794137447,-5.98158527975e-05,1793245183976843520
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.842355488,745,713.157644512,681.157644512,659,632,880.842355488,785,807.157644512,652,630,652,0.44343131173,-0.00554696019454,0.0598101489454,0.999999948022,-9.30259312612e-05,-0.000302311766715,-6.25359430926e-05,1793245183993510144
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.267047369,745,713.732952631,681.732952631,659,632,880.267047369,785,807.732952631,652,630,652,0.444044621327,-0.00554740905313,0.0597907962629,0.999999939089,-8.59256456951e-05,-0.000332380765633,-6.29416406216e-05,1793245184010176768
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.316666406,745,714,682,658.683333594,632,880,785,807.683333594,652,630,652,0.444643355757,-0.00554661898709,0.0597849987935,0.999999935065,-8.30002454615e-05,-0.00034479086679,-6.40350883002e-05,1793245184026843648
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.907661995,745,714,682,658.092338005,632,880,785,807.092338005,652,630,652,0.445229463634,-0.00554475563642,0.0597909442524,0.999999935889,-8.36915630389e-05,-0.000341903003276,-6.57243362811e-05,1793245184043510016
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.512475119,682,658,631.512475119,880,785,807.487524881,652,630,652,0.445757460189,-0.00553971139477,0.0597676521314,0.999999919548,-8.64808054572e-05,-0.000385632683068,-6.86437144438e-05,1793245184060176640
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713,682,658,631,880,784.93501,808,652,630,652,0.446274087097,-0.00553540874464,0.0597402134685,0.999999899087,-8.97289052772e-05,-0.00043433967882,-7.15738544586e-05,1793245184076843520
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713,682,658,631,880,784.360183009,808,652,630,652,0.446785936577,-0.00554154451197,0.0597227179488,0.999999889748,-9.35291119094e-05,-0.000454373727387,-7.280146463e-05,1793245184093510144
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.785246963,745,713,682.214753037,658,631,880,784,808,652,630,652,0.447291375451,-0.00554745153289,0.059716795087,0.999999887382,-9.78090707391e-05,-0.000458459501027,-7.40490899248e-05,1793245184110177024
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.210127976,745,713,682.789872024,658,631,880,784,808,652,630,652,0.447786056968,-0.00555297470568,0.059730291705,0.999999896916,-0.00010289407652,-0.000435783298529,-7.53303014526e-05,1793245184126843648
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713.374128846,682.251742307,657.251742307,630.625871154,880,784,808,652,629.625871154,652,0.44823902953,-0.00556035787388,0.059738172896,0.999999902501,-0.000108729313305,-0.000421212067221,-7.58742434816e-05,1793245184143510016
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,713.963646443,681.072707114,656.072707114,630.036353557,880,784,808,652,629.036353557,652,0.448667989984,-0.00556881185574,0.0597428212452,0.999999905914,-0.000114996464132,-0.000411306925815,-7.59937341229e-05,1793245184160176896
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db24607dd116549a3fa8f9c8826db3fb72ae0937
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,404 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1b9fd0847a665e64eae971b3896357b6e672344
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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+oid sha256:eb8e4392351e9a535882c29ce266991739abd8747ff19f92a4b44a003cd01ca6
+size 25748201
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95be2fe2c0fa37bf2f646e31b36aefefb824f353
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/franka_data.csv
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+3,0.050000000,BASELINE,764,745,713.736153945,679.263846055,658,633.263846055,878,785,805.263846055,652,629.736153945,652,0.40097365532,-0.00537343712368,0.0598435909209,0.999999932985,0.000257053077916,-0.000259771556382,2.17300758498e-05,1793245187801353984
+4,0.066666667,BASELINE,764,745,713.687648449,679,658,633.312351551,878,785,805.312351551,652,630,652,0.400973522583,-0.0053744262599,0.0598436004213,0.999999933114,0.000256147446905,-0.000260161910154,2.18366423463e-05,1793245187818020352
+5,0.083333333,BASELINE,764,745,713.114330927,679,658,633.885669073,878,785,805.885669073,652,630,652,0.400972752469,-0.0053754840136,0.0598430115544,0.999999932974,0.000254882023166,-0.000261954735159,2.16173487514e-05,1793245187834686720
+6,0.100000000,BASELINE,764.472212729,745,713.472212729,679.472212729,658,634,878.472212729,785,805.527787271,652,630,652,0.400972771821,-0.00537432357341,0.0598431768873,0.999999932976,0.000255734694438,-0.000261131307448,2.13986912833e-05,1793245187851353344
+7,0.116666667,BASELINE,764.939272173,745,713.939272173,680,658,634,878.939272173,785,805.060727827,652.060727827,630,652,0.400972923584,-0.00537267088453,0.0598434760081,0.999999932992,0.000256917261447,-0.000259923462284,2.1199590115e-05,1793245187868019712
+8,0.133333333,BASELINE,764.362011044,745,713.362011044,680,658,634,878.362011044,785,805.637988956,652.637988956,630,652,0.400972528937,-0.00537153101068,0.0598433151481,0.999999932843,0.000256418168173,-0.000260988990008,2.11654813758e-05,1793245187884686592
+9,0.150000000,BASELINE,764.213941247,745,713.213941247,679.786058753,658,633.786058753,878.213941247,785,805.786058753,652.786058753,629.786058753,652,0.400972132922,-0.00537156844657,0.0598432703056,0.999999932887,0.000255653592265,-0.000261568585879,2.11695896039e-05,1793245187901353472
+10,0.166666667,BASELINE,764.787692256,745,713.787692256,679.212307744,658,633.212307744,878.787692256,785,805.212307744,652.212307744,629.212307744,652,0.400971734607,-0.00537358590065,0.059843420583,0.999999933257,0.00025444252353,-0.000261330933796,2.12379717335e-05,1793245187918020096
+11,0.183333333,BASELINE,764.636676188,745,714,679.363323812,658,633.363323812,878.636676188,785,805,652.363323812,629.363323812,652,0.400972320378,-0.00537473842294,0.0598438625809,0.999999933663,0.00025384114703,-0.000260345846456,2.14247132698e-05,1793245187934686976
+12,0.200000000,BASELINE,764.059939964,745,714,679.940060036,658,633.940060036,878.059939964,785,805,652.940060036,629.940060036,652,0.40097348419,-0.005375382894,0.0598444759323,0.999999934089,0.000253597896928,-0.000258921723845,2.16809778263e-05,1793245187951353856
+13,0.216666667,BASELINE,764,745,714,679.469251274,658,634,878.530748726,785.530748726,805,652.469251274,630.530748726,652,0.400973493193,-0.0053743960835,0.0598445396217,0.999999933641,0.000255476375829,-0.000258810250878,2.15944947566e-05,1793245187968020224
+14,0.233333333,BASELINE,764,745,714,679.120414499,658.120414499,634,879,786,805.120414499,652,630.879585501,652,0.400973347498,-0.00537363215283,0.0598444672838,0.999999933256,0.000256801886117,-0.000258998431562,2.14794192467e-05,1793245187984686848
+15,0.250000000,BASELINE,764,745,714,679.700008777,658.700008777,634,879,786,805.700008777,652,630.299991223,652,0.400973122644,-0.00537443962483,0.0598441193359,0.999999933503,0.000255080340779,-0.000259748725671,2.14069031365e-05,1793245188001353472
+16,0.266666667,BASELINE,764.276360519,745,714,680,658.723639481,634,879,785.723639481,805.723639481,652,630,652,0.400973631353,-0.0053751725511,0.0598443461029,0.999999933754,0.000254523236823,-0.000259320049087,2.15103544219e-05,1793245188018020096
+17,0.283333333,BASELINE,764.84923325,745,714,680,658.15076675,634,879,785.15076675,805.15076675,652,630,652,0.400974927115,-0.00537582549588,0.0598451894921,0.999999934009,0.000255215483242,-0.000257626433426,2.1802604321e-05,1793245188034686720
+18,0.300000000,BASELINE,764.564135098,745,714,679.564135098,658,634,878.564135098,785,805,652,630,651.564135098,0.400975612427,-0.00537520344815,0.0598458187618,0.999999934581,0.00025366616794,-0.000256949499246,2.16559571223e-05,1793245188051353344
+19,0.316666667,BASELINE,764,745,713.973421481,679,658,634,878.053157037,785,805.026578519,652,630,651,0.400975988367,-0.00537416426359,0.0598463139602,0.999999935193,0.000251534154223,-0.000256686621976,2.1366537115e-05,1793245188068019968
+20,0.333333333,BASELINE,764,745,713.399839213,679,658,634,879.200321573,785,805.600160787,652,630,651,0.400974484623,-0.00537391253193,0.0598456238622,0.999999934397,0.000253887428251,-0.000257471736767,2.13650683514e-05,1793245188084686336
+21,0.350000000,BASELINE,764,745,713.17492162,679.17492162,658,634,879.65015676,785,805.82507838,652.17492162,630,651.17492162,0.400973587414,-0.00537374109519,0.0598451189605,0.999999933829,0.00025543239476,-0.000258149254638,2.13460458783e-05,1793245188101353216
+22,0.366666667,BASELINE,764,745,713.752394636,679.752394636,658,634,878.495210728,785,805.247605364,652.752394636,630,651.752394636,0.400974086043,-0.00537375444318,0.0598450402558,0.999999933799,0.000255117183115,-0.000258579156982,2.12866266262e-05,1793245188118019840
+23,0.383333333,BASELINE,764,745,714,679.663043833,658,633.663043833,878,785,805,652.663043833,630,652,0.400975177297,-0.00537319707977,0.059845583353,0.99999993389,0.000255590013585,-0.000257752940021,2.13680849383e-05,1793245188134686464
+24,0.400000000,BASELINE,764,745,714,679.073161458,658,633.073161458,878,785,805,652.073161458,630,652,0.400976713387,-0.00537221132869,0.0598465931874,0.999999934068,0.000256654364593,-0.000255983854192,2.15552888327e-05,1793245188151353088
+25,0.416666667,BASELINE,764,745,714,679.506925705,658,633.506925705,878,785,805.506925705,652,630,652,0.400975615677,-0.00537254071993,0.0598455996245,0.999999934041,0.000256115619621,-0.000256637528969,2.14466329277e-05,1793245188168019968
+26,0.433333333,BASELINE,764,745,714,680,657.914542732,634,878,785,806,652,630,652,0.400974250752,-0.00537314331871,0.0598444626221,0.999999933972,0.000255425337755,-0.000257603625777,2.13277299229e-05,1793245188184686336
+27,0.450000000,BASELINE,764,745,714,680,657.336982486,634,878,785,806,652,630,652,0.400973494489,-0.00537424690003,0.0598441330573,0.999999933832,0.000255169487034,-0.000258393446548,2.13910425579e-05,1793245188201353216
+28,0.466666667,BASELINE,764,744.76020825,714,680,657.23979175,634,878,785,805.76020825,652,630,652,0.400973188309,-0.00537489090705,0.0598443621042,0.999999933825,0.000255219934822,-0.000258365130926,2.14419311321e-05,1793245188218020352
+29,0.483333333,BASELINE,764,744.184535029,714,680,657.815464971,634,878,785,805.184535029,652,630,652,0.400973512569,-0.00537489117838,0.0598453736106,0.999999934005,0.000255699421545,-0.000257190833986,2.14754170527e-05,1793245188234686976
+30,0.500000000,BASELINE,764.399732974,744.399732974,714,679.600267026,658,634,878.399732974,785,805.399732974,652,630,652,0.400973421804,-0.00537434616088,0.059845119991,0.999999933934,0.000255512359913,-0.000257660849278,2.13561804511e-05,1793245188251353344
+31,0.516666667,BASELINE,764.988055892,744.988055892,714,679.011944108,658,634,878.988055892,785,805.988055892,652,630,652,0.400973135235,-0.00537354388166,0.0598442694978,0.999999933744,0.000255010827547,-0.000258906634352,2.1164890919e-05,1793245188268019968
+32,0.533333333,BASELINE,764.433649227,745,713.433649227,679.566350773,658,634,879,785,805.433649227,652,630,652,0.400973602906,-0.00537291342202,0.0598449328734,0.999999933509,0.000255923579919,-0.000258914619668,2.11578147431e-05,1793245188284686592
+33,0.550000000,BASELINE,764,745,713.14431466,680,658,634,879.14431466,785,805,652.14431466,630,652,0.400973973128,-0.00537285376414,0.0598454077071,0.999999933454,0.000256157072708,-0.000258894268776,2.11819254975e-05,1793245188301353216
+34,0.566666667,BASELINE,764,745,713.721908593,680,658,634,879.721908593,785,805,652.721908593,630,652,0.400974003854,-0.00537449714785,0.0598452222899,0.999999933943,0.000254263217054,-0.000258865854574,2.12882084544e-05,1793245188318019840
+35,0.583333333,BASELINE,764,745,714,679.701582359,658,634,879.403164719,785,805.298417641,653,629.701582359,652,0.400973265837,-0.00537465802173,0.0598447192311,0.99999993383,0.000253953630456,-0.000259601663597,2.13274989028e-05,1793245188334686720
+36,0.600000000,BASELINE,764,745,714,679.126080572,658,634,878.252161144,785,805.873919428,653,629.126080572,652,0.400971814031,-0.00537344236869,0.0598439212385,0.999999933158,0.000255115055336,-0.000261047062506,2.13045860634e-05,1793245188351353344
+37,0.616666667,BASELINE,764,745,713.540536284,679,658,634,878.459463716,785,806,652.540536284,629.459463716,652,0.400972954373,-0.00537334115264,0.0598453429296,0.999999933883,0.000255017125876,-0.000258353894298,2.12857716765e-05,1793245188368019968
+38,0.633333333,BASELINE,764.047099328,745,713,679.047099328,658,634,879,785,805.952900672,652.047099328,630,652,0.400974592703,-0.00537356660022,0.0598471567555,0.999999934831,0.000254700506525,-0.000254975323823,2.12881048737e-05,1793245188384686592
+39,0.650000000,BASELINE,764.626529927,745,713,679.626529927,658,634,879,785,805.373470073,652.626529927,630,652,0.400973640399,-0.00537395050209,0.0598463645517,0.999999934007,0.000255905282193,-0.000256972478386,2.15164594744e-05,1793245188401353216
+40,0.666666667,BASELINE,764.795022776,745,713,680,658,634,878.795022776,785.204977224,805.204977224,652.795022776,630,652,0.400973217836,-0.00537469174963,0.0598459739664,0.999999933913,0.000255363213353,-0.00025786657726,2.16587004436e-05,1793245188418020096
+41,0.683333333,BASELINE,764.218358545,745,713,680,658,634,878.218358545,785.781641455,805.781641455,652.218358545,630,652,0.400973755856,-0.00537608097518,0.0598463116393,0.999999935138,0.000251653575885,-0.000256760495408,2.16447907914e-05,1793245188434686720
+42,0.700000000,BASELINE,764,745,713.355038289,680,658,634,878,785.644961711,805.644961711,652,630,651.644961711,0.400973771761,-0.00537618151896,0.0598461508856,0.999999935042,0.000252141270839,-0.00025666244387,2.1571866268e-05,1793245188451353344
+43,0.716666667,BASELINE,764,745,713.926443885,680,658,634,878,785.073556115,805.073556115,652,630,651.073556115,0.400973469479,-0.0053754967147,0.0598456863809,0.999999934139,0.000255186902755,-0.000257178705847,2.14629769233e-05,1793245188468020224
+44,0.733333333,BASELINE,764,745,714,680,658,634,878.519394463,785.519394463,805,652,630,651.519394463,0.400973761607,-0.00537518829569,0.0598455528112,0.999999934018,0.000255617503313,-0.000257213866705,2.15594887875e-05,1793245188484686848
+45,0.750000000,BASELINE,764.111576449,745,713.888423551,679.888423551,658,634,878.888423551,785.888423551,805,652,630.111576449,651.888423551,0.400973899957,-0.00537492902137,0.0598454906946,0.999999934067,0.000255381290496,-0.000257258083517,2.15716480597e-05,1793245188501353472
+46,0.766666667,BASELINE,764.687318451,745,713.312681549,679.312681549,658,634,878.312681549,785.312681549,805,652,630.687318451,651.312681549,0.400973033235,-0.00537464285081,0.0598455224215,0.999999934337,0.00025397839295,-0.000257635677901,2.11066469428e-05,1793245188518020608
+47,0.783333333,BASELINE,764.737163918,745,713.262836082,679,658,633.737163918,878,785,805,652,630.737163918,651.262836082,0.400972298765,-0.00537439420684,0.0598452914804,0.99999993427,0.000253478990984,-0.000258393793174,2.09921686392e-05,1793245188534687488
+48,0.800000000,BASELINE,764.161912907,745,713.838087093,679,658,633.161912907,878,785,805,652,630.161912907,651.838087093,0.400971721494,-0.00537419016808,0.0598447483244,0.999999933805,0.00025405351105,-0.000259604207153,2.1294332309e-05,1793245188551353856
+49,0.816666667,BASELINE,764,745,714,679.424067789,657.575932211,633.424067789,878,785,805,652.424067789,630,652,0.40097246519,-0.00537522468196,0.0598448085375,0.99999993408,0.000253605010839,-0.000258955162599,2.15877317034e-05,1793245188568020480
+50,0.833333333,BASELINE,764,745,714,680,657.01397271,634,878,785,805.01397271,652.98602729,630,651.98602729,0.400973701537,-0.00537666428589,0.0598451182496,0.999999934619,0.000252835043304,-0.000257603106979,2.18619240366e-05,1793245188584687104
+51,0.850000000,BASELINE,764,745,714,680,657.592611791,634,878,785,805.592611791,652.407388209,630,651.407388209,0.400973935676,-0.00537486785094,0.0598459592607,0.999999934092,0.000255268557534,-0.000257276565554,2.14986601939e-05,1793245188601353984
+52,0.866666667,BASELINE,764,745,713.830025512,680,658.169974488,634,878.169974488,785,805.830025512,652.169974488,630,651.169974488,0.400973784264,-0.0053733645188,0.0598461444806,0.99999993366,0.00025685110892,-0.000257406185578,2.11988913987e-05,1793245188618020864
+53,0.883333333,BASELINE,764,745,713.255699235,680,658.744300765,634,878.744300765,785,805.255699235,652.744300765,630,651.744300765,0.400972715662,-0.00537255844817,0.0598447696409,0.999999933463,0.000256409307249,-0.000258620966707,2.10501708003e-05,1793245188634687232
+54,0.900000000,BASELINE,764,745,713,679.674052446,658.674052446,633.674052446,878.674052446,785,805,653,630,652,0.400973356929,-0.00537246752884,0.0598448830088,0.999999933428,0.0002573108658,-0.000257844343845,2.12362576874e-05,1793245188651354112
+55,0.916666667,BASELINE,764,745,713,679.086530951,658.086530951,633.086530951,878.086530951,785,805,653,630,652,0.400975370371,-0.00537295052072,0.0598461906682,0.999999933517,0.000259290475191,-0.000255469612932,2.16910286461e-05,1793245188668021248
+56,0.933333333,BASELINE,764.49446652,745,713.49446652,679.49446652,658,633.49446652,878,785,805,653,630,652,0.400974619766,-0.00537319265781,0.0598456127115,0.999999933701,0.000257501969307,-0.000256570608614,2.1514266159e-05,1793245188684687872
+57,0.950000000,BASELINE,764.926370766,745,714,679.926370766,658,633.926370766,878.073629234,785,805,652.926370766,630,652,0.400973647705,-0.00537356972059,0.0598449817188,0.999999933923,0.000255337635321,-0.000257880686455,2.13312819075e-05,1793245188701354496
+58,0.966666667,BASELINE,764.352022644,745,714,679.352022644,658,633.352022644,878.647977356,785,805,652.352022644,630,652,0.400974416237,-0.00537514725665,0.0598462048747,0.999999934334,0.000255043450599,-0.00025653008852,2.18477781574e-05,1793245188718020864
+59,0.983333333,BASELINE,764,745.223850255,714,679,658,633,879,785,805,652,630,652,0.400974900098,-0.00537556836704,0.0598467286691,0.999999934681,0.000254440685264,-0.000255770890369,2.18962939604e-05,1793245188734687232
+60,1.000000000,BASELINE,764,745.802137523,714,679,658,633,879,785,805,652,630,652,0.400974933222,-0.00537415843188,0.0598461451181,0.999999934928,0.000253349323652,-0.000255948094668,2.1203825243e-05,1793245188751353856
+61,1.016666667,BASELINE,764,745.612837997,714,679,658,633.387162003,879,785.387162003,805,652,630,652,0.400974125091,-0.00537423077026,0.059845622763,0.999999934601,0.000253946932898,-0.000256630559524,2.12168829017e-05,1793245188768020224
+62,1.033333333,BASELINE,764,745.024309466,714,679,658,633.975690534,879,785.975690534,805,652,630,652,0.400972879416,-0.00537507405286,0.0598451322366,0.999999933974,0.000255422991525,-0.000257575815045,2.15968913761e-05,1793245188784686592
+63,1.050000000,BASELINE,764,745,714,679,658,634,878.446109254,785.446109254,805.553890746,652,630,652,0.400972915705,-0.00537441589375,0.0598451880972,0.999999933981,0.000255012926577,-0.000257983540046,2.12136954613e-05,1793245188801353728
+64,1.066666667,BASELINE,764.131515421,744.868484579,714,679,658,634,878,785,805.868484579,652,630,652,0.400973146395,-0.00537390885929,0.0598452592278,0.999999934077,0.000254569748899,-0.000258070721778,2.09567299694e-05,1793245188818020608
+65,1.083333333,BASELINE,764.708697706,744.291302294,714,679,658,634,878,785,805.291302294,652,630,652,0.400973848678,-0.00537413315635,0.0598453023298,0.99999993438,0.000254289741415,-0.000257150158157,2.12389520793e-05,1793245188834687232
+66,1.100000000,BASELINE,764.716087313,744.283912687,714,679.283912687,658,634,878,785,804.716087313,652,630,652,0.40097438583,-0.0053742881945,0.0598456124123,0.999999934591,0.000254254789469,-0.000256357458455,2.1289871619e-05,1793245188851353856
+67,1.116666667,BASELINE,764.142876982,744.857123018,714,679.857123018,658,634,878,785,804.142876982,652,630,652,0.400974754719,-0.00537437266011,0.0598461945392,0.99999993471,0.000254469541032,-0.000255695047916,2.11051014685e-05,1793245188868020480
+68,1.133333333,BASELINE,764,745,714,679.555234986,658,634,878,785,804.889530028,652,630,652,0.400974630963,-0.00537432546623,0.0598460954538,0.99999993491,0.000253394931828,-0.000255969514241,2.12269782214e-05,1793245188884687104
+69,1.150000000,BASELINE,764,745,714,679.036389738,658.036389738,634,878.036389738,785.036389738,805.963610262,652.036389738,630,652,0.400974298504,-0.00537425375981,0.0598457489846,0.999999935094,0.000252008026435,-0.000256603788586,2.14070185615e-05,1793245188901353472
+70,1.166666667,BASELINE,764,745,714,679.61594145,658.61594145,634,878.61594145,785.61594145,805.38405855,652.61594145,630,652,0.400973292298,-0.00537446864254,0.0598450859111,0.999999934668,0.000252349439545,-0.000257965733774,2.09355628519e-05,1793245188918020096
+71,1.183333333,BASELINE,764,745,714,680,658.80810036,634,878.80810036,785.80810036,805.19189964,652.80810036,630,652,0.400972633338,-0.00537470920052,0.0598448403083,0.999999934496,0.000252518745991,-0.000258481674448,2.07108376787e-05,1793245188934686720
+72,1.200000000,BASELINE,764,745,714,680,658.23920177,634,878.23920177,785.23920177,805.76079823,652.23920177,630,652,0.400972656564,-0.00537500019921,0.0598454148525,0.999999934829,0.000252349938093,-0.000257335586119,2.09708301284e-05,1793245188951353600
+73,1.216666667,BASELINE,764.335788677,745,714,679.664211323,658,634,878,785.335788677,806,652.335788677,630,652,0.400973443943,-0.00537580207245,0.0598461761861,0.999999935262,0.000251634424629,-0.000256333571519,2.11762962187e-05,1793245188968020224
+74,1.233333333,BASELINE,764.915198855,745,714,679.084801145,658,634,878,785.915198855,806,652.915198855,630,652,0.400974785731,-0.00537697459554,0.0598470730392,0.999999935768,0.000250522265186,-0.000255436085402,2.13422023126e-05,1793245188984686592
+75,1.250000000,BASELINE,764.493949949,745,714,679,658,634,878.506050051,785.493949949,806,652.493949949,630,652,0.400973884188,-0.0053767204163,0.059845978612,0.999999935417,0.000250482100691,-0.000256880848688,2.09234400623e-05,1793245189001352960
+76,1.266666667,BASELINE,764.095985484,745,714,678.904014516,658,634,879,785.095985484,805.904014516,652,630,652,0.40097278306,-0.00537600770775,0.0598447801183,0.999999934908,0.000251049057643,-0.00025833826928,2.05007666572e-05,1793245189018019840
+77,1.283333333,BASELINE,764.671544832,745,714,678.328455168,658,634,879,785.671544832,805.328455168,652,630,652,0.400972606429,-0.00537422618729,0.0598447674512,0.999999934355,0.000253731090267,-0.000257852505564,2.05593921097e-05,1793245189034686720
+78,1.300000000,BASELINE,765,745,713.752600049,678.494799902,658.247399951,634,878.752600049,785.752600049,805,652,630,652,0.400972511965,-0.00537369050508,0.059844975752,0.999999934392,0.000254138636863,-0.000257296261406,2.06988750692e-05,1793245189051353600
+79,1.316666667,BASELINE,765,745,713.176351832,679.647296337,658.823648168,634,878.176351832,785.176351832,805,652,630,652,0.400972526718,-0.00537481081262,0.0598454777671,0.999999935215,0.000251522897324,-0.000256646333471,2.0945835212e-05,1793245189068019968
+80,1.333333333,BASELINE,765,745,713.408672979,679.591327021,658.591327021,634,878.408672979,785,805,652,630,652,0.400972969147,-0.00537456187625,0.0598455935585,0.999999935077,0.000251770046774,-0.000256933966513,2.10368422438e-05,1793245189084686592
+81,1.350000000,BASELINE,765,745,713.997568263,679.002431737,658.002431737,634,878.997568263,785,805,652,630,652,0.400973600179,-0.00537370911172,0.0598455390275,0.999999934515,0.000253279712684,-0.000257635058207,2.10590749206e-05,1793245189101353472
+82,1.366666667,BASELINE,764.423142851,745,714,679,658.576857149,634,879,785,805,652,630,652,0.400973354509,-0.00537417617047,0.0598462066397,0.999999934574,0.000253870715744,-0.000256827998722,2.09881905579e-05,1793245189118020096
+83,1.383333333,BASELINE,764,745,714,679,658.844350137,634,879,785,805.155649863,652,630,652,0.4009732335,-0.00537489733297,0.0598466006832,0.999999934738,0.000253766980285,-0.00025628950764,2.10253733302e-05,1793245189134686720
+84,1.400000000,BASELINE,764,745,714,679,658.266794253,634,879,785,805.733205747,652,630,652,0.400973460258,-0.00537629243765,0.0598462450724,0.999999935178,0.000251790405232,-0.000256495951169,2.13565304821e-05,1793245189151353344
+85,1.416666667,BASELINE,764,745,713.690726423,679.309273577,658,634,878.690726423,785,805.690726423,652,630,652,0.400973640414,-0.00537616002538,0.059846144324,0.999999935231,0.000251654252758,-0.000256430594585,2.12344180259e-05,1793245189168019712
+86,1.433333333,BASELINE,764,745,713.115936146,679.884063854,658,634,878.115936146,785,805.115936146,652,630,652,0.400973780561,-0.00537471621338,0.0598462623794,0.999999934954,0.000253098134929,-0.000256131892904,2.0723165774e-05,1793245189184686336
+87,1.450000000,BASELINE,764.472301628,745,713.472301628,679.527698372,658,633.527698372,878.472301628,785,805,652,630,651.527698372,0.40097443837,-0.0053749262942,0.0598465253361,0.999999935287,0.000252359397732,-0.000255555930856,2.07833126952e-05,1793245189201352960
+88,1.466666667,BASELINE,764.937451688,745,714,679,658,633.062548312,879,785,805.062548312,652.062548312,630,651.062548312,0.400975015587,-0.0053755454457,0.0598466868106,0.999999935674,0.00025122356823,-0.000255144823466,2.09558195923e-05,1793245189218019840
+89,1.483333333,BASELINE,764.358667239,745,714,679,658,633.641332761,879,785,805.641332761,652.641332761,630,651.641332761,0.400973848142,-0.00537609189049,0.0598457085433,0.999999935251,0.000251361882695,-0.000256672509553,2.08641161835e-05,1793245189234686720
+90,1.500000000,BASELINE,764,745,714,679,658.218286723,634,878.781713277,785,806,652.781713277,630,652,0.400972878196,-0.00537596584661,0.0598452674645,0.999999934766,0.000252328027034,-0.000257604875906,2.09341971176e-05,1793245189251353344
+91,1.516666667,BASELINE,764,745,714,679,658.792257966,634,878.207742034,785,806,652.207742034,630,652,0.400972230063,-0.0053747440246,0.0598457017006,0.999999934182,0.0002546430682,-0.000257567205953,2.12678954961e-05,1793245189268020480
+92,1.533333333,BASELINE,764,745,714,679,658.624351681,634,878.375648319,785,806,652,630,652,0.400971665759,-0.00537488905135,0.0598450356433,0.999999934036,0.000254295063767,-0.000258463666377,2.14148458797e-05,1793245189284687104
+93,1.550000000,BASELINE,764,745,714,679,658.03561832,634,878.96438168,785,806,652,630,652,0.400971149006,-0.00537580941759,0.059843745449,0.999999934136,0.00025243645734,-0.000259890008604,2.14558642241e-05,1793245189301353472
+94,1.566666667,BASELINE,764,745.544081376,714,679,658.544081376,633.455918624,878.455918624,785,805.455918624,652,630,652,0.400972652584,-0.00537553339027,0.0598452308606,0.999999934641,0.000252868316285,-0.000257539012718,2.12179485751e-05,1793245189318019840
+95,1.583333333,BASELINE,764.122643827,745.877356173,714,679,658.877356173,633.122643827,878,785.122643827,805,652,630,651.877356173,0.400974075623,-0.00537526929951,0.0598465945599,0.999999935011,0.00025353601885,-0.000255447917597,2.10574620544e-05,1793245189334686464
+96,1.600000000,BASELINE,764.699150671,745.300849329,714,679,658.300849329,633.699150671,878,785.699150671,805,652,630,651.300849329,0.40097471916,-0.00537533449093,0.0598468463967,0.999999934813,0.000254530664201,-0.000255218792613,2.12499862499e-05,1793245189351353088
+97,1.616666667,BASELINE,764.725978657,745,713.725978657,679.274021343,658,634,878.274021343,785.725978657,805,652.274021343,629.725978657,651.274021343,0.400974686186,-0.00537556124042,0.0598467494216,0.999999934812,0.000254348276311,-0.000255399490875,2.13131924162e-05,1793245189368019712
+98,1.633333333,BASELINE,764.152893716,745,713.152893716,679.847106284,658,634,878.847106284,785.152893716,805,652.847106284,629.152893716,651.847106284,0.400973914876,-0.00537596431245,0.0598462717573,0.999999935025,0.000252881288441,-0.000256027465309,2.12352624296e-05,1793245189384686336
+99,1.650000000,BASELINE,764,745,713.433810858,679.566189142,658,634,878.566189142,785,805,652.566189142,629.433810858,652,0.400973617252,-0.00537581293218,0.059846342715,0.999999935211,0.00025210774465,-0.000256081271536,2.10193600162e-05,1793245189401352960
+100,1.666666667,BASELINE,764,745,713.975057944,679,658,633.975057944,878,785,805,652,630,652,0.400973540122,-0.00537545770083,0.059846614075,0.999999935383,0.000251622387898,-0.000255907287868,2.07645491593e-05,1793245189418019840
+101,1.683333333,BASELINE,764,745,713.395687888,679,658,633.395687888,878,785,805,652,630,652,0.40097453299,-0.00537505569614,0.0598469027066,0.999999935456,0.000251934275187,-0.000255313871056,2.07608144183e-05,1793245189434686720
+102,1.700000000,BASELINE,764,745,713,679,658,633.182029354,878.182029354,785,805,652,630,651.817970646,0.400975047152,-0.00537526913774,0.0598468755776,0.999999935523,0.000251811202495,-0.000255163809579,2.08744619511e-05,1793245189451353088
+103,1.716666667,BASELINE,764,745,713,679,658,633.756186027,878.756186027,785,805,652,630,651.243813973,0.400974530088,-0.00537680837276,0.0598461682377,0.999999935576,0.00025075113972,-0.000255968823476,2.12409741769e-05,1793245189468019968
+104,1.733333333,BASELINE,764,745,713,679,658,634,878.669878154,785,805,652,630,651.330121846,0.400973118579,-0.00537691380771,0.0598453902164,0.999999935226,0.000250716255593,-0.000257361150318,2.13026217625e-05,1793245189484687104
+105,1.750000000,BASELINE,764,745,713,679,658,634,878.096105279,785,805,652,630,651.903894721,0.400971046912,-0.00537596100672,0.0598445600275,0.999999934577,0.000251438018739,-0.000259186951747,2.11392597911e-05,1793245189501354496
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658,633,879,786,805,652,630,652,0.400975434016,-0.00537621637157,0.0598479862012,0.999999936491,0.000249105070247,-0.000253979729999,2.14168670461e-05,1793245189532127232
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744.574848914,713.425151086,680,658,633.574848914,879,785.425151086,805,652,630,652,0.400974338542,-0.00537586308151,0.0598468742244,0.999999935358,0.000252175068922,-0.000255399292219,2.1504701826e-05,1793245189548794368
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.150128496,680,658,634,878.849871504,785,805,652,630,652,0.400973312894,-0.00537562962081,0.0598459578103,0.99999993466,0.000253628434978,-0.000256700608898,2.13933437771e-05,1793245189565460992
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.726631331,680,658,634,878.273368669,785,805,652,630,652,0.400972485559,-0.00537573648286,0.0598455968062,0.999999935217,0.000250490463745,-0.00025766610116,2.07162656264e-05,1793245189582127360
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.6895865,680,658,634,878,785,805.3104135,652,629.6895865,651.6895865,0.400972527021,-0.00537656713976,0.0598456171718,0.99999993566,0.000248751926679,-0.000257629859311,2.07401891776e-05,1793245189598793728
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.099239809,680,658,634,878,785,805.900760191,652,629.099239809,651.099239809,0.400973351972,-0.00537805052019,0.0598459814593,0.999999936006,0.000248275409888,-0.000256690246172,2.13962812904e-05,1793245189615460608
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.480509979,680,658,634,878,785,805.519490021,652,629.961019958,651.480509979,0.400973967224,-0.00537694153104,0.0598461624169,0.999999935854,0.000249319508734,-0.00025627791133,2.13013492793e-05,1793245189632126976
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713.942019361,679.942019361,658,634,878.057980639,785,805,652,630.942019361,652,0.400974330195,-0.00537547464215,0.0598462360451,0.999999935577,0.000250586207922,-0.000256140304391,2.10857612491e-05,1793245189648793088
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.365780143,679.365780143,658,634,878.634219857,785,805,652,630.365780143,652,0.40097281693,-0.00537549109429,0.0598456814484,0.999999935097,0.000251096031298,-0.000257505959686,2.11482156206e-05,1793245189665459712
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.199613262,785,805.800386738,652,630,652,0.400980259448,-0.00537512930355,0.0598486451656,0.999999935753,0.000252407521326,-0.000253635797827,2.13114820948e-05,1793245189698793472
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+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.961610701,679.961610701,658,634,878,785,805.038389299,652,630,652,0.4010250472,-0.00537946445613,0.0598686246067,0.999999944377,0.000248135603075,-0.000221735248612,2.2531024178e-05,1793245189732126208
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+121,2.016666667,POSE1_TO_POSE2_PRESS,764.308960367,745,714,680,658,634,878.691039633,785.691039633,805,652,630,651.691039633,0.401205758152,-0.00538193817136,0.059916274228,0.999999958205,0.000249814419093,-0.000143436369039,2.46756376859e-05,1793245189782126336
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.727984278,785.727984278,805.272015722,652,630,652,0.401285203515,-0.00538438711243,0.0599278087747,0.999999961051,0.000247297932532,-0.000126962312457,2.4953599105e-05,1793245189798792960
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.139455082,785.139455082,805.860544918,652,630,652,0.401376123331,-0.00538781954505,0.0599364198908,0.999999963647,0.000244740919532,-0.000110405123158,2.48790486953e-05,1793245189815459328
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713.559201215,680,658,634,878.440798785,785,805.559201215,652,630,652,0.401480696758,-0.00539096562351,0.0599427596544,0.999999964945,0.000244097415822,-9.96443945359e-05,2.44504770005e-05,1793245189832126208
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713,679.981490542,658,634,878.981490542,785,805,652,630,652,0.401590275002,-0.00539402645289,0.0599483115607,0.999999965841,0.000243963612689,-9.07123716907e-05,2.3901637398e-05,1793245189848793088
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713,679.402974197,658,634,878.402974197,785,805,652,630,652,0.401722993561,-0.00539719847407,0.0599513670087,0.999999967213,0.000241272674764,-8.2648000718e-05,2.30402480455e-05,1793245189865459712
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878,785,805,652.174486145,630,652,0.401860871067,-0.00540062580468,0.0599523680637,0.999999968371,0.000238090899678,-7.805802136e-05,2.18372603533e-05,1793245189882126336
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878,785,805,652.749522249,630,652,0.402010591422,-0.00540463922253,0.0599486530591,0.999999969159,0.000233782360436,-8.14438477948e-05,1.98501004915e-05,1793245189898792960
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878,785,805,652.667760734,630,651.667760734,0.402184980604,-0.005409228038,0.0599467516366,0.999999970219,0.00022972026859,-8.04401508705e-05,1.78749499713e-05,1793245189915459584
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878,785,805,652.079115911,630,651.079115911,0.402378407962,-0.00541426091682,0.0599462498452,0.999999971478,0.000225848371989,-7.60488409405e-05,1.59090674456e-05,1793245189932126208
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,879.005005029,785,805,652,630,651.502502514,0.40260847771,-0.005418622642,0.059948272126,0.999999972975,0.000222112529287,-6.73202238204e-05,1.35333600712e-05,1793245189948792832
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.082249193,679,658.082249193,634,879.835501613,785,805,652,630,652,0.402849202918,-0.00542341326501,0.0599507743164,0.999999974584,0.000217647625288,-5.77773545591e-05,1.1120358883e-05,1793245189965459456
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713.657318094,679,658.657318094,634,878.685363812,785,805,652,630,652,0.403119682835,-0.0054313981696,0.0599538037268,0.999999977062,0.000208687760063,-4.73909161459e-05,8.86518505012e-06,1793245189982126080
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.232149782,745,714,679.232149782,658.767850218,634,878.232149782,785,805,652,630,652,0.403398084499,-0.00543916112639,0.0599532764388,0.999999978987,0.000199696241579,-4.59170943577e-05,6.21202026262e-06,1793245189998792704
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.80663164,745,714,679.80663164,658.19336836,634,878.80663164,785,805,652,630,652,0.403688167692,-0.00544659679466,0.0599475043819,0.999999980162,0.000190658047206,-5.75859714666e-05,2.97197128184e-06,1793245190015459328
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.605985671,745,714,680,658.394014329,634,878.605985671,785.394014329,805,652,629.605985671,652,0.404008340199,-0.00545361198142,0.0599373859444,0.999999980845,0.000181680665012,-7.28131403314e-05,-8.37155009485e-07,1793245190032125952
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.012057409,745,714,680,658.987942591,634,878.012057409,785.987942591,805,652,629.012057409,652,0.404343779332,-0.00546041382518,0.0599250622523,0.999999981033,0.000172734137768,-8.98457053411e-05,-4.93501811991e-06,1793245190048792832
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.436251715,679.436251715,658.436251715,634,878,785.436251715,805,652,629.563748285,652,0.404701384436,-0.00546923074067,0.0599107426972,0.999999979945,0.000162627809548,-0.000116528021413,-9.10141782985e-06,1793245190065459456
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.138920094,785,805,652,630,651.861079906,0.405077452171,-0.00547829509761,0.0599003854153,0.999999979018,0.000151807395987,-0.00013691437839,-1.31774173989e-05,1793245190082126080
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.713281992,785,805,652,630,651.286718008,0.405509950798,-0.00548800416942,0.0599025774249,0.999999980844,0.000138824032199,-0.000136939422584,-1.69656074594e-05,1793245190098792448
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658.295830694,634,879,785,805,652,630,651.295830694,0.405975523134,-0.00549699916654,0.0599170405841,0.999999987673,0.000106691168802,-0.000113447519294,-1.9997033879e-05,1793245190115459584
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658.886539918,634,879,785,805,652,630,651.886539918,0.40647406278,-0.00550528238846,0.0599437353972,0.999999996001,5.54704386441e-05,-6.65143600255e-05,-2.22741327713e-05,1793245190132126720
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.466935304,745,713.466935304,679.466935304,658.533064696,634,879,785,805,652,630,652,0.407029367564,-0.00550489179734,0.0599731510125,0.999999999552,-5.03875250506e-07,-1.85883692666e-05,-2.34463781581e-05,1793245190148793856
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.044784486,633.955215514,879,785,805.044784486,652,630,652,0.407595600801,-0.00550148930195,0.0600006105248,0.999999998099,-5.09802630029e-05,2.4427521927e-05,-2.46237147167e-05,1793245190165460736
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.621515022,633.378484978,879,785,805.621515022,652,630,652,0.408131346779,-0.0054868050187,0.0599971525739,0.999999999302,-2.2729535898e-05,6.31815079046e-06,-2.89814396166e-05,1793245190182127104
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.798269131,745,713.798269131,680,659.201730869,633.201730869,878.798269131,785,805.798269131,652,630,651.798269131,0.408674346856,-0.00548143353965,0.0599895136171,0.999999999266,-7.95356221317e-06,-1.74554768712e-05,-3.31700950244e-05,1793245190198793728
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.211399258,745,713.211399258,680,659.788600742,633.788600742,878.211399258,785,805.211399258,652,630,651.211399258,0.409231196231,-0.00549384181001,0.0599738923993,0.999999997781,-1.89032172669e-05,-5.20431455244e-05,-3.70359673909e-05,1793245190215460096
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713.370308184,679.629691816,659.629691816,634,878,785,805,652,630,651.370308184,0.409857541575,-0.00550772918038,0.059974071178,0.999999997014,-4.11755381461e-05,-5.12331426716e-05,-4.06492370848e-05,1793245190232126464
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.949109029,679.050890971,659.050890971,634,878,785,805,652,630,651.949109029,0.410523014851,-0.00552244932019,0.0599831457458,0.999999996124,-6.98227993729e-05,-3.04933745712e-05,-4.41202850771e-05,1793245190248792832
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878,785,805,652,630,652,0.41122889872,-0.00553076505527,0.0599882635853,0.999999995005,-8.67854610698e-05,-1.58575250787e-05,-4.69685534814e-05,1793245190265459968
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.098963574,745,714,679.098963574,659,634,878.098963574,785,805.098963574,652,630,651.901036426,0.411932221362,-0.0055349200791,0.0599881415913,0.999999995089,-8.70259458954e-05,-1.16830888436e-05,-4.59516017398e-05,1793245190282127360
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.671522932,745,714,679.671522932,659,634,878.671522932,785,805.671522932,652,630,651.328477068,0.412604644193,-0.00552211833692,0.0599647694406,0.999999998064,-1.26319787e-05,-5.475641065e-05,-2.67247271437e-05,1793245190298793728
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.753652997,745,713.753652997,680,658.753652997,634,879,785,805.753652997,652,630,651.246347003,0.413286637287,-0.00551227225773,0.0599375511018,0.999999993662,2.56483420093e-05,-0.000107996794802,-1.88146638587e-05,1793245190315460096
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.175781076,745,713.175781076,680,658.175781076,634,879,785,805.175781076,652,630,651.824218924,0.41398150979,-0.00550640380147,0.0599051566982,0.999999984243,1.53282292437e-05,-0.000174919651306,-2.61343547926e-05,1793245190332126976
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.415126126,679.584873874,658.415126126,634,879,785,805.415126126,652,630,651.584873874,0.414782530506,-0.0055133594324,0.0599231103846,0.999999989867,6.6756799022e-06,-0.000139141583209,-2.93597711424e-05,1793245190348793344
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,679.011336846,659,634,879,785,806,652,630,651.011336846,0.415630310701,-0.00552579786857,0.0599629571092,0.999999997788,-1.36243113078e-06,-5.89675103812e-05,-3.07528031442e-05,1793245190365459456
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,679.587853103,659,634,879,785,806,652,630,651.587853103,0.416495787597,-0.00553208096607,0.059996945512,0.999999999428,-1.51120774408e-05,-3.79508482596e-06,-3.00270650876e-05,1793245190382126080
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.162527195,745,714,679.837472805,659,633.837472805,879,785,805.837472805,651.837472805,630,652,0.417348683873,-0.00553625435683,0.0600186866848,0.999999998697,-2.714645006e-05,3.11813961439e-05,-2.99401387231e-05,1793245190398792704
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.732582133,745,714,679.267417867,659,633.267417867,879,785,805.267417867,651.267417867,630,652,0.418170034903,-0.00553513777698,0.0600097186199,0.999999998777,-3.48798702764e-05,1.55176859928e-05,-3.14549967615e-05,1793245190415459584
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.683870023,745,713.683870023,679.316129977,659,633,879,785,805.316129977,651.316129977,630,651.683870023,0.418996785223,-0.00553393167353,0.0599938184234,0.999999998831,-3.30598312657e-05,-1.13817897421e-05,-3.34019702421e-05,1793245190432126464
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.088399534,745,713.088399534,679.911600466,659,633,879,785,805.911600466,651.911600466,630,651.088399534,0.419828306451,-0.00553264646479,0.059971792819,0.99999999794,-2.27981115139e-05,-4.82094737533e-05,-3.57307718403e-05,1793245190448793088
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713.493171961,680,659,633.493171961,879,785,806,652,630,651,0.420662016224,-0.0055317340087,0.0599377620113,0.999999993979,-3.0059112422e-05,-9.80115490788e-05,-3.91517768512e-05,1793245190465459456
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,679.92812016,659,634,879,785,806,652,630,651.07187984,0.421501510424,-0.0055311445337,0.0599036084038,0.999999987206,-3.91583166331e-05,-0.000149193105583,-4.23858930426e-05,1793245190482125824
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,679.35250001,659,634,879,785,806,652,630,651.64749999,0.422378868138,-0.00553236313025,0.0598832615287,0.999999979432,-3.97314986075e-05,-0.000194190756943,-4.29758796589e-05,1793245190498792448
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,679.227473717,659,633.772526283,879.227473717,785,806,652,630,652,0.423296355752,-0.00553611860758,0.059897510779,0.999999982897,-4.35727136567e-05,-0.000174615339209,-4.26181239467e-05,1793245190515458816
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679.814325606,659,633.185674394,879.814325606,785,806,652,630,652,0.424277243399,-0.00554388201878,0.0599664172958,0.999999996381,-5.25769854079e-05,-5.30230792208e-05,-4.07630613587e-05,1793245190532125696
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.394460856,745,714,680,659.394460856,633,880,785,806,652,630,652,0.425227325671,-0.00554575310867,0.0600118989585,0.999999997603,-5.36066447572e-05,1.97341850344e-05,-3.91144616941e-05,1793245190548792320
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.971487453,745,714,680,659.971487453,633,880,785,806,652,630,652,0.426163150433,-0.00554489709353,0.0600465390447,0.999999995555,-5.09454659503e-05,6.98894599201e-05,-3.75614181247e-05,1793245190565459456
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.550090191,660,633,880,785,806.550090191,652,630.550090191,652,0.427092782405,-0.00554704614483,0.0600316850416,0.999999995513,-5.93962399501e-05,6.18515950292e-05,-4.02668495337e-05,1793245190582126336
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.871896493,745,714,680.871896493,659.871896493,633.128103507,880,785.128103507,806.871896493,652,630.871896493,652,0.42801424357,-0.00554933804038,0.0600110906784,0.999999995994,-6.61287152909e-05,4.22746985376e-05,-4.30374656443e-05,1793245190598792704
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.29622876,745,714,680.29622876,659.29622876,633.70377124,880,785.70377124,806.29622876,652,630.29622876,652,0.428908282441,-0.00555158324714,0.0599794294972,0.999999996849,-6.48397943327e-05,-7.04839780194e-06,-4.52624352261e-05,1793245190615459072
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,713.713924594,680.286075406,659,633.713924594,880,785.713924594,806.286075406,652,630,652,0.42976972393,-0.00554891958491,0.0599462930424,0.999999994933,-6.19756042533e-05,-6.37843959425e-05,-4.71686366968e-05,1793245190632125696
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,713.124585289,680.875414711,659,633.124585289,880,785.124585289,806.875414711,652,630,652,0.430596609406,-0.00554105211014,0.059911592676,0.999999988922,-5.74414969348e-05,-0.00012837868782,-4.87369170641e-05,1793245190648792320
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.455803565,745,713,680.544196435,659,633,880,785.455803565,807,652,630,652,0.431535710167,-0.00554228166657,0.0599351752216,0.999999993379,-6.38754196082e-05,-8.20367438766e-05,-4.93094666305e-05,1793245190665458944
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+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.392613649,713.607386351,680.607386351,660.214772702,633.607386351,880,785.392613649,807,652,630,652,0.433418656894,-0.00554982309646,0.0600037616568,0.999999995882,-6.92865143288e-05,3.37061585591e-05,-4.79567273683e-05,1793245190698792448
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.186250865,714,681,660.813749135,633.813749135,880,785.186250865,807,652,630.186250865,652,0.434317117603,-0.00555312597369,0.0600160351433,0.999999995166,-7.0881795563e-05,4.87743706145e-05,-4.758995675e-05,1793245190715459328
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+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.641044704,681,660,633,880.358955296,785.641044704,807,652,631,652,0.436008689592,-0.00555623904516,0.0599608357505,0.999999993829,-8.75269508899e-05,-4.53725020818e-05,-5.12012975868e-05,1793245190748792320
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.682761327,654,626.682761327,880.682761327,781.317238673,808,652,629,652,0.453251607979,-0.00557352124329,0.0596527725363,0.999999849354,-0.000110221029288,-0.000534548166529,-5.833076161e-05,1793245191782125568
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682.086722378,654,626.086722378,880.086722378,781.913277622,808,652,629,652,0.453254277837,-0.00557240742949,0.0596540098336,0.999999850676,-0.000109835068363,-0.000532092506773,-5.88424498154e-05,1793245191798792448
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.541409153,745,714,682,654,626.458590847,880,781.541409153,808,652,629,652,0.453254754001,-0.00557327668964,0.0596542508898,0.999999850601,-0.000111104132896,-0.000531995316549,-5.86105806308e-05,1793245191815459072
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.004733064,745,714,682,654,626.995266936,880,781.004733064,808,652,629,652,0.45325485664,-0.00557448361195,0.0596543223139,0.999999850286,-0.000112655002118,-0.000532299707792,-5.8252104378e-05,1793245191832125696
+245,4.083333333,HOLD_POSE2,765,745,714,683,654,627,880,782,808,652,629,652,0.453254922431,-0.00557039112017,0.0596529037256,0.999999850782,-0.000103973296411,-0.000533069787708,-5.88398331065e-05,1793245191859217920
+246,4.100000000,HOLD_POSE2,765,745,714,682.410569384,654,627,880.589430616,782,808,652,629,652,0.453254734169,-0.00556999644767,0.0596526836833,0.99999985063,-0.000105192327273,-0.000533143114158,-5.85835197978e-05,1793245191875884544
+247,4.116666667,HOLD_POSE2,764.823989997,745,714,682.176010003,654,627,880.823989997,782,808,652,629,652,0.453254806439,-0.00556991828727,0.0596525449352,0.999999850527,-0.000106052667133,-0.00053319330474,-5.83447122595e-05,1793245191892551168
+248,4.133333333,HOLD_POSE2,764.243955384,745,714,682.756044616,654,627,880.243955384,782,808,652,629,652,0.453255476748,-0.00557056666889,0.059652592795,0.999999850536,-0.000106089644987,-0.000533190387794,-5.81460885352e-05,1793245191909218048
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+250,4.166666667,HOLD_POSE2,764.910393211,745.910393211,714,683,654,626.089606789,880,782,808,652,629,652,0.453255373423,-0.00556874591293,0.059652922231,0.999999850437,-0.000103457114359,-0.000533872006165,-5.83375484051e-05,1793245191942551296
+251,4.183333333,HOLD_POSE2,764.514333606,745.514333606,714,682.514333606,654,626,880,782,808,652.485666394,629,652,0.453256157758,-0.00556865689256,0.0596536887168,0.999999850929,-0.000103513274396,-0.000532941127409,-5.83207107345e-05,1793245191959217664
+252,4.200000000,HOLD_POSE2,764.062463861,745,714,682.062463861,654,626,880.062463861,781.937536139,808,652.937536139,629,652,0.453256953561,-0.00556901631872,0.0596543087177,0.999999851358,-0.000104071984196,-0.00053203324869,-5.82556902641e-05,1793245191975884288
+253,4.216666667,HOLD_POSE2,764.653947091,745,714,682.653947091,654,626,880.653947091,781.346052909,808,652.346052909,629,652,0.453256243507,-0.00557124619366,0.059652798504,0.999999850394,-0.000106185592629,-0.000533445332978,-5.80802815931e-05,1793245191992550912
+254,4.233333333,HOLD_POSE2,765,745.238981282,714,683,654,626.238981282,880.761018718,781.477962565,808,652.238981282,629,652,0.453255701661,-0.0055719529281,0.0596519315434,0.999999849705,-0.000107653758987,-0.00053444896027,-5.80007088104e-05,1793245192009217792
+255,4.250000000,HOLD_POSE2,765,745.81492238,714,683,654,626.81492238,880.18507762,782.62984476,808,652.81492238,629,652,0.453255396989,-0.0055705120584,0.0596519715596,0.999999849413,-0.000108211862084,-0.000534876669562,-5.80562631243e-05,1793245192025884416
+256,4.266666667,HOLD_POSE2,765,745.609582341,714,682.609582341,653.609582341,627,880,782.609582341,808,653,629,652,0.453254782657,-0.00557009110821,0.0596512510762,0.999999849014,-0.000107617423316,-0.000535751935842,-5.79611368854e-05,1793245192042551296
+257,4.283333333,HOLD_POSE2,765,745.034298111,714,682.034298111,653.034298111,627,880,782.034298111,808,653,629,652,0.453254021699,-0.00557015309971,0.0596501704888,0.999999848563,-0.000106477244776,-0.000536839124757,-5.77946619394e-05,1793245192059217920
+258,4.300000000,HOLD_POSE2,765,745,714,682,653,626.444704835,880,782,808,652.444704835,629,652,0.453254546886,-0.00557105961449,0.0596510566573,0.999999848948,-0.000107205979865,-0.000535984969836,-5.77140870482e-05,1793245192075884544
+259,4.316666667,HOLD_POSE2,764.857518303,745,714,682,653,626,880,781.857518303,808,652,629,652,0.453255030764,-0.00557139522371,0.0596516547371,0.999999849277,-0.000107204036514,-0.000535367975735,-5.77394092055e-05,1793245192092551168
+260,4.333333333,HOLD_POSE2,764.280439745,745,714,682,653,626,880,781.280439745,808,652,629,652,0.453255139926,-0.00556982614638,0.0596509937592,0.999999849275,-0.000104611971611,-0.000535849785071,-5.80711265644e-05,1793245192109217792
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+262,4.366666667,HOLD_POSE2,764,745,714,682,653,626.873780689,880.873780689,781.873780689,808,652,629,652,0.453256053221,-0.00556656822097,0.0596517184084,0.999999849841,-0.00010493037183,-0.000534635942261,-5.89200097337e-05,1793245192142551040
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,627,881,782,808,652,629,652,0.453256630236,-0.00556853054596,0.0596529935557,0.999999850325,-0.000105437595369,-0.000533685432607,-5.84124946471e-05,1793245192175240448
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,653.819001301,626.819001301,880.638002601,781.819001301,808,652,628.819001301,652,0.453256441324,-0.00556958291861,0.0596517141493,0.999999849899,-0.000107131230628,-0.000534174478791,-5.8153584123e-05,1793245192208573184
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,653.238797921,626.238797921,879.477595841,781.238797921,808,652,628.238797921,652,0.453257853526,-0.00556873312737,0.0596525752404,0.999999850572,-0.000106937724977,-0.000532935871877,-5.83072397464e-05,1793245192225239296
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.662950068,653,626,879.674099864,781.337049932,807.662950068,652,628.337049932,652,0.453257480747,-0.00556856526363,0.0596523094375,0.999999850058,-0.000105764175135,-0.000534146528506,-5.81865508693e-05,1793245192241905920
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.090148747,653,626,880.819702506,781.909851253,807.090148747,652,628.909851253,652,0.453255859454,-0.00556887437779,0.0596512554226,0.999999848705,-0.000103905128121,-0.00053707033577,-5.78739702449e-05,1793245192258572544
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.51471118,745.48528882,714,682.48528882,653,626.48528882,880.51471118,781.51471118,807.48528882,652,629,652,0.453256685616,-0.0055690863723,0.0596515023145,0.999999849661,-0.000105302004593,-0.000535013401474,-5.7886210936e-05,1793245192275239168
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.654432079,745.345567921,714,683,653,627,880.654432079,781.654432079,808,652,629,652,0.453247928402,-0.00556946439157,0.0596476770943,0.999999846282,-0.000106263409294,-0.000541086049,-5.80543813495e-05,1793245192308572416
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.519661222,653,626.759830611,881,782,808,652,629,652,0.453234812987,-0.00556849396748,0.0596418706151,0.999999840897,-0.000104465876327,-0.000551261797864,-5.83291495324e-05,1793245192325239552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.364525958,653,626.182262979,881,782,808,652,629,652,0.453215849349,-0.00556590022946,0.0596333204113,0.999999833743,-0.000101197698629,-0.000564631282236,-5.88591133515e-05,1793245192341906176
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.606574812,745,714,681.786850376,653,626.393425188,880.606574812,781.606574812,808,652,629,652,0.453179357016,-0.00556574557186,0.0596196823595,0.999999820621,-0.000101936811828,-0.000587242328201,-5.92759648947e-05,1793245192358572800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.031753159,745,714,682.936493682,653,626.968246841,880.031753159,781.031753159,808,652,629,652,0.453134782731,-0.00556671550032,0.0596036984539,0.999999804191,-0.000104523565424,-0.0006141143798,-5.96406637989e-05,1793245192375239168
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.556760015,745,714,682.443239985,653,627,880.556760015,781.556760015,808,652,629,652,0.453076933996,-0.00556507752274,0.0595900359117,0.999999796185,-0.000104140777485,-0.000626973377284,-6.07384898924e-05,1793245192391905792
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.856330764,745,714,682,653,626.856330764,881.143669236,782,808,652,628.856330764,652,0.453013515138,-0.00556265593353,0.0595774761151,0.999999788403,-0.000102729215288,-0.00063941175564,-6.15822874105e-05,1793245192408572416
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.276717499,745,714,682,653,626.276717499,881.723282501,782,808,652,628.276717499,652,0.452935549644,-0.00555831927609,0.0595678505881,0.999999779991,-9.87228346716e-05,-0.000653060004822,-6.15252008975e-05,1793245192425239040
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,745.301040338,714,682,653,626.301040338,881.397919324,781.698959662,808,652,628,652,0.452850284168,-0.00555488143031,0.0595624814401,0.99999977572,-9.60937505218e-05,-0.000659977325521,-6.1292098695e-05,1793245192441905664
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,745.877103071,714,682,653,626.877103071,880.245793858,781.122896929,808,652,628,652,0.452758349626,-0.00555226471507,0.0595610008067,0.999999775367,-9.47229278101e-05,-0.0006607454494,-6.08981932816e-05,1793245192458572544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745.53936739,714,682,653.46063261,627,880,781.46063261,808,652,628.46063261,652,0.452651786458,-0.00554992888161,0.0595609211281,0.99999977618,-9.2959127779e-05,-0.000659849804217,-5.9978113371e-05,1793245192475239168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,682.045737285,654,626.954262715,880,782,808,652,629,652,0.452538604908,-0.00554750477165,0.0595614313728,0.999999777436,-9.08794952743e-05,-0.000658327774379,-5.89398283313e-05,1793245192491906048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,745,714,682.625588931,654,626.374411069,880,782,808,652,629,652,0.452394463533,-0.00554316022726,0.0595643938467,0.999999780223,-8.63561682712e-05,-0.000654760054907,-5.81875517882e-05,1793245192508572672
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.779999457,745,714,683,653.220000543,626.779999457,880.779999457,782,808,652,629,652,0.452064031404,-0.00553292760861,0.0595643408932,0.999999779586,-7.86218366101e-05,-0.00065687961968,-5.61705289658e-05,1793245192541905664
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,653.356175135,626.643824865,880.643824865,782,808,652,629,652,0.451863886868,-0.00552725251079,0.0595622775066,0.999999776597,-7.41052934559e-05,-0.000662035949967,-5.49774099586e-05,1793245192558572288
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,653.932494369,626.067505631,880.067505631,782,808,652,629,652,0.451648364219,-0.00552145946634,0.0595598359547,0.999999772823,-6.89940217939e-05,-0.000668360603508,-5.37456979413e-05,1793245192575238912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.492795485,745,713.492795485,683,654,626.507204515,880,782,808,652,629,652,0.451402158497,-0.00551462815337,0.0595599431213,0.999999770398,-6.39309665143e-05,-0.000672648473602,-5.15834679219e-05,1793245192591905792
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.008861014,714,681.991138986,654,627.008861014,880,782,808,652,629,652,0.449462943492,-0.00546379196443,0.0595229936413,0.999999731916,-1.80253670562e-05,-0.000730871736393,-4.08523531226e-05,1793245192691906304
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,744.851276377,713,680.851276377,658,634,878.851276377,785.851276377,805,652,629.148723623,652,0.404138104665,-0.00535005026587,0.0597779948016,0.999999899122,0.000271828437167,-0.000356563024967,2.69682984569e-05,1793245193758572288
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,744.2756035,713,680.2756035,658,634,878.2756035,785.2756035,805,652,629.7243965,652,0.403797081531,-0.00534712897856,0.0597697299341,0.999999893215,0.000279819631558,-0.000366729313603,2.79562285632e-05,1793245193775238912
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.300035428,744.300035428,713.300035428,679.699964572,658,634,878.300035428,785,805.300035428,652,630,652,0.403496207986,-0.0053452076138,0.0597770584564,0.999999897469,0.000283965102864,-0.000351517623931,2.9339132915e-05,1793245193791905536
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.875643138,744.875643138,713.875643138,679.124356862,658,634,878.875643138,785,805.875643138,652,630,652,0.403232210487,-0.00534420464389,0.0597987089745,0.999999910041,0.000284578408217,-0.000312997127792,3.10848075197e-05,1793245193808572160
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.537859156,745,714,679.462140844,658,634,878.537859156,785,805.537859156,652,630,652,0.402993612133,-0.00534802007979,0.0598174654793,0.999999921077,0.000279017564429,-0.000280911958957,3.29178297567e-05,1793245193825239040
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,744.372287473,713.372287473,680,658,633.372287473,878.627712527,785,805.627712527,652,630,652,0.402537777865,-0.00536775833225,0.0598413543179,0.999999936595,0.000255371043437,-0.00024541634331,3.69590019158e-05,1793245193858572288
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,744.204651884,713.204651884,679.795348116,658,633.204651884,879,785,805.795348116,652,630,652,0.402321593825,-0.00537760136905,0.0598434646641,0.999999939507,0.000242733678334,-0.00024615537054,3.83907492629e-05,1793245193875238912
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.357020939,745.357020939,714,679,658,634,879,785.357020939,805.357020939,652.357020939,630,651.642979061,0.401945545751,-0.00537990977725,0.059833492313,0.999999943553,0.000196094125575,-0.000271347112622,2.85013484108e-05,1793245193908572416
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.932395751,745.932395751,714,679,658,634,879,785.932395751,805.932395751,652.932395751,630,651.067604249,0.401785202833,-0.00537786931067,0.0598320744398,0.999999951862,0.000136856157955,-0.000278197663331,1.23135782858e-05,1793245193925239040
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.478057951,745.478057951,714,679.521942049,658,634,878.478057951,785.478057951,806,652.478057951,630,651.521942049,0.401657727329,-0.00538225643931,0.0598313649373,0.999999953005,0.00012752089319,-0.000278543683129,1.19499266398e-05,1793245193941905408
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.686009963,785,806,652,630,652,0.401438809831,-0.00537971530623,0.0598332486826,0.999999940783,0.000206591724364,-0.000274861640306,1.43352640684e-05,1793245193975238656
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.73790237,658,634,878.73790237,785,806,652,630,652,0.401349517394,-0.0053770293383,0.059834853577,0.999999931839,0.000248719307882,-0.000272447658321,1.52612456189e-05,1793245193991905536
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.161300044,658,634,878.161300044,785,806,652,630,652,0.401273321262,-0.0053779462942,0.0598359867645,0.99999992961,0.000259588874397,-0.000270421347023,1.63152638848e-05,1793245194008572160
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.013344465,745,714,679.013344465,658,634,878.986655535,785,805.986655535,652.013344465,630,652,0.40115110344,-0.00537795753553,0.059830892666,0.999999927049,0.00026288038506,-0.000276555587834,1.76713314925e-05,1793245194041905408
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878,785,806,653,630,652,0.40097973792,-0.00537558891164,0.0598344612052,0.999999928239,0.000260260250956,-0.000274630747983,1.91155697272e-05,1793245194175238912
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.230516889,745,713.769483111,680,658,634,878,785.230516889,806,653,630,652,0.400976176039,-0.00537502748196,0.0598349720976,0.999999928094,0.000261491318842,-0.000273989274701,1.90981252363e-05,1793245194191905792
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.807423985,745,713.192576015,680,658,634,878,785.807423985,806,653,630,652,0.400975450199,-0.00537485760475,0.0598361365137,0.999999928397,0.000262661610951,-0.000271743870514,1.92494229984e-05,1793245194208572416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745.380518382,713.380518382,680,658,634,878.380518382,785.619481618,805.619481618,653,630.380518382,652,0.400974544247,-0.00537531463108,0.0598365526244,0.999999929201,0.000260699703766,-0.000270684152752,1.90622140747e-05,1793245194225239040
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745.951702342,713.951702342,680,658,634,878.951702342,785.048297658,805.048297658,653,630.951702342,652,0.400973548048,-0.0053760857787,0.0598365937833,0.999999930248,0.000257168351768,-0.000270218544556,1.87053902853e-05,1793245194241905664
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.45653616,745.45653616,714,680,658,634,879,785,805,652.45653616,630.45653616,652,0.400973900484,-0.00537555534044,0.0598375763484,0.99999993013,0.000258887463526,-0.000268984635427,1.91001936234e-05,1793245194258572544
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.133707194,745,713.866292806,679.866292806,658,634,879,785,805,652,630.133707194,652,0.400973562748,-0.00537550546307,0.0598380585601,0.999999929974,0.000259952341554,-0.000268511774364,1.94520827644e-05,1793245194275238912
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.712568026,745,713.287431974,679.287431974,658,634,879,785,805,652,630.712568026,652,0.400970512477,-0.00537745578966,0.059836585435,0.99999993006,0.000257224442778,-0.000270808952097,1.94299561464e-05,1793245194291905536
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.710512936,745,713.289487064,679.289487064,658,634,879,785,805.289487064,652,630.710512936,652.289487064,0.40097009607,-0.00537790712391,0.0598367018864,0.999999930552,0.000255668012267,-0.000270475081024,1.9295834747e-05,1793245194308572416
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.135508992,745,713.864491008,679.864491008,658,634,879,785,805.864491008,652,630.135508992,652.864491008,0.400972277405,-0.00537688002404,0.059838386114,0.999999931447,0.00025526698354,-0.000267546245061,1.90512545212e-05,1793245194325239040
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,785,805.551293528,652.448706472,630,652.551293528,0.400973429049,-0.00537607084157,0.0598394714852,0.999999931299,0.000257294820663,-0.000266145975668,1.91554129779e-05,1793245194341905664
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.964739767,785,805.035260233,653,629.964739767,652,0.400974217954,-0.00537542417027,0.0598403791369,0.999999930894,0.000259844953099,-0.000265175016837,1.93725159161e-05,1793245194358572032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.385922217,785,805.614077783,653,629.385922217,652,0.400974309216,-0.00537624692678,0.0598413935453,0.99999993156,0.00025890200484,-0.000263556746044,1.96731448959e-05,1793245194375238656
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.192580054,745,714,680,658,634,878,785,806,652.807419946,629.385160108,651.807419946,0.400974206015,-0.00537621809683,0.0598418940273,0.999999931783,0.000258780947373,-0.000262825494711,1.97376205612e-05,1793245194391905792
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.770451519,745,714,680,658,634,878,785,806,652.229548481,630.540903038,651.229548481,0.400973713757,-0.00537448551326,0.059841366306,0.999999931121,0.000260304231921,-0.000263868887177,1.93296285666e-05,1793245194408572672
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.65369898,745,714,680,658,634,878.34630102,785.34630102,805.65369898,652.34630102,630.30739796,651.34630102,0.400974435044,-0.00537484668622,0.0598417821644,0.999999931602,0.000259083071877,-0.000263249201546,1.92936353105e-05,1793245194425239296
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.491749474,658,634,879,785.491749474,805,652.491749474,629.508250526,652,0.400973839547,-0.00537547170288,0.0598413780011,0.999999931571,0.000258678301207,-0.000263767172205,1.92481358189e-05,1793245194458572288
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,713.903635597,679.096364403,658,634,879,785.096364403,805.096364403,652.096364403,630,652,0.400971813823,-0.00537434968702,0.0598401709658,0.999999930427,0.000261177573151,-0.000265650202167,1.90302209442e-05,1793245194475238912
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,713.322480862,679.677519138,658,634,879,785.677519138,805.677519138,652.677519138,630,652,0.400973170211,-0.0053754947819,0.0598421392883,0.999999931924,0.000258496711293,-0.000262593327879,1.93701506424e-05,1793245194491905792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.255791092,745.255791092,713.255791092,680,658.255791092,634,878.744208908,785.744208908,806,652.744208908,630,652,0.40097429751,-0.00537555457105,0.0598430128928,0.999999932559,0.000257583581714,-0.000261063565491,1.94626077357e-05,1793245194508572416
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.830469247,745.830469247,713.830469247,680,658.830469247,634,878.169530753,785.169530753,806,652.169530753,630,652,0.400975139209,-0.00537426134234,0.0598425217455,0.999999932132,0.000258874230452,-0.00026143760718,1.92465482202e-05,1793245194525239040
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745.597369237,714,680,658.597369237,634,878.402630763,785,806,652,630,652,0.400974681522,-0.00537617417159,0.059842393852,0.999999932587,0.000256975310263,-0.000261554874405,1.94504907851e-05,1793245194541905664
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745.026260822,714,680,658.026260822,634,878.973739178,785,806,652,630,652,0.400973680117,-0.00537942855046,0.0598424179593,0.999999933403,0.000253741740159,-0.000261564696365,1.98301799046e-05,1793245194558572288
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1a88ff8e541f972dfbff7c0f5cb3aec9d63139dd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+2,0.033333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+3,0.050000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+4,0.066666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+5,0.083333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+6,0.100000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+7,0.116666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+8,0.133333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+9,0.150000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+10,0.166666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+11,0.183333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+12,0.200000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
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+371,6.183333333,pose2_to_pose3_retreat,0.576061081901,-0.000122161923433,1.05005089976,0.546632715252,0.00855352441857,1.04971739304
+372,6.200000000,pose2_to_pose3_retreat,0.575986795987,-0.000122201455097,1.05005095034,0.546558429942,0.00855348701369,1.0497174458
+373,6.216666667,pose2_to_pose3_retreat,0.575922668012,-0.000122296720338,1.05005098666,0.546494302249,0.00855339255337,1.04971747805
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+376,6.266666667,pose2_to_pose3_retreat,0.575783071621,-0.000122189675118,1.05005082251,0.546354706275,0.00855350126439,1.04971732019
+377,6.283333333,pose2_to_pose3_retreat,0.575751871212,-0.000122215223735,1.05005088282,0.546323505028,0.00855347267558,1.0497173754
+378,6.300000000,pose2_to_pose3_retreat,0.575728144923,-0.000122205841259,1.05005099846,0.546299778023,0.0085534792256,1.04971748051
+379,6.316666667,pose2_to_pose3_retreat,0.575710142687,-0.000122217353806,1.05005098356,0.546281776341,0.00855346968021,1.04971746796
+380,6.333333333,pose2_to_pose3_retreat,0.575697307475,-0.000122216234872,1.05005092018,0.546268942008,0.00855347414696,1.04971741421
+381,6.350000000,pose2_to_pose3_retreat,0.575688433435,-0.000122097788827,1.05005111748,0.546260067369,0.00855359040721,1.04971760745
+382,6.366666667,pose2_to_pose3_retreat,0.575682361283,-0.000122116491782,1.05005104225,0.546253995902,0.00855357429212,1.04971753911
+383,6.383333333,pose2_to_pose3_retreat,0.575678287599,-0.000122155371925,1.05005095317,0.546249922702,0.00855353723867,1.04971745487
+384,6.400000000,pose2_to_pose3_retreat,0.575675627396,-0.000122208473941,1.0500509164,0.546247261868,0.0085534817958,1.0497174129
+385,6.416666667,pose2_to_pose3_retreat,0.575673997929,-0.000122241000771,1.05005089388,0.546245632015,0.00855344783511,1.04971738719
+386,6.433333333,pose2_to_pose3_retreat,0.575673230206,-0.000122266315274,1.05005091537,0.546244864869,0.00855342447201,1.04971740855
+387,6.450000000,pose2_to_pose3_retreat,0.57567289192,-0.000122278630774,1.05005092857,0.546244526924,0.00855341332168,1.04971742185
+388,6.466666667,pose2_to_pose3_retreat,0.575672252739,-0.000122301900482,1.0500509535,0.54624388839,0.00855339225352,1.04971744698
+389,6.483333333,pose2_to_pose3_retreat,0.575671676929,-0.00012232286314,1.05005097597,0.546243313163,0.00855337327414,1.04971746962
+390,6.500000000,pose2_to_pose3_retreat,0.575671512447,-0.000122328851223,1.05005098239,0.546243148846,0.00855336785259,1.04971747609
+391,6.516666667,pose2_to_pose3_retreat,0.57567145142,-0.000122331072927,1.05005098477,0.546243087881,0.00855336584109,1.04971747848
+392,6.533333333,pose2_to_pose3_retreat,0.575671366605,-0.000122334160677,1.05005098808,0.546243003152,0.00855336304547,1.04971748182
+393,6.550000000,pose2_to_pose3_retreat,0.575670926814,-0.000122325488541,1.05005099879,0.546242563202,0.00855337118057,1.04971749256
+394,6.566666667,pose2_to_pose3_retreat,0.575670494364,-0.000122293683458,1.05005100324,0.546242130028,0.00855340052257,1.04971749694
+395,6.583333333,pose2_to_pose3_retreat,0.57567034323,-0.000122282568153,1.0500510048,0.546241978641,0.00855341077707,1.04971749847
+396,6.600000000,pose2_to_pose3_retreat,0.575670237379,-0.000122274783194,1.05005100589,0.546241872613,0.00855341795914,1.04971749954
+397,6.616666667,pose2_to_pose3_retreat,0.575670054494,-0.000122261332668,1.05005100777,0.546241689421,0.00855343036801,1.0497175014
+398,6.633333333,pose2_to_pose3_retreat,0.575670005075,-0.000122257698103,1.05005100828,0.546241639919,0.0085534337211,1.0497175019
+399,6.650000000,pose2_to_pose3_retreat,0.575669833504,-0.00012232518068,1.05005092858,0.546241468696,0.00855336718809,1.04971741626
+400,6.666666667,pose2_to_pose3_retreat,0.575669795512,-0.000122341577761,1.05005090946,0.546241430792,0.00855335103625,1.04971739571
+401,6.683333333,pose2_to_pose3_retreat,0.575669785899,-0.000122345726731,1.05005090462,0.546241421201,0.00855334694934,1.04971739052
+402,6.700000000,pose2_to_pose3_retreat,0.575669728803,-0.000122370368871,1.05005087587,0.546241364238,0.00855332267576,1.04971735963
+403,6.716666667,pose2_to_pose3_retreat,0.575669669951,-0.000122395768621,1.05005084624,0.546241305523,0.0085532976559,1.0497173278
+404,6.733333333,pose2_to_pose3_retreat,0.575669551173,-0.000122359704586,1.05005080034,0.546241186555,0.00855333324287,1.0497172863
+405,6.750000000,pose2_to_pose3_retreat,0.575669519904,-0.000122340490169,1.0500507898,0.546241155183,0.00855335219326,1.0497172779
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00e8cedb404a4686c53d375531abae12347f6bf4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627e072eae07f1d9053cc2176c0cafa845b77aabb5254c4d423d7a0acc3952df
+size 25686485
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..593cca2785475d9bf231e6f9d57cd89bdfbc58e3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+36,0.600000000,BASELINE,764,745,713.835468934,679.835468934,658.164531066,633.164531066,878.835468934,785,805.164531066,652.164531066,630,652,0.40097514671,-0.00537387024171,0.0598451472862,0.999999933401,0.000258413714616,-0.000257016763552,1.90448220891e-05,1793245195273372672
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+38,0.633333333,BASELINE,764.046041239,745,713.046041239,679.046041239,658,634,879.907917522,785.046041239,805,652.046041239,630.953958761,652,0.400972733394,-0.00537747885819,0.0598435290894,0.999999933659,0.000254496493454,-0.00025988330973,1.93421191372e-05,1793245195306705664
+39,0.650000000,BASELINE,764.625886585,745,713.625886585,679.625886585,658,634,878.74822683,785.625886585,805,652.625886585,630.374113415,652,0.400974582213,-0.00537774652061,0.0598451099732,0.999999934329,0.000254508848303,-0.0002572624358,1.9564365449e-05,1793245195323372544
+40,0.666666667,BASELINE,764.796608354,745,714,679.796608354,658,634,878.203391646,785.796608354,805,653,630,652,0.40097587681,-0.00537782096107,0.0598460395125,0.999999934671,0.000254780549536,-0.000255656141865,1.9618465677e-05,1793245195340039168
+41,0.683333333,BASELINE,764.223359022,745,714,679.223359022,658,634,878.776640978,785.223359022,805,653,630,652,0.400976163581,-0.0053775440369,0.0598457846136,0.999999934425,0.000255523859396,-0.00025589481182,1.93668005235e-05,1793245195356705792
+42,0.700000000,BASELINE,764,745,714,679.359591312,658,634,878.640408688,785,805.359591312,652.640408688,630,652,0.400975649257,-0.00537680696002,0.0598451966559,0.999999933826,0.000257004061953,-0.000256746660025,1.94228000716e-05,1793245195373372672
+43,0.716666667,BASELINE,764,745,714,679.948734439,658,634,878.051265561,785,805.948734439,652.051265561,630,652,0.400974623539,-0.00537577613609,0.0598443960838,0.999999932998,0.000258954673665,-0.00025798994198,1.96752031244e-05,1793245195390039296
+44,0.733333333,BASELINE,764.527432495,745,714,680,658,634,878.527432495,785,805.472567505,652,630,652,0.400973261263,-0.00537506638297,0.0598434427496,0.999999933189,0.000257004674723,-0.000259249917562,1.89667635133e-05,1793245195406705920
+45,0.750000000,BASELINE,765,745.105124948,714,680,658,634,878.894875052,785.105124948,805.105124948,652,630,652,0.400972219546,-0.00537462053651,0.0598428893569,0.999999933376,0.000255493519312,-0.000260063298752,1.8389895479e-05,1793245195423372544
+46,0.766666667,BASELINE,765,745.68277195,714,680,658,634,878.31722805,785.68277195,805.68277195,652,630,652,0.400972762883,-0.00537522336438,0.0598441990911,0.999999933133,0.000257625962035,-0.000258862148045,1.88160572962e-05,1793245195440039168
+47,0.783333333,BASELINE,764.740817515,745.740817515,714,679.740817515,658,634,878.259182485,785.740817515,805.740817515,652,630,652,0.40097304417,-0.00537568787216,0.0598450487601,0.999999933272,0.000257844959504,-0.000258092292203,1.89980508876e-05,1793245195456706048
+48,0.800000000,BASELINE,764.165913099,745.165913099,714,679.165913099,658,634,878.834086901,785.165913099,805.165913099,652,630,652,0.400973006242,-0.00537598388604,0.0598453380029,0.999999933879,0.000255733102882,-0.000257847816018,1.88826121552e-05,1793245195473372928
+49,0.816666667,BASELINE,764,745,714,679,658.420009628,634,878.579990372,785,805.420009628,652.420009628,630,652,0.400972653658,-0.00537673931052,0.0598448411623,0.999999933822,0.000255137773603,-0.000258641880144,1.90969499304e-05,1793245195490039552
+50,0.833333333,BASELINE,764,745,714,679.010206481,659,634,878.010206481,785,806,652.989793519,630,652,0.400972198174,-0.0053776571238,0.0598440470247,0.999999933512,0.000255134218118,-0.000259814978967,1.94357393998e-05,1793245195506705920
+51,0.850000000,BASELINE,764,745,714,679.589498761,659,634,878.589498761,785,806,652.410501239,630,652,0.400973122344,-0.00537723801461,0.0598444566206,0.999999934156,0.000253824440702,-0.000258631564721,1.92544928853e-05,1793245195523372544
+52,0.866666667,BASELINE,764,745,714,679.832336355,658.832336355,634,879,785,806,652,630,652,0.400974027935,-0.0053770629006,0.0598448307439,0.999999934652,0.0002529276079,-0.000257596249036,1.91916255921e-05,1793245195540039424
+53,0.883333333,BASELINE,764,745,714,679.256913345,658.256913345,634,879,785,806,652,630,652,0.400974888344,-0.00537748118492,0.0598451185974,0.999999934794,0.000253035059881,-0.000256921110343,1.94166575519e-05,1793245195556706048
+54,0.900000000,BASELINE,764.317550334,745,714,679.317550334,658,634,879,785,806,652,630,652,0.400974403294,-0.00537733053438,0.0598449671799,0.999999934401,0.000254044135416,-0.000257454304399,1.94049294375e-05,1793245195573372672
+55,0.916666667,BASELINE,764.89124018,745,714,679.89124018,658,634,879,785,806,652,630,652,0.400972832984,-0.00537672097487,0.0598444614416,0.999999933573,0.000255780470192,-0.000258962152663,1.92022280928e-05,1793245195590039296
+56,0.933333333,BASELINE,764.517489848,745,713.517489848,680,658,634,878.517489848,785,805.517489848,652,630,652,0.400972744436,-0.00537673158161,0.0598446449633,0.999999934006,0.000254320301159,-0.000258757456801,1.87887550018e-05,1793245195606706176
+57,0.950000000,BASELINE,764.075173681,745,713.075173681,680,658,634,878.075173681,785,805.075173681,652,629.924826319,652,0.400973002291,-0.00537675082876,0.059844963259,0.999999934596,0.000252609467953,-0.000258180559439,1.84212543929e-05,1793245195623372544
+58,0.966666667,BASELINE,764.649773457,745,713.649773457,680,658,634,878.649773457,785,805.649773457,652,629.350226543,652,0.400973258671,-0.00537586366275,0.0598451057466,0.999999934288,0.000254201086472,-0.000257792403283,1.86867440692e-05,1793245195640039168
+59,0.983333333,BASELINE,765,745,714,680,658,634,878.77564996,785,805.77564996,652,629.22435004,652,0.400973719286,-0.00537565316377,0.0598451470027,0.999999934185,0.00025493505173,-0.000257454615434,1.88594843232e-05,1793245195656705792
+60,1.000000000,BASELINE,765,745,714,680,658,634,878.201109488,785,805.201109488,652,629.798890512,652,0.400974498693,-0.00537649888164,0.0598450302452,0.999999934405,0.000254330296882,-0.000257195447968,1.8887451031e-05,1793245195673372672
+61,1.016666667,BASELINE,764.615655635,745,714,679.615655635,658,634,878,785.384344365,805,652,630,652,0.400974911397,-0.0053763584036,0.0598451364779,0.999999934296,0.000254858430476,-0.000257107010989,1.87568343391e-05,1793245195690039296
+62,1.033333333,BASELINE,764.024324468,745,714,679.024324468,658,634,878,785.975675532,805,652,630,652,0.400975126615,-0.00537568681446,0.059845362801,0.999999934008,0.00025599667571,-0.000257110520106,1.85408133209e-05,1793245195706705920
+63,1.050000000,BASELINE,764,745,714,679.553845432,658,634,878.553845432,786,805.553845432,652,630,652,0.400973654463,-0.00537806934911,0.0598446789667,0.999999934678,0.000252151385679,-0.000258274765615,1.89265079997e-05,1793245195723372544
+64,1.066666667,BASELINE,764,745,714,680,658,634,878.868771691,785.868771691,805.868771691,652,630,652,0.400972839967,-0.00537950242109,0.0598442999219,0.999999935175,0.000249533822064,-0.000258872631999,1.91782197474e-05,1793245195740039168
+65,1.083333333,BASELINE,764,745,714,680,658,634,878.292143711,785.292143711,805.292143711,652,630,652,0.400974503303,-0.00537726824159,0.0598450878816,0.999999934996,0.000251808892768,-0.000257379151512,1.88875693291e-05,1793245195756705792
+66,1.100000000,BASELINE,764.289750159,745,714,680,658,634,878.289750159,785,805.289750159,652.289750159,630,652,0.400974675945,-0.00537587984067,0.0598451743181,0.999999934563,0.000253767221277,-0.000257149875553,1.871725242e-05,1793245195773372672
+67,1.116666667,BASELINE,764.877051663,745,714,680,658,634,878.877051663,785,805.877051663,652.877051663,630,652,0.400973317757,-0.00537535999007,0.0598445403437,0.999999933873,0.000255400279537,-0.000258218841444,1.86705088774e-05,1793245195790039296
+68,1.133333333,BASELINE,764.567396174,745,714,680,658,634,878.567396174,785.432603826,806,653,630,652,0.400973173282,-0.00537624700542,0.0598443887939,0.999999933901,0.000254986983022,-0.000258502058755,1.88564412275e-05,1793245195806705920
+69,1.150000000,BASELINE,764.020250348,745,714,680,658,634,878.020250348,785.979749652,806,653,630,652,0.400973350167,-0.00537750652146,0.0598443649773,0.99999993412,0.000254031866253,-0.000258577230799,1.91039799688e-05,1793245195823372544
+70,1.166666667,BASELINE,764,745,714,679.412263651,658,634,878.587736349,786,805.412263651,653,630,652,0.400973895164,-0.00537869623762,0.0598441145254,0.999999934668,0.000252021417458,-0.000258419653859,1.92087138221e-05,1793245195840039168
+71,1.183333333,BASELINE,764,745,714,679.185978408,658,633.814021592,879,785.814021592,805.185978408,652.814021592,630,652,0.400974225884,-0.00537897683709,0.0598440378751,0.999999934868,0.000251415714738,-0.000258237553176,1.91884581551e-05,1793245195856706048
+72,1.200000000,BASELINE,764,745,714,679.759069965,658,633.240930035,879,785.240930035,805.759069965,652.240930035,630,652,0.40097408114,-0.00537737069871,0.0598443411228,0.999999934321,0.000253818409039,-0.000258023026049,1.89194616473e-05,1793245195873372672
+73,1.216666667,BASELINE,764.343670781,745,714,679.656329219,658,633.343670781,878.656329219,785,806,652,630,652,0.400973923324,-0.00537702513354,0.0598445976583,0.999999934312,0.000254022819145,-0.000257858137423,1.8897978376e-05,1793245195890039552
+74,1.233333333,BASELINE,764.936619689,745,714,679.063380311,658,633.936619689,878.063380311,785,806,652,630,652,0.400973756026,-0.0053775939125,0.0598448203115,0.999999934695,0.000252632725894,-0.000257729253596,1.90560263441e-05,1793245195906706432
+75,1.250000000,BASELINE,764.484795423,745,714,679.515204577,658,634,878.515204577,785,806,652,630,652,0.400973307897,-0.00537614176878,0.0598444973859,0.999999934139,0.000254207256581,-0.000258361435854,1.87093895714e-05,1793245195923373056
+76,1.266666667,BASELINE,764,745,714,679.907784,658,634,879,785,805.907784,652,630,652,0.400973083272,-0.00537493517066,0.0598443454206,0.99999993364,0.000255822046258,-0.000258720829458,1.84206537405e-05,1793245195940039424
+77,1.283333333,BASELINE,764,745,714,679.330005607,658,634,879,785,805.330005607,652,630,652,0.400974212489,-0.00537629505388,0.0598454374627,0.999999934046,0.000255780545422,-0.000257164241653,1.87548415618e-05,1793245195956706048
+78,1.300000000,BASELINE,764.245079775,745.245079775,714,679,658,634,879,785.245079775,805.245079775,652.245079775,630,652,0.400974679568,-0.00537670970615,0.0598459954604,0.999999934113,0.000256178696884,-0.000256495036001,1.88988856941e-05,1793245195973372672
+79,1.316666667,BASELINE,764.816578322,745.816578322,714,679,658,634,879,785.816578322,805.816578322,652.816578322,630,652,0.400974264753,-0.00537586541672,0.0598458421709,0.999999933731,0.000257162415901,-0.00025700772398,1.8789679732e-05,1793245195990039296
+80,1.333333333,BASELINE,765,745.596147013,714,679.403852987,658,634,879,785.596147013,806,652.596147013,630,652,0.400974276912,-0.00537649897789,0.0598459573571,0.999999933925,0.000256853571189,-0.00025654377981,1.90168839081e-05,1793245196006705920
+81,1.350000000,BASELINE,765,745.001415829,714,679.998584171,658,634,879,785.001415829,806,652.001415829,630,652,0.400974490877,-0.00537783103439,0.0598461994365,0.99999993439,0.000255933805657,-0.000255618237557,1.94030898957e-05,1793245196023372544
+82,1.366666667,BASELINE,764.424947612,745,714,680,658,634,878.424947612,785,805.424947612,652,630,652,0.400976103579,-0.00537755579068,0.0598469201073,0.999999935377,0.000253217863994,-0.00025448494786,1.90585965517e-05,1793245196040039424
+83,1.383333333,BASELINE,764,745,714,679.848987987,658,634,878,785,805,652,630,652,0.400976970426,-0.00537733506734,0.0598472213485,0.999999935994,0.000251497456296,-0.000253786300038,1.88043840287e-05,1793245196056706304
+84,1.400000000,BASELINE,764,745,714,679.274332758,658,634,878,785,805,652,630,652,0.400975735519,-0.00537727805324,0.0598463427344,0.999999935588,0.000252581904564,-0.000254308370093,1.8808333344e-05,1793245196073372928
+85,1.416666667,BASELINE,764,745,714,679,658,634,878.288947985,785,805.288947985,652,630,652,0.400975729803,-0.00537711381234,0.0598465670026,0.999999935406,0.000253480096571,-0.000254125220696,1.88967467956e-05,1793245196090039296
+86,1.433333333,BASELINE,764,745,714,679,658,634,878.841838549,785,805.841838549,652,630,652,0.400976846906,-0.005376851624,0.0598477987105,0.999999935428,0.000254208150769,-0.000253297881137,1.90623149014e-05,1793245196106706176
+87,1.450000000,BASELINE,764,745,713.557140606,679,658,634,879,785,805.557140606,652,630,652,0.400976509678,-0.00537687729741,0.0598475485635,0.999999935486,0.000253146114404,-0.000254133065301,1.90081043841e-05,1793245196123372800
+88,1.466666667,BASELINE,764,745,713.058589248,679,658,634,878.941410752,785.058589248,805.058589248,652,630.058589248,652,0.400975769437,-0.00537709491209,0.0598467598487,0.999999935525,0.000251690507562,-0.000255427556463,1.89229610595e-05,1793245196140039680
+89,1.483333333,BASELINE,764,745,713.633957193,679,658,634,878.366042807,785.633957193,805.633957193,652,630.633957193,652,0.400976614342,-0.00537798816522,0.0598464579025,0.999999935299,0.000253089959125,-0.000254897653094,1.93417152964e-05,1793245196156706304
+90,1.500000000,BASELINE,764.209267985,745,714,679.209267985,658,634,878.418535969,785.790732015,805.790732015,652,630.790732015,652,0.400976043323,-0.00537820245188,0.0598457626402,0.999999934909,0.000254070769186,-0.000255451506392,1.93636775532e-05,1793245196173373184
+91,1.516666667,BASELINE,764.784478772,745,714,679.784478772,658,634,879.568957545,785.215521228,805.215521228,652,630.215521228,652,0.400972996305,-0.00537722944315,0.0598443795941,0.99999993423,0.00025431950895,-0.000257900503685,1.86917774459e-05,1793245196190039552
+92,1.533333333,BASELINE,764.630667513,745,714,679.630667513,658,634,879.630667513,785.369332487,805,652,630,652,0.400972405611,-0.00537656753141,0.0598443403665,0.999999934035,0.000254707302428,-0.000258283317783,1.85181599438e-05,1793245196206705920
+93,1.550000000,BASELINE,764.040035826,745,714,679.040035826,658,634,879.040035826,785.959964174,805,652,630,652,0.400973286716,-0.00537609202484,0.0598451063373,0.999999934134,0.000255178415097,-0.000257428102152,1.8643106801e-05,1793245196223372544
+94,1.566666667,BASELINE,764,745,714,679.539808762,658,634,879,785.460191238,805.539808762,652,630,652,0.400975977649,-0.00537752572008,0.0598466948077,0.999999935237,0.000253408360742,-0.000254845920374,1.90558972133e-05,1793245196240039168
+95,1.583333333,BASELINE,764,745,713.881756442,679.881756442,658,634,878.881756442,785,806,652,630,652,0.400977748381,-0.0053787725111,0.0598477109843,0.999999936039,0.000251899565,-0.000253168215442,1.93711198833e-05,1793245196256705792
+96,1.600000000,BASELINE,764,745,713.30574275,679.30574275,658,634,878.30574275,785,806,652,630,652,0.400975447153,-0.00537875826889,0.0598462800356,0.99999993542,0.000252033109062,-0.000255478266132,1.92275879097e-05,1793245196273372416
+97,1.616666667,BASELINE,764,745,713.266958659,679,658,634,878.266958659,785,806,652.266958659,630,652,0.400974089969,-0.00537826530218,0.0598454611447,0.999999934958,0.000252195432398,-0.000257135584399,1.90304908878e-05,1793245196290039040
+98,1.633333333,BASELINE,764,745,713.835913029,679,658,634,878.835913029,785,806,652.835913029,630,652,0.400973800731,-0.00537723078068,0.0598453346412,0.999999934677,0.000252390312147,-0.000258054502084,1.87727986687e-05,1793245196306705920
+99,1.650000000,BASELINE,764.426829984,745,714,679.426829984,658,634,878.573170016,785,806,652.573170016,630,652,0.400974133394,-0.0053775659139,0.0598455874039,0.999999935119,0.000251505397319,-0.000257210752332,1.8688885296e-05,1793245196323372800
+100,1.666666667,BASELINE,764.974475928,745,713.974475928,680,658,634,878.025524072,785,805.974475928,652,630,652,0.400974669128,-0.00537836582519,0.0598459761319,0.999999935779,0.000250372821063,-0.000255745040706,1.86883075687e-05,1793245196340039168
+101,1.683333333,BASELINE,764.399957276,745,713.399957276,680,658,634,878.600042724,785,805.399957276,652,630,652,0.400974151471,-0.00537722297996,0.0598459831696,0.999999934897,0.000253326157255,-0.000256267224421,1.89653142281e-05,1793245196356706048
+102,1.700000000,BASELINE,764,745,713.174825681,680,658,634,879,785,805,652,630,652,0.400973696413,-0.00537655907174,0.0598458493969,0.999999934339,0.000254971928967,-0.000256801578737,1.9086884403e-05,1793245196373372928
+103,1.716666667,BASELINE,764,745,713.750214139,680,658,634,879,785,805,652,630,652,0.400973384782,-0.00537699251012,0.0598453929978,0.999999934542,0.000253621792248,-0.000257363818417,1.88523165296e-05,1793245196390039552
+104,1.733333333,BASELINE,764,745,714,680,658.334927682,634,878.665072318,785,805.334927682,652,630,652,0.400973760823,-0.00537771339698,0.0598453054991,0.999999935133,0.000251249681764,-0.000257412251357,1.86047312392e-05,1793245196406705920
+105,1.750000000,BASELINE,764,745,714,680,658.92679502,634,878.07320498,785,805.92679502,652,630,652,0.400974664411,-0.0053786547999,0.0598455010022,0.999999936015,0.000248093564312,-0.000257066517691,1.83471596167e-05,1793245196423372800
+106,1.766666667,BASELINE,764,745,714,679.495827506,658.495827506,634,878,785,806,652.504172494,630,652,0.400974779726,-0.00537823504645,0.0598454695127,0.999999935702,0.000249405285777,-0.000256984160626,1.87440236436e-05,1793245196440039424
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878,786,805,652,630,652,0.400975323438,-0.00537733078978,0.0598452414748,0.999999934394,0.000254609670012,-0.000256953088621,1.9002105903e-05,1793245196483272704
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,679.571386516,658,634.571386516,878,785.428613484,805.571386516,652,630,652,0.400974617838,-0.00537802464981,0.0598453558929,0.999999934734,0.000253230090037,-0.00025697557946,1.9261736723e-05,1793245196499939072
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.148841518,679.851158482,658,634.851158482,878.148841518,785,805.851158482,652,630,652,0.400974205671,-0.00537830104445,0.0598456214026,0.999999935045,0.000252401210933,-0.000256570631751,1.93595759906e-05,1793245196516605696
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.744514637,679.255485363,658,634.255485363,878.744514637,785,805.255485363,652,630,652,0.400974674409,-0.00537732418188,0.059846340499,0.999999935276,0.000253225570164,-0.000254882486644,1.89717069031e-05,1793245196533272320
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.329121782,658,634,879,785.329121782,805,652,630,651.670878218,0.400974899908,-0.00537716453419,0.0598465251776,0.999999935479,0.000252944675166,-0.000254368391509,1.89285033005e-05,1793245196549939200
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.905418204,658,634,879,785.905418204,805,652,630,651.094581796,0.400974942731,-0.0053776186253,0.0598463085016,0.999999935661,0.00025183372015,-0.000254736022924,1.914414788e-05,1793245196566605824
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.522252616,658,634,879,786,805,652,630,651.477747384,0.400974818358,-0.00537731073465,0.0598458627321,0.999999935418,0.000251744143196,-0.00025578709892,1.9016801201e-05,1793245196583272704
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.051292315,745,714,679,658,634,878.948707685,785.948707685,805,652.051292315,630,652,0.400974699709,-0.00537685898168,0.0598454508033,0.999999935067,0.000252046737475,-0.000256872194549,1.88325594164e-05,1793245196599939072
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.645968842,745,714,679,658,634,878.354031158,785.354031158,805,652.645968842,630,652,0.400974989468,-0.00537646812492,0.0598458739021,0.999999934472,0.00025437943263,-0.00025689609539,1.87590149329e-05,1793245196616605696
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.766743273,745,714,679.233256727,658,634,878,785.233256727,805.233256727,652.766743273,630,652,0.400979553812,-0.00537710871295,0.0598480304968,0.999999935092,0.000254968527892,-0.000253871830945,1.8895911607e-05,1793245196633272576
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.190325414,745,714,679.809674586,658,634,878,785.809674586,805.809674586,652.190325414,630,652,0.400990406811,-0.00537926673533,0.059852737365,0.999999937463,0.000252992484872,-0.000246363186305,1.93424037546e-05,1793245196649939200
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.386757921,745,714,680,658.386757921,634,878,785.613242079,805.613242079,652.386757921,630,652,0.401019729251,-0.00537935420808,0.0598645537889,0.999999942184,0.000253121906968,-0.000226194159108,1.99464544033e-05,1793245196666605824
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.964169358,745,714,680,658.964169358,634,878,785.035830642,805.035830642,652.964169358,630,652,0.401058156259,-0.00537842099719,0.0598798748908,0.999999947499,0.000254289224294,-0.000199784156316,2.06281740317e-05,1793245196683272192
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.46505881,745,714,679.46505881,658.46505881,634,878,785,805,652.46505881,630,652,0.401117854149,-0.00538036346398,0.0598962446679,0.999999952697,0.000253004166443,-0.000173598722086,2.14327643264e-05,1793245196699938816
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.889917068,745,714,679.110082932,658,634,878.110082932,785,805.110082932,652,630,652,0.40118190231,-0.00538277758546,0.0599119631878,0.999999957158,0.000251144088669,-0.000148717416755,2.22119098494e-05,1793245196716605696
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.293530021,745,714,679.706469979,658,634,878.706469979,785,805.706469979,652,630,652,0.401258951543,-0.00538643483215,0.0599244982158,0.999999960732,0.000247460541374,-0.00012953161003,2.28427394564e-05,1793245196733272576
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.293444629,745,714,680,658,634,879,785,805.706555371,652,630,651.706555371,0.401343898367,-0.00538947146614,0.0599330059712,0.999999962934,0.000245325764641,-0.000115866875383,2.2866755437e-05,1793245196749939200
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.871296721,745,714,680,658,634,879,785,805.128703279,652,630,651.128703279,0.401436499556,-0.00539190660013,0.0599376104806,0.99999996403,0.000244692061503,-0.000107553182411,2.2302645702e-05,1793245196766605824
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,805.446775714,652.446775714,630,651.446775714,0.401551625982,-0.00539401395636,0.0599418842984,0.999999965084,0.000244049862054,-9.90348094559e-05,2.15263587884e-05,1793245196783272448
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679.978464765,658,634,879,785,805.978464765,652.978464765,630,652,0.401673880993,-0.00539611084511,0.0599459775418,0.999999966091,0.000243272314083,-9.06024716375e-05,2.06729631482e-05,1793245196799939328
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.404716951,658,634,879,785,805.404716951,652.404716951,630,652,0.401813418819,-0.00540034776308,0.0599478702959,0.999999967543,0.000239086550116,-8.58802111212e-05,1.94013543132e-05,1793245196816605952
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.825113677,679,658,634,879,785,805,652.174886323,630,651.825113677,0.401959358188,-0.00540448286238,0.0599482647721,0.999999968771,0.000235245211321,-8.24334072967e-05,1.79682386633e-05,1793245196833272320
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.231490543,679,658,634,879,785,805,652.768509457,630,651.231490543,0.402120624988,-0.00540837417285,0.0599450718655,0.999999969539,0.000232228543113,-8.20404774409e-05,1.61484214378e-05,1793245196849939200
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.352591374,679.352591374,658,634,878.647408626,785,805,652.647408626,630,651.352591374,0.402313429394,-0.00541128595078,0.0599464987471,0.999999970703,0.000229860395868,-7.45804153436e-05,1.40320514645e-05,1793245196866605824
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.930574196,679.930574196,658,634,878.069425804,785,805,652.069425804,630,651.930574196,0.402526393998,-0.00541357157011,0.0599508787942,0.999999972001,0.000227906810565,-6.26027407715e-05,1.17261121423e-05,1793245196883272192
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,805,652,630,652,0.402771327274,-0.00542200409798,0.0599516881255,0.999999974443,0.000218499173688,-5.73160472449e-05,9.34867749219e-06,1793245196899939072
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.081339323,745,714,680,658,634,878,785,805.081339323,652,630,652,0.403024075888,-0.00543088018423,0.0599519762372,0.999999976816,0.00020855712553,-5.31403842017e-05,6.98615252471e-06,1793245196916605440
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.673742232,745,714,680,658,634,878,785,805.673742232,652,630,652,0.403298508393,-0.00543727074972,0.059952052217,0.999999978397,0.000201650948252,-5.02063196384e-05,4.77863003738e-06,1793245196933272320
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.741311904,745,713.741311904,680,658,633.741311904,878,785,805.741311904,652,630,652,0.403585977331,-0.00544428747887,0.0599487743241,0.999999979849,0.000193236178009,-5.43899139031e-05,1.89069505956e-06,1793245196949938944
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.165507399,745,713.165507399,680,658,633.165507399,878,785,805.165507399,652,630,652,0.403889427146,-0.0054520717991,0.0599413850397,0.999999980994,0.000182972078429,-6.72987896558e-05,-1.83133292497e-06,1793245196966605568
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713,679.179513663,658.410243168,633.410243168,878.410243168,785.410243168,805,652,630,651.589756832,0.404217828012,-0.00545979659915,0.0599296120174,0.999999981158,0.000173173753518,-8.75201743527e-05,-5.89774149333e-06,1793245196983272448
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713,678.02805607,658.985971965,633.985971965,878.985971965,785.985971965,805,652,630,651.014028035,0.404556293731,-0.00546749738952,0.0599160706644,0.999999980446,0.000163563314932,-0.000110691309547,-1.01030676683e-05,1793245196999939072
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,678.576300908,658.423699092,633.423699092,878.423699092,785.423699092,805,652,630,651.576300908,0.404939946517,-0.0054733614898,0.0599033306449,0.999999978898,0.000156828569847,-0.000131866588279,-1.4856146803e-05,1793245197016605440
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713.16341475,679,658,633.16341475,878,785,805,652,629.83658525,652,0.405346722665,-0.00547988305773,0.0598978386629,0.999999978645,0.000149475442295,-0.000141419381601,-1.91728376906e-05,1793245197033272320
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713.741446002,679,658,633.741446002,878,785,805,652,629.258553998,652,0.405809304168,-0.00548818913537,0.0599106856542,0.999999982504,0.000140371136278,-0.000121610025861,-2.23476137987e-05,1793245197049939456
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.317604396,658,634,878.317604396,785,805,652,629.317604396,652,0.406307274042,-0.00549709055438,0.0599342585346,0.999999994085,6.70184124015e-05,-8.20229157703e-05,-2.47096410526e-05,1793245197066606592
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679.892247143,658,634,878.892247143,785,805,652,629.892247143,652,0.406833883898,-0.00550647378613,0.059966511916,0.999999997601,-5.83307834176e-05,-2.64295963224e-05,-2.64139078063e-05,1793245197083273216
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679.533512318,658.466487682,634,879,785,805,652,630,652,0.407378642712,-0.00550326638239,0.0599875982205,0.999999996562,-7.80315216079e-05,3.71736608169e-06,-2.7792064341e-05,1793245197099939584
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.041998497,745,714,679.083996995,658.958001503,634,879,785,805,652,630,652,0.407927444274,-0.00549604300566,0.0600038538431,0.999999996777,-7.08405430683e-05,2.36495499928e-05,-2.94833300249e-05,1793245197116606208
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.635406323,745,714,680.270812646,658.364593677,634,879,785,805,652,630,652,0.408474331737,-0.00547424354136,0.0599905233709,0.999999998781,-3.07048379907e-05,-1.34261602424e-05,-3.62736298742e-05,1793245197133272832
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.777089391,745,714,680.777089391,658.222910609,633.777089391,879.222910609,785,805,652,630,652,0.409041838516,-0.00546647238953,0.0599779158786,0.999999998042,-1.10455963382e-05,-4.49908569364e-05,-4.20709553229e-05,1793245197149939456
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.19899187,745,714,680.19899187,658.80100813,633.19899187,879.80100813,785,805,652,630,652,0.409642200185,-0.00548105402431,0.059966460387,0.999999996344,-2.4013659409e-05,-6.77742741098e-05,-4.62860699673e-05,1793245197166606080
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.624369659,680,659,633.375630341,879.624369659,785,805.375630341,652,630,652,0.410293268795,-0.00549502670041,0.0599717680394,0.999999996472,-4.30289741213e-05,-5.17303732375e-05,-5.02937261386e-05,1793245197183272448
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.05157165,680,659,633.94842835,879.05157165,785,805.94842835,652,630,652,0.410970953364,-0.00550867973477,0.0599858746353,0.999999996288,-6.52184795079e-05,-1.53060845655e-05,-5.41924875464e-05,1793245197199939072
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713.521905106,680,659,634,879,785,806,652,630,652,0.411662903264,-0.00551094953962,0.0599858893114,0.999999994512,-8.56962858213e-05,-1.52868784665e-05,-5.82983356919e-05,1793245197216605952
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+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.13693183,679.13693183,659,633.13693183,879,785,805.13693183,652,630,651.86306817,0.414506185399,-0.00550380744617,0.0599086011378,0.999999985528,4.56974695394e-05,-0.000162270641757,-2.28862616562e-05,1793245197283272192
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+157,2.616666667,POSE1_TO_POSE2_PRESS,764.985392486,745.985392486,713.014607514,680.985392486,659,633.014607514,879,785.985392486,806,652,630,651.985392486,0.416210669774,-0.00553020069198,0.0599983710927,0.999999999551,1.06574714158e-05,5.26986161917e-06,-2.75213227732e-05,1793245197316605696
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.417197304,745.417197304,713.582802696,680.417197304,659,633.582802696,879,785.417197304,806,652,630,651.417197304,0.417032985583,-0.00553506341459,0.0600132241368,0.999999998904,-2.82222586845e-05,2.40249844325e-05,-2.86166205205e-05,1793245197333272576
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.840820622,879,785,805.840820622,652,630,651,0.417864359044,-0.00553823311114,0.0600189696883,0.999999997649,-5.31551962953e-05,3.12327346205e-05,-3.00061946659e-05,1793245197349939456
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.241839022,879,785,805.241839022,652,630,651,0.418720758158,-0.00553672508702,0.0599995518325,0.999999998678,-3.95540553701e-05,6.53584776353e-06,-3.22088353177e-05,1793245197366606080
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.345137511,745,714,680,659,633,879.690275022,785.345137511,805.345137511,652,630,651.345137511,0.419567475427,-0.00553414100978,0.0599736397646,0.999999998453,-2.69965386857e-05,-3.37402981793e-05,-3.50211991396e-05,1793245197383272704
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.923984792,745,714,680,659,633,880.847969585,785.923984792,805.923984792,652,630,651.923984792,0.420407636605,-0.00553082828353,0.0599433301436,0.999999995578,-1.51457123723e-05,-8.45659340552e-05,-3.82464366853e-05,1793245197399939328
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,880.003383739,785.501691869,806,652,630.498308131,651.501691869,0.421222593458,-0.00553084496744,0.0599088602372,0.999999987762,-3.05313174914e-05,-0.000148215469142,-3.96969433859e-05,1793245197416605696
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713.926507502,680.073492498,659,633.073492498,879,785,806,652,630.926507502,651,0.422049638098,-0.0055318942944,0.0598799597415,0.99999997775,-4.68205940983e-05,-0.000201590981972,-4.08567568414e-05,1793245197433272320
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.340550576,680.659449424,659,633.659449424,879,785,806,652,630.340550576,651,0.422987539569,-0.00553663459461,0.0598942803814,0.999999983878,-4.07001709036e-05,-0.000169807352873,-4.1860376364e-05,1793245197449938944
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.75735701,745,713.24264299,680.75735701,659.24264299,633.75735701,879.24264299,785,806.24264299,652,630.24264299,651.24264299,0.423946974254,-0.00554145741606,0.0599310822621,0.999999992508,-4.21668787261e-05,-0.000107156599029,-4.15088817213e-05,1793245197466605568
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.177998076,745,713.822001924,680.177998076,659.822001924,633.177998076,879.822001924,785,806.822001924,652,630.822001924,651.822001924,0.424936290739,-0.00554639475299,0.0599990813873,0.99999999776,-5.41622554316e-05,-1.67149689602e-06,-3.9276893522e-05,1793245197483272192
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.399612395,745,714,680,660,633.399612395,880,785,806.600387605,652,630.600387605,652,0.425891141888,-0.00554740919799,0.0600275723739,0.999999996529,-5.67786195943e-05,4.71846247154e-05,-3.86361573915e-05,1793245197499939328
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.97644741,745,714,680,660,633.97644741,880,785,806.02355259,652,630.02355259,652,0.426830708074,-0.00554668389388,0.0600385420385,0.99999999521,-5.52355196645e-05,7.09265632572e-05,-3.87011199891e-05,1793245197516606208
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.448633097,745,713.448633097,680,660,633.448633097,880,785.551366903,806.551366903,652,630,652,0.427734809792,-0.00555110382958,0.060016827832,0.999999996039,-6.50837948545e-05,4.46484239454e-05,-4.11450984913e-05,1793245197533272576
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.130213978,745,713,680,659.869786022,633,879.869786022,785.869786022,806.869786022,652,630,652,0.42862955834,-0.00555371026061,0.0599904612964,0.99999999656,-7.0079227332e-05,8.73618118411e-06,-4.34954136289e-05,1793245197549938944
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.723312658,745,713,680,659.276687342,633,879.276687342,785.276687342,806.276687342,652,630,652,0.4294964248,-0.00554909144742,0.0599525025056,0.999999995957,-5.60999867719e-05,-5.38541505241e-05,-4.51527725368e-05,1793245197566605568
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.692145015,745,713,680.307854985,659.307854985,633,879,785.307854985,806.307854985,652,630.307854985,652,0.430380782396,-0.00554545805146,0.0599289895598,0.999999993007,-5.70550263646e-05,-9.24296029111e-05,-4.67742450246e-05,1793245197583272192
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.115084859,745,713,680.884915141,659.884915141,633,879,785.884915141,806.884915141,652,630.884915141,652,0.431280435149,-0.00554268635825,0.0599181088499,0.999999990254,-7.10694149576e-05,-0.000110005133408,-4.83643364868e-05,1793245197599939072
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.460679389,745,713.460679389,680.539320611,660,633.460679389,879.460679389,786,807,652,631,652,0.432243770171,-0.00554582314536,0.0599588548266,0.999999995548,-7.16404187354e-05,-3.82076836366e-05,-4.80889362376e-05,1793245197616605440
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.963054226,880,785.963054226,807,652,630.963054226,652,0.433215788144,-0.00555036990601,0.0600089693906,0.999999995285,-6.89339967286e-05,4.93349937942e-05,-4.73671344807e-05,1793245197633272064
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.374470915,880,785.374470915,807,652,630.374470915,652,0.434080581845,-0.00555399219309,0.0600069391251,0.999999995853,-6.72954456399e-05,3.95438383784e-05,-4.69188748291e-05,1793245197649938944
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.208849435,660,633,880,785.208849435,807,652,630.208849435,652,0.4349453839,-0.00555682120455,0.0599936691241,0.99999999614,-7.27685494407e-05,1.29665985749e-05,-4.75060851831e-05,1793245197666605568
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.782965247,660,633,880,785.782965247,807,652,630.782965247,652,0.435810200708,-0.0055582628204,0.0599607414325,0.99999999372,-9.0679552996e-05,-4.29685975881e-05,-4.99042764551e-05,1793245197683272192
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.639802911,745,713.639802911,681,660,633,880,786,807,652,631,652,0.436645944213,-0.00555643403979,0.0599379152223,0.999999991264,-9.03494347895e-05,-8.16430496757e-05,-5.14046491276e-05,1793245197699938816
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.060677172,745,713.060677172,681,660,633,880,786,807,652,631,652,0.437464016842,-0.00555261750435,0.0599212287187,0.999999989483,-7.89323183175e-05,-0.000109826377071,-5.23593254075e-05,1793245197716605440
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,713.511305465,681,660,633.511305465,879.488694535,786,807.511305465,652,631,652,0.438244792863,-0.00555275488326,0.0599022243145,0.999999983507,-7.8298676499e-05,-0.000155032452121,-5.31056769396e-05,1793245197733272320
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.086119953,745,714,681,660,633.913880047,879.086119953,786,807.913880047,651.913880047,631,652,0.439033155038,-0.0055534286686,0.0598919778788,0.999999978447,-7.89988302459e-05,-0.000184336673198,-5.37171336743e-05,1793245197749938944
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+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.729523881,633,880,786,807.270476119,651.270476119,631,652,0.440713783542,-0.0055553585467,0.0599625749335,0.999999993084,-8.28486590297e-05,-6.45826731909e-05,-5.28885891497e-05,1793245197783271936
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.151667307,633,880,786,807.848332693,651.848332693,631,652,0.44149229649,-0.00555584758957,0.0599717837232,0.999999993071,-8.73904231231e-05,-5.99437245368e-05,-5.12610070037e-05,1793245197799938816
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.576259679,745,713.576259679,681.423740321,659,632.576259679,880,785.576259679,807.576259679,652,631,652,0.442173351466,-0.00555360336788,0.0599248514447,0.999999985975,-8.82813907401e-05,-0.000132289885841,-5.24995820334e-05,1793245197816605440
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.001723505,745,713.001723505,681.998276495,659,632.001723505,880,785.001723505,807.001723505,652,631,652,0.442819724277,-0.00555038646334,0.0598579403267,0.99999996772,-8.78731543301e-05,-0.000232032624776,-5.47581316641e-05,1793245197833272064
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.58704617,745,713.58704617,682,658.41295383,632,879.41295383,785,807,652,631,652,0.443446085735,-0.005552484964,0.0598155351821,0.999999951082,-8.37762794617e-05,-0.000295735345565,-5.79569292519e-05,1793245197849938688
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.826568771,681.826568771,658,632,879.173431229,785,807.173431229,652,630.826568771,652,0.444079479297,-0.00555453394456,0.0597852120893,0.999999936601,-8.13208462556e-05,-0.000341348797271,-6.05546712409e-05,1793245197866605568
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713.24588375,681.24588375,658,632,879.75411625,785,807.75411625,652,630.24588375,652,0.444729527262,-0.00555642908617,0.0597830870966,0.999999935248,-8.27459323975e-05,-0.000344739411134,-6.17343633984e-05,1793245197883272448
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,681.328991043,657.671008957,632,880,784.671008957,807.671008957,652,630,652,0.445338323848,-0.00555339731109,0.0597711988776,0.999999925225,-8.64612356188e-05,-0.000371532940578,-6.35430564406e-05,1793245197899939072
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,681.899598673,657.100401327,632,880,784.100401327,807.100401327,652,630,652,0.445916824685,-0.00554674712495,0.0597521403803,0.999999907289,-9.18585127819e-05,-0.000415513966289,-6.58136982029e-05,1793245197916605696
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.4755192,713.4755192,682,657,631.5244808,880,784.4755192,807,652,630,652,0.446470994258,-0.00554435630218,0.0597297084627,0.999999894997,-9.13671747122e-05,-0.000443761249587,-6.88021823583e-05,1793245197933272320
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.946110252,745.946110252,714,682,657,630.946110252,880,784.946110252,807.053889748,652,630.053889748,652,0.447018248211,-0.00554412950651,0.0597095152329,0.999999885276,-9.08688545643e-05,-0.000464813909951,-7.1683194075e-05,1793245197949939200
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.354615413,745.354615413,714,682,657,630.354615413,880,784.354615413,807.645384587,652,630.645384587,652,0.447548340851,-0.00555641804165,0.0597188410492,0.999999891946,-0.000102844458188,-0.000447607966266,-7.19629541777e-05,1793245197966605824
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.811250862,745,714,682,657,630,880,784,807.188749138,652,630.188749138,652,0.448571812327,-0.00557562245795,0.0597349439858,0.999999902408,-0.000125249975783,-0.000417169992877,-7.39289537271e-05,1793245197999939584
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+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682,656.032547151,630,880,783.032547151,807,652,629.032547151,652,0.44941848975,-0.0055823882706,0.0596891239659,0.999999865671,-0.000131812793539,-0.000495265623806,-7.74315779655e-05,1793245198033272576
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+204,3.400000000,POSE1_TO_POSE2_PRESS,764.293043306,746,714,682.706956694,655,629,880,783,808.706956694,652.706956694,629.706956694,652,0.450859727957,-0.00558482048068,0.0596503105565,0.999999856934,-2.95290770019e-05,-0.000532272197634,-4.41117048298e-05,1793245198099939072
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25a63672c2f99b255335b6d28c63acb81df9d3a7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..942587c2f2afde1fb27ed9052c0b4b6b4926bef7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f62442b3342654d63235df6bd0b4942360260d526ec6f39fa5f28b112ae89b
+size 25813913
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9624c0d0f73af1b7aeccf05013eccaae35a0da60
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+14,0.233333333,BASELINE,764,745,713.125818062,679.125818062,658,634,879,785,805.874181938,652,630,652,0.400976895566,-0.00537735575639,0.0598443188858,0.999999937654,0.000241397908151,-0.000257234720192,1.5813393039e-05,1793245201857930496
+15,0.250000000,BASELINE,764,745,713.698278795,679.698278795,658,634,879,785,805.301721205,652,630,652,0.400976394256,-0.00537702666262,0.0598441518611,0.999999937227,0.000241990192972,-0.000258345583553,1.56564011295e-05,1793245201874597120
+16,0.266666667,BASELINE,764,745,713.718571416,680,658,634,878.718571416,785,805,652,630,652,0.40097599072,-0.00537703435195,0.0598438363274,0.999999936917,0.000242355036301,-0.00025920741456,1.55492566639e-05,1793245201891263744
+17,0.283333333,BASELINE,764,745,713.123509419,680,658,634,878.123509419,785,805,652,630,652,0.400975696148,-0.00537741736364,0.0598433552904,0.999999936739,0.000242466411199,-0.000259791715529,1.54976638638e-05,1793245201907930624
+18,0.300000000,BASELINE,764,745,713.457388367,679.542611633,658,634,878.457388367,785,805,652,630,652,0.400976543445,-0.00537866376462,0.0598443940775,0.999999937491,0.000241208839434,-0.000258044602452,1.58131145343e-05,1793245201924597504
+19,0.316666667,BASELINE,764,745,714,679,658,633.965565279,878.965565279,785,805.034434721,652,630,652,0.400977621032,-0.00537990729035,0.0598456931494,0.999999938366,0.000239868345244,-0.000255870437885,1.61729922873e-05,1793245201941264384
+20,0.333333333,BASELINE,764,745,714,679,658,633.390739894,878.390739894,785,805.609260106,652,630,652,0.400977619098,-0.00537755684233,0.0598448298777,0.999999937472,0.000242853414621,-0.000256577453313,1.57213872821e-05,1793245201957930752
+21,0.350000000,BASELINE,764,745,714,679.189209496,658,633.189209496,878.189209496,785,805.810790504,652,630,652,0.400977468983,-0.00537645899786,0.059844466485,0.99999993709,0.000243771139724,-0.000257206798373,1.55309801123e-05,1793245201974597120
+22,0.366666667,BASELINE,764,745,714,679.780035023,658,633.780035023,878.780035023,785,805.219964977,652,630,652,0.400977004335,-0.00537801992967,0.0598451641353,0.999999937804,0.00024030071999,-0.000257671280245,1.58949914625e-05,1793245201991264000
+23,0.383333333,BASELINE,764,745,713.637041775,680,658,634,879,785.362958225,805,652,630,652,0.400976588633,-0.00537854056831,0.0598449475017,0.999999937797,0.000239738017994,-0.000258214795046,1.60041457533e-05,1793245202007930624
+24,0.400000000,BASELINE,764,745,713.058805548,680,658,634,879,785.941194452,805,652,630,652,0.400976201961,-0.00537844418777,0.0598441885877,0.999999937366,0.000240899942974,-0.000258805185949,1.59621391052e-05,1793245202024597248
+25,0.416666667,BASELINE,764,745,713.516373388,680,658,634,879,785.483626612,805,652.516373388,630,652,0.400976778501,-0.00537893559276,0.0598443743859,0.999999938029,0.000238671286204,-0.000258331176996,1.56116366428e-05,1793245202041263872
+26,0.433333333,BASELINE,764,745,714,680,658,633.907167889,879,785,805,652.907167889,630,652,0.400977513386,-0.00537931659698,0.0598447960926,0.999999938745,0.000236559276431,-0.000257513017382,1.53696399048e-05,1793245202057930496
+27,0.450000000,BASELINE,764,745,714,680,658,633.322087468,879,785,805,652.322087468,630,652,0.400978509667,-0.00537875933971,0.059845901598,0.999999939123,0.000237101199408,-0.000255508947817,1.58881952925e-05,1793245202074597120
+28,0.466666667,BASELINE,764.261822716,745,713.738177284,679.738177284,658,633.261822716,878.738177284,785,805,652,630,652,0.400978757437,-0.00537777258388,0.0598465161475,0.999999938955,0.000239073688294,-0.000254312689442,1.60776024188e-05,1793245202091263744
+29,0.483333333,BASELINE,764.844299674,745,713.155700326,679.155700326,658,633.844299674,878.155700326,785,805,652,630,652,0.400978088505,-0.00537625982125,0.0598465294234,0.999999938114,0.000242798191007,-0.000254105757437,1.58639016857e-05,1793245202107930368
+30,0.500000000,BASELINE,764.576929934,745,713,679,658,633.576929934,878,785,805.423070066,652,630,652,0.40097680499,-0.00537728405375,0.0598452264516,0.999999938243,0.000240514336652,-0.000255769160088,1.57482034346e-05,1793245202124597248
+31,0.516666667,BASELINE,764,745,713.000485318,679.000485318,658,633.000485318,878,785,806,652,630,652,0.400975298388,-0.00537923148524,0.0598434446409,0.999999938707,0.000236045799849,-0.000258113246714,1.56682600226e-05,1793245202141263616
+32,0.533333333,BASELINE,764,745,713.574514132,679.574514132,658,633.574514132,878,785,806,652,630,652,0.400975126552,-0.00537837881537,0.0598432770649,0.999999937611,0.000240249248235,-0.000258486627544,1.55891772686e-05,1793245202157930496
+33,0.550000000,BASELINE,764,745,713.851124324,679.851124324,658.297751351,634,878,785,806,652,630,652,0.400975412742,-0.00537737593571,0.0598435300812,0.999999936919,0.000243195343668,-0.000258411147084,1.55583582254e-05,1793245202174596864
+34,0.566666667,BASELINE,764,745,713.275809811,679.275809811,659.448380378,634,878,785,806,652,630,652,0.400977010899,-0.00537594279591,0.0598449878405,0.999999937427,0.00024253988205,-0.000257049950244,1.56657855598e-05,1793245202191263488
+35,0.583333333,BASELINE,764,745,713,679,659.381858899,634,878,785,805.690929449,652.309070551,629.690929449,652,0.400977070387,-0.00537638858197,0.0598450262531,0.999999937874,0.000240959539796,-0.000256792007369,1.57349665108e-05,1793245202207930880
+36,0.600000000,BASELINE,764,745,713,679,658.19447992,634,878,785,805.09723996,652.90276004,629.09723996,652,0.400975712935,-0.00537856464558,0.0598437576087,0.999999938262,0.000238527487253,-0.000257550036165,1.57689268907e-05,1793245202224598528
+37,0.616666667,BASELINE,764,745,713,679,658,633.519086129,878,785.480913871,805,652.519086129,629,651.519086129,0.400975358527,-0.00537854506059,0.0598440080664,0.99999993812,0.000239118761975,-0.000257548513371,1.587182669e-05,1793245202241265152
+38,0.633333333,BASELINE,764,745,713,679.055981196,658,633.055981196,878,785.944018804,805.055981196,652,629.055981196,651,0.400975210292,-0.00537809412081,0.0598444721583,0.999999937864,0.000240359911039,-0.000257377745682,1.59637243802e-05,1793245202257931264
+39,0.650000000,BASELINE,764,745,713,679.630645599,658,633.630645599,878,785.369354401,805.630645599,652,629.630645599,651,0.400975151992,-0.00537763121582,0.0598441587652,0.999999937531,0.00024213560305,-0.000257017308413,1.58285726545e-05,1793245202274597376
+40,0.666666667,BASELINE,764.211524441,745,713.211524441,679.788475559,658,634,878,785,806,652,630,651.211524441,0.400975591685,-0.00537721806809,0.0598442787695,0.999999937403,0.000243195382971,-0.000256515410864,1.58068148697e-05,1793245202291264000
+41,0.683333333,BASELINE,764.803583073,745,713.803583073,679.196416927,658,634,878,785,806,652,630,651.803583073,0.400976927269,-0.0053768944341,0.0598451784592,0.999999937649,0.000242967231104,-0.00025575902514,1.59890537159e-05,1793245202307930368
+42,0.700000000,BASELINE,764.614469492,745,714,679.385530508,658,634,878.385530508,785,805.614469492,652.385530508,630,651.614469492,0.400976736636,-0.00537658991892,0.0598454023665,0.999999937764,0.000242375748754,-0.000255876854139,1.58922730147e-05,1793245202324596992
+43,0.716666667,BASELINE,764.037541792,745,714,679.962458208,658,634,878.962458208,785,805.037541792,652.962458208,630,651.037541792,0.400975788309,-0.0053762948953,0.0598452907807,0.999999937813,0.000241603890454,-0.00025642868835,1.56569726409e-05,1793245202341264128
+44,0.733333333,BASELINE,764,745,713.461724138,680,658,634,878.461724138,785,805.538275862,653,630,651.538275862,0.400975331444,-0.00537619858612,0.0598445491378,0.999999937536,0.000241934432232,-0.000257198258559,1.56503528067e-05,1793245202357930496
+45,0.750000000,BASELINE,764,745,713.114524918,679.885475082,658,633.885475082,878,785,806,652.885475082,630,652,0.400974694031,-0.005376301148,0.0598437471048,0.999999937283,0.00024206803512,-0.000258055193763,1.56636701977e-05,1793245202374597120
+46,0.766666667,BASELINE,764,745,713.692833717,679.307166283,658,633.307166283,878,785,806,652.307166283,630,652,0.400973186943,-0.00537715305536,0.0598428781013,0.99999993722,0.000241093386899,-0.000259204554195,1.56932704868e-05,1793245202391263744
+47,0.783333333,BASELINE,764,745,713.724350901,679.275649099,658,633,878.275649099,785,805.724350901,652,630,652,0.400973718749,-0.00537817811244,0.0598432438809,0.999999937767,0.000239322472302,-0.000258728780212,1.58020147755e-05,1793245202407930112
+48,0.800000000,BASELINE,764,745,713.136430119,679.863569881,658,633,878.863569881,785,805.136430119,652,630,652,0.400976560337,-0.00537939932391,0.0598450084961,0.999999938997,0.000236649499699,-0.000256411957514,1.60004180946e-05,1793245202424596736
+49,0.816666667,BASELINE,764.445303846,745,713,679.554696154,658,633.445303846,878.554696154,785.445303846,805,652,630,652,0.400977326593,-0.00537918957412,0.0598453783936,0.999999938923,0.00023779100254,-0.000255647335179,1.59204887514e-05,1793245202441263616
+50,0.833333333,BASELINE,764.975077232,745,713.024922768,679.024922768,658.024922768,634,878.024922768,785.975077232,805,652,630,652,0.400977427838,-0.00537856398308,0.0598453184847,0.999999938478,0.000239934518914,-0.000255395193854,1.5762827991e-05,1793245202457930752
+51,0.850000000,BASELINE,764.400868851,745,713.599131149,679.599131149,658.599131149,634,878.599131149,785.400868851,805,652,630,652,0.400976693943,-0.00537830341831,0.0598450744431,0.99999993858,0.000238758151457,-0.000256100485402,1.57456540538e-05,1793245202474598144
+52,0.866666667,BASELINE,764,744.822637869,714,680,658.822637869,633.822637869,878.822637869,784.822637869,805.177362131,652,630,652,0.400976399784,-0.00537809276834,0.0598449193644,0.999999938629,0.000238155891785,-0.000256472840948,1.56965881706e-05,1793245202491265280
+53,0.883333333,BASELINE,764,744.235104169,714,680,658.235104169,633.235104169,878.235104169,784.235104169,805.764895831,652,630,652,0.40097712257,-0.00537799755244,0.0598449700229,0.999999938559,0.000238881326491,-0.000256075241323,1.55737682715e-05,1793245202507931648
+54,0.900000000,BASELINE,764,744.347727845,714,680,658,633.347727845,878,784.69545569,805.652272155,652,630,652,0.400977341224,-0.00537764402669,0.0598449636332,0.999999938456,0.000239645508051,-0.000255757288824,1.5682462482e-05,1793245202524598016
+55,0.916666667,BASELINE,764,744.927423363,714,680,658,633.927423363,878,785.854846726,805.072576637,652,630,652,0.400977223574,-0.0053771181836,0.0598449191868,0.99999993833,0.000240435537436,-0.000255492468579,1.59455987129e-05,1793245202541264384
+56,0.933333333,BASELINE,764,745,713.497010098,678.994020196,658,634,878,785.497010098,805,652,630,652,0.400976286884,-0.00537731675639,0.0598447449909,0.999999937722,0.000242152823228,-0.000256243921762,1.60064869087e-05,1793245202557930752
+57,0.950000000,BASELINE,764,745,713,678.077524101,658,633.922475899,878.077524101,785.077524101,805,652,630,652,0.400975432379,-0.00537766710626,0.0598446462407,0.999999937254,0.000243313293712,-0.000256968016628,1.60404459698e-05,1793245202574597120
+58,0.966666667,BASELINE,764,745,713,678.649244117,658,633.350755883,878.649244117,785.649244117,805,652,630,652,0.40097584901,-0.00537832409277,0.0598451468114,0.999999938132,0.000240078252072,-0.000256590537532,1.60872547041e-05,1793245202591263744
+59,0.983333333,BASELINE,764,745,713.229829368,679,658,633.229829368,878.770170632,785.770170632,805.229829368,652,630,652,0.40097633161,-0.00537856726317,0.0598455556728,0.99999993856,0.000238929768793,-0.000255990401223,1.61445677784e-05,1793245202607930368
+60,1.000000000,BASELINE,764,745,713.82448728,679,658,633.82448728,878.17551272,785.17551272,805.82448728,652,630,652,0.400976918927,-0.00537815354667,0.0598458189562,0.999999938284,0.000241093464206,-0.000255036821306,1.62185553308e-05,1793245202624597248
+61,1.016666667,BASELINE,764,745,714,679,658,634,878,785,806,652.403655091,630,652,0.400976123692,-0.00537728846853,0.059845074954,0.999999937666,0.000242359104361,-0.000256269527483,1.59962604602e-05,1793245202641263872
+62,1.033333333,BASELINE,764,745,714,679,658,634,878,785,806,652.976336549,630,652,0.400974749527,-0.00537623438741,0.0598439091616,0.999999936903,0.000243248693097,-0.000258417718253,1.56499004057e-05,1793245202657930752
+63,1.050000000,BASELINE,764,744.447539671,714,679.552460329,658,634,878,785,805.447539671,652.447539671,630,652,0.400975651848,-0.00537626342373,0.0598445151599,0.999999937397,0.00024252935248,-0.000257175779031,1.571112906e-05,1793245202674597632
+64,1.066666667,BASELINE,763.870551275,744.129448725,713.870551275,680,658,634,878,785,805,652,630,651.870551275,0.400976666322,-0.00537642203808,0.0598452236209,0.999999937861,0.000242067980972,-0.00025579557832,1.58114780577e-05,1793245202691264512
+65,1.083333333,BASELINE,763.291072864,744.708927136,713.291072864,680,658,634,878,785,805,652,630,651.291072864,0.400977729586,-0.00537686883469,0.059846022805,0.999999938039,0.000242744527401,-0.000254442695734,1.59867551938e-05,1793245202707931136
+66,1.100000000,BASELINE,763.296260612,745,713.296260612,679.703739388,658,634,878,785,805,652,630,651,0.400977715483,-0.0053773471561,0.0598460702356,0.999999938252,0.000241789283612,-0.000254521068751,1.59092312927e-05,1793245202724597760
+67,1.116666667,BASELINE,763.891521765,745,713.891521765,679.108478235,658,634,878,785,805,652,630,651,0.400976614049,-0.00537785729383,0.0598453589602,0.999999938494,0.000239187158166,-0.000256043934231,1.55765683464e-05,1793245202741264128
+68,1.133333333,BASELINE,764.471630654,745,713.528369346,679,658,634,878,784.528369346,805.471630654,652,630,651.471630654,0.400977379803,-0.00537641373802,0.05984582704,0.99999993831,0.000241133025132,-0.000254935647609,1.55506051936e-05,1793245202757930752
+69,1.150000000,BASELINE,764.952424497,745,713.047575503,679.047575503,658,634,878,784.047575503,806,652,630,652,0.400978326405,-0.00537496783318,0.0598464875046,0.999999938077,0.000243611148415,-0.000253486123714,1.56141056006e-05,1793245202774597632
+70,1.166666667,BASELINE,764.385082533,745,713.614917467,679.614917467,658,634,878,784.614917467,806,652,630,652,0.400976702869,-0.00537825277843,0.0598463785001,0.999999938434,0.000240831557621,-0.000254714424348,1.59083039505e-05,1793245202791264512
+71,1.183333333,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400976104767,-0.00538014282668,0.0598463832396,0.999999938697,0.000239198546305,-0.000255213475091,1.60277884961e-05,1793245202807931136
+72,1.200000000,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400977673228,-0.00537908569953,0.0598466283004,0.999999938777,0.000239988058514,-0.000254171747238,1.57781330603e-05,1793245202824597760
+73,1.216666667,BASELINE,764,745,714,679.62660914,658,634,878.37339086,785,806,652,630,652,0.400978058087,-0.00537775884268,0.0598463586121,0.999999938488,0.000241397762577,-0.000253986862291,1.55561498852e-05,1793245202841264384
+74,1.233333333,BASELINE,764,745,714,679.049493529,658,634,878.950506471,785,806,652,630,652,0.400977797164,-0.00537628481944,0.059845808073,0.999999937996,0.000243145847747,-0.000254269477087,1.53492649104e-05,1793245202857930752
+75,1.250000000,BASELINE,764,745,713.472594531,679.527405469,658,634,879,785.527405469,805.472594531,652,630,652,0.400977189352,-0.00537701224313,0.0598458506393,0.999999938448,0.00024077615814,-0.000254731394603,1.55687198943e-05,1793245202874597376
+76,1.266666667,BASELINE,764,745,713.106110265,679.893889735,658,634,878.893889735,785.893889735,805.106110265,652.106110265,630,652,0.40097663029,-0.00537779703286,0.0598459205752,0.999999938816,0.000238812536198,-0.000255120184061,1.58430587676e-05,1793245202891264000
+77,1.283333333,BASELINE,764,745,713.693090634,679.306909366,658,634,878.306909366,785.306909366,805.693090634,652.693090634,630,652,0.400976439617,-0.00537790594847,0.0598458624133,0.999999938425,0.000240439615414,-0.000255101349629,1.61848811474e-05,1793245202907930624
+78,1.300000000,BASELINE,764,744.724324417,713.724324417,679,658,634,878,785,806,653,630,652,0.400976247678,-0.00537710471775,0.0598457987506,0.999999937794,0.000242952094922,-0.000255192323274,1.62193734913e-05,1793245202924597248
+79,1.316666667,BASELINE,764,744.146556124,713.146556124,679,658,634,878,785,806,653,630,652,0.40097605435,-0.00537530612423,0.05984572906,0.999999936893,0.000246434819745,-0.000255403627559,1.5917085304e-05,1793245202941264384
+80,1.333333333,BASELINE,764,744.433045277,713.433045277,679,658,634,878.433045277,785,805.566954723,652.566954723,630,652,0.400975318505,-0.00537773251283,0.0598448671754,0.999999937789,0.000241400080227,-0.00025670325243,1.58871299188e-05,1793245202957931520
+81,1.350000000,BASELINE,764,745,714,679.013071106,658,634,878.986928894,785.013071106,805.013071106,652,630,652,0.400974427944,-0.00538144490088,0.059843770774,0.999999939188,0.000233754551466,-0.00025831928489,1.59447077484e-05,1793245202974598144
+82,1.366666667,BASELINE,764,745,714,679.584610026,658,634,878.415389974,785.584610026,805.584610026,652,630,652,0.400974804999,-0.00537875079254,0.0598441580693,0.999999938303,0.000238244859761,-0.000257650357728,1.5787609109e-05,1793245202991264256
+83,1.383333333,BASELINE,764,745,714,680,658,634,878.161352573,785.838647427,806,652.161352573,630,652,0.400975223345,-0.0053771787061,0.0598445520074,0.99999993783,0.000240867038301,-0.00025705208191,1.57356095562e-05,1793245203007930624
+84,1.400000000,BASELINE,764,745,714,680,658,634,878.751938027,785.248061973,806,652.751938027,630,652,0.400975751531,-0.00537859144098,0.0598449636167,0.999999938494,0.000238519587033,-0.000256641753872,1.59631963617e-05,1793245203024596992
+85,1.416666667,BASELINE,764,745,714,680,658,634,879,785,805.664066535,652.664066535,630,652,0.400975807957,-0.00537854021864,0.0598449925592,0.999999938336,0.000239219650287,-0.000256601016529,1.60759517312e-05,1793245203041263872
+86,1.433333333,BASELINE,764,745,714,680,658,634,879,785,805.084843747,652.084843747,630,652,0.400975522727,-0.0053774287709,0.0598447443671,0.999999937577,0.000242126780937,-0.000256827943732,1.61055440042e-05,1793245203057930496
+87,1.450000000,BASELINE,764.491355452,745,713.508644548,679.508644548,658,634,878.508644548,785,805.491355452,652.491355452,630,652,0.400975379796,-0.00537834824954,0.0598449459919,0.99999993803,0.000240302050624,-0.000256780222688,1.60941395778e-05,1793245203074597376
+88,1.466666667,BASELINE,764.933296246,745,713,679,658,634,878.066703754,785,806,652.933296246,630,652,0.400975326733,-0.00537936714692,0.0598452142855,0.999999938569,0.000238217386743,-0.000256624020979,1.60938242308e-05,1793245203091264512
+89,1.483333333,BASELINE,764.360467029,745,713,679,658,634,878.639532971,785,806,652.360467029,630,652,0.400975770255,-0.00537849578855,0.059845402702,0.999999938222,0.000240322122638,-0.000256002343493,1.62310337311e-05,1793245203107931648
+90,1.500000000,BASELINE,764,745,713.219197891,679,658,634,878.780802109,785,805.780802109,652,630,652,0.400976002691,-0.00537790877,0.0598454263062,0.999999938063,0.000241122181183,-0.000255878272398,1.61600990079e-05,1793245203124598272
+91,1.516666667,BASELINE,764,745,713.810465782,679,658,634,878.189534218,785,805.189534218,652,630,652,0.400975876825,-0.00537780439451,0.0598451701556,0.999999938225,0.000239707659351,-0.000256598846403,1.57358569419e-05,1793245203141264384
+92,1.533333333,BASELINE,764,745,714,679,658,634,878,785.394049947,805,652,630,652,0.400976118018,-0.00537799030122,0.059845433067,0.999999938647,0.000238870095897,-0.000255743925464,1.55317690582e-05,1793245203157930752
+93,1.550000000,BASELINE,764,745,714,679,658,634,878,785.974009052,805,652,630,652,0.400976532385,-0.0053783131604,0.059845940867,0.999999939191,0.000238304736001,-0.000254145700493,1.54315478651e-05,1793245203174597376
+94,1.566666667,BASELINE,764.549139388,745,714,679,658,634,878,785.450860612,805,652.549139388,630,652,0.40097711887,-0.00537763525686,0.0598465397459,0.999999938964,0.00023936981145,-0.000254027280689,1.56372229672e-05,1793245203191264256
+95,1.583333333,BASELINE,764.872785746,745,714,679,658,634,878,785,805,652.872785746,630,652,0.400977536718,-0.00537709583948,0.0598469220843,0.999999938679,0.000240475359342,-0.000254093861531,1.5827014701e-05,1793245203207930880
+96,1.600000000,BASELINE,764.283184751,745,714,679,658,634,878,785,805,652.283184751,630,652,0.400977312266,-0.0053772304412,0.0598465018294,0.999999938319,0.000241449971027,-0.000254580511065,1.59069098502e-05,1793245203224597248
+97,1.616666667,BASELINE,764,745,713.698594551,679.301405449,658,634,878.301405449,785,805,652,630,652,0.400976909119,-0.00537749998869,0.0598461600624,0.999999938357,0.000240840507605,-0.000255012657913,1.58535315504e-05,1793245203241263872
+98,1.633333333,BASELINE,764,745,713.118635279,679.881364721,658,634,878.881364721,785,805,652,630,652,0.400976340825,-0.00537789425078,0.0598458908326,0.999999938759,0.000238767068676,-0.000255394434271,1.56769841766e-05,1793245203257930752
+99,1.650000000,BASELINE,764,745,713.45924325,680,658,634,879,785,805.45924325,652,630,652,0.400975619928,-0.00537758294166,0.0598455307459,0.999999938561,0.000239056147987,-0.000255909626342,1.55365029751e-05,1793245203274597376
+100,1.666666667,BASELINE,764,745,714,680,658,634,879,785,806,652,630,652.036317971,0.400974930757,-0.00537711296129,0.0598451843585,0.999999938225,0.000239918511717,-0.000256420670757,1.54231559026e-05,1793245203291264000
+101,1.683333333,BASELINE,764,745,714,680,658,634,879,785,806,652,630,652.609421101,0.400975290533,-0.00537697960277,0.0598453857877,0.999999938152,0.000240274405271,-0.000256363312161,1.55737713758e-05,1793245203307930368
+102,1.700000000,BASELINE,764.188225679,745,713.811774321,679.811774321,658,634,879,785,805.811774321,652,630,652.811774321,0.400975303275,-0.00537699341834,0.0598453311866,0.999999938045,0.000240447883696,-0.000256608309772,1.5692887945e-05,1793245203324596992
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+104,1.733333333,BASELINE,764.6378078,745,713.3621922,679.3621922,658,634,878.6378078,785,805.3621922,652.3621922,630,652,0.400975681365,-0.00537808980194,0.0598455029221,0.99999993829,0.0002397030394,-0.000256332942834,1.59689041616e-05,1793245203357929984
+105,1.750000000,BASELINE,764.059642261,745,713.940357739,679.940357739,658,634,878.059642261,785,805.940357739,652.940357739,630,652,0.400977885206,-0.00537911914057,0.0598470980392,0.999999939067,0.000238989548581,-0.000253937582249,1.62961223252e-05,1793245203374596864
+106,1.766666667,BASELINE,764.516993057,745,714,679.483006943,658,634,878,785,806,652.483006943,629.483006943,652,0.400978476215,-0.00537932865432,0.0598474161631,0.999999939244,0.000239082503944,-0.000253159538972,1.61670436829e-05,1793245203391263488
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+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.421522433,658,634,878.421522433,785,805,652,629.421522433,652,0.400975327078,-0.00537823564533,0.0598456842085,0.999999938701,0.000238922681631,-0.000255477439866,1.56727820714e-05,1793245203450299392
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.843780516,745,713.843780516,679,658,634,878.156219484,785,805,652,629.156219484,652,0.400975309746,-0.00537769783639,0.0598454112967,0.99999993808,0.000241436656705,-0.000255548125277,1.56166517297e-05,1793245203466967296
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.308072968,679.308072968,658,634,878.691927032,785,805.308072968,652,630,652,0.400976376188,-0.00537848510631,0.0598460531235,0.999999938572,0.000240199193828,-0.000254775171009,1.58325366827e-05,1793245203500299520
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.884439382,679.884439382,658,634,878.115560618,785,805.884439382,652,630,652,0.400977561836,-0.00537709980136,0.0598468555133,0.999999938966,0.000240768579162,-0.000252704887765,1.54701491087e-05,1793245203516966144
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,805.528635007,652,630,652,0.400976516207,-0.00537721768825,0.0598461535021,0.999999938557,0.000240754188851,-0.000254325709296,1.55217784293e-05,1793245203533632512
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.940062117,679.940062117,658,634,878,785,805,652,630,652,0.400975217685,-0.00537781176616,0.0598453481763,0.999999938072,0.0002405870229,-0.000256371703023,1.57047735022e-05,1793245203550299136
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713.360170565,679.360170565,658,634,878,785,805,652,630,652,0.40097657944,-0.00537926657737,0.0598469194033,0.999999938705,0.000240364539762,-0.000254076086825,1.61266644968e-05,1793245203566965760
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.217687743,679,658,634,878,785,805,652,630,652,0.400980340711,-0.00538027730479,0.0598490321122,0.999999939682,0.000239421772022,-0.000251087008152,1.6410787042e-05,1793245203583632128
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.792213063,679,658,634,878,785,805,652,630,652,0.400988035308,-0.00538056008212,0.0598520324277,0.999999941214,0.000237298301112,-0.000246961193813,1.64690770797e-05,1793245203600298496
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679.367202519,658,634,878,785.367202519,805.367202519,652,630,652,0.401010236544,-0.00537988595713,0.0598610400395,0.999999944751,0.000238145375671,-0.000231305480814,1.67922961579e-05,1793245203616965120
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679.942454999,658,634,878,785.942454999,805.942454999,652,630,652,0.401040656967,-0.00537866966951,0.0598734512715,0.999999949024,0.000240675504483,-0.000209117146112,1.72656189891e-05,1793245203633631744
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785.468093413,805.468093413,652,630,652,0.401093997252,-0.00538040330191,0.0598893720366,0.999999954749,0.000239337520894,-0.000181360046524,1.81106320819e-05,1793245203650298368
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.879769121,679.879769121,658,634,878.120230879,785,805.120230879,652,630,652,0.401153818541,-0.00538266276596,0.0599052672323,0.999999959618,0.000237502917241,-0.000154917921073,1.88825533733e-05,1793245203666965248
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.301746428,679.301746428,658,634,878.698253572,785,805.698253572,652,630,652,0.401228616613,-0.00538567589936,0.0599195797391,0.999999962879,0.000235414476474,-0.000135839552603,1.92188601784e-05,1793245203683632128
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,879,785,805.725311312,652.274688688,630,651.725311312,0.401309156338,-0.00538852024863,0.0599292059787,0.999999965231,0.000233614381547,-0.00012078119111,1.93388710901e-05,1793245203700299008
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,879,785,805.150610165,652.849389835,630,651.150610165,0.40139596704,-0.00539118025323,0.0599337139194,0.999999966811,0.00023212921547,-0.000110113445432,1.92226456012e-05,1793245203716965376
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.43477404,679.43477404,658,634,878.56522596,785,805.43477404,652.56522596,630,651.43477404,0.401500753897,-0.00539522547567,0.059937620765,0.999999968001,0.000229963915736,-0.000103726816841,1.88436950008e-05,1793245203733632000
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,806,652,630,652,0.401612968229,-0.00539958987897,0.0599413457943,0.999999969054,0.000227650459206,-9.86515487054e-05,1.83309392793e-05,1793245203750298880
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,806,652,630,652,0.401749806951,-0.00539987746498,0.0599458178111,0.999999970042,0.000227540673984,-8.86437966008e-05,1.68624163352e-05,1793245203766965248
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.819095701,680,658,634,878,785,805.819095701,652,630,652,0.401893618307,-0.00540170771172,0.0599484718193,0.999999971053,0.000226010685106,-8.11055398936e-05,1.53236824105e-05,1793245203783631872
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+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.817847411,679,658,633.182152589,878,785,805,652,630,652,0.40376008998,-0.00544890538127,0.0599449307715,0.999999983057,0.000174853081124,-5.74554661906e-05,-3.37380472568e-06,1793245203916964608
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.401113027,658,633.401113027,878,785,805.401113027,652,630,652,0.404072211071,-0.00545667412261,0.0599342266401,0.999999983199,0.000167053821962,-7.51536227217e-05,-6.91355672164e-06,1793245203933631232
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.98699201,658,633.98699201,878,785,805.98699201,652,630,652,0.404387975552,-0.00546488420636,0.0599202615256,0.999999982257,0.000159631409107,-9.94588589091e-05,-1.06051272327e-05,1793245203950297856
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.56653303,634,878,785,806,652,630,652,0.404765401145,-0.00547220095138,0.0599069835696,0.999999981283,0.000148665811269,-0.000122846337612,-1.55456331002e-05,1793245203966964736
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,679.854915244,658.854915244,634,878.145084756,785,805.854915244,652,630,652,0.405159971992,-0.00547966875403,0.0598983481476,0.99999998054,0.00013871856152,-0.00013883065074,-2.00729616569e-05,1793245203983631616
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679.278874716,658.278874716,634,878.721125284,785,805.278874716,652,630,652,0.405601311694,-0.00548764550603,0.0599034564363,0.999999982183,0.00013203516532,-0.00013288670042,-2.32887615432e-05,1793245204000299264
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.297018916,745,714,679.297018916,658,633.702981084,879,785,805,652,630,652,0.40608044505,-0.00549600778192,0.0599217421093,0.999999986773,0.00012272448705,-0.000103560134308,-2.58627962817e-05,1793245204016966144
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.872774761,745,714,679.872774761,658,633.127225239,879,785,805,652,630,652,0.406595045854,-0.00550473185303,0.0599523940782,0.999999992091,0.000110948239066,-5.22901886595e-05,-2.78345678601e-05,1793245204033632512
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.541412566,745,713.541412566,680,658,633,878.541412566,785,805,652,630,652,0.407132232701,-0.00551117100523,0.0599797177777,0.99999999955,2.50596721902e-06,-8.10160835411e-06,-2.87774157853e-05,1793245204050298624
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.046550424,745,713,679.953449576,658,633.046550424,878,785,805.046550424,652,630,652,0.407676399214,-0.00551415737431,0.0600033331985,0.999999992083,-0.000118851753529,2.85143998888e-05,-2.99090623999e-05,1793245204066964992
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.626467131,745,713,679.373532869,658,633.626467131,878,785,805.626467131,652,630,652,0.408227133261,-0.00548500836916,0.0599952767269,0.999999996591,-7.40280412072e-05,1.37970930468e-06,-3.6547935975e-05,1793245204083631616
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.795858757,745,713.204141243,679.204141243,658.204141243,634,878,785,805.795858757,652,630,652,0.408787928996,-0.00546719819641,0.059985440575,0.99999999784,-4.27039309704e-05,-2.62062765967e-05,-4.25336396693e-05,1793245204100298496
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.222243542,745,713.777756458,679.777756458,658.777756458,634,878,785,805.222243542,652,630,652,0.409366935287,-0.00546991010808,0.0599723833915,0.999999996747,-3.58126700262e-05,-5.46090574681e-05,-4.73371749665e-05,1793245204116965888
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.34929486,714,680,659,634,878.34929486,785,805,652,630,652,0.40999812498,-0.00548107705579,0.0599740409343,0.999999996464,-4.41424898918e-05,-4.94924783882e-05,-5.1709224819e-05,1793245204133632512
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.919519649,714,680,659,634,878.919519649,785,805,652,630,652,0.410662320792,-0.00549759183622,0.0599850055813,0.999999996246,-6.20996841546e-05,-2.31748137545e-05,-5.58083587725e-05,1793245204150298880
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.486356151,713.486356151,680,659,634,878.486356151,785,805.513643849,652,630,652,0.411350444731,-0.00550465683158,0.0599904037579,0.999999995292,-7.54903071331e-05,-1.01077999408e-05,-6.01304971527e-05,1793245204166965248
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713,680,659,633.895434325,878.104565675,785,805.895434325,652,630,651.895434325,0.412039735565,-0.00550702042018,0.05998959943,0.999999995897,-6.87457163148e-05,-9.10428657407e-06,-5.82928589788e-05,1793245204183631616
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713,680,659,633.335557968,878.664442032,785,805.335557968,652,630,651.335557968,0.412716985472,-0.00549567443435,0.0599657705934,0.999999998007,2.24061072927e-05,-5.11474358848e-05,-2.94741121838e-05,1793245204200298240
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713,680,659,633.238252585,879,785,805.238252585,652,630,651,0.413412898154,-0.00548947625231,0.0599379121631,0.999999991796,7.4599502052e-05,-0.00010313620307,-1.43738643499e-05,1793245204216964864
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713,680,659,633.8329074,879,785,805.8329074,652,630,651,0.414136728598,-0.00549097867228,0.0599040258567,0.999999983006,6.85149665327e-05,-0.000170002634616,-1.97951258053e-05,1793245204233631488
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713,680,659.422596341,633.577403659,878.577403659,785,806,652,630,651.422596341,0.414943621968,-0.00550579335403,0.0599267523245,0.999999990588,4.65555371361e-05,-0.000126903761861,-2.34946384671e-05,1793245204250298112
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.010194544,745,713.010194544,680,659.989805456,633.010194544,878.010194544,785,806,652,630,652,0.415783259708,-0.00552560718379,0.0599714042315,0.999999998623,1.83178512987e-05,-4.14238685436e-05,-2.64904850432e-05,1793245204266965248
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.589418837,745,713.589418837,680,659.410581163,633.589418837,878.589418837,785,806,652,630,652,0.416638703648,-0.0055340721318,0.0600049485063,0.999999999456,-1.40671339798e-05,1.09148156209e-05,-2.7767101038e-05,1793245204283632128
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,713.831829421,679.831829421,659,633.831829421,879,785,805.831829421,652,630,651.831829421,0.417494583791,-0.00554031105281,0.0600243744343,0.999999997954,-3.8204388702e-05,4.22721392249e-05,-2.90604748589e-05,1793245204300298752
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713.254228197,679.254228197,659,633.254228197,879,785,805.254228197,652,630,651.254228197,0.418351525869,-0.00554113045417,0.0600094276185,0.999999998391,-4.22615914619e-05,2.25479205654e-05,-3.03946476723e-05,1793245204316965120
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.679262876,745,713.320737124,679.320737124,659,633.320737124,879.320737124,785,805.320737124,651.679262876,630,651,0.419194580723,-0.00553602360739,0.0599882409092,0.999999998902,-3.05243525822e-05,-1.30828332064e-05,-3.30680325817e-05,1793245204333631744
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.106369868,745,713.893630132,679.893630132,659,633.893630132,879.893630132,785,805.893630132,651.106369868,630,651,0.42002671773,-0.00552625768547,0.0599621485448,0.999999997429,-6.36989971833e-06,-6.12189249753e-05,-3.67942740051e-05,1793245204350298368
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713.519629302,680,659,634,880,785,806,651.480370698,630,651.480370698,0.420838036901,-0.00552606510515,0.0599275325557,0.999999992495,-1.95663793457e-05,-0.0001146071922,-3.86296362364e-05,1793245204366964992
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.069217859,745,713.069217859,680,659,634,879.930782141,785,806.069217859,651.930782141,630,651.930782141,0.421655054725,-0.00552848676122,0.0598939560827,0.999999984689,-3.91046733952e-05,-0.000165790245103,-4.00685881796e-05,1793245204383631616
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.650294688,745,713.650294688,680,659,634,879.349705312,785,806.650294688,651.349705312,630,651.349705312,0.42254931355,-0.00553409902841,0.0598824382389,0.999999979826,-4.25634489741e-05,-0.000191810360657,-4.17642958735e-05,1793245204400298752
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785,806.771036933,651.228963067,630,651,0.423496880714,-0.00553943005007,0.0599052199583,0.999999985708,-4.59030447783e-05,-0.000157208036391,-4.19761831752e-05,1793245204416965632
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785,806.196008706,651.803991294,630,651,0.424525020651,-0.00554433598532,0.0599798435909,0.999999997519,-4.90625069254e-05,-3.09782101606e-05,-3.99453568833e-05,1793245204433632512
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.386574493,785.386574493,806.386574493,652,630,651.386574493,0.425485072677,-0.00554509341953,0.0600221437118,0.999999997133,-5.14689431392e-05,4.00593808871e-05,-3.84811123673e-05,1793245204450298880
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.973064686,785.973064686,806.973064686,652,630,651.973064686,0.426409913206,-0.00554370547008,0.0600477278328,0.999999994466,-5.34859545333e-05,8.25544854149e-05,-3.73098739936e-05,1793245204466964992
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.555558956,659.555558956,633.444441044,880,785.444441044,807,652,630.555558956,652,0.427337955984,-0.00554384741455,0.0600300932731,0.9999999953,-5.76126558871e-05,6.65709736432e-05,-4.06015887667e-05,1793245204483631616
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.863921064,681,660,633,880,785.136078936,807,652,630.863921064,652,0.428253313295,-0.00554480578845,0.0600073022288,0.999999996462,-5.9678103416e-05,4.01527019857e-05,-4.36059901666e-05,1793245204500298240
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713.289145793,681,660,633,880,785.710854207,807,652,630.289145793,652,0.429127277732,-0.00554815877986,0.0599745944518,0.999999997429,-5.47710096556e-05,-1.08304749843e-05,-4.49915521047e-05,1793245204516964864
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713,681,659.714076585,633,880,786,806.714076585,652,630,651.714076585,0.430009082684,-0.00554836844048,0.0599421658438,0.999999995028,-5.77412871937e-05,-6.66423940006e-05,-4.65686811691e-05,1793245204533631488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713,681,659.138709857,633,880,786,806.138709857,652,630,651.138709857,0.43089882462,-0.00554539607369,0.0599100198437,0.999999988365,-6.86859116975e-05,-0.00012734249673,-4.8339735547e-05,1793245204550298368
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713,680.551990107,659.448009893,633,880,786,806.448009893,651.551990107,630,651,0.431857326772,-0.00554594362292,0.0599420997604,0.999999994117,-7.06199596144e-05,-6.65240632237e-05,-4.85041390353e-05,1793245204566965248
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713,680.037572512,660,633.037572512,880,785.962427488,807,651.037572512,630.037572512,651.037572512,0.432832738746,-0.00554759039156,0.0599921914829,0.999999996074,-6.92060578369e-05,2.73629793421e-05,-4.81037530852e-05,1793245204583632384
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713,680.616140063,660,633.616140063,880,785.383859937,807,651.616140063,630.616140063,651.616140063,0.433737124096,-0.00554896461014,0.0600078643673,0.999999996187,-6.07998671443e-05,4.15766305347e-05,-4.69198617046e-05,1793245204600298752
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713,681,659.80643033,633.80643033,880.19356967,785.19356967,807,652,630.80643033,652,0.434628839268,-0.00555137100448,0.0600079383229,0.99999999638,-6.20621969749e-05,3.47708501619e-05,-4.66737206387e-05,1793245204616965120
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713,681,659.231244038,633.231244038,880.768755962,785.768755962,807,652,630.231244038,652,0.435495575736,-0.00555581230165,0.0599772594752,0.99999999535,-8.23857145302e-05,-1.34740872429e-05,-4.82763250518e-05,1793245204633631488
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713,681,659,633,880.648215247,786,807,652,630,652,0.436342394322,-0.00555744469331,0.0599516030281,0.999999993146,-8.92433361857e-05,-5.67832203769e-05,-5.02011565977e-05,1793245204650298112
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713,681,659,633,880.059913713,786,807,652,630,652,0.437175821393,-0.00555718856257,0.0599293233125,0.999999990159,-8.7047379597e-05,-9.67738425222e-05,-5.23426322405e-05,1793245204666964736
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.519980838,681,659.519980838,633,880,786,807,652,630,652,0.43796817608,-0.00555293420449,0.0599051368535,0.999999984006,-7.99276317804e-05,-0.000150916633665,-5.31419951989e-05,1793245204683631360
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.90129749,745,714,681,660,633,879.90129749,785.90129749,807,652,630.09870251,652,0.438768850332,-0.0055498018536,0.0598903667781,0.999999978309,-7.40374009682e-05,-0.000187151358823,-5.36161093432e-05,1793245204700298240
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.323641513,745,714,681,660,633,879.323641513,785.323641513,807,652,630.676358487,652,0.439632494172,-0.00555431395324,0.0599223387939,0.999999987349,-7.68225788486e-05,-0.000128700431532,-5.32504166525e-05,1793245204716965120
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.253007038,745,713.746992962,681,659.746992962,633,879.253007038,785,807.253007038,652,631,652,0.440469933233,-0.00555678695801,0.0599525463542,0.999999992199,-7.99582757724e-05,-8.04569813785e-05,-5.2302276555e-05,1793245204733631744
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.828371979,745,713.171628021,681,659.171628021,633,879.828371979,785,807.828371979,652,631,652,0.441273984552,-0.0055566619385,0.0599805058079,0.999999994207,-8.35405712527e-05,-4.52189485805e-05,-5.06120366145e-05,1793245204750298368
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.412127827,681.412127827,659.412127827,633,880,785,807.587872173,652,630.587872173,652,0.44198771964,-0.00555354834117,0.0599461748397,0.999999990209,-8.39060784308e-05,-9.97302099905e-05,-5.09446453666e-05,1793245204766964992
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.999450689,681.999450689,659.999450689,633,880,785,807.000549311,652,630.000549311,652,0.442663061479,-0.00554916430307,0.0598853642918,0.999999976697,-8.29041325602e-05,-0.000192393782825,-5.21371641233e-05,1793245204783631360
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.422575255,745,713.422575255,682,659.422575255,632.422575255,880,784.422575255,807.577424745,652,630.577424745,651.422575255,0.443316565361,-0.00555078365417,0.0598304705644,0.999999958242,-7.9443816102e-05,-0.000271937507675,-5.70454918451e-05,1793245204800297984
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713,682,658.844708884,632,880,784.155291116,808,652,630.844708884,651.155291116,0.443971245114,-0.00555250039502,0.0597894166844,0.999999940186,-7.68783938178e-05,-0.000331695895486,-6.07975091287e-05,1793245204816964864
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713,682,658.267111428,632,880,784.732888572,808,652,630.267111428,651.732888572,0.444629178331,-0.00555446669911,0.0597859844943,0.999999938155,-7.67528500013e-05,-0.000337682482101,-6.13955407686e-05,1793245204833631488
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.307619421,745,713,681.692380579,658,632,880,784.692380579,808,652,630,652,0.445249362043,-0.00555479810688,0.0597749551668,0.999999928193,-8.30907372343e-05,-0.000364448503164,-6.235550842e-05,1793245204850298624
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.87988409,745,713,681.12011591,658,632,880,784.12011591,808,652,630,652,0.445837069785,-0.00555372301184,0.0597573900156,0.999999909787,-9.49891195752e-05,-0.000409091088427,-6.36268497934e-05,1793245204866965248
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d535f2bfc47d2a163bc7abd947af538455054d5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.575670734529,-0.000122216470841,1.05005086922,0.546242368628,0.0085534724945,1.04971736481
+395,6.583333333,pose2_to_pose3_retreat,0.575670358122,-0.000122221107391,1.05005086559,0.546241991842,0.0085534665704,1.04971736106
+396,6.600000000,pose2_to_pose3_retreat,0.575670319011,-0.000122221589155,1.05005086522,0.546241952692,0.00855346595485,1.04971736067
+397,6.616666667,pose2_to_pose3_retreat,0.575670039655,-0.000122241847416,1.05005083112,0.546241673148,0.00855344498246,1.0497173246
+398,6.633333333,pose2_to_pose3_retreat,0.575669812978,-0.000122259807631,1.05005080061,0.546241446327,0.00855342646463,1.04971729232
+399,6.650000000,pose2_to_pose3_retreat,0.575669634626,-0.000122274864372,1.05005077707,0.546241267898,0.00855341109074,1.04971726737
+400,6.666666667,pose2_to_pose3_retreat,0.575669582673,-0.000122302059276,1.05005078189,0.54624121681,0.00855338680009,1.04971727137
+401,6.683333333,pose2_to_pose3_retreat,0.575669547224,-0.000122320615297,1.05005078517,0.546241181951,0.00855337022575,1.0497172741
+402,6.700000000,pose2_to_pose3_retreat,0.575669528953,-0.000122330179072,1.05005078686,0.546241163984,0.00855336168332,1.04971727551
+403,6.716666667,pose2_to_pose3_retreat,0.57566952735,-0.000122331017942,1.05005078701,0.546241162408,0.00855336093404,1.04971727564
+404,6.733333333,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516198,1.04971727659
+405,6.750000000,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516198,1.04971727659
+406,6.766666667,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516198,1.04971727659
+407,6.783333333,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0b2cb3827166cc1d6f20622edcf57f8c9cf5e3c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2c7a5c91394d6839d3eb9e5d3363c510e0b0296a634768bf2f8c23c67e31ba1
+size 25437512
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6b0b41a9f0bf3cfa63dfe3c2fa39e1c2c003b2f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+49,0.816666667,BASELINE,764,745,713,678.86915326,660,634,878.43457663,786,806,653,630,652,0.400932750237,-0.00543989329205,0.0499252533127,0.999999974415,5.81062816476e-05,-0.00021682333407,-2.79677272865e-05,1793245210541139968
+50,0.833333333,BASELINE,764,745,713,679.989797085,659.989797085,634,879,786,806,653.010202915,630,652,0.400932712106,-0.0054398887811,0.0499252811584,0.999999974429,5.72743646156e-05,-0.000216953911274,-2.81681135632e-05,1793245210557806848
+51,0.850000000,BASELINE,764,745,713,679.393846349,659.393846349,634,879,786,806,653.606153651,630,652,0.400933217889,-0.00544014817829,0.0499255537282,0.999999974424,5.78624445934e-05,-0.000216829615927,-2.80789691293e-05,1793245210574473472
+52,0.866666667,BASELINE,764,745,713.195224921,679,659.195224921,634,879,786,806,653.804775079,630,652,0.400933310618,-0.00544046784973,0.0499256171774,0.999999974343,5.83718906516e-05,-0.000217088639832,-2.79148366902e-05,1793245210591140352
+53,0.883333333,BASELINE,764,745,713.770889949,679,659.770889949,634,879,786,806,653.229110051,630,652,0.400932598417,-0.00544090497925,0.0499252731076,0.999999974112,5.8728100618e-05,-0.000218094648387,-2.76045730926e-05,1793245210607806976
+54,0.900000000,BASELINE,764,745.345326167,714,679,659.654673833,634,879,786,805.654673833,653,630,652,0.400932933767,-0.00544062144886,0.0499250296528,0.999999974156,5.90536218347e-05,-0.000217800966642,-2.7644325839e-05,1793245210624473600
+55,0.916666667,BASELINE,764,745.918949985,714,679,659.081050015,634,879,786,805.081050015,653,630,652,0.400933961662,-0.00543986148493,0.0499248527154,0.99999997438,5.93588544805e-05,-0.000216648050102,-2.79154769597e-05,1793245210641140224
+56,0.933333333,BASELINE,764,745.492784027,714,679.507215973,659.507215973,634,879,786,805.507215973,653,630,652,0.400934352846,-0.00544074059743,0.0499250860081,0.999999974647,5.7833738143e-05,-0.000215851928461,-2.77523603716e-05,1793245210657806592
+57,0.950000000,BASELINE,764,745,714,679.90385561,659.90385561,634,878.90385561,786,806,653,630,652,0.400934558997,-0.00544165680796,0.049925401696,0.999999974879,5.62336842998e-05,-0.000215218994063,-2.75643624594e-05,1793245210674473216
+58,0.966666667,BASELINE,764,745,714,679.323721037,659.323721037,634,878.323721037,786,806,653,630,652,0.400934361086,-0.00544140210119,0.0499257923627,0.999999974927,5.57724977932e-05,-0.000215112005559,-2.76108217408e-05,1793245210691139840
+59,0.983333333,BASELINE,764,745.250833362,713.749166638,679,659.250833362,634,878,786,806,653,630,652,0.400934509216,-0.00544115595816,0.0499260887653,0.999999974977,5.60937847787e-05,-0.000214803616478,-2.75496402887e-05,1793245210707806464
+60,1.000000000,BASELINE,764,745.818342893,713.181657107,679,659.818342893,634,878,786,806,653,630,652,0.40093509422,-0.00544092062678,0.0499262661599,0.999999975029,5.74029415176e-05,-0.000214240959914,-2.7352562825e-05,1793245210724473344
+61,1.016666667,BASELINE,764,745.605605429,713,679,659.605605429,634,878.394394571,786,806,653,630,652,0.400935201122,-0.00544024663431,0.0499263762207,0.999999975001,5.74424141641e-05,-0.00021432137587,-2.76453354518e-05,1793245210741140224
+62,1.033333333,BASELINE,764,745.025532191,713,679,659.025532191,634,878.974467809,786,806,653,630,652,0.400935082936,-0.00543936612277,0.0499264545813,0.999999974936,5.6884126858e-05,-0.000214704546655,-2.81687266592e-05,1793245210757807104
+63,1.050000000,BASELINE,764,745,713,678.428758722,659,634,878.428758722,785.428758722,805.428758722,653,630,652,0.400934228617,-0.00543936967976,0.0499255446436,0.999999974552,5.89971675506e-05,-0.00021595417474,-2.79017519432e-05,1793245210774473728
+64,1.066666667,BASELINE,764,745,713.1625662,678.325132399,659,634,878.1625662,785.1625662,805.1625662,653,630,652,0.400933805005,-0.00543970766067,0.0499248561399,0.999999974395,5.99515647147e-05,-0.000216443293467,-2.77081589923e-05,1793245210791140352
+65,1.083333333,BASELINE,764,745,713.738096967,679.476193934,659,634,878.738096967,785.738096967,805.738096967,653,630,652,0.400934561609,-0.00544079177327,0.0499248457333,0.999999974861,5.76502381353e-05,-0.00021489916045,-2.77934178029e-05,1793245210807806720
+66,1.100000000,BASELINE,763.687687332,745,713.687687332,679.687687332,659.312312668,634,879,786,806,653,630,652,0.400934123798,-0.00544127515117,0.0499248950088,0.999999974879,5.60541005697e-05,-0.000215239953568,-2.77716470524e-05,1793245210824473344
+67,1.116666667,BASELINE,763.114569841,745,713.114569841,679.114569841,659.885430159,634,879,786,806,653,630,652,0.400932688557,-0.00544125686987,0.0499249941233,0.999999974524,5.50468495626e-05,-0.000217154803402,-2.76604984766e-05,1793245210841139968
+68,1.133333333,BASELINE,763.474222131,745,713,679,659.525777869,634,879,785.525777869,805.525777869,653,630,652,0.400934353299,-0.00544040668314,0.0499255320103,0.999999974727,5.63601996695e-05,-0.000215864431705,-2.77811109256e-05,1793245210857807104
+69,1.150000000,BASELINE,764,745.065247471,713.065247471,679,659,634,879,785.065247471,805.065247471,653,630,652,0.400936353284,-0.00543954984904,0.049926067151,0.999999975007,5.80339874889e-05,-0.000214100769239,-2.79220595536e-05,1793245210874473984
+70,1.166666667,BASELINE,764,745.643051837,713.643051837,679,659,634,879,785.643051837,805.643051837,653,630,652,0.400934902322,-0.00544027361613,0.0499257195175,0.99999997484,5.79844704394e-05,-0.00021491017098,-2.77678724432e-05,1793245210891140352
+71,1.183333333,BASELINE,763.779929414,745.779929414,714,679,659,634,879,786,806,653,630,652,0.400934314648,-0.00544097117711,0.0499255323531,0.99999997474,5.80937298246e-05,-0.000215383009449,-2.74914447735e-05,1793245210907806976
+72,1.200000000,BASELINE,763.204180291,745.204180291,714,679,659,634,879,786,806,653,630,652,0.400935122221,-0.00544162638381,0.0499256045394,0.999999974747,5.84596040037e-05,-0.000215311893789,-2.70174516351e-05,1793245210924473344
+73,1.216666667,BASELINE,763.369243302,745,713.630756698,679,659,634,879,786,806,653,630,652,0.400934661342,-0.00544179742224,0.04992495144,0.999999974604,5.79519348677e-05,-0.000216091189577,-2.71844354199e-05,1793245210941139968
+74,1.233333333,BASELINE,763.941388961,745,713.058611039,679,659,634,879,786,806,653,630,652,0.400933503437,-0.00544170240601,0.0499238997898,0.999999974376,5.69642461741e-05,-0.000217337793744,-2.77036415438e-05,1793245210957806848
+75,1.250000000,BASELINE,764.533781861,745,713.533781861,679,659,634,879.533781861,785.466218139,805.466218139,653,630,652,0.400933499615,-0.00544127926481,0.0499245524943,0.999999974572,5.5333562498e-05,-0.0002168459582,-2.77842728065e-05,1793245210974473472
+76,1.266666667,BASELINE,764.875577258,745,713.875577258,679,659.124422742,634,879.751154515,785.124422742,805,653,630,652,0.400933519012,-0.00544096832824,0.0499251953337,0.999999974761,5.41307495927e-05,-0.000216279541584,-2.77794168009e-05,1793245210991139840
+77,1.283333333,BASELINE,764.299678842,745,713.299678842,679,659.700321158,634,878.599357684,785.700321158,805,653,630,652,0.400933144709,-0.00544120042191,0.0499250965401,0.999999974756,5.47467806584e-05,-0.000216162455531,-2.76459950929e-05,1793245211007806720
+78,1.300000000,BASELINE,764,745,713.276738693,679,660,634,878.276738693,786,805.276738693,653,630,652,0.400932683427,-0.00544112331701,0.0499246514746,0.999999974539,5.5318304045e-05,-0.000217050058939,-2.74028161354e-05,1793245211024473600
+79,1.316666667,BASELINE,764,745,713.8537194,679,660,634,878.8537194,786,805.8537194,653,630,652,0.400932127778,-0.00544071075342,0.0499238307285,0.999999974089,5.58415396907e-05,-0.000219027679737,-2.70405582921e-05,1793245211041140480
+80,1.333333333,BASELINE,764,745,714,679,659.561089572,634,878.561089572,785.561089572,806,653,630,652,0.400933334322,-0.00544163913933,0.049924452433,0.999999974514,5.44429874764e-05,-0.000217409978697,-2.72211971e-05,1793245211057806848
+81,1.350000000,BASELINE,764,745,713.973501735,679,659,634,878,785,805.973501735,653,630,652,0.400935044083,-0.0054429713461,0.0499254972828,0.999999975192,5.24558960064e-05,-0.000214717982137,-2.75684547278e-05,1793245211074472704
+82,1.366666667,BASELINE,764,745,713.394088097,679,659,634,878,785,805.394088097,653,630,652,0.400934765663,-0.00544322661356,0.0499251490928,0.999999975147,5.18077047814e-05,-0.000215089126905,-2.75449714257e-05,1793245211091139328
+83,1.383333333,BASELINE,764,745,713.184295797,679,659,634,878,785.184295797,805.184295797,653,630,652,0.400934910117,-0.00544307327143,0.0499252987709,0.999999975163,5.20560605482e-05,-0.000214963618923,-2.74616029808e-05,1793245211107806208
+84,1.400000000,BASELINE,764,745,713.760490086,679,659,634,878,785.760490086,805.760490086,653,630,652,0.400935953797,-0.00544205103554,0.049926507148,0.999999975308,5.42108916478e-05,-0.000213781996511,-2.72508908946e-05,1793245211124472832
+85,1.416666667,BASELINE,764,745,714,679,659.336200289,633.663799711,878,786,805.663799711,653,629.663799711,652,0.40093637454,-0.00544111160181,0.0499266906009,0.999999975237,5.58137615808e-05,-0.000213677153629,-2.74329823055e-05,1793245211141139968
+86,1.433333333,BASELINE,764,745,714,679,659.911566089,633.088433911,878,786,805.088433911,653,629.088433911,652,0.40093635214,-0.00544023107178,0.0499261449449,0.999999975015,5.70239783188e-05,-0.000214338308156,-2.78945055201e-05,1793245211157806848
+87,1.450000000,BASELINE,764,745,713.500963419,679.499036581,659.500963419,633,878,786,805.499036581,653,629,652,0.400934707482,-0.00544034423208,0.0499255790561,0.999999974717,5.79774004528e-05,-0.000215502262178,-2.76200490486e-05,1793245211174473472
+88,1.466666667,BASELINE,764,745.087105482,713,679.912894518,659,633.087105482,878,786,805.912894518,653,629.087105482,652,0.400933526466,-0.00544072741795,0.0499253476294,0.999999974589,5.83721454025e-05,-0.000216035254324,-2.72756309269e-05,1793245211191140608
+89,1.483333333,BASELINE,764,745.666138507,713,679.333861493,659,633.666138507,878,786,805.333861493,653,629.666138507,652,0.400936627764,-0.00544161637611,0.0499270258282,0.999999975491,5.58751508973e-05,-0.000212489189369,-2.72909747965e-05,1793245211207808512
+90,1.500000000,BASELINE,764,745.757011441,713.242988559,678.757011441,659,634,878,785.757011441,805.242988559,653,630,652,0.400937158648,-0.00544134996872,0.0499271866704,0.999999975623,5.55531332018e-05,-0.000211920198826,-2.75233901365e-05,1793245211224475136
+91,1.516666667,BASELINE,764,745.183134094,713.816865906,678.183134094,659,634,878,785.183134094,805.816865906,653,630,652,0.40093418928,-0.00543951024641,0.0499252812575,0.999999974714,5.81928824851e-05,-0.000215405228845,-2.80514017622e-05,1793245211241140224
+92,1.533333333,BASELINE,764,745,713.600081414,678.399918586,659,634,878,785.399918586,806,653,630,652,0.400933687986,-0.00544004894751,0.0499243244105,0.999999974563,5.80173741243e-05,-0.000216159087053,-2.80038782192e-05,1793245211257806592
+93,1.550000000,BASELINE,764,745,713.012728375,678.987271625,659,634,878,785.987271625,806,653,630,652,0.400934343431,-0.00544170237157,0.0499238121386,0.999999974771,5.65224067437e-05,-0.000215632895794,-2.76866120209e-05,1793245211274473216
+94,1.566666667,BASELINE,764,745,713.567310202,678.432689798,659,634,878,786,806,653,630,652,0.400936360887,-0.00544262111812,0.0499254796242,0.99999997529,5.61795092331e-05,-0.00021335984512,-2.72309814355e-05,1793245211291139584
+95,1.583333333,BASELINE,764,745,714,678,659.146755165,634,878.146755165,786,805.853244835,653,630,652,0.400937760696,-0.00544292339946,0.0499266960129,0.999999975612,5.62532347258e-05,-0.000211858690191,-2.69731911173e-05,1793245211307806464
+96,1.600000000,BASELINE,764,745,714,678,659.724931495,634,878.724931495,786,805.275068505,653,630,652,0.400937256098,-0.00544146127744,0.0499264443569,0.999999975346,5.74767012633e-05,-0.000212740453833,-2.73060083991e-05,1793245211324473344
+97,1.616666667,BASELINE,763.699497544,745,714,678.300502456,659.699497544,634,878.699497544,786,805,653,630,652,0.400936231348,-0.00544146302248,0.0499259903096,0.999999975196,5.65688548749e-05,-0.000213679007495,-2.73852012553e-05,1793245211341140224
+98,1.633333333,BASELINE,763.126290974,745,714,678.873709026,659.126290974,634,878.126290974,786,805,653,630,652,0.400934734563,-0.00544279321789,0.0499253525934,0.999999975144,5.37268551558e-05,-0.000214669097693,-2.72342314986e-05,1793245211357806848
+99,1.650000000,BASELINE,763.459305078,745,714,679,659.459305078,634,878.459305078,786,805.459305078,653,630,652,0.400935800674,-0.0054430532765,0.0499262545982,0.999999975339,5.39554455078e-05,-0.000213705777546,-2.71989819895e-05,1793245211374473216
+100,1.666666667,BASELINE,764,745,713.952305644,679,659.952305644,634,878.952305644,785.952305644,805.952305644,653,630,652,0.400937362341,-0.00544290880783,0.0499274516268,0.999999975562,5.50982418494e-05,-0.000212369232305,-2.72016378679e-05,1793245211391139584
+101,1.683333333,BASELINE,764,745,713.371823471,679,659.371823471,634,878.371823471,785.371823471,805.371823471,653,630,652,0.400936369493,-0.00544162352133,0.0499270838837,0.999999975327,5.67605722969e-05,-0.00021302977666,-2.7262435423e-05,1793245211407806208
+102,1.700000000,BASELINE,763.793335493,745,713.206664507,679,659,634,878,785,805.206664507,653,629.793335493,652,0.400935337736,-0.00544113375643,0.0499265554723,0.999999975113,5.7131483236e-05,-0.000213928318606,-2.72778612177e-05,1793245211424472832
+103,1.716666667,BASELINE,763.21840117,745,713.78159883,679,659,634,878,785,805.78159883,653,629.21840117,652,0.400934236645,-0.00544206158676,0.049925740755,0.99999997494,5.52011240361e-05,-0.000215250964888,-2.72124359203e-05,1793245211441139712
+104,1.733333333,BASELINE,763.365121776,745,714,679,659,634,878,785,805.634878224,653,629.365121776,652,0.400934953894,-0.00544186579325,0.0499260918417,0.99999997508,5.46561778915e-05,-0.000214744061448,-2.71646765929e-05,1793245211457806592
+105,1.750000000,BASELINE,763.953905905,745,714,679,659,634,878,785,805.046094095,653,629.953905905,652,0.400936785002,-0.00544098170248,0.0499271570639,0.999999975412,5.49598929215e-05,-0.000213116432333,-2.71277388881e-05,1793245211474473472
+106,1.766666667,BASELINE,764,745.534062246,713.465937754,679,659,633.465937754,878,785.534062246,805.534062246,652.465937754,630,652,0.400936190699,-0.00544136559721,0.049926669895,0.999999975385,5.48618757548e-05,-0.000213250516064,-2.72944589514e-05,1793245211491139840
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,879,786,806,653,630,652,0.400931885689,-0.00544029561686,0.0499245283049,0.999999974394,5.68881395541e-05,-0.000217288510648,-2.75905366967e-05,1793245211533494784
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.425263325,679,659.425263325,634,879,786,805.425263325,653,630,652,0.400934118759,-0.00544136195609,0.0499245923981,0.999999974694,5.58807784427e-05,-0.000216178895232,-2.75099860101e-05,1793245211550161408
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.153394285,679,659,634,879,786,805,653,630,652,0.400935465683,-0.00544211054376,0.0499246855605,0.999999974889,5.57846818261e-05,-0.000215314243935,-2.73721837895e-05,1793245211566828032
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.743207397,679,659,634,879,786,805,653,630,652,0.40093429145,-0.00544195510347,0.0499248614274,0.999999974791,5.82812042546e-05,-0.000215146534602,-2.7071496426e-05,1793245211583494912
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.672509043,679,659.327490957,633.672509043,878.672509043,785.672509043,805.327490957,653,630,652,0.400934917815,-0.00544146701254,0.0499250395141,0.999999974922,5.85064498515e-05,-0.0002144714436,-2.71000715179e-05,1793245211600161536
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.092489362,679,659.907510638,633.092489362,878.092489362,785.092489362,805.907510638,653,630,652,0.400936932625,-0.00544072241425,0.0499252193126,0.999999975231,5.69803106382e-05,-0.000213405109912,-2.7382541356e-05,1793245211616828416
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.517653187,745,713.482346813,679.482346813,659.517653187,633.482346813,878,785.482346813,806,653,630,652,0.400943920925,-0.00544129060532,0.0499284736014,0.999999976415,5.61432034669e-05,-0.00020804131438,-2.71466849151e-05,1793245211633495040
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.056544427,745,713.943455573,679.943455573,659,634,878,786,805.943455573,653,630,652,0.400952889525,-0.00544215513415,0.0499322896404,0.999999977846,5.54092198134e-05,-0.000201290026094,-2.68364846341e-05,1793245211650161408
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.633918023,745,713.366081977,679.366081977,659,634,878,786,805.366081977,653,630,652,0.400971407871,-0.00544345523625,0.0499359075397,0.99999998025,5.44210802611e-05,-0.000189268021951,-2.67472355196e-05,1793245211666827520
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.216095235,745,713,679,659.216095235,634,878.216095235,786,805,653,630,652,0.400995533207,-0.00544480119103,0.0499404137315,0.999999983064,5.36475292988e-05,-0.000174022862328,-2.66439250145e-05,1793245211683493888
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.806595087,745,713,679,659.806595087,634,878.806595087,786,805,653,630,652,0.40102937316,-0.00544622658959,0.0499464589705,0.999999986497,5.32457726515e-05,-0.000153193294402,-2.65162518805e-05,1793245211700160512
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.610642765,745,713.389357235,679,660,634,878.610642765,786,805.389357235,653,630,652,0.401074352434,-0.00544663738837,0.0499514479061,0.999999989832,5.31122771335e-05,-0.000129580341556,-2.69131726434e-05,1793245211716827136
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.031649211,745,713.968350789,679,660,634,878.031649211,786,805.968350789,653,630,652,0.401124757112,-0.00544655402677,0.0499559223701,0.999999992738,5.31094380582e-05,-0.000104611740054,-2.75655966773e-05,1793245211733493760
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713.458331591,679,659.458331591,634,878,786,806,653,630,652,0.401181099112,-0.00544888378933,0.0499583727475,0.99999999404,5.13520474829e-05,-9.23510363836e-05,-2.74518996157e-05,1793245211750160896
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.117646499,679,659,634,878,785.882353501,806,653,630,652,0.401241179839,-0.00545116082196,0.0499610015402,0.999999995026,4.97688048729e-05,-8.20517737245e-05,-2.71935409355e-05,1793245211766827776
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.705571636,679,659,634,878,785.294428364,806,653,630,652,0.40131483336,-0.00545266929953,0.0499648113796,0.999999995495,4.92872488251e-05,-7.66558208785e-05,-2.65339962922e-05,1793245211783494144
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.289601827,785.289601827,806,653,630,652,0.401398331824,-0.00545485590357,0.0499665816005,0.999999995658,4.86007019789e-05,-7.52407756418e-05,-2.56955850852e-05,1793245211800160512
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.869724673,785.869724673,806,653,630,652,0.401491706473,-0.00545772278638,0.0499663057289,0.99999999553,4.77085137254e-05,-7.78192736971e-05,-2.4677739634e-05,1793245211816827136
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679.448384732,659,634,879.448384732,786,805.551615268,653,629.551615268,652,0.401607799969,-0.00546177426964,0.0499651827403,0.999999995523,4.57930672357e-05,-7.91698225036e-05,-2.42883241707e-05,1793245211833493760
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.973703664,679.973703664,659.026296336,633.973703664,879.973703664,786,805,653,629.026296336,652,0.401731788355,-0.00546617531593,0.0499640346163,0.999999995563,4.36188323928e-05,-7.99654964765e-05,-2.40219286743e-05,1793245211850160384
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.402522753,679.402522753,659.597477247,633.402522753,879.402522753,786,805,653,629.597477247,652,0.401883035945,-0.00547071113441,0.0499674490057,0.999999995918,4.22225862478e-05,-7.66322737464e-05,-2.25335651275e-05,1793245211866827264
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.825237376,745,713,679,659.825237376,633.174762624,879,785.825237376,805.174762624,653,630,652,0.40204185261,-0.00547617990834,0.0499692770988,0.999999996191,3.94606968437e-05,-7.49289979577e-05,-2.11499776059e-05,1793245211883493888
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.233383048,745,713,679,659.233383048,633.766616952,879,785.233383048,805.766616952,653,630,652,0.402218733748,-0.00548387529029,0.0499673193071,0.999999996267,3.3439538235e-05,-7.71157840969e-05,-2.00164506925e-05,1793245211900160768
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.350886487,745,713,679,659,633.649113513,879,785.350886487,806,653,630,652,0.402418300232,-0.0054908871988,0.0499654851726,0.99999999624,2.91263150376e-05,-7.95091083178e-05,-1.86873160019e-05,1793245211916827392
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.930217992,745,713,679,659,633.069782008,879,785.930217992,806,653,630,652,0.402632636052,-0.00549745413198,0.0499637315449,0.99999999615,2.59250444021e-05,-8.20368995924e-05,-1.72308305486e-05,1793245211933494016
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.492872916,745,713.507127084,678.492872916,659,633,878.492872916,786,806,653,630,652,0.402889709696,-0.00550467151742,0.0499653995563,0.999999996368,2.58538619873e-05,-7.96919747789e-05,-1.56204390875e-05,1793245211950160640
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.083284212,745,714,678.083284212,659.083284212,633.083284212,878.083284212,786,806,653,630,652,0.40315918006,-0.00551272938413,0.0499684348794,0.999999996822,2.51571730469e-05,-7.43860480701e-05,-1.38034978533e-05,1793245211966827264
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.656967225,745,714,678.656967225,659.656967225,633.656967225,878.656967225,786,806,653,630,652,0.403467182353,-0.00552521170657,0.0499767621186,0.99999999823,1.82532772689e-05,-5.55742789391e-05,-1.08944457832e-05,1793245211983494144
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.762999737,678.762999737,659.762999737,634,879,786,806,653,630,652,0.403788544095,-0.0055365070875,0.0499848072978,0.999999999206,1.20705292887e-05,-3.70766455919e-05,-8.17461635122e-06,1793245212000161024
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.173522709,678.173522709,659.173522709,634,879,786,806,653,630,652,0.404129774552,-0.00554603719833,0.0499924329848,0.999999999778,6.96030308534e-06,-1.90462093481e-05,-5.73620696811e-06,1793245212016827904
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713,678.409948506,659,634,879,786,806,653,630,652,0.404506650578,-0.00555544730489,0.0499983946398,0.999999999971,4.37877940776e-06,-5.50830618756e-06,-2.92155544832e-06,1793245212033494272
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713,678.990914277,659,634,879,786,806,653,630,652,0.404898396775,-0.00556480734931,0.0500036621142,0.999999999977,2.85214880097e-06,6.15545695867e-06,5.00520661758e-08,1793245212050160896
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.564157848,679,659,634,879,785.435842152,806,653,630.564157848,652,0.40532324462,-0.00556813867149,0.0499996442242,0.999999999921,1.20802566787e-05,-4.51299082495e-07,3.57466362212e-06,1793245212066827776
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745.141261311,713.858738689,679.141261311,659.141261311,634,879,785.141261311,806.141261311,653,630.858738689,652,0.405747071564,-0.00556794446356,0.0499916170344,0.999999999554,2.46419375127e-05,-1.5547782325e-05,6.55163555679e-06,1793245212083494400
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745.731008827,713.268991173,679.731008827,659.731008827,634,879,785.731008827,806.731008827,653,630.268991173,652,0.406165987527,-0.00555686125009,0.0499713292018,0.999999997248,4.72447993434e-05,-5.66764623645e-05,7.7620286991e-06,1793245212100161280
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,746,713.315849966,679.684150034,659.684150034,634,879.315849966,786,806.684150034,653,630,652,0.406622594181,-0.00554941042574,0.0499530814795,0.99999999373,6.71765825063e-05,-8.91111031658e-05,9.32033959424e-06,1793245212116827648
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,746,713.896576606,679.103423394,659.103423394,634,879.896576606,786,806.103423394,653,630,652,0.407110808879,-0.00554500577796,0.0499365446231,0.999999989809,8.48683602363e-05,-0.000114254792542,1.11704198446e-05,1793245212133494016
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745.5278289,714,679,659,634,879.0556578,785.5278289,806,653,630,652,0.407665790008,-0.00555111392353,0.0499419961388,0.999999990896,9.06110672969e-05,-9.8792517689e-05,1.54310197257e-05,1793245212150160384
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.046782211,785.046782211,806,653,630,652,0.408241218449,-0.00555898906423,0.0499538426433,0.999999992713,9.45540299942e-05,-7.22775981425e-05,2.02542492812e-05,1793245212166827008
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.622849439,785.622849439,806,653,630,652,0.408884305872,-0.00556108346375,0.049984136178,0.999999993698,0.000107428268858,-2.0260978242e-05,2.55335599644e-05,1793245212183493888
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.204109022,633.795890978,879,786,806,653,630,652,0.409520747863,-0.00556316404317,0.0500063060386,0.999999992875,0.000114641861525,1.5571928997e-05,2.94159074805e-05,1793245212200160512
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659.795213395,633.204786605,879,786,806,653,630,652,0.410144589925,-0.00556521841923,0.0500130732265,0.999999993142,0.000111122739892,2.07201455169e-05,3.06495808392e-05,1793245212216827136
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.622484437,633,879,786,806,652.622484437,630,652,0.410759167662,-0.00556531264265,0.0499965461067,0.999999993729,0.000106291573117,-1.89408050908e-05,2.97528687972e-05,1793245212233494016
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.044848325,633,879,786,806,652.044848325,630,652,0.411368834372,-0.00556436779144,0.049967670702,0.999999991148,0.000100764892537,-8.23550416486e-05,2.77268418664e-05,1793245212250160640
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633,879,786,806,652.530194627,630,652,0.412065324866,-0.00556230470828,0.0499519949703,0.999999989485,0.000104427912987,-9.6879029249e-05,2.72023645023e-05,1793245212266827264
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.105106861,713.894893139,679.105106861,659.105106861,633.105106861,879,786,806,652.894893139,630,652,0.412788783233,-0.00556099959802,0.0499454840289,0.999999989254,0.000107856861573,-9.54439142368e-05,2.73902092743e-05,1793245212283493888
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745.680410651,713.319589349,679.680410651,659.680410651,633.680410651,879,786,806,652.319589349,630,652,0.413600187673,-0.00556350637794,0.0499750013586,0.999999993002,0.000106778159429,-4.10259280203e-05,3.01992045966e-05,1793245212300160512
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745.73632964,713.26367036,680,659.73632964,634,879.26367036,786,806,652.26367036,630.26367036,652,0.414380843996,-0.00556610739826,0.0499861886069,0.999999993822,0.000104330614216,-2.15502395014e-05,3.17180297698e-05,1793245212316827136
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745.143126621,713.856873379,680,659.143126621,634,879.856873379,786,806,652.856873379,630.856873379,652,0.415123071729,-0.00556882619967,0.0499744671015,0.999999993436,0.000100172302332,-4.57450883389e-05,3.1624413263e-05,1793245212333493504
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713.563096475,679.563096475,659,634,879.563096475,785.563096475,806.436903525,652.563096475,630.12619295,652,0.415888331486,-0.00556998662802,0.0499527138723,0.999999991723,9.7437250913e-05,-7.8202902727e-05,3.07375280157e-05,1793245212350160128
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.01294544,679,659,633.98705456,879.01294544,785.01294544,806.98705456,652,629.01294544,652,0.416662835783,-0.00557065290749,0.0499288439325,0.999999988801,9.52364838832e-05,-0.000111571721807,2.96740509897e-05,1793245212366826752
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.597861307,679,659,633.402138693,879.597861307,785.597861307,806.402138693,652,629.597861307,652,0.417522184393,-0.00557138200842,0.0499524014257,0.999999992432,9.66446041507e-05,-6.90931283922e-05,3.19539906102e-05,1793245212383493376
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.180980606,745,714,679,659,633.180980606,879.819019394,786,806.180980606,652,630,651.819019394,0.418375785278,-0.00557199463898,0.0499707692679,0.99999999394,9.70919949491e-05,-3.93293528759e-05,3.38472313907e-05,1793245212400160256
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.760147137,745,714,679,659,633.760147137,879.239852863,786,806.760147137,652,630,651.239852863,0.41921674021,-0.00557235101629,0.0499777190568,0.999999994134,9.54256293748e-05,-3.754018827e-05,3.48896736012e-05,1793245212416826880
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.660174238,745,713.660174238,679.339825762,659,634,879.339825762,786,806.660174238,652,630,651.339825762,0.4200686269,-0.00557032413155,0.0499698695614,0.999999993644,9.62873962137e-05,-4.75666241654e-05,3.43254492024e-05,1793245212433493248
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.08013365,745,713.08013365,679.91986635,659,634,879.91986635,786,806.08013365,652,630,651.91986635,0.420928240956,-0.005566612575,0.0499515588003,0.999999992399,9.89362403415e-05,-6.59452297641e-05,3.26255099741e-05,1793245212450159872
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.493086166,745,713.493086166,680,659.493086166,633.506913834,880,786,806.493086166,652,630,652,0.421847316762,-0.00557022871618,0.0499766239147,0.999999994886,9.38502023307e-05,-1.5276063716e-05,3.44390871174e-05,1793245212466827776
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786,807,652.06721323,630,652,0.422771670501,-0.00557465883156,0.0500038467678,0.999999994778,8.80123593888e-05,3.68708018917e-05,3.65909479287e-05,1793245212483495424
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786,807,652.656891117,630,652,0.423662959365,-0.0055762856435,0.0499937946585,0.999999995516,8.59684432625e-05,1.44686703546e-05,3.69944280512e-05,1793245212500161536
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.757715582,745,714,679.757715582,660,633.242284418,879.757715582,786,807,652.757715582,630,652,0.42456506537,-0.00557800459322,0.0499886972545,0.999999995817,8.33792085221e-05,4.69951375496e-06,3.73078923186e-05,1793245212516827648
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.178284338,745,714,679.178284338,660,633.821715662,879.178284338,786,807,652.178284338,630,652,0.425482223914,-0.00557985175595,0.0499904944862,0.999999996016,8.00311445457e-05,1.25095586822e-05,3.7496096607e-05,1793245212533494016
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.401025234,745,714,679,660,634,879.401025234,786,807,652,630.401025234,652,0.426401849929,-0.00557844525725,0.0500021450542,0.999999995595,8.25773576139e-05,2.17041611471e-05,3.89895096719e-05,1793245212550160384
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.980280695,745,714,679,660,634,879.980280695,786,807,652,630.980280695,652,0.427322572524,-0.00557559271273,0.0500181748037,0.999999994811,8.7743202395e-05,3.15141109677e-05,4.10630050669e-05,1793245212566827008
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.446495565,745.553504435,714,679.553504435,660,634,880,786,807,652,631,652,0.428152707561,-0.00557321822345,0.0499798790911,0.999999994297,8.86691720073e-05,-4.39316056873e-05,4.01839032298e-05,1793245212583493632
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.869900599,714,679.869900599,660,633.869900599,880,786,807,652,630.869900599,652,0.429007303694,-0.00557261629409,0.0499494985635,0.999999990467,8.78587423259e-05,-9.89698470445e-05,3.94040788434e-05,1793245212600160512
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.28065782,714,679.28065782,660,633.28065782,880,786,807,652,630.28065782,652,0.429959494152,-0.00557821057796,0.049953808882,0.999999993362,8.14475982137e-05,-7.13828053778e-05,3.93418547483e-05,1793245212616827392
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.303172131,660,633.303172131,880,786,807,652,630,652,0.430875096552,-0.00558075832404,0.049955030362,0.999999994038,7.96333847376e-05,-6.33679981772e-05,3.95850102656e-05,1793245212633494016
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.882079087,660,633.882079087,880,786,807,652,630,652,0.431757422089,-0.00558053524597,0.0499534425453,0.999999993158,8.20000765996e-05,-7.31541250176e-05,4.01059083316e-05,1793245212650160640
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.459999426,745,714,680,659.540000574,634,880,786,807,652,630.459999426,652,0.432633887347,-0.0055789154931,0.0499453161258,0.999999992345,8.29091041984e-05,-8.2815066242e-05,3.97270534352e-05,1793245212666827776
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.962471155,745,713.962471155,680.037528845,659.037528845,633.962471155,880,786,807.037528845,652,631,652,0.433509354751,-0.005577312972,0.0499378451902,0.999999991788,8.31688467529e-05,-8.9232298282e-05,3.93034921395e-05,1793245212683494912
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.386928508,745,713.386928508,680.613071492,659.613071492,633.386928508,880,786,807.613071492,652,631,652,0.434392006614,-0.00558107933466,0.0499637494685,0.999999994749,7.9465938963e-05,-4.96067574841e-05,4.15385690995e-05,1793245212700160768
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713.192462819,680.807537181,660,633.192462819,880,786,807.807537181,652,630.807537181,652,0.43525126169,-0.005582532762,0.0499782898092,0.999999995391,7.86347496245e-05,-3.39785940901e-05,4.335343786e-05,1793245212716827136
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713.779749546,680.220250454,660,633.779749546,880,786,807.220250454,652,630.220250454,652,0.436062520065,-0.00557924136625,0.0499695178376,0.999999993233,8.36946877823e-05,-6.75793520708e-05,4.43062796035e-05,1793245212733493760
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.363337107,745,714,680,660,633.636662893,880.363337107,786,807.363337107,652,630.363337107,652,0.436880333405,-0.00557791767476,0.0499591700947,0.999999991586,8.52302665708e-05,-8.72854176564e-05,4.4097088167e-05,1793245212750160384
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.944704845,745,714,680,660,633.055295155,880.944704845,786,807.944704845,652,630.944704845,652,0.437702080188,-0.00557777475964,0.0499478767665,0.999999990618,8.46509543157e-05,-9.86535810444e-05,4.31905860609e-05,1793245212766827008
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.520972406,881,786,808,652,631,652,0.438535902209,-0.00558236741571,0.0499720171369,0.999999994679,7.87807459439e-05,-4.97260853344e-05,4.43053825892e-05,1793245212783493888
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.098622918,714,680,660,634,880.901377082,786,808.098622918,652,631,652,0.439351420044,-0.00558681085496,0.0499924097082,0.999999996249,7.33614253832e-05,-8.1674151235e-06,4.53067149907e-05,1793245212800160512
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.68577941,714,680,660,634,880.31422059,786,808.68577941,652,631,652,0.440069980005,-0.00558804949725,0.0499757882982,0.999999995747,7.29303832595e-05,-3.45044038404e-05,4.46935792124e-05,1793245212816827136
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.730490073,745.730490073,714,680,660,633.730490073,880.539019854,786,808.730490073,652,630.730490073,652,0.440793581987,-0.00558713320195,0.0499605842598,0.999999994643,7.33522824631e-05,-5.83012773442e-05,4.3971799417e-05,1793245212833493504
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.150703788,745.150703788,714,680,660,633.150703788,881.698592424,786,808.150703788,652,630.150703788,652,0.441522988605,-0.00558373601024,0.0499470119875,0.999999993142,7.47561400884e-05,-7.91738126069e-05,4.31249420207e-05,1793245212850160128
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.42594099,745,714,680.42594099,659.57405901,633,881.148118019,785.57405901,808,652,630,652,0.442219765191,-0.00558412147936,0.0499458449413,0.999999993308,7.48758000165e-05,-7.67030990049e-05,4.35330378189e-05,1793245212866827008
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.001478524,714,681,659,632.998521476,880,785.001478524,808,652,630.001478524,652.001478524,0.442904836939,-0.00558583517736,0.0499489571859,0.999999994047,7.45341491386e-05,-6.61959044271e-05,4.43771882712e-05,1793245212883493632
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.575497507,714,681,659,632.424502493,880,785.575497507,808,652,630.575497507,652.575497507,0.443495242602,-0.00558742107972,0.0499219754834,0.999999989572,7.02153422197e-05,-0.000118504026334,4.33957951496e-05,1793245212900160512
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.845861549,746,714,681,659,632,880.154138451,786,808,652,630.845861549,652.845861549,0.444067617753,-0.00558797808905,0.0498865671476,0.999999980278,6.76670510655e-05,-0.000181993281246,4.17612456541e-05,1793245212916827136
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.254097939,746,714,681,659,632,880.745902061,786,808,652,630.254097939,652.254097939,0.444588801366,-0.00558561389726,0.0498272341675,0.99999995838,7.01455530038e-05,-0.000277227677689,3.827227446e-05,1793245212933494016
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745.669274281,713.669274281,681,659,632,880.338548562,785.669274281,808.330725719,652,630,652,0.44514721688,-0.00558737225282,0.0497987652773,0.999999948583,6.61627021631e-05,-0.000311625182627,3.66895920629e-05,1793245212950160640
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745.089673064,713.089673064,681,659,632,879.179346128,785.089673064,808.910326936,652,630,652,0.445733649863,-0.00559223288019,0.0497935220285,0.999999952617,5.7317597683e-05,-0.000300242114006,3.65414177025e-05,1793245212966827008
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745.483244235,713.483244235,680.516755765,658.516755765,631.516755765,879.483244235,785.483244235,808.516755765,652,630,652,0.446275640293,-0.00558405389836,0.0498021342287,0.999999958373,6.39867556336e-05,-0.00027910932765,3.54521041874e-05,1793245212983493888
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.05678704,746,714,680,658,631,880,785.94321296,808.05678704,652,630,652,0.446799360104,-0.00557458926193,0.0498098844646,0.999999962366,7.26138931798e-05,-0.000262330980839,3.43067692702e-05,1793245213000160256
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.647720729,746,714,680,658,631,880,785.352279271,808.647720729,652,630,652,0.44722773781,-0.00557548101999,0.0497856729322,0.999999950758,7.29481694357e-05,-0.000303296534966,3.42547868718e-05,1793245213016826880
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.76623194,745.76623194,714,680.23376806,658,631,880,784.76623194,809,652,630,652,0.447643448859,-0.00558016875768,0.0497572005635,0.999999936402,6.73074809983e-05,-0.000348617024454,3.36405697606e-05,1793245213033493760
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.187397444,745.187397444,714,680.812602556,658,631,880,784.187397444,809,652,630,652,0.448040462543,-0.0055904597636,0.0497224387507,0.999999917939,5.28471113047e-05,-0.000400365856457,3.21964346207e-05,1793245213050160640
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.390564383,745,714,680.609435617,658,630.609435617,880,784.390564383,808.609435617,652,630,652,0.448441269166,-0.00559526544539,0.0497114588668,0.999999911784,4.60448446265e-05,-0.000416282268154,3.19370100411e-05,1793245213066830848
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.968108478,745,714,680.031891522,658,630.031891522,880,784.968108478,808.031891522,652,630,652,0.448843891664,-0.00559744507112,0.0497118643965,0.999999912429,4.29088349766e-05,-0.000415044187558,3.22447564851e-05,1793245213083502336
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.45969533,745,714,680,657.45969533,629.45969533,880,784.45969533,808.54030467,652,630,652,0.449213332111,-0.00559616809129,0.0497316035552,0.999999924608,4.59474228376e-05,-0.000384088613826,3.38935267816e-05,1793245213100164864
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.116273415,745,714,680.116273415,657,629,880,784,808.883726585,652,629.883726585,652,0.449569683009,-0.00559401376742,0.0497490291323,0.999999934359,4.97995227216e-05,-0.000357151528016,3.52944005061e-05,1793245213116827648
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.708981252,745,714,680.708981252,657,629,880,784,808.291018748,652,629.291018748,652,0.449880345793,-0.00558909230665,0.0497523445823,0.999999935248,5.55062829019e-05,-0.000353797279959,3.53583522954e-05,1793245213133494016
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.294723326,714,681,657,629,880,784,808,652,629,652,0.450171976024,-0.00558637471694,0.0497546813019,0.999999935314,5.89717836462e-05,-0.000353009927542,3.57464990415e-05,1793245213150160384
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.873745972,714,681,657,629,880,784,808,652,629,652,0.450445246841,-0.00558578305031,0.0497560739073,0.999999934614,6.02752952381e-05,-0.000354698682993,3.64473743596e-05,1793245213166827008
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.549680045,745.549680045,714,681,657,629,880,784,808.450319955,652,629,652,0.450685711184,-0.00558954626122,0.0497544137312,0.999999932377,5.68897956273e-05,-0.000361438862346,3.70248806296e-05,1793245213183493632
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.025846399,745,714,681,656.974153601,628.974153601,880.025846399,784,809,652,629,652,0.450914795005,-0.00559433447561,0.0497516999012,0.999999929547,5.23472975536e-05,-0.00036980484285,3.75462709956e-05,1793245213200160512
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.593724122,745,714,681,656.406275878,628.406275878,880.593724122,784,809,652,629,652,0.451097061142,-0.00559515179976,0.0497447417152,0.999999924754,5.09615404034e-05,-0.000382726142233,3.76122796362e-05,1793245213216827392
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.82978695,745,714.17021305,681,656.3404261,628,880.82978695,784,809,652,629,652.17021305,0.451271279794,-0.00559552723488,0.0497382370595,0.999999920056,5.02757661835e-05,-0.000394906818072,3.75381553097e-05,1793245213233494016
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.23164907,745,714.76835093,681,657.536701859,628,880.23164907,784,809,652,629,652.76835093,0.451425266604,-0.00559479173696,0.0497328726048,0.999999915889,5.13497871978e-05,-0.00040522552436,3.71117291125e-05,1793245213250160384
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,745,714.646314795,681,657.646314795,628,880,784.353685205,808.646314795,652.353685205,629,652.646314795,0.451563634681,-0.00559513119988,0.0497291363098,0.999999911837,5.11675589334e-05,-0.000415148259002,3.68875534065e-05,1793245213266827008
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745,714.069073325,681,657.069073325,628,880,784.930926675,808.069073325,652.930926675,629,652.069073325,0.451692130532,-0.0055961501207,0.0497264291365,0.999999907827,5.01912845592e-05,-0.000424820710091,3.67912155315e-05,1793245213283493888
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.506018235,745.506018235,714.506018235,681,656.493981765,628,880,784.493981765,808.506018235,652.493981765,629,652,0.451805826495,-0.00559627176901,0.0497265655631,0.999999907998,4.95354672654e-05,-0.000424496335267,3.67785468772e-05,1793245213300160512
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.917206065,714.917206065,681,656.082793935,628,880,784,808.917206065,652,629,652,0.451913477153,-0.00559656232774,0.0497268876243,0.999999908556,4.85394790944e-05,-0.000423295527621,3.67745109768e-05,1793245213316827136
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.328349938,714.328349938,681,656.671650062,628,880,784,808.328349938,652,629,652,0.451996473159,-0.00559863079354,0.049725981815,0.999999907972,4.51980178581e-05,-0.000425043278882,3.67537268639e-05,1793245213333493760
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.256467839,714,681,656.743532161,627.743532161,880.256467839,784,808,652,629,652.256467839,0.452070486274,-0.00559954889732,0.0497247982852,0.999999907339,4.36231094342e-05,-0.000426704984336,3.66385669068e-05,1793245213350160640
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681,656.95300123,627,881,784,808.95300123,653,629,652,0.452342012349,-0.00559306160961,0.0497107373686,0.999999898489,4.52779551568e-05,-0.000446958295524,3.46430259749e-05,1793245213516827392
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681,656.365967734,627,881,784,808.365967734,653,629,652,0.452345855904,-0.00559397507016,0.0497110438679,0.99999989907,4.42778168031e-05,-0.000445754657133,3.46710800204e-05,1793245213533493760
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.781670237,745,714,681,656.218329763,627,880.781670237,784,808.218329763,653,629,652,0.452348128364,-0.00559425380022,0.0497103548798,0.999999898871,4.32872212659e-05,-0.000446312092415,3.44940663882e-05,1793245213550160384
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.201902138,745,714,681,656.798097862,627,880.201902138,784,808.798097862,653,629,652,0.452347799923,-0.00559348175306,0.0497080178924,0.999999897374,4.2312423633e-05,-0.00044978493209,3.39775694022e-05,1793245213566827264
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,745,714,680.623141556,656.623141556,627,880,784,808.623141556,653,629,652,0.452347549023,-0.00559227673718,0.0497068369984,0.99999989647,4.43604881182e-05,-0.000451594158779,3.39829720633e-05,1793245213583493888
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680.044919331,656.044919331,627,880,784,808.044919331,653,629,652,0.452347339555,-0.00559084037657,0.0497062738306,0.999999895875,4.80237345567e-05,-0.00045251448023,3.42672372366e-05,1793245213600160256
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.528604286,745,714,680.528604286,656,627,880,784,808,652.471395714,629,652,0.452350014797,-0.00559119878816,0.0497067581442,0.99999989666,4.65987842167e-05,-0.000450962458807,3.37882995859e-05,1793245213616827136
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,656.104630741,627,880,784,808.104630741,652,628.895369259,652,0.452352187823,-0.00559143428408,0.049707005754,0.999999897199,4.52593284517e-05,-0.000449937658683,3.33169239184e-05,1793245213633493760
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,656.694088228,627,880,784,808.694088228,652,628.305911772,652,0.452350907864,-0.00559039974598,0.0497057477297,0.999999896081,4.63018974727e-05,-0.0004523207697,3.31784581964e-05,1793245213650160896
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.721156872,745,714,681,656.721156872,627,880.278843128,784,808.721156872,652,628.278843128,652,0.452351405443,-0.00558996923837,0.0497059841917,0.999999895868,4.72914286179e-05,-0.000452677830061,3.33107033388e-05,1793245213666827776
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.141475427,745,714,681,656.141475427,627,880.858524573,784,808.141475427,652,628.858524573,652,0.452353820771,-0.00559019040712,0.0497078330251,0.999999896636,4.82237383817e-05,-0.000450849024874,3.37350130426e-05,1793245213683494400
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,745,714.435692235,681,656.435692235,627,880.564307765,783.564307765,808.435692235,652,629,652,0.452354133842,-0.00558965089043,0.0497078542172,0.99999989665,4.81549528858e-05,-0.000450826107846,3.37100000434e-05,1793245213700160768
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.011931965,745.011931965,714.988068035,681,657,627,880,783.011931965,808.988068035,652.011931965,629,652.011931965,0.45235375526,-0.00558890293647,0.0497072834848,0.999999896414,4.77499719986e-05,-0.000451403910738,3.35490919723e-05,1793245213716827136
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.582723577,745.582723577,714.417276423,681,657,627,880,783.582723577,808.417276423,652.582723577,629,652.582723577,0.452352770704,-0.00558989503299,0.0497066252689,0.999999895818,4.67365570233e-05,-0.00045281009613,3.38176519785e-05,1793245213733493760
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.840129526,746,714,681,656.840129526,627,880,784,808.159870474,653,629,652.840129526,0.452352261638,-0.00559061294446,0.0497061267447,0.999999895466,4.58218592272e-05,-0.000453667471968,3.39831017983e-05,1793245213750160640
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.245708084,746,714,681,656.245708084,627,880,784,808.754291916,653,629,652.245708084,0.452353045024,-0.00559058558145,0.0497060622859,0.999999895787,4.51754890004e-05,-0.000453033104328,3.38682832678e-05,1793245213766827520
+242,4.033333333,HOLD_POSE2,764,746,715,680,656,627,880,783,808,652,629,652,0.452352204528,-0.0055914407237,0.0497045940675,0.999999894871,4.53073331314e-05,-0.000455014401327,3.41609657671e-05,1793245213802534144
+243,4.050000000,HOLD_POSE2,764.573558083,745.426441917,714.426441917,680.573558083,656,627,880,783.573558083,808,652,629,652,0.452352923119,-0.00558954219257,0.0497049441309,0.999999895239,4.54623106801e-05,-0.000454250078129,3.33556513167e-05,1793245213819201280
+244,4.066666667,HOLD_POSE2,765,745.147880128,714,680.852119872,656.147880128,627,880,784,808.147880128,652.147880128,629,652,0.452353692162,-0.00558863939952,0.049705320396,0.999999895624,4.50952615289e-05,-0.000453474355373,3.28427139222e-05,1793245213835867904
+245,4.083333333,HOLD_POSE2,765,745.724416786,714,680.275583214,656.724416786,627,880,784,808.724416786,652.724416786,629,652,0.452354607445,-0.00559062292776,0.0497057726112,0.999999896063,4.32150263133e-05,-0.000452665588816,3.31772826016e-05,1793245213852534016
+246,4.100000000,HOLD_POSE2,764.68931821,746,714,680.31068179,656.68931821,627,880.31068179,784,808.68931821,652.68931821,629,652,0.45235504843,-0.00559117488396,0.0497059242339,0.999999896011,4.33985685668e-05,-0.000452746428651,3.34028418457e-05,1793245213869200384
+247,4.116666667,HOLD_POSE2,764.094144992,746,714,680.905855008,656.094144992,627,880.905855008,784,808.094144992,652.094144992,629,652,0.452355055098,-0.00559041594901,0.0497058006041,0.999999895509,4.54719127215e-05,-0.000453641881432,3.35285810897e-05,1793245213885867008
+248,4.133333333,HOLD_POSE2,764,745.516160859,714,681,656,627,881,784,808,652,629,652.483839141,0.452353720649,-0.00558931789904,0.0497048912453,0.999999894795,4.423188809e-05,-0.000455373717291,3.29843207902e-05,1793245213902533632
+249,4.150000000,HOLD_POSE2,764.058775556,745,714,681,656,627,881,784,808.058775556,652,629,652.941224444,0.452352497879,-0.005588310425,0.0497040618721,0.999999894225,4.28622070398e-05,-0.000456795271077,3.24117919878e-05,1793245213919200256
+250,4.166666667,HOLD_POSE2,764.635316786,745,714,681,656,627,881,784,808.635316786,652,629,652.364683214,0.452354478838,-0.0055886621829,0.0497052377097,0.999999895312,4.58349104589e-05,-0.000454099039454,3.2699277265e-05,1793245213935867136
+251,4.183333333,HOLD_POSE2,764.783299719,745,714,681,656,627,881,784,808.783299719,652.216700281,629,652,0.452355234663,-0.00558919141692,0.0497056274762,0.999999895639,4.70404838769e-05,-0.000453236742389,3.29592460787e-05,1793245213952533760
+252,4.200000000,HOLD_POSE2,764.193581021,745,714,681,656,627,881,784,808.193581021,652.806418979,629,652,0.452353881595,-0.00559002615058,0.0497046641342,0.999999894674,4.52041964434e-05,-0.000455531300605,3.31718492227e-05,1793245213969200384
+253,4.216666667,HOLD_POSE2,764.388426213,745.388426213,714,680.611573787,656,627,880.611573787,784,808,653,629,652,0.452353088733,-0.00558901104395,0.0497041388106,0.999999894174,4.66593841983e-05,-0.000456482580041,3.31473548359e-05,1793245213985867008
+254,4.233333333,HOLD_POSE2,764.966665129,745.966665129,714,680.033334871,656,627,880.033334871,784,808,653,629,652,0.452352569627,-0.00558709197374,0.0497038275339,0.999999893896,4.97230209108e-05,-0.000456777438029,3.30069977338e-05,1793245214002533376
+255,4.250000000,HOLD_POSE2,764.462654106,745.462654106,714,680.537345894,656,627,880,784,808.537345894,653,629,652,0.452354253695,-0.00558836290326,0.0497050419909,0.999999894895,4.64848639842e-05,-0.000454953855694,3.26510465697e-05,1793245214019200256
+256,4.266666667,HOLD_POSE2,764.109061568,745.109061568,714.109061568,681,656,627,880.109061568,783.890938432,808.890938432,652.890938432,629,652,0.4523554078,-0.00558963389425,0.0497058062341,0.999999895595,4.36837539386e-05,-0.000453705980924,3.24491177472e-05,1793245214035866624
+257,4.283333333,HOLD_POSE2,764.68721752,745.68721752,714.68721752,681,656,627,880.68721752,783.31278248,808.31278248,652.31278248,629,652,0.452353702712,-0.0055900657715,0.0497042325594,0.999999894734,4.44206429355e-05,-0.000455491753656,3.29663968281e-05,1793245214052533248
+258,4.300000000,HOLD_POSE2,765,746,714.72775979,681,656,627,881,783.27224021,808,652,629,652,0.452353450017,-0.00558990129719,0.0497038484873,0.999999894555,4.4936457299e-05,-0.000455822284464,3.31270547278e-05,1793245214069200128
+259,4.316666667,HOLD_POSE2,765,746,714.134643655,681,656,627,881,783.865356345,808,652,629,652,0.452354909185,-0.00558903393307,0.0497048665405,0.999999895182,4.51917020007e-05,-0.000454437594265,3.28673810401e-05,1793245214085867264
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,656,626,880,785,808,652,629,652,0.452354917225,-0.00558718061034,0.0497049538318,0.999999894913,4.62395615714e-05,-0.00045492777296,3.27968871872e-05,1793245214118514688
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764.574430352,745,714,681,655.425569648,626,880,784.425569648,808,652.574430352,629,652,0.452354350808,-0.00558761210499,0.0497045469731,0.999999894553,4.64912548643e-05,-0.000455687804591,3.28841428431e-05,1793245214135180544
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.846523048,745.153476952,714.153476952,681,655.153476952,626,880,784,808.153476952,653,629,652,0.452354327855,-0.00558767676545,0.0497045769794,0.999999894487,4.69165926806e-05,-0.000455788082149,3.28901337375e-05,1793245214151846656
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.254279178,745.745720822,714.745720822,681,655.745720822,626,880,784,808.745720822,653,629,652,0.452355858582,-0.00558669270368,0.0497058559157,0.999999895263,4.78383534483e-05,-0.000454002224813,3.26638012413e-05,1793245214168513024
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.330489158,745.669510842,715,681,656,626.330489158,880,784,808.669510842,653,629,652,0.452356793009,-0.00558682557767,0.0497059552707,0.999999895514,4.78854279284e-05,-0.000453437314695,3.27780661151e-05,1793245214185179648
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.909632988,745.090367012,715,681,656,626.909632988,880,784,808.090367012,653,629,652,0.452357278789,-0.00558779881604,0.0497051671278,0.99999989537,4.72744026038e-05,-0.000453791025532,3.31485909293e-05,1793245214201846272
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,656,626.515241684,880,783.515241684,808,652.515241684,629,652,0.452355953184,-0.00558760246062,0.0497049357739,0.999999895165,4.56550399406e-05,-0.000454425075832,3.2925402717e-05,1793245214218512896
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.060339706,714.939660294,681,656,626.060339706,880,783.060339706,808.060339706,652,629,652,0.452353852294,-0.00558730691756,0.0497044168093,0.999999894707,4.41192784405e-05,-0.000455606724218,3.25984383935e-05,1793245214235179520
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.646367122,714.353632878,681,656,626.646367122,880,783.646367122,808.646367122,652,629,652,0.452347914676,-0.00558803114344,0.0497004953012,0.999999892158,4.49360252939e-05,-0.000461107569075,3.23236765404e-05,1793245214251846656
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.769794198,714,681,656,626.769794198,880,783.769794198,808.769794198,652.230205802,629,652,0.452337163538,-0.00558801094745,0.0496951069246,0.99999988812,4.58887426266e-05,-0.000469704999768,3.21159126249e-05,1793245214268513280
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.189286151,714,681,656,626.189286151,880,783.189286151,808.189286151,652.810713849,629,652,0.452319087708,-0.00558685797089,0.049687486427,0.999999881729,4.70483650227e-05,-0.000483014478703,3.20100989335e-05,1793245214285179648
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.03339185,745.96660815,714.96660815,681,656,626.96660815,880,783.96660815,808.96660815,652.03339185,629,652,0.452231395054,-0.00558336265615,0.0496522650205,0.999999848572,4.75523647241e-05,-0.000547467085494,2.95673843928e-05,1793245214318512896
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.541821469,745.458178531,714.458178531,681,656,627,880,784,808.458178531,652,629,652,0.452165503804,-0.00558109785009,0.0496312493441,0.99999983118,4.9886662561e-05,-0.000578232506598,2.82728331808e-05,1793245214335179264
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.880464389,745.119535611,714,681,656,627,880.119535611,784,808,652,629,652,0.452097538618,-0.00557877959761,0.0496128586403,0.999999815574,5.16647739335e-05,-0.000604522565618,2.7106480951e-05,1793245214351846144
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.292410474,745.707589526,714,681,656,627,880.707589526,784,808,652,629,652,0.452025540209,-0.00557634840133,0.0496051074436,0.999999809554,5.07194692392e-05,-0.000614509378275,2.64079363421e-05,1793245214368513024
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.29136752,746,714.29136752,681,656,627,880.70863248,784,808.29136752,652,629,652,0.451944697561,-0.00557266467895,0.0496014277612,0.999999806616,5.26356006404e-05,-0.000619143316326,2.56702084274e-05,1793245214385179648
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1713db4a449c9e532a2930ecc834f60578da6b23
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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+354,5.900000000,pose2_to_pose3_retreat,0.578352199633,-0.000122139808137,1.04005095837,0.548923831997,0.0085535436931,1.03971746425
+355,5.916666667,pose2_to_pose3_retreat,0.578081846466,-0.00012219765548,1.04005091108,0.548653481578,0.00855349476496,1.03971740649
+356,5.933333333,pose2_to_pose3_retreat,0.577825409903,-0.000122223015203,1.0400507451,0.548397044638,0.00855346805244,1.03971723863
+357,5.950000000,pose2_to_pose3_retreat,0.577578903467,-0.000122149082352,1.04005082605,0.548150536348,0.0085535356916,1.03971731937
+358,5.966666667,pose2_to_pose3_retreat,0.577342605212,-0.000122116902013,1.04005105757,0.547914237396,0.00855356546302,1.03971754971
+359,5.983333333,pose2_to_pose3_retreat,0.57712219966,-0.000122181832184,1.04005111042,0.547693832363,0.00855350223584,1.03971760112
+360,6.000000000,pose2_to_pose3_retreat,0.576919479444,-0.000122170310521,1.04005096929,0.547491111688,0.00855351211087,1.03971745771
+361,6.016666667,pose2_to_pose3_retreat,0.576738615069,-0.000122315839662,1.04005071073,0.547310249666,0.00855337458836,1.03971719967
+362,6.033333333,pose2_to_pose3_retreat,0.576578918899,-0.000122086274305,1.04005099716,0.547150552654,0.00855360155768,1.03971749299
+363,6.050000000,pose2_to_pose3_retreat,0.576441130904,-0.000122217531519,1.04005091137,0.547012764399,0.00855346929318,1.03971740403
+364,6.066666667,pose2_to_pose3_retreat,0.576319962085,-0.000122092748187,1.04005081356,0.546891593921,0.00855358841943,1.03971730537
+365,6.083333333,pose2_to_pose3_retreat,0.576214422652,-0.000122147447811,1.04005091882,0.546786055782,0.00855353799913,1.03971740785
+366,6.100000000,pose2_to_pose3_retreat,0.576122594177,-0.000122237427347,1.04005094744,0.546694228782,0.00855345301108,1.03971743645
+367,6.116666667,pose2_to_pose3_retreat,0.576041885012,-0.000122209040166,1.04005082759,0.546613518902,0.00855347911937,1.03971732089
+368,6.133333333,pose2_to_pose3_retreat,0.57597128386,-0.000122186125362,1.04005112713,0.546542916543,0.00855349793575,1.03971762015
+369,6.150000000,pose2_to_pose3_retreat,0.575909665728,-0.000122186782511,1.04005106029,0.546481300013,0.00855350250289,1.03971754777
+370,6.166666667,pose2_to_pose3_retreat,0.575856726646,-0.000122159714853,1.04005095928,0.546428360779,0.00855352906149,1.03971744687
+371,6.183333333,pose2_to_pose3_retreat,0.575813254125,-0.000122141087061,1.04005089585,0.546384887037,0.0085535437362,1.03971738829
+372,6.200000000,pose2_to_pose3_retreat,0.575778215073,-0.000122165119118,1.04005092186,0.546349847506,0.0085535181685,1.03971741658
+373,6.216666667,pose2_to_pose3_retreat,0.575750726153,-0.000122224700387,1.04005098384,0.546322359476,0.00855346147675,1.03971747514
+374,6.233333333,pose2_to_pose3_retreat,0.575729081538,-0.000122226854843,1.04005070272,0.546300714822,0.00855345920117,1.0397171943
+375,6.250000000,pose2_to_pose3_retreat,0.575712797038,-0.000122166964373,1.04005080444,0.546284430721,0.00855352044799,1.0397172961
+376,6.266666667,pose2_to_pose3_retreat,0.575699880552,-0.000122153707758,1.04005098764,0.54627151536,0.00855353745934,1.03971747776
+377,6.283333333,pose2_to_pose3_retreat,0.575690188726,-0.000122198509857,1.040051154,0.54626182513,0.00855349796653,1.03971764141
+378,6.300000000,pose2_to_pose3_retreat,0.575683358763,-0.000122113486106,1.04005102721,0.546254992887,0.00855357562931,1.03971752432
+379,6.316666667,pose2_to_pose3_retreat,0.575678866551,-0.000122121527332,1.04005103426,0.546250499974,0.00855356519264,1.03971753104
+380,6.333333333,pose2_to_pose3_retreat,0.575676406597,-0.000122175702894,1.0400511085,0.546248040255,0.00855351160866,1.03971759988
+381,6.350000000,pose2_to_pose3_retreat,0.575674777701,-0.0001222112079,1.04005113672,0.546246411529,0.00855347657072,1.03971762522
+382,6.366666667,pose2_to_pose3_retreat,0.575673688146,-0.000122233124921,1.04005105145,0.54624532216,0.00855345534095,1.03971754146
+383,6.383333333,pose2_to_pose3_retreat,0.57567299434,-0.000122247081221,1.04005099716,0.546244628473,0.00855344182228,1.03971748812
+384,6.400000000,pose2_to_pose3_retreat,0.575672552584,-0.000122255967385,1.04005096258,0.546244186792,0.00855343321476,1.03971745416
+385,6.416666667,pose2_to_pose3_retreat,0.575672076959,-0.000122265534869,1.04005092536,0.546243711248,0.00855342394729,1.03971741759
+386,6.433333333,pose2_to_pose3_retreat,0.575671767029,-0.000122271769273,1.04005090111,0.546243401371,0.00855341790838,1.03971739376
+387,6.450000000,pose2_to_pose3_retreat,0.575671724827,-0.000122272618197,1.0400508978,0.546243359176,0.00855341708608,1.03971739052
+388,6.466666667,pose2_to_pose3_retreat,0.57567159706,-0.000122271548477,1.04005089292,0.546243231433,0.00855341824376,1.03971738581
+389,6.483333333,pose2_to_pose3_retreat,0.575671359986,-0.00012226290721,1.04005089323,0.546242994408,0.00855342706174,1.03971738641
+390,6.500000000,pose2_to_pose3_retreat,0.575671079987,-0.000122252701363,1.04005089359,0.546242714467,0.00855343747629,1.03971738711
+391,6.516666667,pose2_to_pose3_retreat,0.575670827077,-0.000122243482871,1.04005089391,0.546242461608,0.0085534468833,1.03971738775
+392,6.533333333,pose2_to_pose3_retreat,0.575670781591,-0.000122241824949,1.04005089397,0.546242416132,0.00855344857512,1.03971738787
+393,6.550000000,pose2_to_pose3_retreat,0.575670714787,-0.000122239389966,1.04005089406,0.546242349342,0.0085534510599,1.03971738804
+394,6.566666667,pose2_to_pose3_retreat,0.575670628263,-0.000122236236189,1.04005089417,0.546242262836,0.00855345427817,1.03971738826
+395,6.583333333,pose2_to_pose3_retreat,0.575670377301,-0.000122227088716,1.04005089449,0.546242011925,0.00855346361271,1.03971738889
+396,6.600000000,pose2_to_pose3_retreat,0.575670031196,-0.000122223958169,1.0400508905,0.546241665333,0.00855346510688,1.03971738526
+397,6.616666667,pose2_to_pose3_retreat,0.575669809684,-0.000122228269782,1.040050885,0.546241443139,0.00855345848667,1.03971737993
+398,6.633333333,pose2_to_pose3_retreat,0.575669607414,-0.000122232206877,1.04005087997,0.546241240246,0.00855345244151,1.03971737506
+399,6.650000000,pose2_to_pose3_retreat,0.575669510851,-0.000122267366743,1.04005081055,0.546241144941,0.00855342138391,1.03971730128
+400,6.666666667,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
+401,6.683333333,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..60de65a96787f0d3aac19f9fc33ba33194ee2c24
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f67d56cfca02a3ec7ecd32c6c7435ab6ce10a1aedf6278b9f833b10cc9e787b
+size 25566686
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7bc93300416a2521b272438294cc475421d8fd9f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+30,0.500000000,BASELINE,764,745,714,678.415335097,659,634,878.415335097,786,806,653,630,652,0.400990184239,-0.00543317960803,0.0498519703352,0.999999965406,6.64284567476e-05,-0.000251797215444,-3.70538067347e-05,1793245217117538048
+31,0.516666667,BASELINE,764,745,714,678.989665228,659,634,878.989665228,786,806,653,630,652,0.400989712491,-0.00543215232053,0.0498517520683,0.999999965423,6.7279894417e-05,-0.000251497081768,-3.7095502576e-05,1793245217134204672
+32,0.533333333,BASELINE,764,745,714,679,659.579111059,634,879,786,806,653,630,652,0.400989918363,-0.00543318550408,0.0498509271848,0.999999965221,6.631996855e-05,-0.000252561555994,-3.70428607515e-05,1793245217150871296
+33,0.550000000,BASELINE,764,745,714,679,659.834117535,634,878.834117535,786,806,653,630,652,0.400990035597,-0.00543421608219,0.0498505085654,0.999999965098,6.5304747395e-05,-0.000253320712218,-3.69981974917e-05,1793245217167537920
+34,0.566666667,BASELINE,764,745,714,679,659.254703837,634,878.254703837,786,806,653,630,652,0.400989900909,-0.00543514604116,0.0498511304397,0.999999965184,6.42344242626e-05,-0.000253256399499,-3.69777335552e-05,1793245217184204544
+35,0.583333333,BASELINE,764,745,713.678272566,679,659,633.678272566,878,786,806,653,629.678272566,652,0.4009898832,-0.00543490984919,0.0498514794617,0.999999965173,6.45415325057e-05,-0.000253222334203,-3.69783356004e-05,1793245217200871168
+36,0.600000000,BASELINE,764,745,713.104180662,679,659,633.104180662,878,786,806,653,629.104180662,652,0.400989957251,-0.0054337589232,0.0498516144574,0.999999965084,6.59291040979e-05,-0.00025321199512,-3.69954618957e-05,1793245217217538048
+37,0.616666667,BASELINE,764.469743125,745,713.469743125,679,659.469743125,633.469743125,878,785.530256875,806,653,629,652,0.400989802547,-0.00543322927549,0.0498511970257,0.999999964905,6.76481531008e-05,-0.000253447986023,-3.71126894981e-05,1793245217234204928
+38,0.633333333,BASELINE,764.954884227,745,714,679,659.954884227,634,878,785.045115773,806,653,629.045115773,652,0.400989610261,-0.00543281993265,0.0498507191272,0.999999964724,6.92916369298e-05,-0.000253700308726,-3.72523102174e-05,1793245217250871808
+39,0.650000000,BASELINE,764.361449272,745,714,679,659.361449272,634,878,785.638550728,806,653,629.638550728,652,0.400989577601,-0.00543219869998,0.0498509948486,0.999999964784,6.91235710353e-05,-0.000253487388587,-3.73943662877e-05,1793245217267538176
+40,0.666666667,BASELINE,764,745,714,679,659,634,878,786,806,653,630,652,0.400989086503,-0.0054318765701,0.0498508510852,0.999999964721,6.88873829567e-05,-0.000253800697019,-3.73878302064e-05,1793245217284204800
+41,0.683333333,BASELINE,764,745,714,679,659,634,878,786,806,653,630,652,0.400987881128,-0.00543202046245,0.0498500537362,0.999999964465,6.85450559617e-05,-0.000254933904835,-3.71497775889e-05,1793245217300871424
+42,0.700000000,BASELINE,764,745,714,679,659.382217961,634,878,786,806,653,630,652,0.400988634956,-0.00543220588831,0.0498502848487,0.999999964568,6.82959317989e-05,-0.000254597943297,-3.71504432098e-05,1793245217317537792
+43,0.716666667,BASELINE,764,745,714,679,659.957969988,634,878,786,806,653,630,652,0.400990380817,-0.00543241234444,0.0498510367173,0.999999964851,6.80940004133e-05,-0.000253518075508,-3.72719825692e-05,1793245217334204416
+44,0.733333333,BASELINE,763.456819551,745,714,679,659.456819551,634,878.543180449,786,806,653,630,652,0.400989303272,-0.00543209728513,0.049850827577,0.999999964773,6.79191597476e-05,-0.000253859549984,-3.73800520674e-05,1793245217350871296
+45,0.750000000,BASELINE,763.127700022,745,713.872299978,678.872299978,659,633.872299978,879,786,806.127700022,653,630,652,0.400988666579,-0.00543177809581,0.0498507784595,0.999999964776,6.81858487624e-05,-0.000253764884908,-3.74386260109e-05,1793245217367537920
+46,0.766666667,BASELINE,763.707140552,745,713.292859448,678.292859448,659,633.292859448,879,786,806.707140552,653,630,652,0.400990375937,-0.00543158957789,0.0498515631383,0.999999965169,7.0006908071e-05,-0.000251731419603,-3.73258611222e-05,1793245217384205056
+47,0.783333333,BASELINE,764,745.285204335,713.285204335,678.285204335,659,633,879,785.714795665,806.714795665,653,629.714795665,652,0.400990126724,-0.00543161329757,0.0498514652211,0.999999965059,7.08296210136e-05,-0.000251951869205,-3.72306747209e-05,1793245217400871680
+48,0.800000000,BASELINE,764,745.861861278,713.861861278,678.861861278,659,633,879,785.138138722,806.138138722,653,629.138138722,652,0.400987876031,-0.00543185390456,0.049850465372,0.999999964436,7.06321159784e-05,-0.000254475612373,-3.71534519039e-05,1793245217417538048
+49,0.816666667,BASELINE,764,745.563531632,713.563531632,679,659,633.436468368,879,785.872936735,805.563531632,653,629,652,0.400989446709,-0.00543313389544,0.0498515749547,0.999999965171,6.79021515125e-05,-0.000252333665945,-3.70686842551e-05,1793245217434204672
+50,0.833333333,BASELINE,764,745,713.010735679,679,659.010735679,634,878.989264321,786.989264321,805.010735679,653,629.010735679,652,0.400992140404,-0.00543468374833,0.049853294714,0.999999966277,6.44866909629e-05,-0.00024883530194,-3.69852453464e-05,1793245217450871296
+51,0.850000000,BASELINE,764,745,713.601535906,679,659.601535906,634,878.398464094,786.398464094,805.601535906,653,629.601535906,652,0.400990470396,-0.00543312372201,0.0498520794529,0.999999965442,6.71368079765e-05,-0.000251460473628,-3.71020174567e-05,1793245217467537920
+52,0.866666667,BASELINE,764,745,714,679,659.81147643,633.81147643,878,786,806,653,629.81147643,652,0.400989489853,-0.00543228449319,0.0498512858771,0.999999964961,6.86847908191e-05,-0.000252938941547,-3.7169182352e-05,1793245217484204800
+53,0.883333333,BASELINE,764,745,714,679,659.232387314,633.232387314,878,786,806,653,629.232387314,652,0.400989937678,-0.00543293854551,0.0498513659094,0.999999965239,6.79494747315e-05,-0.000252041775408,-3.713357564e-05,1793245217500871424
+54,0.900000000,BASELINE,764,745,713.655041793,678.655041793,659.344958207,633.344958207,878,786,806,653,629.344958207,652,0.400988968302,-0.00543259957702,0.0498507436622,0.999999964934,6.859584911e-05,-0.000253061313879,-3.72257100635e-05,1793245217517537792
+55,0.916666667,BASELINE,764,745,713.078864993,678.078864993,659.921135007,633.921135007,878,786,806,653,629.921135007,652,0.400987049003,-0.0054315950065,0.0498496506911,0.999999964233,7.01683430263e-05,-0.000255365581184,-3.74034668188e-05,1793245217534204416
+56,0.933333333,BASELINE,764,745,713.49509346,678.49509346,659.50490654,633.50490654,878,785.50490654,806,653,630,652,0.400987859185,-0.00543182464108,0.0498501989484,0.999999964623,6.89464591951e-05,-0.00025416244512,-3.74481664167e-05,1793245217550871296
+57,0.950000000,BASELINE,764.070827906,745,714,679,659.070827906,633.070827906,878.070827906,785.070827906,806,653,630,652,0.400988867396,-0.00543221197833,0.0498508742823,0.999999965089,6.75547418182e-05,-0.000252692201005,-3.74751514025e-05,1793245217567537664
+58,0.966666667,BASELINE,764.662200045,745,714,679,659.662200045,633.662200045,878.662200045,785.662200045,806,653,630,652,0.400988149829,-0.00543231988459,0.0498505707188,0.99999996488,6.81716674413e-05,-0.000253346713049,-3.7527021055e-05,1793245217584204544
+59,0.983333333,BASELINE,764.75161231,745,713.75161231,678.75161231,660,633.75161231,879,785.75161231,806,652.75161231,630,652,0.400988362527,-0.00543271578018,0.0498504230016,0.999999964849,6.85308432257e-05,-0.000253374203945,-3.75115778721e-05,1793245217600871168
+60,1.000000000,BASELINE,764.172331184,745,713.172331184,678.172331184,660,633.172331184,879,785.172331184,806,652.172331184,630,652,0.40098981449,-0.00543349532514,0.049850482897,0.999999965056,6.85466537314e-05,-0.000252566399181,-3.74064628801e-05,1793245217617537792
+61,1.016666667,BASELINE,764,745,713.403811455,678.403811455,659.596188545,633.403811455,879,785.403811455,806,652,630,652,0.400990120683,-0.00543367270423,0.0498509447256,0.999999965178,6.8192123131e-05,-0.000252194724474,-3.73061565905e-05,1793245217634204672
+62,1.033333333,BASELINE,764,745,713.978625005,678.978625005,659.021374995,633.978625005,879,785.978625005,806,652,630,652,0.400989941675,-0.00543359508401,0.0498515767608,0.999999965263,6.76807641285e-05,-0.000252007737871,-3.72078866492e-05,1793245217650871552
+63,1.050000000,BASELINE,764,745,714,679,659,634,879,786,806,652.565469865,630,652,0.400989812485,-0.00543238415716,0.0498518560848,0.999999965119,6.96577717838e-05,-0.000252046641857,-3.71766898583e-05,1793245217667538176
+64,1.066666667,BASELINE,764,745,714,679,659,634,878.848558361,786,806,653,630,652,0.40098944305,-0.00543152658436,0.0498517749506,0.999999964988,7.07846399152e-05,-0.00025224874181,-3.72054964915e-05,1793245217684204800
+65,1.083333333,BASELINE,764,745,714,679,659,634,878.266391434,786,806,653,630,652,0.400988384846,-0.00543179850081,0.0498507073573,0.999999964928,6.92202274882e-05,-0.00025289018473,-3.73975950332e-05,1793245217700871424
+66,1.100000000,BASELINE,764,745,714,679.311402485,659,633.688597515,878,786,805.688597515,653,630,652,0.400988558925,-0.00543237224514,0.0498505237293,0.999999965025,6.87937454595e-05,-0.00025264295274,-3.72666504225e-05,1793245217717538048
+67,1.116666667,BASELINE,764,745,714,679.885507263,659,633.114492737,878,786,805.114492737,653,630,652,0.40098977257,-0.00543320061451,0.0498510858236,0.999999965255,6.93272331236e-05,-0.00025164602556,-3.68631833256e-05,1793245217734204672
+68,1.133333333,BASELINE,764,745,714,679.077687127,659.461156437,633.461156437,878,786,805,653,630,652,0.400989382775,-0.00543375321748,0.0498511928968,0.999999965135,6.81614821463e-05,-0.000252417366907,-3.70038502628e-05,1793245217750871552
+69,1.150000000,BASELINE,764,745,714,678,660,634,878.038202449,786,805.038202449,653,629.961797551,652,0.400988613173,-0.00543409250637,0.0498511470276,0.999999964926,6.69052305689e-05,-0.000253543355484,-3.72494113074e-05,1793245217767538432
+70,1.166666667,BASELINE,764,745,714,678,660,634,878.629912191,786,805.629912191,653,629.370087809,652,0.400988127886,-0.00543233644534,0.0498505275001,0.999999964718,7.04707378396e-05,-0.000253425603804,-3.70508372902e-05,1793245217784204800
+71,1.183333333,BASELINE,763.783802827,745.216197173,714,678.216197173,660,634,878.783802827,786,806,653,629.216197173,652,0.400988120528,-0.00543127088283,0.0498506366692,0.99999996476,7.18592069745e-05,-0.000252880275944,-3.69944801546e-05,1793245217800871168
+72,1.200000000,BASELINE,763.20657659,745.79342341,714,678.79342341,660,634,878.20657659,786,806,653,629.79342341,652,0.400988911266,-0.00543135838799,0.0498519626931,0.99999996523,6.96122265668e-05,-0.000251620935828,-3.71756118812e-05,1793245217817537792
+73,1.216666667,BASELINE,763.367739377,745.632260623,714,679,660,634,878,786,806,653,630,652,0.400989554666,-0.00543100562165,0.0498523161569,0.999999965259,7.00169648256e-05,-0.000251368406194,-3.73176965906e-05,1793245217834205440
+74,1.233333333,BASELINE,763.940433311,745.059566689,714,679,660,634,878,786,806,653,630,652,0.400990115949,-0.00543040747595,0.0498521275773,0.999999965044,7.18996026675e-05,-0.000251677008808,-3.74380189633e-05,1793245217850873344
+75,1.250000000,BASELINE,763.484994208,745,714,678.484994208,660,634,878.515005792,786,806,652.484994208,630,652,0.40098968649,-0.00543111938152,0.0498522850696,0.999999965227,7.02981642629e-05,-0.000251394435765,-3.74904098784e-05,1793245217867539456
+76,1.266666667,BASELINE,763.093087092,745,714,678.093087092,659.906912908,634,878.906912908,785.906912908,806,652.093087092,630,652,0.400989445034,-0.00543192888567,0.0498525462739,0.999999965473,6.86123328184e-05,-0.000250881705876,-3.74752093482e-05,1793245217884205312
+77,1.283333333,BASELINE,763.688941852,745,714,678.688941852,659.311058148,634,878.311058148,785.311058148,806,652.688941852,630,652,0.40099084017,-0.00543244414337,0.0498531506504,0.999999965829,6.86551498073e-05,-0.000249496545793,-3.71375362269e-05,1793245217900872192
+78,1.300000000,BASELINE,764.27461247,745.27461247,714,679,659,634,878.27461247,785.27461247,806,653,630,652,0.400991641909,-0.00543211699056,0.0498532127813,0.999999965867,6.9837361423e-05,-0.000249034405752,-3.70320413184e-05,1793245217917538816
+79,1.316666667,BASELINE,764.849159814,745.849159814,714,679,659,634,878.849159814,785.849159814,806,653,630,652,0.400991795532,-0.00543086974737,0.0498526826653,0.999999965553,7.22640328509e-05,-0.000249580398824,-3.71801341256e-05,1793245217934205440
+80,1.333333333,BASELINE,764.575932991,745.575932991,714,679,659,634,879,786,806.424067009,652.575932991,630,652,0.40099168413,-0.00543202088586,0.0498525987765,0.999999965681,7.02116347252e-05,-0.000249643414886,-3.72356110041e-05,1793245217950872064
+81,1.350000000,BASELINE,764.000897642,745.000897642,714,679,659,634,879,786,806.999102358,652.000897642,630,652,0.400991478379,-0.00543402585086,0.0498526737451,0.999999965957,6.65646829161e-05,-0.000249534490623,-3.72581165178e-05,1793245217967538432
+82,1.366666667,BASELINE,764,745,714,679,659,634,878.409450677,786,805.818901354,652.590549323,630,652,0.40098958988,-0.00543438634923,0.0498516946585,0.999999965564,6.5740300929e-05,-0.000251335332309,-3.71491279034e-05,1793245217984205312
+83,1.383333333,BASELINE,764,745,714,679,659.178241645,633.821758355,878,786,805.178241645,653,630,652,0.400988034186,-0.00543440115905,0.0498508557323,0.99999996516,6.61075720423e-05,-0.000252868431002,-3.69803484392e-05,1793245218000871680
+84,1.400000000,BASELINE,764,745,714,679,659.757430451,633.242569549,878,786,805.757430451,653,630,652,0.400987233044,-0.00543364414041,0.0498503357979,0.999999964732,6.91454902418e-05,-0.000253792536793,-3.66775343822e-05,1793245218017538560
+85,1.416666667,BASELINE,764,745.334617682,714,679,660,633.334617682,878,786,806,653,630,652,0.400988532689,-0.00543310914846,0.0498507139536,0.999999964956,6.94003300333e-05,-0.000252812715983,-3.6848880134e-05,1793245218034204928
+86,1.433333333,BASELINE,764,745.910362534,714,679,660,633.910362534,878,786,806,653,630,652,0.400991346174,-0.00543273415008,0.0498517392776,0.999999965648,6.76496694665e-05,-0.000250460916118,-3.7361907826e-05,1793245218050871296
+87,1.450000000,BASELINE,764,746,714,678.515010996,659.515010996,634,878,786,805.515010996,653,630,652,0.400990678245,-0.00543209242552,0.049851630595,0.999999965419,7.00169312652e-05,-0.000250734234396,-3.73122591067e-05,1793245218067538688
+88,1.466666667,BASELINE,764,745.938797458,713.938797458,678.061202542,659,634,878,786,805.122405085,653,630,652,0.400989417307,-0.00543152007161,0.0498512858426,0.999999965031,7.26889749053e-05,-0.000251541869788,-3.71580858362e-05,1793245218084205824
+89,1.483333333,BASELINE,764,745.347038044,713.347038044,678.652961956,659,634,878,786,806.305923912,653,630,652,0.400988580776,-0.00543197545177,0.0498507073724,0.999999964815,7.14205248461e-05,-0.000252785109878,-3.69972559766e-05,1793245218100872448
+90,1.500000000,BASELINE,764,745,713.238692017,679,659,634,878.238692017,785.761307983,806.761307983,653,629.761307983,652,0.400988743219,-0.00543228982758,0.049850898699,0.999999964897,7.05712747504e-05,-0.00025271410699,-3.69068061354e-05,1793245218117539072
+91,1.516666667,BASELINE,764,745,713.815871838,679,659,634,878.815871838,785.184128162,806.184128162,653,629.184128162,652,0.400990322301,-0.00543240424589,0.0498521816703,0.999999965401,7.03164898659e-05,-0.000250779383443,-3.69161618148e-05,1793245218134205952
+92,1.533333333,BASELINE,763.609161115,745.390838885,714,679,659,634,879,785.390838885,806,653,629.390838885,652,0.40099028442,-0.00543372366274,0.0498521698427,0.999999965553,6.84679549072e-05,-0.00025070797378,-3.67654700749e-05,1793245218150872320
+93,1.550000000,BASELINE,763.035230609,745.964769391,714,679,659,634,879,785.964769391,806,653,629.964769391,652,0.40098948906,-0.00543560757088,0.0498515514562,0.999999965534,6.58728148734e-05,-0.000251509448335,-3.65398028338e-05,1793245218167538688
+94,1.566666667,BASELINE,763,745.446113677,714,679.553886323,659,634,879,786,806,653,630,652,0.400990170997,-0.00543443989561,0.0498524109225,0.999999965735,6.76635357428e-05,-0.000250224207416,-3.65899937459e-05,1793245218184205568
+95,1.583333333,BASELINE,763.141314007,745.141314007,714,679.858685993,659,634,879,786,806,652.858685993,630,652.141314007,0.400990311241,-0.00543261354388,0.0498528641547,0.999999965682,7.01148456594e-05,-0.000249727787682,-3.68262981919e-05,1793245218200872192
+96,1.600000000,BASELINE,763.720431429,745.720431429,714,679.279568571,659,634,879,786,806,652.279568571,630,652.720431429,0.400988473956,-0.00542936484358,0.049851759406,0.999999964799,7.37240877694e-05,-0.000252098001658,-3.7583306574e-05,1793245218217538560
+97,1.616666667,BASELINE,764,745.701513039,714,679,659.298486961,634,879,786,806,652.298486961,630,652.701513039,0.400988791426,-0.00542937718687,0.0498519677462,0.999999964906,7.29687754841e-05,-0.000251907371032,-3.74977765611e-05,1793245218234204928
+98,1.633333333,BASELINE,764,745.124448602,714,679,659.875551398,634,879,786,806,652.875551398,630,652.124448602,0.400991119926,-0.00543243305789,0.0498534015906,0.999999965926,6.81400302907e-05,-0.000249326707474,-3.66259065621e-05,1793245218250871552
+99,1.650000000,BASELINE,764,745,714,679,659.549927318,634,878.549927318,786,806,653,630,652,0.400991547597,-0.00543266736117,0.0498535947707,0.999999966075,6.73949408983e-05,-0.000248908852904,-3.67794909102e-05,1793245218267538432
+100,1.666666667,BASELINE,764,745,713.975418159,679,659,634,878,786,806,653,630,652,0.400991390775,-0.0054321107689,0.049853384507,0.999999965963,6.78749869105e-05,-0.000249166200795,-3.71868382395e-05,1793245218284205056
+101,1.683333333,BASELINE,764,745,713.385094887,679,659,634,878,786,806,653,630,652,0.40098981043,-0.00543120679866,0.0498517400185,0.999999965248,7.070982548e-05,-0.000251276895617,-3.69454051453e-05,1793245218300871680
+102,1.700000000,BASELINE,764,745.201141474,713.201141474,679,659.201141474,634,878.201141474,786,806,653,630,652,0.400988777995,-0.00543122356366,0.0498507818371,0.999999964822,7.2084036096e-05,-0.000252595330114,-3.68137727379e-05,1793245218317538048
+103,1.716666667,BASELINE,764,745.779709005,713.779709005,679,659.779709005,634,878.779709005,786,806,653,630,652,0.400988773673,-0.00543296801558,0.0498511114568,0.999999964959,7.0717493646e-05,-0.000252427150583,-3.68881726565e-05,1793245218334205440
+104,1.733333333,BASELINE,764,745.643565534,714,679,659.643565534,634,879,786,806,653,630,652,0.400988108898,-0.00543304872432,0.049850752748,0.999999964711,7.03586415627e-05,-0.000253493953403,-3.70004107901e-05,1793245218350872576
+105,1.750000000,BASELINE,764,745.067972639,714,679,659.067972639,634,879,786,806,653,630,652,0.400987038034,-0.00543210645881,0.0498499708115,0.999999964223,7.06193810511e-05,-0.000255320101381,-3.7135914256e-05,1793245218367539200
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878,786,806,653,630,652,0.400989582885,-0.00543527967974,0.0498521465778,0.999999965731,6.4809567375e-05,-0.000250936902011,-3.69956336576e-05,1793245218399555328
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745.614706317,714,679,659.614706317,634,878.614706317,786,806,653,630,652,0.400990235673,-0.00543508783852,0.0498523753081,0.999999965663,6.72704878926e-05,-0.000250666507602,-3.62758725429e-05,1793245218416222720
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.784592697,714,679,660,634,878.784592697,786,806,653,630,652,0.400990545231,-0.00543390098999,0.0498524756745,0.999999965577,6.94275340066e-05,-0.000250436472363,-3.61639384479e-05,1793245218432889600
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745.207413276,714,679,660,634,878.207413276,786,806,653,630,652,0.400990278343,-0.00543104304718,0.0498523604564,0.999999965468,7.10742297318e-05,-0.000250274219473,-3.70728371637e-05,1793245218449555712
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878.369104656,786,806,653,630,652,0.400990914821,-0.00543007769332,0.0498529185788,0.999999965633,7.19796401724e-05,-0.000249319665707,-3.73073884546e-05,1793245218466222080
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878.945251505,786,806,653,630,652,0.400992058025,-0.00543017395117,0.0498538543986,0.999999965951,7.24692407217e-05,-0.000247920685938,-3.71636774096e-05,1793245218482888704
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.467788247,679,659.467788247,634,879,786,806,653,630,652,0.400990427195,-0.00543211778533,0.0498530818729,0.999999965674,7.02796261319e-05,-0.000249676727099,-3.70727654612e-05,1793245218499555584
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713.118504941,679,659,634,878.881495059,786,806,653,630,652,0.400988553516,-0.00543397551733,0.0498521149002,0.999999965261,6.84750952201e-05,-0.000251837742675,-3.6961687566e-05,1793245218516222208
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.697789495,679,659,634,878.302210505,786,806,653,630,652,0.400986868159,-0.00543474412995,0.0498510893501,0.999999964596,6.9261748054e-05,-0.000254285273878,-3.67506420833e-05,1793245218532888320
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659.275181603,634,878,786,806.275181603,653,630,652,0.400989473035,-0.00543416881064,0.049851991357,0.999999964961,6.98329395453e-05,-0.000252697047003,-3.66751278898e-05,1793245218549554688
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.850509541,634,878,786,806.850509541,653,630,652,0.400996757358,-0.00543212763657,0.0498549957909,0.999999966431,7.01691227861e-05,-0.000246706934124,-3.67474405243e-05,1793245218566221568
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745.425165142,713.574834858,679,659.574834858,634,878.425165142,786,806.574834858,653,630,652,0.401018123488,-0.00543228554764,0.0498630178549,0.999999970244,7.03095708865e-05,-0.000230769793245,-3.6239384723e-05,1793245218582888192
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745.999584764,713.000415236,679,659.000415236,634,878.999584764,786,806.000415236,653,630,652,0.401044433046,-0.00543321544872,0.0498728013613,0.99999997456,7.03813060521e-05,-0.000211340741604,-3.55275902253e-05,1793245218599554816
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745.408743392,713.591256608,679.591256608,659.591256608,634,878.408743392,786,806,653,630,652,0.401099439078,-0.00543631369271,0.0498915833648,0.999999982108,6.93794888634e-05,-0.000172639063,-3.41508846674e-05,1793245218616221696
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.820871096,659.820871096,634,878.179128904,786,806,653,630,652,0.401158877063,-0.00543921886849,0.0499091381639,0.999999987463,6.81729249977e-05,-0.000139140211406,-3.26547134419e-05,1793245218632888576
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.241515867,659.241515867,634,878.758484133,786,806,653,630,652,0.401228170951,-0.0054416891694,0.049923936489,0.999999990432,6.65106323735e-05,-0.000117297139059,-3.08926955112e-05,1793245218649555456
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.334625826,745.334625826,714,679,659,634,879,786,806,653,630,652,0.40130512429,-0.00544496362198,0.0499347267704,0.999999992356,6.48793727019e-05,-0.000101012295298,-2.95674194855e-05,1793245218666222080
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.908470181,745.908470181,714,679,659,634,879,786,806,653,630,652,0.401387553238,-0.00544881294929,0.0499426517658,0.999999993657,6.32702980885e-05,-8.87009395458e-05,-2.85543632121e-05,1793245218682888192
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.506004002,745.506004002,714,679,659,634,879,786,806,653,630,652,0.401482686565,-0.00545188653024,0.0499433656975,0.99999999371,6.16190856755e-05,-8.94931661806e-05,-2.78063752823e-05,1793245218699554560
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745.080569055,714,679,659,634,879,786,806,653,630,652,0.401583493803,-0.00545481980297,0.0499425283471,0.99999999352,6.01594858493e-05,-9.2746900549e-05,-2.71658734235e-05,1793245218716220928
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745.659901855,714,679,659,634,879,786,806,653,630,652,0.401704500535,-0.00545779583203,0.0499405592249,0.99999999325,5.99355690244e-05,-9.58447207369e-05,-2.6879366772e-05,1793245218732887552
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,746,714,679,659,634,879,786,806,653,630,652,0.4018412053,-0.00546235955051,0.0499413166693,0.999999993459,5.81842636949e-05,-9.49860366613e-05,-2.59485397342e-05,1793245218749554432
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,746,714,679,659,634,879,786,806,653,630,652,0.402000226518,-0.00546918034202,0.0499459502249,0.999999994321,5.42616094147e-05,-8.85027509649e-05,-2.41017411765e-05,1793245218766222080
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,746,713.609372831,679,659,634,879,786,806,653,630,652,0.402173080995,-0.00547516469254,0.0499447408494,0.999999994086,5.12886854179e-05,-9.32015083218e-05,-2.2603579004e-05,1793245218782888448
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,746,713.035156833,679,659,634,879,786,806,653,630,652,0.402352436908,-0.00548075592913,0.0499407853856,0.999999993264,4.8762119862e-05,-0.000103155655287,-2.12692704662e-05,1793245218799554560
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,746,713.554055049,679,659,634,879,786,806,652.445944951,630,652,0.402571562894,-0.00548717338463,0.0499412613785,0.99999999352,4.60282842751e-05,-0.000102176532158,-2.00446852449e-05,1793245218816220928
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,746,714,679,659.141749414,634,879,786,806,652.141749414,630,652,0.402803841756,-0.0054944883103,0.0499429290736,0.999999993908,4.2931192937e-05,-9.99929946689e-05,-1.85204887024e-05,1793245218832887552
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,746,714,679,659.721728782,634,879,786,806,652.721728782,630,652,0.403068765051,-0.00550441125018,0.0499473875013,0.999999994484,3.8752857692e-05,-9.62903807823e-05,-1.6047895396e-05,1793245218849554176
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745.700912532,714,679,659.700912532,634,879,786,806.299087468,652.700912532,630,652,0.403358067778,-0.00551363274362,0.0499540901424,0.999999995748,3.47366442037e-05,-8.43089493698e-05,-1.37850011461e-05,1793245218866220800
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.125970986,714,679,659.125970986,634,879,786,806.874029014,652.125970986,630,652,0.403669856106,-0.00552220727902,0.0499628626641,0.999999997362,3.08699589456e-05,-6.46918067678e-05,-1.17155164821e-05,1793245218882887424
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,806.555076324,652.444923676,630,652,0.404016307388,-0.00553374140472,0.0499728147494,0.99999999861,2.58185107032e-05,-4.51677467013e-05,-8.51652290608e-06,1793245218899554048
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745.01546577,713.98453423,679,659,634,879,785.98453423,806,652.98453423,630,652,0.404373802006,-0.00554605441725,0.0499830199072,0.999999999446,2.05416304498e-05,-2.57166807078e-05,-5.00892057056e-06,1793245218916220928
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745.61560505,713.38439495,679,659,634,879,785.38439495,806,652.38439495,630,652,0.404781111424,-0.00555642023708,0.0499902806265,0.99999999978,1.93092727119e-05,-8.03776713977e-06,-1.81531540631e-06,1793245218932887552
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745.793278544,713.206721456,679,659,634,879,785.206721456,806,652.206721456,630,652,0.405189418758,-0.00556266516794,0.0499907349955,0.999999999721,2.29614471033e-05,-5.35089692671e-06,1.44805530002e-06,1793245218949553920
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745.218238394,713.781761606,679,659,634,879,785.781761606,806,652.781761606,630,652,0.405599504051,-0.00556156784846,0.0499790623879,0.999999998933,3.53164652379e-05,-2.93755754431e-05,4.83572796901e-06,1793245218966220800
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,785.643560774,806,653,630,651.643560774,0.406021046974,-0.0055485076469,0.0499597936117,0.99999999601,6.06682794658e-05,-6.53173828649e-05,5.67143235043e-06,1793245218982887424
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,785.069104841,806,653,630,651.069104841,0.406449598018,-0.00552813032644,0.0499358786239,0.999999989681,9.3969608962e-05,-0.000108548326256,4.9462209579e-06,1793245218999554048
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.520655731,634,879,785,806,653,630,651.520655731,0.406948530344,-0.00552469189816,0.0499237134344,0.999999985763,0.000108340165636,-0.000129210908478,6.43309205207e-06,1793245219016220672
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.109657595,745.109657595,714,679,659.890342405,634,879,785.109657595,806.109657595,653,630,652,0.407471300424,-0.00552429013204,0.0499184324835,0.999999983454,0.000119993770589,-0.000136449023393,8.61432877101e-06,1793245219032887296
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+146,2.433333333,POSE1_TO_POSE2_PRESS,764.737205602,746,714,679.262794398,659.262794398,634,879,786,806.737205602,653,630,652,0.408662040441,-0.00552686954862,0.049958818286,0.999999987693,0.000145464082454,-5.63900905663e-05,1.65718738328e-05,1793245219066220800
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.161599363,746,714,679.838400637,659.838400637,634,879,786,806.161599363,653,630,652,0.409298126249,-0.00552350240361,0.0499891163488,0.999999986366,0.000163702661813,-5.47082604212e-06,2.09832637245e-05,1793245219082887424
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.577027512,714,679.577027512,659.577027512,634,879,786,806,653,630,652,0.409924869746,-0.00551974525475,0.0500008671882,0.99999998329,0.000180926662722,1.00006897072e-05,2.42086146196e-05,1793245219099554048
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.010886269,714,679,659,634,879,786,806,652.989113731,629.989113731,652,0.410548086466,-0.0055159280253,0.0500046018657,0.999999980077,0.00019752703123,1.01083017911e-05,2.69574926696e-05,1793245219116220672
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.59056532,714,679,659,634,879,786,806,652.40943468,629.40943468,652,0.411177563785,-0.00551692548695,0.0499677591325,0.999999976708,0.000202235003771,-6.95980090378e-05,2.89996542115e-05,1793245219132887296
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+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.254632573,714,679,659,633.254632573,879,785.254632573,806,652.745367427,629.745367427,652,0.412560697124,-0.00552002476859,0.0499403557961,0.999999986215,0.000126589158616,-0.000106943630838,1.04267236173e-05,1793245219166221824
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.31945764,633.31945764,879,785.31945764,806,652.68054236,630,651.68054236,0.413321644559,-0.00552395073966,0.0499549614884,0.999999991749,0.000105272357705,-7.32690801387e-05,7.21750603153e-06,1793245219182888960
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659.891910862,633.891910862,879,785.891910862,806,652.108089138,630,651.108089138,0.414110692124,-0.00552951990174,0.0499819795179,0.999999992945,0.000115417211767,-2.45276257653e-05,1.37194752817e-05,1793245219199555328
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.519571315,634,879.480428685,786,806,652,630,651.480428685,0.414858542015,-0.00553412675065,0.049970830684,0.999999991663,0.000120251225363,-4.38902394809e-05,1.69629683817e-05,1793245219216222208
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.071109253,745,714,679,659.071109253,634,879.928890747,786,806,652,630,652,0.415606596398,-0.0055371823183,0.0499511767299,0.999999989008,0.000124741637931,-7.78301491008e-05,1.91262047104e-05,1793245219232889344
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.650520413,745,714,679,659.650520413,634,879.349479587,786,806,652,630,652,0.416424660414,-0.00553075020949,0.0499342312656,0.999999985355,0.000135612471295,-0.000102655017393,1.89892464649e-05,1793245219249555456
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.227925186,786,806,652.227925186,630,652,0.417258494935,-0.00552743537637,0.0499355071584,0.999999985029,0.000141210648088,-9.80520241597e-05,1.96764266371e-05,1793245219266221568
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.80228036,786,806,652.80228036,630,652,0.418116299447,-0.00552885857982,0.0499644782124,0.999999988948,0.000138794763104,-4.87207838361e-05,2.16162382734e-05,1793245219282888192
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.621261824,745.378738176,714,679.378738176,660,634,880,786,806,653,630,652,0.418959314386,-0.00553132512487,0.0499725435362,0.999999989791,0.000134509486361,-4.25399662337e-05,2.2713882924e-05,1793245219299554560
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.043700216,745.956299784,714,679.956299784,660,634,880,786,806,653,630,652,0.419794565322,-0.00553433938534,0.0499696341295,0.999999989634,0.000129242848757,-5.90115143364e-05,2.33694212388e-05,1793245219316221440
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.544837518,746,714,679.455162482,660,634,879.455162482,786,806.544837518,653,630.544837518,652,0.420659600483,-0.00553267779567,0.0499622435726,0.999999989825,0.000130639524605,-5.270989783e-05,2.24662723447e-05,1793245219332888064
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.868437543,714,679.131562457,660,634,879.131562457,786,807,652.868437543,630.868437543,652,0.421546646843,-0.00553210499757,0.0499622872695,0.999999990522,0.000131077325655,-3.58337550047e-05,2.2143940297e-05,1793245219349554432
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.290903415,714,679.709096585,660,634,879.709096585,786,807,652.290903415,630.290903415,652,0.422500042283,-0.00553652044693,0.0499887750987,0.99999999166,0.000126415792554,1.05689377949e-05,2.4222970161e-05,1793245219366220800
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786,806.714638335,652,630,652,0.4234155486,-0.00553924642659,0.0499940087494,0.999999992072,0.000122046065482,1.79713777704e-05,2.52740627609e-05,1793245219382887680
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786,806.13966115,652,630,652,0.424292601103,-0.00554025775236,0.0499776713912,0.999999992621,0.000117972493903,-1.42078017495e-05,2.52818950266e-05,1793245219399554816
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.445144213,714,679.554855787,660,634,880.445144213,786,806.445144213,652,630,652,0.425191464223,-0.00554287719173,0.0499821703682,0.999999992879,0.000116251132467,-5.18900591426e-06,2.64642365064e-05,1793245219416221696
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,746,714,679.032632454,660,634,880.967367546,786,807,652,630.032632454,652,0.426097618005,-0.00554569378135,0.0499931079786,0.999999992817,0.000115526965804,1.53027342256e-05,2.8024167067e-05,1793245219432888064
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,746,714,679.612238845,660,634,880.387761155,786,807,652,630.612238845,652,0.427008687733,-0.0055431671598,0.0499999184453,0.999999992476,0.000118868206919,6.5541295519e-06,2.95970859454e-05,1793245219449554432
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.809048501,714,680,660,633.809048501,880,786,807,652,630.809048501,652,0.427908451935,-0.00553988728996,0.0499904613622,0.999999991808,0.000122502031614,-2.17737813108e-05,3.00410267634e-05,1793245219466221056
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.232142324,714,680,660,633.232142324,880,786,807,652,630.232142324,652,0.428785365149,-0.00553508494102,0.0499481240082,0.999999987552,0.000126727231058,-8.96757452029e-05,2.82030561902e-05,1793245219482887936
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.656461589,745,714,680,660,633,880.343538411,786,807,652,630,652,0.429703254555,-0.00553741466704,0.0499397834326,0.999999987593,0.000123065774475,-9.43599214916e-05,2.76610189723e-05,1793245219499554816
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.081606013,745,714,680,660,633,880.918393987,786,807,652,630,652,0.430648734717,-0.0055445466841,0.0499543341516,0.999999991505,0.000114093939564,-5.64772118851e-05,2.79915818935e-05,1793245219516222208
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.506331588,745,714,680,660,633.506331588,880.493668412,786,807,652,630,652,0.431512928865,-0.00554505142551,0.0499465949874,0.999999990362,0.000112788280589,-7.57638711126e-05,2.85568453351e-05,1793245219532888320
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.094745283,714,680,660,634,880,786,807.094745283,652.094745283,630,652,0.432371867659,-0.00554461366842,0.0499370781028,0.999999988476,0.000112233344156,-9.80707302693e-05,2.88925950199e-05,1793245219549554432
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.674516079,714,680,660,634,880,786,807.674516079,652.674516079,630,652,0.433272748565,-0.00554496405033,0.049937339232,0.999999989847,0.00010902861271,-8.74186440492e-05,2.78546227844e-05,1793245219566221056
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.747798371,746,714,680,660,634,880,786,808,652.747798371,630.252201629,652.252201629,0.434177840351,-0.0055453819527,0.0499497948367,0.999999991665,0.000107994708713,-6.47973188606e-05,2.84212794826e-05,1793245219582887680
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.172781829,746,714,680,660,634,880,786,808,652.172781829,630.827218171,652.827218171,0.435088322133,-0.00554588628048,0.0499778592163,0.999999993136,0.000109739436002,-2.68555168397e-05,3.10418408618e-05,1793245219599554304
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.401880607,745.598119393,713.598119393,680,660,633.598119393,880.401880607,786,808,652,631,652.598119393,0.435914821765,-0.00554523044623,0.0499724264163,0.999999991435,0.000114756297689,-5.3583340822e-05,3.30000400872e-05,1793245219616221184
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.976390901,745.023609099,713.023609099,680,660,633.023609099,880.976390901,786,808,652,631,652.023609099,0.436705246418,-0.00554407625894,0.0499526047449,0.999999986215,0.0001211787196,-0.000108090306162,3.46737183343e-05,1793245219632887808
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713.569151595,680.569151595,660,633,880.430848405,786,808,652,631,652,0.437535893639,-0.0055462628995,0.0499547559258,0.999999988893,0.000115812822726,-8.75185484826e-05,3.37793888103e-05,1793245219649554944
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.158296702,714,680.841703298,660,633.158296702,880.158296702,786,808,652,631,652,0.438365817798,-0.00554918209032,0.0499617492955,0.9999999916,0.000108686572805,-6.24121661039e-05,3.30453877845e-05,1793245219666222080
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.735795715,714,680.264204285,660,633.735795715,880.735795715,786,808,652,631,652,0.439189262235,-0.0055536620747,0.0499790720811,0.999999994058,9.82364013858e-05,-3.38178462004e-05,3.30274129026e-05,1793245219682888704
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.68904701,745.68904701,714,680,660,633.68904701,880.68904701,786,808,652,631,652,0.439973168267,-0.00555383683659,0.0499757698743,0.999999994279,9.48882187546e-05,-3.73128701533e-05,3.23513561283e-05,1793245219699555072
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.115864574,745.115864574,714,680,660,633.115864574,880.115864574,786,808,652,631,652,0.440723731167,-0.00555038096549,0.0499550744256,0.999999992457,9.75292074954e-05,-6.78691270945e-05,3.11203329863e-05,1793245219716221440
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.472954828,745,714,680,660,633,880.472954828,786,808.472954828,652,631,652,0.441444977512,-0.00554896482408,0.0499500177748,0.999999991483,0.000101960133788,-7.51305991677e-05,3.1535369704e-05,1793245219732888064
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.064046887,714,680,660,633,880.935953113,786,809,652,630.935953113,652.064046887,0.442154451072,-0.0055482758906,0.0499486576328,0.99999999084,0.000106562655608,-7.69214039891e-05,3.23764731771e-05,1793245219749554432
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.641596265,714,680,660,633,880.358403735,786,809,652,630.358403735,652.641596265,0.442829085805,-0.00554927409063,0.0499451673223,0.99999999014,0.00010890503415,-8.21695913089e-05,3.32899458415e-05,1793245219766221056
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.781860239,745.781860239,714,680,659.781860239,633,880.218139761,786,808.781860239,652,630,652.781860239,0.443466244837,-0.00554984830418,0.049925982302,0.999999986538,0.000111233771692,-0.000115832457929,3.36646091324e-05,1793245219782888192
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.206961733,745.206961733,714,680,659.206961733,633,880.793038267,786,808.206961733,652,630,652.206961733,0.444042113982,-0.00554972910518,0.0498811292184,0.999999973803,0.000113540199815,-0.00019596638237,3.31580715069e-05,1793245219799555840
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.366822045,745,714,680,659,632.633177955,881,786,808,652,630,652,0.444618059723,-0.00554786417701,0.0498364049985,0.999999958449,0.000116161153652,-0.000261952512153,3.14452680852e-05,1793245219816222464
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.939978762,745,714,680,659,632.060021238,881,786,808,652,630,652,0.445194048513,-0.00554501728916,0.0497917532662,0.999999941309,0.000118959025686,-0.000319980607676,2.90539491459e-05,1793245219832888832
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680.533186822,659,632,880.466813178,785.466813178,808.533186822,652,630,652,0.44577267042,-0.00554685133842,0.0497917401703,0.999999946342,0.000119145492672,-0.000303729539114,2.94664416669e-05,1793245219849554944
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.875818119,659,631.875818119,880,785,808.875818119,652,630,652,0.446337935298,-0.00554760371127,0.0497957931453,0.999999951766,0.000120436989085,-0.000284698563203,3.01440655512e-05,1793245219866221568
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680.301351865,659,631.301351865,880,785,808.301351865,652,630,652,0.446853650691,-0.00554244858025,0.0497956570251,0.999999950277,0.000126842911826,-0.000287091831683,3.05938700934e-05,1793245219882888704
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.726663374,631,880,785,808.273336626,652,630,652,0.447329218061,-0.00554131714977,0.0497766873412,0.999999941446,0.000128704690018,-0.000315629679223,3.0364339693e-05,1793245219899555328
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.151729706,631,880,785,808.848270294,652,630,652,0.447760486448,-0.00554462543264,0.0497369368817,0.999999922116,0.000125552501468,-0.000373015206523,2.93852374552e-05,1793245219916221696
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.432874035,714,680.432874035,658,630.567125965,880,785,809,652,630,652,0.448178894441,-0.00554898805219,0.0497125203253,0.999999911645,8.80003809817e-05,-0.00041061686581,1.89854750466e-05,1793245219932888832
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.979248736,745.979248736,714,681,658,630,880,785,808.979248736,652,630,652.020751264,0.448592976398,-0.00555366757721,0.0496949297913,0.999999902817,3.99363701042e-05,-0.000439019836812,5.78212833538e-06,1793245219949555712
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.396611878,745.396611878,714,681,658,630,880,785,808.396611878,652,630,652.603388122,0.449014767752,-0.00555669262654,0.0497133090615,0.999999914901,4.11904701393e-05,-0.000410407622976,8.12027593028e-06,1793245219966222336
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.183388057,745.183388057,714,680.816611943,658,629.816611943,880,785,808.183388057,652.183388057,630,652.816611943,0.449418388687,-0.00555766785327,0.049730575663,0.999999925055,4.51278290865e-05,-0.000384377602204,1.03769004413e-05,1793245219982888704
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.757766088,745.757766088,714,680.242233912,658,629.242233912,880,785,808.757766088,652.757766088,630,652.242233912,0.449783269709,-0.00555427278462,0.049745470018,0.999999932227,5.47859934017e-05,-0.000363852905563,1.24597152362e-05,1793245219999554560
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714,680,657.09312119,629,880.90687881,784.09312119,808.09312119,652.09312119,630,652.90687881,0.450446793456,-0.00555338384984,0.0497602009289,0.999999939555,6.35650791316e-05,-0.000341434661045,1.65156371436e-05,1793245220032887296
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764.24068677,746,714,681,657,628,880,784.24068677,808.75931323,652,629,652.75931323,0.451403391522,-0.00556315386768,0.0497328697045,0.99999991668,6.33400600439e-05,-0.000402713341356,2.12058168975e-05,1793245220099554048
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,714.966986104,681,657,627.033013896,880,784.033013896,808,652.966986104,629,652,0.451919616113,-0.00554648879418,0.0497194941105,0.999999899892,8.68042738945e-05,-0.000438407394704,2.190450027e-05,1793245220149553920
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.440894723,715,681,657.559105277,627.559105277,880.559105277,784,808.559105277,653,629.559105277,652,0.452062407214,-0.00554879469472,0.0497181368651,0.999999900163,8.25591918348e-05,-0.000438603917178,2.19999312314e-05,1793245220166220544
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.851873705,681,657.851873705,627.851873705,881,784,809,652.851873705,629.851873705,652,0.452198364718,-0.00555200193421,0.0497181569135,0.999999901545,7.81057366989e-05,-0.000436253274892,2.2202120405e-05,1793245220182887168
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714.274596486,681,657.274596486,627.274596486,881,784,809,652.274596486,629.274596486,652,0.452317700727,-0.0055562143778,0.0497218774003,0.999999905262,7.54948136658e-05,-0.000428085425875,2.27719841426e-05,1793245220199554048
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657,627,881,784,809,652,629,652,0.452419788239,-0.00555815558835,0.0497232011884,0.999999907257,7.34472558174e-05,-0.000423760542851,2.2755779136e-05,1793245220216220672
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,657,627,881,784,809,652,629,652,0.452506227651,-0.00555803630235,0.0497223506557,0.999999907736,7.19107913817e-05,-0.000422922056095,2.22078838378e-05,1793245220232887552
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,746,714,681,656.949316044,627,880,784,809,652.949316044,629,652,0.4526328392,-0.00555726807859,0.0497151124193,0.999999903069,7.33907577202e-05,-0.000433572716145,2.21581134907e-05,1793245220266220800
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+223,3.716666667,POSE1_TO_POSE2_PRESS,764,745.950900638,714.049099362,680.950900638,656,626.049099362,880,783.049099362,808,652.049099362,629,652,0.452805489593,-0.005556414638,0.0497152447017,0.999999904015,7.19005587958e-05,-0.000431641724188,2.20453960038e-05,1793245220349553920
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,745.467770364,714,681,656,626.532229636,880,783.532229636,808.532229636,652,629,652,0.452817316817,-0.00555446850698,0.0497140599756,0.999999902943,7.48592634004e-05,-0.000433630258854,2.17914231424e-05,1793245220366220544
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680.314000997,656,627,880,784,809,652,629,652,0.452832488078,-0.00555157254816,0.0497105836885,0.999999900375,7.74045500889e-05,-0.000439102745284,2.1171738785e-05,1793245220399554816
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+228,3.800000000,POSE1_TO_POSE2_PRESS,764.836315144,745,714.836315144,680,656,626.163684856,880.836315144,784,808.163684856,652,629,652,0.45283882274,-0.00555253471038,0.049707331856,0.999999898293,7.84119123519e-05,-0.000443608083492,2.18502028622e-05,1793245220432887808
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.423409649,714.576590351,680.423409649,656.423409649,626.423409649,881,784,808.423409649,652,629,652.423409649,0.452840805424,-0.00555067902252,0.0497071557578,0.99999989809,7.89883011253e-05,-0.000443983142758,2.14264829729e-05,1793245220449554432
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.170563306,715,681,656,626.170563306,880.170563306,784,809,653,628.829436694,652.170563306,0.452844173174,-0.00554927438721,0.0497077931645,0.999999897761,8.1736753596e-05,-0.000444216838935,2.16538727655e-05,1793245220499554304
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.743794988,715,681,656,626.743794988,880.743794988,784,809,653,628.256205012,652.743794988,0.452843890808,-0.00555018989651,0.0497071223515,0.999999897071,8.12591234816e-05,-0.000445852837074,2.16973103989e-05,1793245220516220928
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.514094749,714,681,656.485905251,626.485905251,880.485905251,784,809,652,629,652,0.452844901798,-0.00554639058146,0.0497063587879,0.999999896454,8.31759430188e-05,-0.00044692537353,2.0785065988e-05,1793245220566221312
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714.652345874,680.347654126,656.347654126,626.347654126,881,784,809,652.652345874,629,652,0.452844832355,-0.00554787455736,0.049705350368,0.999999895796,8.22115898321e-05,-0.000448558423944,2.10652786975e-05,1793245220599554560
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.37864169,745,714.62135831,681,656,626.37864169,880.37864169,783.37864169,808.37864169,652.37864169,629,652,0.452845565843,-0.00554588059534,0.0497048423932,0.999999895534,8.15391715307e-05,-0.000449280387308,2.07451062211e-05,1793245220649554432
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.95374097,745,714.04625903,681,656,626.95374097,880.95374097,783.95374097,808.95374097,652.95374097,629,652,0.452845540552,-0.00554525378258,0.0497041382134,0.999999894969,8.45962936664e-05,-0.000449973761043,2.07038070462e-05,1793245220666221056
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+244,4.066666667,HOLD_POSE2,765,746,714,681,656,626,881,784,809,653,629,652,0.452845115839,-0.00554484045674,0.0497034621954,0.999999894377,8.22917998573e-05,-0.000451750779414,1.98849219381e-05,1793245220724520192
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+247,4.116666667,HOLD_POSE2,765,745.266096251,714,681,656.266096251,626,880,784,809,652,629,652,0.452844463062,-0.00554600912511,0.0497023603291,0.999999894272,8.27000325092e-05,-0.000451899005546,2.01045167357e-05,1793245220774519296
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+250,4.166666667,HOLD_POSE2,765,745,714.518177066,680.518177066,656.518177066,626,880.481822934,784,808.481822934,652.518177066,629,652,0.452847699309,-0.00554367129794,0.0497048081267,0.999999895408,8.36925327883e-05,-0.000449205726947,1.98197381436e-05,1793245220824519936
+251,4.183333333,HOLD_POSE2,765,745,714,680.054703669,656,626,880.945296331,784,809,652,629,652,0.452848571035,-0.00554285647279,0.0497053520168,0.999999895535,8.53651818565e-05,-0.000448602677502,1.99750125005e-05,1793245220841186816
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+253,4.216666667,HOLD_POSE2,765,745,714,681,656,626,880,784,809,652,629,652,0.45284539789,-0.00554647476767,0.0497033614943,0.999999894159,8.1330153114e-05,-0.000452369530477,2.0720710108e-05,1793245220874520064
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+256,4.266666667,HOLD_POSE2,765,745,714,681,656,626,880.965758971,784,809,652.965758971,629,652,0.452847811549,-0.00554548819782,0.0497037764639,0.999999894854,8.22982855221e-05,-0.000450674957776,2.0276442802e-05,1793245220924519168
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b259d9c13afbe7b9643c409acbb5b5b3bb9573c2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e318dc882f27c2b1169f5c0131550f7f75abacdf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd731a2568e19c9a2b4b19168da9b7376ddf6590c06622fc9ae4b6f1ed17d18
+size 25635863
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ba6143016d6ba65284af585fe3f1bc35011b22b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+13,0.216666667,BASELINE,764.412592539,745,714,679,660,634,878,785.412592539,806,653,630,652,0.400995641483,-0.00540023762157,0.0498561516867,0.999999961902,0.000114281886976,-0.000247535089038,-4.31602427928e-05,1793245223728651520
+14,0.233333333,BASELINE,764,745,714,679.165301576,659.834698424,634,878.165301576,785.165301576,806.165301576,653,630,652,0.400996006639,-0.00539982847133,0.0498564952098,0.99999996196,0.000114915482589,-0.000247013461671,-4.31207305495e-05,1793245223745318144
+15,0.250000000,BASELINE,764,745,714,679.754309515,659.245690485,634,878.754309515,785.754309515,806.754309515,653,630,652,0.400996953586,-0.00539907186854,0.049857547988,0.999999962364,0.000115354187043,-0.000245147547782,-4.32249714824e-05,1793245223761984768
+16,0.266666667,BASELINE,764,745,713.662609676,679.662609676,659.337390324,633.662609676,879,786,806.662609676,653,630,652,0.400996799711,-0.00539852680655,0.0498576678277,0.999999962352,0.000115382737895,-0.000245149463536,-4.34093575752e-05,1793245223778651392
+17,0.283333333,BASELINE,764,745,713.083770571,679.083770571,659.916229429,633.083770571,879,786,806.083770571,653,630,652,0.400995858048,-0.00539813313092,0.0498571200226,0.999999962043,0.000115117767896,-0.000246488066193,-4.36510984514e-05,1793245223795318016
+18,0.300000000,BASELINE,764,745,713.494044336,679,660,633,879,786,806,652.505955664,630,652,0.400994664445,-0.00539931690025,0.0498565291204,0.999999962088,0.000112570907967,-0.000247500160247,-4.35414830089e-05,1793245223811984896
+19,0.316666667,BASELINE,764,745,714,678.928823312,659.928823312,633,879,786,806,652.071176688,630,652,0.400993828158,-0.00540045479933,0.0498561195392,0.999999962206,0.000110225345137,-0.000248102846614,-4.34045953102e-05,1793245223828651264
+20,0.333333333,BASELINE,764,745,714,678.355285218,659.355285218,633,879,786,806,652.644714782,630,652,0.400995814664,-0.00539938504417,0.0498570411826,0.999999962471,0.000112025732822,-0.000246205895938,-4.34948377859e-05,1793245223845317888
+21,0.350000000,BASELINE,764,745,714,678.226038426,659,633.226038426,878.773961574,786,806,653,630,652,0.400996857057,-0.00539869167585,0.0498575313437,0.999999962631,0.000112554740896,-0.000245284925896,-4.36516716648e-05,1793245223861984768
+22,0.366666667,BASELINE,764,745,714,678.8200358,659,633.8200358,878.1799642,786,806,653,630,652,0.400996362563,-0.0053986110128,0.049857319112,0.999999962627,0.000111014120576,-0.000245952716035,-4.39169070273e-05,1793245223878651648
+23,0.383333333,BASELINE,764,745,714,679,659,634,878.386852382,786,806,653,630,652,0.400996445524,-0.00539836905255,0.0498577682534,0.999999962562,0.000112407275865,-0.000245612468093,-4.37559830166e-05,1793245223895318016
+24,0.400000000,BASELINE,764,745,714,679,659,634,878.941854575,786,806,653,630,652,0.400996779482,-0.00539805698264,0.0498585048683,0.999999962465,0.000115075630126,-0.000244834064932,-4.34098239856e-05,1793245223911984384
+25,0.416666667,BASELINE,764,745.53565896,714,679,659,634,879,786,806,653,630,652,0.400996315777,-0.00539886240507,0.0498577899758,0.999999962413,0.000115127036995,-0.000245081474548,-4.3072382106e-05,1793245223928651264
+26,0.433333333,BASELINE,763.871170011,745.871170011,714,679,659.128829989,633.871170011,879,786,806,653,630,652,0.400995646011,-0.0053996589871,0.0498570721678,0.999999962338,0.0001146263023,-0.000245659398207,-4.28406158504e-05,1793245223945318144
+27,0.450000000,BASELINE,763.295928213,745.295928213,714,679,659.704071787,633.295928213,879,786,806,653,630,652,0.400994585674,-0.00539997178047,0.0498569328599,0.999999962165,0.000113273530834,-0.000246966615158,-4.29714936794e-05,1793245223961984768
+28,0.466666667,BASELINE,763.287893466,745,713.712106534,679,659.712106534,633.287893466,879,786,806.287893466,653,630,652,0.400994906924,-0.00540046865397,0.0498572151948,0.999999962319,0.000112912439964,-0.000246503193877,-4.299982251e-05,1793245223978651392
+29,0.483333333,BASELINE,763.880805353,745,713.119194647,679,659.119194647,633.880805353,879,786,806.880805353,653,630,652,0.400996691943,-0.00540116055737,0.0498579442535,0.999999962818,0.000113602018559,-0.000244163810249,-4.29195023452e-05,1793245223995318272
+30,0.500000000,BASELINE,764,745,713.458185048,679,659.458185048,633.541814952,878.541814952,786,806.541814952,653,630,652,0.400996818629,-0.0054002528816,0.0498577706629,0.999999962788,0.000113859889166,-0.000244144777631,-4.3047033711e-05,1793245224011985408
+31,0.516666667,BASELINE,764,745,713.968300242,679,660,633.031699758,878.031699758,786,806,653,630,652,0.400996576409,-0.0053989872715,0.0498574213694,0.999999962634,0.000114096592695,-0.000244632936858,-4.32186649404e-05,1793245224028652800
+32,0.533333333,BASELINE,764,745,713.394046767,679,660,633.605953233,878.605953233,786,806,653,630,652,0.400997161834,-0.00539848406181,0.0498579521106,0.999999962635,0.000115830163495,-0.000243809292888,-4.32499701401e-05,1793245224045318656
+33,0.550000000,BASELINE,763.813372031,745,713,679,659.813372031,633.813372031,879,785.813372031,806,653,630,652,0.400997411015,-0.00539853118345,0.0498581595451,0.999999962634,0.00011665727585,-0.000243416289236,-4.32614784704e-05,1793245224061984768
+34,0.566666667,BASELINE,763.218656403,745,713,679,659.218656403,633.218656403,879,785.218656403,806,653,630,652,0.400996924951,-0.00539978168013,0.0498576600252,0.999999962636,0.00011550229223,-0.000243964939822,-4.32296982259e-05,1793245224078651648
+35,0.583333333,BASELINE,763.364665788,745,713.364665788,679,659,633.364665788,879,785.729331576,806,653,629.635334212,652,0.400995915783,-0.00539980062883,0.0498567393825,0.999999962357,0.000115036845195,-0.000245326576046,-4.32036310723e-05,1793245224095318272
+36,0.600000000,BASELINE,763.941363416,745,713.941363416,679,659,633.941363416,879,786.882726833,806,653,629.058636584,652,0.400994602461,-0.00539910350447,0.0498555738813,0.999999961914,0.000114972323271,-0.00024716091595,-4.3180885744e-05,1793245224111985408
+37,0.616666667,BASELINE,764,745,714,679,659,634,879,786.483448385,806,653,629.516551615,652,0.400993967641,-0.00539992966939,0.049855771851,0.999999962084,0.000113798092031,-0.000247038621825,-4.3054251348e-05,1793245224128651776
+38,0.633333333,BASELINE,764,745,714,679.091648671,659.091648671,634,878.908351329,786,806,653,629.908351329,652,0.400993672386,-0.00540074083508,0.0498561906529,0.999999962275,0.000112923687211,-0.000246692719607,-4.29175314593e-05,1793245224145317888
+39,0.650000000,BASELINE,764,745,714,679.667166734,659.667166734,634,878.332833266,786,806,653,629.332833266,652,0.400994764449,-0.00540056253715,0.0498569605925,0.999999962212,0.000114295379347,-0.000246335481625,-4.27896451549e-05,1793245224161984512
+40,0.666666667,BASELINE,764,745,714,679.499018425,659.749509213,633.749509213,878,785.749509213,806,653,629.250490787,652,0.400995568512,-0.00539977255554,0.0498575210631,0.999999962272,0.000115215923482,-0.000245634429734,-4.29437507386e-05,1793245224178651136
+41,0.683333333,BASELINE,764,745,714,678.310959135,659.155479567,633.155479567,878,785.155479567,806,653,629.844520433,652,0.400995977595,-0.00539814367238,0.0498577942548,0.999999962502,0.000115517734725,-0.000244461849796,-4.34845977837e-05,1793245224195317760
+42,0.700000000,BASELINE,763.576088242,745,713.576088242,678.847823517,659,633,878,785.423911758,805.576088242,653,629.576088242,652,0.400996829869,-0.00539904699902,0.0498579142552,0.999999962902,0.000113596299851,-0.000243738828154,-4.33991407855e-05,1793245224211985408
+43,0.716666667,BASELINE,763.001886666,745,713.001886666,679.996226669,659,633,878,785.998113334,805.001886666,653,629.001886666,652,0.400997839268,-0.00540084807232,0.0498579799445,0.999999963357,0.000110886655519,-0.000243175188841,-4.30916396385e-05,1793245224228653312
+44,0.733333333,BASELINE,763.574755096,745,713.574755096,679.425244904,659,633.574755096,878,785.425244904,806.149510192,653,629.574755096,652,0.400997224371,-0.00539999540788,0.049857697409,0.999999963014,0.000112617406833,-0.000243738865116,-4.33771112511e-05,1793245224245319424
+45,0.750000000,BASELINE,764,745,714,678.84511488,659,634,878,785.15488512,806.84511488,652.84511488,630,652,0.400996695009,-0.00539908479205,0.049857582455,0.999999962719,0.000114276747405,-0.000244145815613,-4.35486598668e-05,1793245224261985792
+46,0.766666667,BASELINE,764,745,714,678.255210206,659,634,878,785.744789794,806.255210206,652.255210206,630,652,0.400996420927,-0.00539803598135,0.0498579414047,0.999999962573,0.000115694406091,-0.000244102138989,-4.33947472649e-05,1793245224278651904
+47,0.783333333,BASELINE,764,745,714,678.328453911,659,634,878.328453911,786,806,652.328453911,630,652,0.400997072706,-0.005397906697,0.0498585157435,0.999999962681,0.000116811970756,-0.000243147022092,-4.32646980857e-05,1793245224295318272
+48,0.800000000,BASELINE,764,745,714,678.90735956,659,634,878.90735956,786,806,652.90735956,630,652,0.400998430471,-0.00539847856714,0.0498592543205,0.999999962982,0.000117700708736,-0.000241496916358,-4.31528451591e-05,1793245224311984640
+49,0.816666667,BASELINE,764.483063928,745,713.516936072,679,659,634,878.516936072,786,806,653,630,652,0.400997963271,-0.00539898112119,0.0498589341691,0.999999963138,0.000115167924132,-0.000242049899421,-4.32761805435e-05,1793245224328651520
+50,0.833333333,BASELINE,765,745,713,678.940681095,659,634,878.059318905,786,806,652.940681095,630,652,0.400997170151,-0.00539936126009,0.0498583924918,0.99999996321,0.000112398636247,-0.000243026661071,-4.34227138414e-05,1793245224345318144
+51,0.850000000,BASELINE,765,745,713,678.35411078,659,634,878.64588922,786,806,652.35411078,630,652,0.400996570462,-0.00539877069982,0.0498576746193,0.999999962861,0.000113321111741,-0.000244039499931,-4.33771790781e-05,1793245224361984768
+52,0.866666667,BASELINE,764.770304777,745.229695223,713.229695223,678.229695223,659.229695223,634,879,786,806,652.229695223,630,652,0.400996443352,-0.00539873313217,0.0498574566398,0.999999962799,0.000113375025932,-0.000244278546442,-4.33090048383e-05,1793245224378651392
+53,0.883333333,BASELINE,764.190709747,745.809290253,713.809290253,678.809290253,659.809290253,634,879,786,806,652.809290253,630,652,0.400997036136,-0.00539953795043,0.0498580001585,0.999999963176,0.000112105841454,-0.00024333885792,-4.32063433869e-05,1793245224395318016
+54,0.900000000,BASELINE,764,745.612254496,714,679,659.612254496,634,878.612254496,786,806,653,630,652,0.400997044752,-0.00539943680435,0.0498581350815,0.999999963123,0.000112875015168,-0.000243226596805,-4.3053680664e-05,1793245224411984640
+55,0.916666667,BASELINE,764,745.03435821,714,679,659.03435821,634,878.03435821,786,806,653,630,652,0.400996766892,-0.00539889137243,0.0498580696287,0.999999962858,0.000114643801812,-0.000243520106942,-4.28764972706e-05,1793245224428651520
+56,0.933333333,BASELINE,764,745.540677759,714,679,659,634,878.540677759,786,806,653,630,652,0.400996220704,-0.00539900992433,0.0498582115984,0.999999962732,0.000115570009718,-0.000243590011933,-4.29473596215e-05,1793245224445318144
+57,0.950000000,BASELINE,764,746,714,679,659.118156204,634,878.881843796,786,806.118156204,653,629.881843796,652,0.40099611735,-0.00539899438151,0.0498584399776,0.999999962693,0.000116266166052,-0.000243393870177,-4.30712987327e-05,1793245224461985024
+58,0.966666667,BASELINE,764,746,714,679,659.706063838,634,878.293936162,786,806.706063838,653,629.293936162,652,0.400997841992,-0.00539827885413,0.0498589597656,0.999999962973,0.000116259460003,-0.000242196205792,-4.33439173976e-05,1793245224478652672
+59,0.983333333,BASELINE,763.708948531,745.708948531,714,679,659.708948531,634,878.291051469,786,807,653,629.291051469,652,0.400997514968,-0.00539819210988,0.049859006716,0.999999962932,0.00011624613394,-0.000242381157337,-4.32964953686e-05,1793245224495319552
+60,1.000000000,BASELINE,763.126880483,745.126880483,714,679,659.126880483,634,878.873119517,786,807,653,629.873119517,652,0.400995136523,-0.00539873407332,0.0498585808856,0.999999962569,0.000116226188652,-0.00024394855893,-4.29290710427e-05,1793245224511985408
+61,1.016666667,BASELINE,763.450080793,745,714,678.549919207,659,634,878.549919207,786,806.549919207,653,629.549919207,652,0.400994410895,-0.00539963537866,0.0498576836218,0.999999962377,0.000115413356689,-0.000245114803728,-4.29376696101e-05,1793245224528652032
+62,1.033333333,BASELINE,764,745,714,678,659.025522201,634,878.025522201,786,806,653,629.025522201,652.025522201,0.400994209015,-0.00540058869369,0.0498567489922,0.999999962253,0.000114444877418,-0.000246059971232,-4.303256984e-05,1793245224545318656
+63,1.050000000,BASELINE,764,745,714,678,659.598895298,634,878.598895298,786,806,653,629.598895298,652.598895298,0.40099536024,-0.00540050834281,0.0498578330559,0.999999962559,0.000114879489764,-0.000244659855175,-4.27300936532e-05,1793245224561985024
+64,1.066666667,BASELINE,764,745,714,678.1780962,660,633.8219038,879,785.8219038,806,653,630,652.8219038,0.400996389892,-0.00540020303364,0.0498585063214,0.99999996276,0.000115412604487,-0.000243600731616,-4.26474572313e-05,1793245224578651392
+65,1.083333333,BASELINE,764,745,714,678.770866358,660,633.229133642,879,785.229133642,806,653,630,652.229133642,0.400997136477,-0.00539937393819,0.0498582230964,0.999999962718,0.000116175069224,-0.000243335565049,-4.30766892731e-05,1793245224595318016
+66,1.100000000,BASELINE,763.645016802,745.354983198,713.645016802,679,659.645016802,633,878.645016802,785,805.645016802,653,629.645016802,652,0.400996227314,-0.00539945566482,0.0498579682824,0.999999962852,0.00011355177191,-0.000243959364953,-4.34361845108e-05,1793245224611984640
+67,1.116666667,BASELINE,763.066352589,745.933647411,713.066352589,679,659.066352589,633,878.066352589,785,805.066352589,653,629.066352589,652,0.400994274836,-0.00540011131613,0.0498577313706,0.999999963077,0.000108795047694,-0.000245143317915,-4.37517373722e-05,1793245224628651264
+68,1.133333333,BASELINE,763,745.493779497,713.506220503,679,659,634.012441007,878,785,805.506220503,653,629.506220503,652,0.400994464272,-0.00539939851904,0.0498577321057,0.999999962725,0.000112198404835,-0.000245114872186,-4.33708447708e-05,1793245224645318144
+69,1.150000000,BASELINE,763.08057485,745,714,679,659.08057485,634.91942515,878,785.08057485,806,653,630,652,0.400995166312,-0.00539868026526,0.0498579543315,0.999999962446,0.000116000224179,-0.000244559998947,-4.29221321049e-05,1793245224661985024
+70,1.166666667,BASELINE,763.671198332,745,714,679,659.671198332,634.328801668,878,785.671198332,806,653,630,652,0.400997357149,-0.00539904939615,0.0498593837852,0.999999963205,0.000115634292648,-0.000241666763591,-4.2615092936e-05,1793245224678651648
+71,1.183333333,BASELINE,764,745.254190418,714,679,660,634,878.254190418,786,806,653,630,652,0.400997588095,-0.00539934992718,0.0498596120899,0.999999963393,0.000115422189461,-0.000240995395507,-4.25698851789e-05,1793245224695318016
+72,1.200000000,BASELINE,764,745.827598905,714,679,660,634,878.827598905,786,806,653,630,652,0.400995357767,-0.005399564309,0.0498583319645,0.999999962871,0.000115403267335,-0.000243114298151,-4.2853491183e-05,1793245224711984896
+73,1.216666667,BASELINE,764,746,714,678.593420321,659.593420321,633.593420321,878.593420321,786,806,653,630,652,0.400996654737,-0.00540090296039,0.0498590213899,0.999999963548,0.00011276261748,-0.000241559065687,-4.28771165136e-05,1793245224728651520
+74,1.233333333,BASELINE,764,746,714,678.012043945,659.012043945,633.012043945,878.012043945,786,806,653,630,652,0.400999468161,-0.00540272495765,0.0498605575645,0.999999964722,0.000108994834681,-0.000238424249262,-4.2788970959e-05,1793245224745317888
+75,1.250000000,BASELINE,764,745.438674135,713.438674135,678.561325865,659.561325865,633,878.561325865,786,806,653,630,652.561325865,0.400996734658,-0.00540178943701,0.0498588504949,0.999999963844,0.00011029851875,-0.000241424745661,-4.31403733928e-05,1793245224761984768
+76,1.266666667,BASELINE,764,745,713,678.860925659,659.860925659,633.139074341,878.860925659,786,806,653,629.860925659,652.860925659,0.400995101841,-0.00540119259685,0.0498577848346,0.99999996327,0.000111298791068,-0.000243301046297,-4.33352182955e-05,1793245224778651392
+77,1.283333333,BASELINE,764,745,713,678.268346595,659.268346595,633.731653405,878.268346595,786,806,653,629.268346595,652.268346595,0.400997440869,-0.00540189037303,0.0498590344599,0.999999963858,0.000110959832627,-0.000241088251476,-4.29892268476e-05,1793245224795318016
+78,1.300000000,BASELINE,764,745,713.316814186,678.316814186,659.316814186,634,878,786,806.316814186,653,629.316814186,652,0.400997927081,-0.00540155274364,0.0498592893421,0.999999963737,0.00011182104695,-0.000241224088511,-4.28043634926e-05,1793245224811984896
+79,1.316666667,BASELINE,764,745,713.895835297,678.895835297,659.895835297,634,878,786,806.895835297,653,629.895835297,652,0.400996879835,-0.00540035817496,0.0498587209387,0.999999963027,0.000113675567854,-0.000243303738675,-4.27528556159e-05,1793245224828651776
+80,1.333333333,BASELINE,764,745,713.528724583,678.528724583,659.528724583,634,878,786,806.528724583,653,630,652,0.40099556007,-0.00540038475839,0.0498582290683,0.999999962799,0.000113927342071,-0.000244140656317,-4.26423801852e-05,1793245224845318400
+81,1.350000000,BASELINE,764,745,713.045648492,678.045648492,659.045648492,634,878.045648492,786,806,653,629.954351508,652,0.400994404858,-0.00540057344022,0.0498578413066,0.999999962702,0.000114008512644,-0.000244512549259,-4.25623147496e-05,1793245224861985024
+82,1.366666667,BASELINE,764,745,713.616780387,678.616780387,659.616780387,634,878.616780387,786,806,653,629.383219613,652,0.400995832064,-0.00539954450196,0.0498584587354,0.999999962884,0.000116172986413,-0.000242669414404,-4.29812177699e-05,1793245224878651392
+83,1.383333333,BASELINE,764,745,713.803994254,679,660,634,879,786,806,652.803994254,629.196005746,652,0.400996502459,-0.00539924568294,0.0498587488715,0.999999963008,0.000116479860302,-0.000241984386675,-4.31361180887e-05,1793245224895318016
+84,1.400000000,BASELINE,764,745,713.20826335,679,660,634,879,786,806,652.20826335,629.79173665,652,0.400995629448,-0.00540043583552,0.0498583715422,0.999999963016,0.000112998430301,-0.000243661149349,-4.27526234425e-05,1793245224911984896
+85,1.416666667,BASELINE,764,745,713.376660747,679,659.623339253,634,879,786,806,652.376660747,630,652,0.40099561757,-0.00540011144126,0.0498583670309,0.999999963013,0.000113375543479,-0.000243469853946,-4.29146345944e-05,1793245224928651520
+86,1.433333333,BASELINE,764,745,713.955776162,679,659.044223838,634,879,786,806,652.955776162,630,652,0.400996068551,-0.00539897297993,0.0498585629086,0.999999963003,0.000115826618884,-0.000242274479622,-4.33698544368e-05,1793245224945318400
+87,1.450000000,BASELINE,764,745,714,679,659,634,878.46919078,786,806,653,630,652,0.400996787132,-0.00539820385566,0.0498595829842,0.999999963087,0.000116065467251,-0.000241817681118,-4.33464938029e-05,1793245224961985024
+88,1.466666667,BASELINE,764,745.107797204,714,679,659,634,878.107797204,786,806.107797204,653,630,652.107797204,0.400997029971,-0.00539804676589,0.049860123303,0.99999996313,0.000115539966254,-0.000241905121173,-4.32727613933e-05,1793245224978651648
+89,1.483333333,BASELINE,764,745.694979926,714,679,659,634,878.694979926,786,806.694979926,653,630,652.694979926,0.400995058746,-0.00540047566078,0.0498582270529,0.999999962946,0.000112428711194,-0.000244141289061,-4.3150984085e-05,1793245224995318528
+90,1.500000000,BASELINE,764,745.721684863,714,679,659,634,879,786,806.721684863,653,630,652.721684863,0.400994454742,-0.00540121334086,0.0498574390202,0.999999962922,0.000111592109617,-0.00024462467138,-4.31446122843e-05,1793245225011984896
+91,1.516666667,BASELINE,764,745.142508878,714,679,659,634,879,786,806.142508878,653,630,652.142508878,0.400995328715,-0.00540012280432,0.0498578489792,0.999999963079,0.00011321442651,-0.000243213278598,-4.32629947514e-05,1793245225028651264
+92,1.533333333,BASELINE,764,745,714,679,659.43500486,634,879,786,806,653,630,652,0.400996378588,-0.00539983896357,0.0498584793503,0.999999963125,0.000114362710794,-0.000242484547337,-4.32623418512e-05,1793245225045317888
+93,1.550000000,BASELINE,764,745,714,679,659.988067278,634,878.988067278,786,806,653,630,652,0.400997454185,-0.00539980649819,0.0498591578621,0.99999996313,0.000115343600316,-0.000242006182181,-4.32221543425e-05,1793245225061984768
+94,1.566666667,BASELINE,764,745,714,679,659.413188602,634,878.413188602,786,806,653,630,652,0.400997035121,-0.0053992128883,0.0498587139427,0.99999996289,0.000115725746641,-0.000242828739129,-4.31495699889e-05,1793245225078651648
+95,1.583333333,BASELINE,764,745,713.834353839,678.834353839,659,634,878,786,806.165646161,653,629.834353839,652,0.400996624732,-0.00539905754977,0.0498586175721,0.999999962872,0.000115457151672,-0.000243044329146,-4.30684839301e-05,1793245225095318272
+96,1.600000000,BASELINE,764,745,713.245409423,678.245409423,659,634,878,786,806.754590577,653,629.245409423,652,0.400996236509,-0.00540002218575,0.0498594093402,0.999999963421,0.000113525628699,-0.000241708853865,-4.29656722876e-05,1793245225111985152
+97,1.616666667,BASELINE,764,745,713,678,659,634,878,786,806.661846986,653,629.338153014,652,0.400996328962,-0.00540023930464,0.0498596350167,0.999999963658,0.000113135181059,-0.00024092664861,-4.28828736756e-05,1793245225128652032
+98,1.633333333,BASELINE,764,745,713,678,659,634,878,786,806.082129283,653,629.917870717,652,0.400996764794,-0.00539992242342,0.0498594562971,0.999999963673,0.000113845623871,-0.0002405396802,-4.28143716791e-05,1793245225145318400
+99,1.650000000,BASELINE,764,745,713,678,659,634,878.493106054,786,806,653,630,652,0.400994602209,-0.00539960333076,0.0498579671278,0.999999963047,0.000113958956873,-0.000243041515147,-4.3009302598e-05,1793245225161985024
+100,1.666666667,BASELINE,764,745,713,678.069528238,659,634,879,785.930471762,806,653,630,652,0.400992618866,-0.005399248002,0.0498566432475,0.999999962468,0.000114031745698,-0.000245343799383,-4.32127680854e-05,1793245225178651904
+101,1.683333333,BASELINE,764,745,713,678.660397192,659,634,879,785.339602808,806,653,630,652,0.40099519538,-0.00539862370249,0.0498581805881,0.999999963088,0.000114539520319,-0.000242574552867,-4.31541974871e-05,1793245225195318272
+102,1.700000000,BASELINE,764,745,713.246144804,679,659.246144804,634,878.753855196,785.246144804,806,653,629.753855196,652,0.4009969789,-0.00539861638699,0.0498592732491,0.999999963564,0.000114319332174,-0.000240706500435,-4.31749667914e-05,1793245225211984896
+103,1.716666667,BASELINE,764,745,713.824970535,679,659.824970535,634,878.175029465,785.824970535,806,653,629.175029465,652,0.400997690636,-0.00539944296611,0.049859764896,0.999999963851,0.000113115254325,-0.000240056471435,-4.33029692091e-05,1793245225228651776
+104,1.733333333,BASELINE,763.599801065,745,714,679,659.599801065,634,878.400198935,786,806,652.599801065,629.400198935,652,0.400996778071,-0.00539944206508,0.0498592066551,0.999999963426,0.000114007775469,-0.000241387426624,-4.33894727877e-05,1793245225245318400
+105,1.750000000,BASELINE,763.026131914,745,714,679,659.026131914,634,878.973868086,786,806,652.026131914,629.973868086,652,0.400995161436,-0.00539908248462,0.0498581933298,0.999999962685,0.000115809088236,-0.000243577059091,-4.34579882916e-05,1793245225261985280
+106,1.766666667,BASELINE,763.550002967,745,714,679,659,633.449997033,878.449997033,786,806,652.550002967,630,652,0.400996872378,-0.00539875577584,0.0498592184955,0.999999963138,0.00011567439672,-0.000241813333026,-4.32416276195e-05,1793245225278651904
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,678,660,634,878,786,806,653,630,652,0.400999648785,-0.00540188312583,0.0498606524596,0.99999996427,0.000112259410637,-0.000238837144093,-4.25889684361e-05,1793245225319957504
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.579579162,679.159158323,660,633.420420838,878.579579162,786,806,653,630,652.579579162,0.400998009595,-0.00540123566191,0.0498602919448,0.99999996403,0.000112198360778,-0.000239851143455,-4.27019135034e-05,1793245225336624384
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.841899214,745.158100786,714,679.841899214,659.841899214,633.158100786,879,785.841899214,806,653,630,652.841899214,0.40099677345,-0.00540015075893,0.0498598295113,0.999999963686,0.000112868787534,-0.000240932048017,-4.28984716569e-05,1793245225353291008
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.266170974,745.733829026,714,679.266170974,659.266170974,633.733829026,879,785.266170974,806,653,630,652.266170974,0.400996601961,-0.00539791034879,0.0498590978571,0.999999963067,0.000115471429308,-0.00024218968467,-4.33158960371e-05,1793245225369957632
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.316072161,745.683927839,714,679,659,634,878.683927839,785.316072161,806,653,630.316072161,652,0.400997200808,-0.0053974804993,0.0498592208817,0.999999963083,0.000116456389733,-0.000241663709631,-4.32446201802e-05,1793245225386624512
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.903917054,745.096082946,714,679,659,634,878.096082946,785.903917054,806,653,630.903917054,652,0.400998462024,-0.00539860744954,0.0498600787968,0.999999963647,0.000116050396497,-0.000239604106812,-4.27531383606e-05,1793245225403291392
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.484650536,745,714,679,659,634,878.969301071,786,806,653,630.515349464,651.515349464,0.400997654186,-0.00539831148363,0.0498594150548,0.999999963327,0.000116436391386,-0.000240710593779,-4.29792159385e-05,1793245225419957760
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.936289663,745,714,679,659,633.936289663,879.872579327,786,806,653,629.936289663,651.063710337,0.400996515872,-0.00539791186371,0.0498585835701,0.999999962892,0.000116769931198,-0.000242300225018,-4.32702031757e-05,1793245225436624384
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.359518646,745,714,679,659,633.359518646,878.719037293,786,806,653,629.359518646,651.640481354,0.400995971748,-0.0053989163892,0.049858795487,0.999999962939,0.000115434903271,-0.000242798974572,-4.29548725247e-05,1793245225453290752
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.783008962,679,659,633.216991038,878.216991038,786,805.783008962,653,629.216991038,652,0.400997977154,-0.00539950001146,0.0498595378366,0.999999963333,0.000114372798664,-0.000241693400477,-4.28568841338e-05,1793245225469957376
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.206931798,679,659,633.793068202,878.793068202,786,805.206931798,653,629.793068202,652,0.401004201632,-0.00539938710482,0.0498611579693,0.999999964293,0.000113762339462,-0.000237932922395,-4.31185631156e-05,1793245225486624000
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.376981487,678.623018513,659,634,878.623018513,786,805.376981487,653,630,651.623018513,0.4010247603,-0.00539949071515,0.0498687810496,0.999999967632,0.000115071754069,-0.000222881427144,-4.26308270165e-05,1793245225503290880
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.965287521,678.034712479,659,634,878.034712479,786,805.965287521,653,630,651.034712479,0.401053354288,-0.0053997156984,0.0498797692029,0.99999997193,0.000117457392418,-0.000201500524906,-4.17229912438e-05,1793245225519957504
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,678.541226488,659.541226488,633.458773512,878.541226488,786,806,653,630,651.541226488,0.401114473993,-0.00540196373472,0.0499006095261,0.999999979921,0.000115796825014,-0.000158508588034,-4.03029018028e-05,1793245225536624128
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.883027892,679,660,633.116972108,878.883027892,785.883027892,806,653,630,652,0.401178611519,-0.00540468182343,0.0499201134128,0.999999985525,0.000114013199609,-0.000120184405124,-3.88124994448e-05,1793245225553290752
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.304987578,679,660,633.695012422,878.304987578,785.304987578,806,653,630,652,0.401246605343,-0.00540875269836,0.0499319144247,0.999999987378,0.000112744576017,-0.000105600440227,-3.71715533547e-05,1793245225569957376
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713,679,659.72898612,634,878,785.27101388,806,653,630,652,0.401323254371,-0.0054123558706,0.0499412303818,0.999999989026,0.000110675176701,-9.17084358411e-05,-3.59070867766e-05,1793245225586624000
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713,679,659.155262006,634,878,785.844737994,806,653,630,652,0.401409570865,-0.00541543663986,0.0499477706449,0.999999990496,0.000107711347235,-7.85893209004e-05,-3.50631308686e-05,1793245225603290368
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745.430770905,713.430770905,679,659,634,878,786,806,653,630,652,0.401504145646,-0.00541911474195,0.0499483814467,0.999999990673,0.000105989735879,-7.90147912829e-05,-3.4293748693e-05,1793245225619956992
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745.978941917,713.978941917,678.978941917,659,633.978941917,878.021058083,785.978941917,806,653,630,652,0.401602956053,-0.00542300297189,0.0499467866269,0.999999990399,0.000104693884827,-8.43455863931e-05,-3.35568378064e-05,1793245225636623872
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745.396982578,713.396982578,678.396982578,659,633.396982578,878.603017422,785.396982578,806,653,630,652,0.401732971935,-0.00542658487585,0.0499450422855,0.999999990469,0.000102462049471,-8.64767960267e-05,-3.29478373602e-05,1793245225653290496
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,678.18166919,659,633,878.81833081,785,806,653,630,652,0.401871303066,-0.00542984532225,0.0499442755127,0.999999990493,0.000101029972458,-8.81238483498e-05,-3.22780683949e-05,1793245225669957376
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,678.753222437,659,633,878.246777563,785,806,653,630,652,0.402027479713,-0.00543241588136,0.0499456067206,0.999999990436,0.000101314273874,-8.87318402503e-05,-3.14778829166e-05,1793245225686624000
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679,659,633.335116209,878,785.335116209,806,653,630,652,0.40219704259,-0.00543878491802,0.0499440609923,0.999999990297,9.79338905476e-05,-9.44133895449e-05,-3.00057571895e-05,1793245225703290880
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.505995032,679,659,634,878,786,806,653,630,652,0.40260051854,-0.00545524290282,0.0499428718764,0.999999990672,8.8542427632e-05,-0.000100607116021,-2.63369895173e-05,1793245225736624128
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.085545143,659,634,878.085545143,786,806,653,630,652.085545143,0.402837467788,-0.005462499274,0.0499463208151,0.999999991467,8.56319640221e-05,-9.55346098804e-05,-2.46359411367e-05,1793245225753290496
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.663261445,659,634,878.663261445,786,806,653,630,652.663261445,0.403113440014,-0.00547178846456,0.0499497138048,0.999999992206,8.20715734092e-05,-9.13296436703e-05,-2.25995914735e-05,1793245225769957120
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.7604281,745,714,679.7604281,659,634,878.7604281,786,806,653,630,653,0.403408542264,-0.00548174100208,0.0499560665108,0.999999993592,7.77146707912e-05,-7.97821173083e-05,-2.02725608005e-05,1793245225786623744
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.18608219,745,714,679.18608219,659,634,878.18608219,786,806,653,630,653,0.403730376492,-0.00549262048968,0.0499665550775,0.999999995556,7.22447349903e-05,-5.79742128913e-05,-1.75393371635e-05,1793245225803290624
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.400463474,745,713.599536526,679,659.400463474,634,878,785.599536526,806,653,629.599536526,652.599536526,0.404074658814,-0.00550318699196,0.0499767816151,0.999999996756,6.91483280221e-05,-3.87672040153e-05,-1.42937408745e-05,1793245225819957248
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.992856065,745,713.007143935,679,659.992856065,634,878,785.007143935,806,653,629.007143935,652.007143935,0.404429699769,-0.00551360349025,0.0499868825704,0.999999997468,6.71894763734e-05,-2.08067204021e-05,-1.08025811156e-05,1793245225836624128
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.571420664,679,659.428579336,634,878,785.571420664,806,652.428579336,629.571420664,652,0.404833760849,-0.00552051247722,0.0499926125532,0.999999997604,6.8605433744e-05,-4.09725609975e-06,-8.26625274527e-06,1793245225853291520
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713.851527973,679.148472027,659.148472027,634,878,786,806,652.148472027,630,652,0.405242087424,-0.00552455349616,0.0499927936632,0.999999997268,7.37089454976e-05,5.43943618784e-07,-5.48736941988e-06,1793245225869958400
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713.278322749,679.721677251,659.721677251,634,878,786,806,652.721677251,630,652,0.405660904447,-0.00552051261254,0.0499772537717,0.999999995587,8.92435788837e-05,-2.92947996982e-05,-1.98126848586e-06,1793245225886624256
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.303467059,745,713,680,659.696532941,634,878.303467059,786,806,653,630,652.303467059,0.406085711097,-0.00550861279284,0.0499583225195,0.999999991286,0.000114271335921,-6.6102375358e-05,-5.65464667155e-07,1793245225903290624
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.893359435,745,713,680,659.106640565,634,878.893359435,786,806,653,630,652.893359435,0.406516171064,-0.00548929536939,0.0499361903529,0.999999983015,0.000148259114687,-0.000109487439327,-1.12257313218e-06,1793245225919957248
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.525181429,745,713,680,659,634,878.525181429,786,806,653,630,652.525181429,0.40701033763,-0.00549042857694,0.0499249308859,0.999999979229,0.000158447133706,-0.000128189246179,1.86210601193e-06,1793245225936623616
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.054116769,745,713.054116769,679.945883231,659,634,878.054116769,786,806,653,630,652,0.407526881318,-0.00549654818016,0.0499187566234,0.999999977462,0.000162788008728,-0.000136176688051,5.6865093448e-06,1793245225953290240
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.630520494,745,713.630520494,679.369479506,659,634,878.630520494,786,806,653,630,652,0.408123711034,-0.00550723755157,0.0499385042237,0.999999982572,0.000161384712162,-9.33274913335e-05,1.00721054749e-05,1793245225969957120
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.205206201,634,879,786,806.205206201,653,630,652,0.408738200152,-0.0055147227351,0.0499607506885,0.999999985013,0.00016493605075,-5.04973557667e-05,1.48250113432e-05,1793245225986624000
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.77682422,634,879,786,806.77682422,653,630,652,0.409384221487,-0.00551648658842,0.0499874590712,0.999999984042,0.000177334280537,-7.70125810605e-06,2.02337773971e-05,1793245226003291136
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.638237092,634,879.361762908,786,806.638237092,653,630,652,0.410016100529,-0.00551639460557,0.0499973293893,0.999999981366,0.000191398855727,4.64916938148e-06,2.47718086497e-05,1793245226019957504
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.044766594,634,879.955233406,786,806.044766594,653,630,652,0.410638921469,-0.00551511396755,0.0499964149983,0.999999978256,0.000206530717637,-2.50072584072e-06,2.87521378056e-05,1793245226036623872
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.464720326,745,714,679,659,634,879.464720326,786,806,653,630,652,0.411256494669,-0.00551318569254,0.0499620497348,0.999999972564,0.000219490590444,-7.55922664971e-05,3.13170956298e-05,1793245226053290496
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.113543315,745.113543315,714,679,659,634,879,785.886456685,806.113543315,653,630,652,0.41189953727,-0.00551127832896,0.0499337088359,0.999999963688,0.000232415137269,-0.000132148141085,3.38132098409e-05,1793245226069957120
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.689010288,745.689010288,714,679,659,634,879,785.310989712,806.689010288,653,630,652,0.412647937634,-0.00550967099836,0.0499409794145,0.999999964142,0.000245916882212,-9.95457086059e-05,3.64990309583e-05,1793245226086624000
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.736528998,746,714,679,659.526942004,634,879,785.263471002,806.736528998,652.736528998,630,652,0.413418787443,-0.00551162898364,0.0499546184066,0.999999975546,0.000208131029617,-6.91947925129e-05,2.83187286668e-05,1793245226103290624
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.163251434,746,714,679,660.673497131,634,879,785.836748566,806.163251434,652.163251434,630,652,0.414216034886,-0.00551777930201,0.0499757457999,0.999999993058,0.000110037841223,-4.14913529542e-05,7.36132274009e-06,1793245226119957504
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.576357088,713.576357088,679,660.152714175,633.576357088,879.423642912,786,806.423642912,652,630,652,0.414975831111,-0.00552533989111,0.0499659964413,0.999999994665,8.56254109192e-05,-5.76254506647e-05,4.22689896913e-06,1793245226136624128
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.015592701,679,659.015592701,633.015592701,879.984407299,786,806.984407299,652,630,652,0.415722403733,-0.00553323399236,0.0499443735267,0.999999991743,9.08579880882e-05,-9.05064761365e-05,8.20007517728e-06,1793245226153290752
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.594323223,679,659.594323223,633.594323223,879.405676777,786,806.405676777,652,630,652,0.416529924934,-0.00553289430553,0.0499379186129,0.999999989381,0.000107253789985,-9.78561891059e-05,1.25849774923e-05,1793245226169957376
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.171320514,745,714,679.171320514,660,634,879.171320514,786,806.171320514,652,630,652,0.417355590717,-0.00553148476951,0.0499419838347,0.999999988516,0.000122361491389,-8.78489596034e-05,1.66781940338e-05,1793245226186624256
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.744254687,745,714,679.744254687,660,634,879.744254687,786,806.744254687,652,630,652,0.418223791415,-0.00552756726735,0.0499707106113,0.99999999007,0.000134449595586,-3.71531684237e-05,2.00876335033e-05,1793245226203290880
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.673390244,745,714,679.673390244,660,634,880,786,806.673390244,652,630,652,0.419070444796,-0.00552733544317,0.0499783655551,0.99999998982,0.000137194358507,-3.24319617336e-05,2.20311874024e-05,1793245226219957760
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.083439256,745,714,679.083439256,660,634,880,786,806.083439256,652,630,652,0.419899724811,-0.00553007533376,0.0499690305505,0.999999988876,0.000132405705476,-6.47794715781e-05,2.2792816537e-05,1793245226236624640
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.497368223,745,713.502631777,679,660,633.502631777,880,786,806,652,630.497368223,652,0.420794997912,-0.00553165108529,0.0499658572876,0.999999989951,0.000130612910425,-5.03614131661e-05,2.24089234263e-05,1793245226253291520
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713.076201108,679,660,633,880,786,806.076201108,652,630.923798892,652,0.421702501017,-0.00553327179548,0.0499665605136,0.999999991108,0.00012877798401,-2.66557001305e-05,2.21456489057e-05,1793245226269957888
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.651963279,679,660,633,880,786,806.651963279,652,630.348036721,652,0.422618911475,-0.00553644447133,0.0499860228764,0.999999992069,0.000123431441802,7.43322716026e-06,2.39102486715e-05,1793245226286624512
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.772734594,633,880.227265406,786,806.772734594,652,630,652,0.423524994713,-0.00553885289374,0.0499915533422,0.999999992387,0.000119836203058,1.57859389709e-05,2.4825809046e-05,1793245226303291136
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.198135472,633,880.801864528,786,806.198135472,652,630,652,0.424415294819,-0.00554009329467,0.0499757914481,0.999999992515,0.000118917511486,-1.51944547683e-05,2.44437678736e-05,1793245226319957504
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.612549296,745,714,679.387450704,659.774901408,633,880.612549296,786,806.387450704,652,630.387450704,652,0.425338182301,-0.00554089919031,0.0499783105459,0.999999992581,0.000118523348865,-1.22519782271e-05,2.5288079805e-05,1793245226336624128
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.021180592,745,714,679.978819408,660.957638815,633,880.021180592,786,806.978819408,652,630.978819408,652,0.426278220693,-0.00554147640272,0.0499904510579,0.999999992595,0.00011840524953,8.54434271554e-06,2.67778299258e-05,1793245226353290752
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.558432712,745.558432712,714,679.441567288,660.441567288,633,880,786,807,652,630.441567288,652,0.427175261104,-0.00554046244551,0.0499905245797,0.999999992389,0.000118971199263,-1.5775749694e-05,2.86195217342e-05,1793245226369957120
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.863439141,714,678.863439141,660,633,880.136560859,786,807,652,630.136560859,652,0.428065024607,-0.00553893166595,0.0499822266932,0.999999991305,0.000119924409628,-4.62587065746e-05,2.94757632903e-05,1793245226386624000
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.288675445,714,678.288675445,660,633,880.711324555,786,807,652,630.711324555,652,0.428936562859,-0.0055359321471,0.0499485046034,0.999999988032,0.000122038742703,-9.11395629588e-05,2.71278954249e-05,1793245226403290624
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,678.566074621,660,633,881,785.71696269,807,652,630.71696269,652,0.42984264301,-0.0055380031867,0.0499396701538,0.999999988041,0.000119248651756,-9.4786035812e-05,2.67156495669e-05,1793245226419957760
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.703343003,660,633,881,785.148328499,807,652,630.148328499,652,0.430783577378,-0.00554519063912,0.049955948411,0.999999991769,0.000111509784901,-5.68252306177e-05,2.82565301364e-05,1793245226436624896
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.557411735,745,713.557411735,680,660,633,880.557411735,785.442588265,807.442588265,652,630,652,0.431685310551,-0.00554428728558,0.0499465872178,0.99999999014,0.000113325505614,-7.79762291997e-05,2.82196383349e-05,1793245226453291264
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.039785146,745,713.039785146,679.960214854,660,633,880,786,808,652,630.039785146,652,0.432574803544,-0.00554112599951,0.0499303562813,0.999999986123,0.000117589806663,-0.000114706318956,2.77147405846e-05,1793245226469957632
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.615644377,745,713.615644377,679.384355623,660,633,880,786,808,652,630.615644377,652,0.433485775713,-0.00554601372644,0.0499434800273,0.999999990389,0.000109413442049,-8.02677499263e-05,2.84063519594e-05,1793245226486624000
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.191230704,714,679.191230704,660,633,879.808769296,786,808,652,631,652,0.434385040917,-0.0055485810043,0.0499592320458,0.999999992795,0.000105379232205,-4.9335502894e-05,2.95298703768e-05,1793245226503290624
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.766269406,714,679.766269406,660,633,879.233730594,786,808,652,631,652,0.435260809921,-0.00554649104494,0.0499802591189,0.999999993167,0.00010965849846,-2.54405842842e-05,3.15202444164e-05,1793245226519957504
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.649615087,714,680,660,633,879.350384913,786,808,652,631,652,0.436096867344,-0.00554271557238,0.0499729098838,0.999999991307,0.000115535533828,-5.46231515274e-05,3.2453905974e-05,1793245226536624128
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.059283744,714,680,660,633,879.940716256,786,808,652,631,652,0.436905729901,-0.00553778584682,0.0499461283215,0.999999984744,0.000122506733819,-0.000120153612722,3.26639220334e-05,1793245226553290752
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.478784008,680,660,633.521215992,880,785.478784008,808.521215992,652,630.478784008,652,0.437772976005,-0.00554135212905,0.0499568198624,0.999999989734,0.000114154522877,-8.06046597653e-05,3.16691769228e-05,1793245226569957632
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713,680,660.100027143,633.899972857,880,785.100027143,808.899972857,652,630,652,0.43863432684,-0.00554567741279,0.0499704298128,0.999999993337,0.000104813152653,-3.73091720368e-05,3.08081659592e-05,1793245226586624256
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713,680,660.67602591,633.32397409,880,785.67602591,808.32397409,652,630,652,0.439436611593,-0.00554910119256,0.0499780207478,0.999999994109,9.89048767095e-05,-3.20052065861e-05,3.12234990954e-05,1793245226603290880
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.256384188,680,660.743615812,633,880.256384188,786,808.256384188,652,630.256384188,652,0.440204391779,-0.00555079048349,0.049971684878,0.999999993889,9.67247647071e-05,-4.34987688379e-05,3.12123629778e-05,1793245226619957504
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.842346512,680,660.157653488,633,880.842346512,786,808.842346512,652,630.842346512,652,0.440927816784,-0.00555025011403,0.0499474463031,0.999999991664,9.93371534709e-05,-7.65853083799e-05,3.06530067986e-05,1793245226636623872
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.576473805,633,880.576473805,786,808.576473805,652,631,652,0.44167581207,-0.00555098624523,0.0499437431325,0.999999991131,0.000101362262282,-8.04368928819e-05,3.15280019789e-05,1793245226653290496
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.997059442,745,714,680,659,632.997059442,880,786,808,652,631,652,0.442432398608,-0.00555218006769,0.0499475281239,0.999999991421,0.000103193825657,-7.36481545274e-05,3.29288587435e-05,1793245226669957120
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.418614882,745,714,680,659,632.418614882,880,786,808,652,631,652,0.443100380536,-0.00555099248181,0.0499374987014,0.999999989343,0.000109452906572,-9.04598519863e-05,3.39187485e-05,1793245226686623744
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+191,3.183333333,POSE1_TO_POSE2_PRESS,764.733164149,745,713.266835851,680,659,632.733164149,880,785.266835851,808.733164149,652,630.266835851,652,0.444303775248,-0.00554558862249,0.0498540475453,0.999999964928,0.000120403248103,-0.000233677063476,3.22721764526e-05,1793245226719956992
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+248,4.133333333,HOLD_POSE2,765,745,715,681.756588266,656.243411734,626,881,783.243411734,809,653,629,652,0.453327687505,-0.00554327198079,0.0496956645422,0.999999891043,7.33356262181e-05,-0.00046069999458,1.70815329693e-05,1793245227696881664
+249,4.150000000,HOLD_POSE2,764.664263545,745,715,681.664263545,656,626,881,783.335736455,809,653,629,652.335736455,0.453327075416,-0.00554343129947,0.0496948701967,0.999999890295,7.46524818771e-05,-0.000462106487511,1.71822189623e-05,1793245227713547776
+250,4.166666667,HOLD_POSE2,764.085619175,745,715,681.085619175,656,626,881,783.914380825,809,653,629,652.914380825,0.453326073352,-0.00554451573486,0.0496930328157,0.99999988893,7.59456361384e-05,-0.000464824075447,1.76052563748e-05,1793245227730214656
+251,4.183333333,HOLD_POSE2,764,745,715,681,656,626,880.511388516,784,809,652.511388516,628.511388516,653,0.453327005865,-0.00554498657909,0.0496942130573,0.999999889729,7.37911144923e-05,-0.00046344916242,1.76330304855e-05,1793245227746881536
+252,4.200000000,HOLD_POSE2,764.063746988,745,715,681.063746988,656,626,880.063746988,784,808.936253012,652.063746988,628.063746988,652.936253012,0.453328062424,-0.00554505430098,0.0496955886985,0.999999890669,7.17481935569e-05,-0.000461741108114,1.75599750935e-05,1793245227763548416
+253,4.216666667,HOLD_POSE2,764.652651205,745,715,681.652651205,656,626,880.652651205,784,808.347348795,652.652651205,628.652651205,652.347348795,0.453327373201,-0.00554267887136,0.0496942569271,0.999999889746,7.55570531207e-05,-0.000463143498427,1.72217522734e-05,1793245227780215040
+254,4.233333333,HOLD_POSE2,764.762101524,745,714.762101524,681.762101524,656,626,880.762101524,784,808,652.762101524,629,652,0.453327717736,-0.00554186446085,0.0496940707596,0.999999889622,7.69804744385e-05,-0.000463182283516,1.71219267288e-05,1793245227796881664
+255,4.250000000,HOLD_POSE2,764.182112872,745,714.182112872,681.182112872,656,626,880.182112872,784,808,652.182112872,629,652,0.453329548783,-0.00554329474463,0.0496955319329,0.999999890658,7.49737137719e-05,-0.000461260249072,1.73649086465e-05,1793245227813548288
+256,4.266666667,HOLD_POSE2,764,745,714.395002908,681,656,626,880,783.604997092,808.395002908,652,628.604997092,652,0.453328952105,-0.00554346728044,0.0496948247068,0.999999890184,7.5647286872e-05,-0.000462169578846,1.75451592551e-05,1793245227830215168
+257,4.283333333,HOLD_POSE2,764,745,714.970803787,681,656,626,880,783.029196213,808.970803787,652,628.029196213,652,0.453327244227,-0.00554306412876,0.0496931249761,0.999999889015,7.75476834444e-05,-0.000464374860699,1.76966969483e-05,1793245227846882304
+258,4.300000000,HOLD_POSE2,764.54383037,745,715,681,656.54383037,625.45616963,880,783,809,652.54383037,628,652,0.453326695548,-0.00554427131266,0.0496930750564,0.999999889214,7.47102652153e-05,-0.000464412818529,1.76567953525e-05,1793245227863548672
+259,4.316666667,HOLD_POSE2,764.879128769,745,715,681,656.879128769,625.120871231,880,783.120871231,809,652.879128769,628,652,0.453326378756,-0.00554520707396,0.0496929912274,0.999999889369,7.27137671479e-05,-0.000464397792771,1.75858534827e-05,1793245227880215040
+260,4.333333333,HOLD_POSE2,764.285818264,745,715,681,656.285818264,625.714181736,880,783.714181736,809,652.285818264,628,652,0.453326726308,-0.00554474575273,0.0496924304221,0.999999889096,7.49932346588e-05,-0.000464628155209,1.74335546054e-05,1793245227896881408
+261,4.350000000,HOLD_POSE2,764.299392571,745.299392571,714.700607429,681,656,626,880.299392571,784,808.700607429,652.299392571,628.299392571,652,0.453327133605,-0.00554390642217,0.0496923672777,0.999999889055,7.51369210225e-05,-0.000464707525676,1.70738079844e-05,1793245227913548032
+262,4.366666667,HOLD_POSE2,764.877074617,745.877074617,714.122925383,681,656,626,880.877074617,784,808.122925383,652.877074617,628.877074617,652,0.453327596435,-0.00554271572681,0.0496927667161,0.999999889229,7.32953695637e-05,-0.000464646547035,1.65212358674e-05,1793245227930214912
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,656,626,880,783,809,652,628,652,0.453328735957,-0.00554521679124,0.0496929370533,0.999999889427,7.2098468545e-05,-0.000464373654706,1.7477426134e-05,1793245227962810368
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.409637967,745.590362033,714,681,656,626,880.590362033,783,809,652.590362033,628.590362033,652.590362033,0.453328500118,-0.005543888684,0.0496928532539,0.999999889336,7.48924508049e-05,-0.000464122085524,1.75995275476e-05,1793245227979476992
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.177212321,745.822787679,714,681,656,625.822787679,880.822787679,783,809,652.822787679,629,652.822787679,0.453328228955,-0.00554301753749,0.0496927082745,0.999999889225,7.66503929773e-05,-0.000464073350924,1.76023626121e-05,1793245227996143872
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.756102829,745.243897171,714,681,656,625.243897171,880.243897171,783,809,652.243897171,629,652.243897171,0.453327877725,-0.00554318216046,0.0496924246213,0.999999889084,7.60599961309e-05,-0.00046448437115,1.73348627106e-05,1793245228012811264
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.333270271,681,655.666729729,625.333270271,880.333270271,783.333270271,809,652.333270271,629,652.333270271,0.453329095881,-0.00554340958997,0.0496934587954,0.999999889713,7.62443670598e-05,-0.000463092842001,1.74587719057e-05,1793245228029477632
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.909183173,681,655.090816827,625.909183173,880.909183173,783.909183173,809,652.909183173,629,652.909183173,0.453331456651,-0.00554368274673,0.0496954524343,0.999999890897,7.69928198169e-05,-0.000460388938565,1.78676526299e-05,1793245228046143488
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.515251945,681,655.484748055,625.515251945,881,783.515251945,809,652.515251945,629,653,0.453329061587,-0.00554233243231,0.0496933127647,0.99999988972,7.72134324321e-05,-0.000462924227971,1.73259410132e-05,1793245228062809856
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.061854346,714,681,656,625,881,783,809,652,628.938145654,652.938145654,0.453325263686,-0.00554091798338,0.0496902990086,0.999999887932,7.71916953751e-05,-0.000466798629296,1.66524628773e-05,1793245228079476480
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.652700343,714,681,656,625,881,783,809,652,628.347299657,652.347299657,0.453317082956,-0.00554155437422,0.0496864276974,0.999999884769,7.59424542128e-05,-0.000473736956906,1.63740779864e-05,1793245228096143104
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.761635922,714.238364078,681,656,625,881,783.238364078,809,652,628.238364078,652,0.453301695784,-0.00554194260502,0.0496793052653,0.999999878935,7.53330978457e-05,-0.000485997908877,1.61365577547e-05,1793245228112809728
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.60737479,745,714.60737479,681,656,625.39262521,880.60737479,784,809,652.39262521,628.60737479,652,0.453233131156,-0.00554050064119,0.0496505051122,0.999999853229,7.57864108002e-05,-0.000536252522393,1.52102035212e-05,1793245228146142720
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.032448897,745,714.032448897,681,656,625.967551103,880.032448897,784,809,652.967551103,628.032448897,652,0.453182226644,-0.00553832290394,0.0496310105483,0.999999833683,7.5865586092e-05,-0.000571555711856,1.41994313938e-05,1793245228162809344
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.444563013,656,625.444563013,880.555436987,784,809,653,628.555436987,652,0.453118970508,-0.00553544334925,0.0496130402767,0.999999820739,7.78514410859e-05,-0.000593550683448,1.26264482155e-05,1793245228179476224
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.141817358,656.141817358,625.141817358,881,784,809,653,628.858182642,652,0.453051500361,-0.00553287872176,0.0495978625305,0.999999809522,7.9663153788e-05,-0.000611949481596,1.12715823848e-05,1793245228196142848
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.721161489,656.721161489,625.721161489,881,784,809,653,628.278838511,652,0.45297330876,-0.00553141520326,0.0495910188243,0.999999803434,8.05857518943e-05,-0.000621709495015,1.06933905254e-05,1793245228212809472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.299756588,745.299756588,714,681,656.700243412,626,880.700243412,784,809.299756588,653,628.299756588,652,0.452887914426,-0.00552772095519,0.0495895008476,0.999999801554,8.37815179415e-05,-0.00062431743588,9.98549738525e-06,1793245228229476352
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.877656627,745.877656627,714,681,656.122343373,626,880.122343373,784,809.877656627,653,628.877656627,652,0.452795836698,-0.00552195681836,0.0495929246037,0.999999803611,8.90865512459e-05,-0.000620288984486,9.15725475983e-06,1793245228246142976
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.547097455,745.547097455,714,681,656,626,880.452902545,783.547097455,809.547097455,652.547097455,629,652,0.452685293181,-0.0055185580799,0.0495968449059,0.999999805901,9.10279034103e-05,-0.000616306115866,8.82968085756e-06,1793245228262809600
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.028128129,745,714,681,656.028128129,626,880.971871871,783.028128129,809,652,629,652,0.452568237764,-0.00551569030833,0.049600624019,0.999999807911,9.22260841596e-05,-0.000612860708445,8.64107586747e-06,1793245228279476480
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,656.797214742,626,880,784,809,652.202785258,628.797214742,652,0.452260431666,-0.00550482824527,0.0495975012354,0.999999798881,0.000100977931534,-0.000626079662939,8.07114465648e-06,1793245228312809728
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,656.217924476,626,880,784,809,652.782075524,628.217924476,652,0.452078796577,-0.00549711686766,0.0495965720806,0.999999795533,0.000105277203677,-0.000630716273512,6.9080766536e-06,1793245228329476352
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,745.510442229,714,681,656,626,880,783,809,652,628.489557771,652.489557771,0.451402672796,-0.00547588519234,0.0495930760875,0.999999783701,0.00012066335645,-0.000646544150609,4.24894546659e-06,1793245228379475968
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.036625381,678.963374619,659,633,878.036625381,785.963374619,806,652.963374619,629.036625381,652,0.40099828653,-0.00539660126258,0.0498540061643,0.999999959598,0.000130016460726,-0.000249447174087,-4.09356547106e-05,1793245230146142976
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,713.615742502,678.384257498,659,633,878.615742502,785.384257498,806,652.384257498,629.615742502,652,0.400998725959,-0.00539679943543,0.049854508801,0.999999959828,0.000130805689907,-0.000248152964847,-4.06728101855e-05,1793245230162809856
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,713.491393607,679,659.491393607,633,878.508606393,785.491393607,806,653,630,652,0.40099936769,-0.00539757013379,0.0498563329151,0.999999960444,0.000130112330249,-0.00024600848703,-4.07798238469e-05,1793245230246143744
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f60282ccb56bdaba2d4add8e02e92c7fe8cd7616
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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+388,6.466666667,pose2_to_pose3_retreat,0.575671339441,-0.000122150876079,1.04005087191,0.546242973461,0.00855353802275,1.03971737263
+389,6.483333333,pose2_to_pose3_retreat,0.575671253712,-0.000122156430103,1.04005085206,0.546242887819,0.00855353277689,1.03971735323
+390,6.500000000,pose2_to_pose3_retreat,0.575671219012,-0.000122158678209,1.04005084403,0.546242853153,0.00855353065353,1.03971734537
+391,6.516666667,pose2_to_pose3_retreat,0.575670964225,-0.000122175184855,1.04005078502,0.546242598621,0.00855351506276,1.0397172877
+392,6.533333333,pose2_to_pose3_retreat,0.575670539598,-0.000122230434424,1.04005073329,0.546242174392,0.00855346109958,1.03971723441
+393,6.550000000,pose2_to_pose3_retreat,0.575670243883,-0.000122309665368,1.04005076571,0.546241878911,0.00855338241187,1.03971726022
+394,6.566666667,pose2_to_pose3_retreat,0.575670036757,-0.000122365160452,1.04005078842,0.54624167195,0.00855332729729,1.0397172783
+395,6.583333333,pose2_to_pose3_retreat,0.575669999545,-0.000122375130701,1.0400507925,0.546241634768,0.0085533173954,1.03971728155
+396,6.600000000,pose2_to_pose3_retreat,0.57566998193,-0.000122379850243,1.04005079444,0.546241617167,0.00855331270822,1.03971728308
+397,6.616666667,pose2_to_pose3_retreat,0.575669945981,-0.000122389482181,1.04005079838,0.546241581246,0.00855330314232,1.03971728622
+398,6.633333333,pose2_to_pose3_retreat,0.575669890059,-0.000122404465245,1.04005080451,0.546241525369,0.00855328826198,1.0397172911
+399,6.650000000,pose2_to_pose3_retreat,0.575669741742,-0.000122364293143,1.04005083,0.546241376743,0.00855332750571,1.03971731971
+400,6.666666667,pose2_to_pose3_retreat,0.57566966712,-0.000122338766221,1.04005084343,0.546241301936,0.00855335248566,1.03971733515
+401,6.683333333,pose2_to_pose3_retreat,0.575669627542,-0.000122325227356,1.04005085056,0.546241262261,0.00855336573443,1.03971734334
+402,6.700000000,pose2_to_pose3_retreat,0.575669460866,-0.000122268125507,1.04005086708,0.546241095181,0.00855342159466,1.0397173632
+403,6.716666667,pose2_to_pose3_retreat,0.575669469779,-0.000122271020219,1.040050841,0.546241104129,0.00855341872916,1.03971733483
+404,6.733333333,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343057,1.03971728237
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..529161b959dcb8977f83973631261eae42ce255a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aea7062faffc1e64eb92c02737bd25e7aa8c7977d25634206d5285212b458cc7
+size 25629649
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ad1d4bb6ffee2f90b7ccda649434c2fb03021bc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,745,714,679,660,634,878,786,806,652,629,652,0.401003115302,-0.00539800435411,0.0498593439686,0.99999996162,0.000132928750318,-0.000239730793963,-4.02456817914e-05,1793245230461925888
+1,0.016666667,BASELINE,763.40459954,745,714,679,659.40459954,634,878,786,806,652.59540046,629.59540046,652,0.401001040209,-0.00539643686103,0.0498579573524,0.999999961134,0.000131611799668,-0.000242357359369,-4.09000740968e-05,1793245230478593536
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+3,0.050000000,BASELINE,763.760233721,745,714,679,659,633.239766279,878.760233721,785.239766279,806,653,630,652,0.40100037187,-0.00539667729477,0.0498579707096,0.999999961618,0.000127113851772,-0.000242746823155,-4.09947223663e-05,1793245230511927552
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+7,0.116666667,BASELINE,764,745,713.912976222,678.912976222,659.087023778,634,878.912976222,785.087023778,806,653,630,652,0.401001999723,-0.00539806024255,0.0498600438759,0.999999962234,0.000129581732073,-0.000239066646383,-3.9850565508e-05,1793245230578593024
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+9,0.150000000,BASELINE,763.751997202,745,713.248002798,678.248002798,659.751997202,634,878.248002798,786,806,653,629.751997202,652,0.400998980887,-0.00539857915034,0.0498581142045,0.999999961788,0.000126065789414,-0.000242641618729,-4.06948961523e-05,1793245230611926272
+10,0.166666667,BASELINE,763.17883227,745,713.82116773,678.82116773,659.17883227,634,878.82116773,786,806,653,629.17883227,652,0.400999861462,-0.00539641503347,0.0498591103151,0.999999961808,0.000128347194868,-0.000241329837692,-4.08736937772e-05,1793245230628592896
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+13,0.216666667,BASELINE,764,745,713.563564495,679,659,634,878,786,806,653,630,652,0.401000776149,-0.00540029468381,0.0498592501722,0.999999962191,0.000126652450054,-0.000240753637291,-4.01888242546e-05,1793245230678592768
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+16,0.266666667,BASELINE,763.285973197,745,713.285973197,679,659,633.285973197,878,786,806,653,630,652,0.40100136408,-0.00539711282869,0.0498588057879,0.999999961565,0.000131851600973,-0.000240503551217,-4.05252611837e-05,1793245230728592640
+17,0.283333333,BASELINE,763.876250681,745,713.876250681,679,659,633.876250681,878,786,806,653,630,652,0.401000911352,-0.00539822293241,0.0498593342219,0.999999961857,0.000130515972595,-0.000240050919253,-4.03439853757e-05,1793245230745259008
+18,0.300000000,BASELINE,764,745,714,679.46653035,659.46653035,634,878,786,806,653,629.53346965,652,0.401000415185,-0.00539845171355,0.0498594546708,0.999999961805,0.000130568821736,-0.000240296813434,-3.9987663253e-05,1793245230761925632
+19,0.316666667,BASELINE,764,745,713.944262255,679.88852451,659.944262255,634,878,785.944262255,806,653,629.055737745,652,0.401000079369,-0.00539851398814,0.0498594857434,0.999999961728,0.000130737028506,-0.000240580442341,-3.96605822353e-05,1793245230778592256
+20,0.333333333,BASELINE,764,745,713.365129232,678.730258463,659.365129232,634,878,785.365129232,806,653,629.634870768,652,0.401001357513,-0.00539920794411,0.0498596937683,0.999999962263,0.000128530008869,-0.000239478497499,-4.0044096405e-05,1793245230795259136
+21,0.350000000,BASELINE,763.78760666,745,713.21239334,678.21239334,659,634,878,785,806,652.78760666,630,652,0.401001909612,-0.00539913506108,0.0498598182181,0.999999962479,0.000127534596765,-0.000239069407724,-4.02745664752e-05,1793245230811926016
+22,0.366666667,BASELINE,763.21283187,745,713.78716813,678.78716813,659,634,878,785,806,652.21283187,630,652,0.401001222948,-0.00539775381197,0.0498598000736,0.999999962158,0.000128606406468,-0.000239842454115,-4.02439155937e-05,1793245230828593152
+23,0.383333333,BASELINE,763.362132964,745,714,679,659,634,878.362132964,785.362132964,806,652.362132964,630,652,0.401000764256,-0.00539753374688,0.0498595331856,0.99999996204,0.000128494936432,-0.000240382331387,-4.03273905386e-05,1793245230845260288
+24,0.400000000,BASELINE,763.937209603,745,714,679,659,634,878.937209603,785.937209603,806,652.937209603,630,652,0.401000439616,-0.00539799648831,0.04985912003,0.99999996204,0.000127687666993,-0.000240785099179,-4.04779744583e-05,1793245230861927680
+25,0.416666667,BASELINE,764,745.527511849,714,679,659,634,879,786,806,653,630,652,0.401000102453,-0.0053989812652,0.0498591981355,0.999999962149,0.000126661726888,-0.000240867627187,-4.05253764096e-05,1793245230878593536
+26,0.433333333,BASELINE,764,745.883326947,713.883326947,679,659,634,878.883326947,785.883326947,806,653,630,652,0.400999759733,-0.00539932402122,0.0498592135554,0.999999962112,0.000126600135773,-0.000241050891461,-4.05432044708e-05,1793245230895259904
+27,0.450000000,BASELINE,764,745.306037871,713.306037871,679,659,634,878.306037871,785.306037871,806,653,630,652,0.400999401134,-0.00539687952061,0.0498587437798,0.999999961441,0.000130451531342,-0.000241786816271,-4.04942061482e-05,1793245230911926272
+28,0.466666667,BASELINE,764,745,713.27066555,679,659,634,878.27066555,785.27066555,806,653,630,652,0.400999704954,-0.00539716077048,0.0498589251768,0.999999961508,0.000130596519982,-0.000241476916971,-4.02171315271e-05,1793245230928592896
+29,0.483333333,BASELINE,764,745,713.846708174,679,659,634,878.846708174,785.846708174,806,653,630,652,0.401000756145,-0.00540051733506,0.0498598412562,0.999999962407,0.000126559773035,-0.000239987071729,-3.9682730949e-05,1793245230945259520
+30,0.500000000,BASELINE,764,745.421225394,713.578774606,679,659.421225394,634,879,786,806.421225394,653,630,652,0.401000465721,-0.0054002848977,0.0498593211465,0.999999962241,0.000126740537144,-0.000240561942777,-3.98083600735e-05,1793245230961926400
+31,0.516666667,BASELINE,764,745.995189481,713.004810519,679,659.995189481,634,879,786,806.995189481,653,630,652,0.400999688821,-0.005398751068,0.0498582802665,0.999999961689,0.00012845059454,-0.000241885491581,-4.01733196871e-05,1793245230978593536
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+39,0.650000000,BASELINE,763.65613698,745,714,679,659.65613698,634,878,786,806,653,629.34386302,652,0.401001001276,-0.00539995285812,0.04986039988,0.99999996254,0.000128788585367,-0.000238221706755,-3.98062214285e-05,1793245231111926272
+40,0.666666667,BASELINE,764,745,713.765350402,679,660,634,878.234649598,786,806.234649598,653,629.234649598,652,0.401001178106,-0.00540037808943,0.0498608740037,0.999999962727,0.000127867245549,-0.000237947709388,-3.97209320927e-05,1793245231128593152
+41,0.683333333,BASELINE,764,745,713.189802026,679,660,634,878.810197974,786,806.810197974,653,629.810197974,652,0.401002117434,-0.00539986211213,0.0498616045942,0.999999963051,0.000126700908875,-0.000237180803779,-3.98833258361e-05,1793245231145259776
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+48,0.800000000,BASELINE,764,745,714,679,659,634,878,786,806,653,629.867928319,652,0.401000349091,-0.00540168756517,0.0498600043777,0.999999962667,0.000124682595594,-0.000239879272858,-3.97241419657e-05,1793245231261926400
+49,0.816666667,BASELINE,764,745,713.547885821,679,659,634,878.452114179,785.547885821,806,653,630,652,0.401001916067,-0.00540036736929,0.0498610814365,0.999999962958,0.000126670542188,-0.000237576216972,-3.99599296671e-05,1793245231278593024
+50,0.833333333,BASELINE,764,745,713.039155675,679,659,634,879,785.039155675,806.039155675,653,630,652,0.401004045646,-0.00539843947425,0.0498625173147,0.999999963367,0.000129116307709,-0.000234457208125,-4.02996429103e-05,1793245231295259648
+51,0.850000000,BASELINE,764,745,713.621290428,679,659,634,879,785.621290428,806.621290428,653,630,652,0.401001421643,-0.00540002023865,0.0498607908967,0.999999962905,0.000127047397242,-0.000237571373892,-4.01119306936e-05,1793245231311926016
+52,0.866666667,BASELINE,763.798559549,745,714,679,659,634,879,786,806.798559549,653,630,652,0.401000350835,-0.00540080790636,0.0498601501299,0.999999962802,0.000125566597439,-0.00023880335659,-4.00363764738e-05,1793245231328592384
+53,0.883333333,BASELINE,763.222104464,745,714,679,659,634,879,786,806.222104464,653,630,652,0.401002171554,-0.00540011909361,0.0498615304818,0.999999963385,0.000125180662799,-0.00023653134478,-4.01696228819e-05,1793245231345259008
+54,0.900000000,BASELINE,763.352638613,745.352638613,714,679.352638613,659.352638613,633.647361387,879,786,806.352638613,653,630,652,0.401001561677,-0.00539920171624,0.0498611311132,0.999999963038,0.000126695176219,-0.000237173615979,-4.02532207295e-05,1793245231361925632
+55,0.916666667,BASELINE,763.926308593,745.926308593,714,679.926308593,659.926308593,633.073691407,879,786,806.926308593,653,630,652,0.400999428321,-0.00539814107623,0.0498596162284,0.999999962101,0.000129400876942,-0.000239642539068,-4.03056992082e-05,1793245231378592256
+56,0.933333333,BASELINE,764.516143976,745.483856024,714,679.483856024,659.483856024,633.516143976,879,786,807,653,630,652,0.40100116887,-0.00539900566056,0.0498605357162,0.999999962666,0.000128529502053,-0.000237781881538,-4.01044643281e-05,1793245231395259392
+57,0.950000000,BASELINE,764.894076116,745,714,679,659,634,878.894076116,786,806.894076116,653,630,652,0.401002778058,-0.00539969938177,0.0498614098601,0.999999963222,0.000127476088069,-0.000236031413453,-3.99423711608e-05,1793245231411926528
+58,0.966666667,BASELINE,764.315182853,745,714,679,659,634,878.315182853,786,806.315182853,653,630,652,0.401001251206,-0.0053983631406,0.0498604794272,0.999999962776,0.000127963979148,-0.000237622342286,-4.01220265637e-05,1793245231428593152
+59,0.983333333,BASELINE,764,745,714,679,659,634,878,786,806,652.738606845,630,652,0.401000795011,-0.00539814203863,0.0498602008158,0.999999962649,0.000128201089253,-0.000238024844694,-4.01342857926e-05,1793245231445259776
+60,1.000000000,BASELINE,764,745,714,679,659,634,878,786,806,652.164800309,630,652,0.401001618449,-0.00539925373499,0.049860701252,0.999999962906,0.000128138469571,-0.000237006956958,-3.99464755198e-05,1793245231461926144
+61,1.016666667,BASELINE,764,745,714,679,659,634,878,786,806,652.408573132,630,652,0.401001138453,-0.00539917968424,0.0498600114545,0.999999962714,0.000127645831524,-0.000238030890947,-4.02422786834e-05,1793245231478592512
+62,1.033333333,BASELINE,764,745,714,679,659,634,878,786,806,652.981772033,630,652,0.401000133267,-0.00539862786208,0.0498588420778,0.999999962338,0.000126979926816,-0.000239877533209,-4.0732943506e-05,1793245231495258880
+63,1.050000000,BASELINE,764,745,714,679,659,633.423450334,878.576549666,786,806,653,630,652,0.401001077568,-0.00539872272096,0.0498604153172,0.999999962865,0.000127203018457,-0.000237571172346,-4.06139256714e-05,1793245231511925760
+64,1.066666667,BASELINE,764,745,714,679,659.166049101,633,879,786,806,652.833950899,630,652,0.40100147566,-0.00539886239554,0.0498613661671,0.999999963191,0.000127059497986,-0.000236287836195,-4.05189004763e-05,1793245231528592384
+65,1.083333333,BASELINE,764,745,714,679,659.740812202,633,879,786,806,652.259187798,630,652,0.401000371702,-0.00539906009896,0.0498605633393,0.99999996296,0.000125941726269,-0.000237858325626,-4.0532220425e-05,1793245231545259776
+66,1.100000000,BASELINE,764,745,713.684969345,679.315030655,659.684969345,633.315030655,879,786,806,652.315030655,630,652,0.40100009541,-0.00539906849397,0.0498601486078,0.999999962794,0.00012618535806,-0.000238416642594,-4.05750693241e-05,1793245231561926656
+67,1.116666667,BASELINE,764,745,713.111198248,679.888801752,659.111198248,633.888801752,879,786,806,652.888801752,630,652,0.401000498895,-0.0053989214065,0.049860052627,0.999999962684,0.000127547135517,-0.000238143643722,-4.064217089e-05,1793245231578593280
+68,1.133333333,BASELINE,764,745.475793334,713.475793334,679.524206666,659.475793334,634,879,786,806,653,630,652,0.401000754603,-0.00539925496411,0.0498601101093,0.999999962823,0.000127398973532,-0.000237653464587,-4.05466182251e-05,1793245231595259648
+69,1.150000000,BASELINE,764,745.935144571,714,679,659.935144571,634,879,786,806,653,630,652,0.401000903609,-0.00539961524852,0.0498602173078,0.999999962972,0.000127097972248,-0.000237211092003,-4.04009959257e-05,1793245231611926016
+70,1.166666667,BASELINE,764,745.354884651,714,679,659.354884651,634,879,786,806,653,630,652,0.401000486978,-0.00539926971528,0.0498604264263,0.999999962723,0.000128466918599,-0.00023756353394,-4.01682028812e-05,1793245231628592384
+71,1.183333333,BASELINE,764,745,714,679,659,634,878.77609458,786,806,652.77609458,630,652,0.401000686395,-0.00539975012342,0.0498605405951,0.99999996278,0.000127991071292,-0.000237626593953,-3.99089162115e-05,1793245231645259008
+72,1.200000000,BASELINE,764,745,714,679,659,634,878.199618903,786,806,652.199618903,630,652,0.401001855866,-0.00540153109118,0.0498605052524,0.999999963312,0.000124610339738,-0.000237233981896,-3.96079116042e-05,1793245231661925632
+73,1.216666667,BASELINE,764,745.37455002,713.62544998,679,659,634,878.37455002,786,806,652.37455002,630,652,0.401001326113,-0.00540196380403,0.0498603702129,0.999999963304,0.00012388540339,-0.000237666102374,-3.9476497964e-05,1793245231678592512
+74,1.233333333,BASELINE,764,745.947497036,713.052502964,679,659,634,878.947497036,786,806,652.947497036,630,652,0.400999896292,-0.00540168235389,0.0498601823647,0.999999963014,0.000124567226717,-0.000238535078966,-3.94349157037e-05,1793245231695259136
+75,1.250000000,BASELINE,764.536428034,745.463571966,713,679,659.536428034,633.463571966,878.463571966,786,806,653,629.463571966,652,0.401000402535,-0.00539922196926,0.0498598941109,0.999999962717,0.000126812295958,-0.000238500120602,-4.00235003137e-05,1793245231711926016
+76,1.266666667,BASELINE,764.875660595,745.124339405,713.124339405,678.875660595,659.875660595,633.124339405,878,786,806,653,629.124339405,652,0.401000978202,-0.00539729240962,0.0498598790578,0.999999962548,0.000128543880109,-0.000238204364832,-4.04888736979e-05,1793245231728593152
+77,1.283333333,BASELINE,764.297359055,745.702640945,713.702640945,678.297359055,659.297359055,633.702640945,878,786,806,653,629.702640945,652,0.401001094252,-0.00539810342427,0.0498608984386,0.999999962866,0.000127824965831,-0.000237289373645,-4.02723033336e-05,1793245231745259520
+78,1.300000000,BASELINE,764,745.71964498,713.71964498,678.28035502,659,634,878,786,806,653,630,652,0.401002446801,-0.00539822528961,0.049862004836,0.999999963327,0.000127391023876,-0.000235584879779,-4.02233660304e-05,1793245231761925888
+79,1.316666667,BASELINE,764,745.142552735,713.142552735,678.857447265,659,634,878,786,806,653,630,652,0.401005108101,-0.00539761773598,0.0498632033346,0.999999963934,0.000127258706302,-0.000233044749658,-4.03518572365e-05,1793245231778592256
+80,1.333333333,BASELINE,764,745,713.441467914,679,659,633.558532086,878.441467914,786,806,653,630,652,0.401002581341,-0.00539935170923,0.0498615836164,0.999999963314,0.000126945929888,-0.000235923407233,-3.9973274129e-05,1793245231795258880
+81,1.350000000,BASELINE,764,745,714,679,659,633.02743542,878.97256458,785.97256458,806,653,630,652,0.400998586595,-0.00540163451898,0.0498591880539,0.999999962326,0.000126649434289,-0.000240310182177,-3.94757909537e-05,1793245231811925504
+82,1.366666667,BASELINE,764,745,714,679,659,633.60684243,878.39315757,785.39315757,806,653,630,652,0.400999299333,-0.00539950499103,0.0498597838808,0.999999962401,0.000127871540894,-0.000239274060565,-3.99329132092e-05,1793245231828592384
+83,1.383333333,BASELINE,764,745,713.814430359,679,659.185569641,634,878.185569641,785.185569641,806,653,630,652,0.40099995281,-0.00539858825296,0.0498601860513,0.999999962549,0.000128242971996,-0.00023842144453,-4.01346505555e-05,1793245231845259264
+84,1.400000000,BASELINE,764,745,713.237138043,679,659.762861957,634,878.762861957,785.762861957,806,653,630,652,0.40100048119,-0.00540023161696,0.0498601794287,0.999999962855,0.000126818695359,-0.000237956193903,-3.97972908652e-05,1793245231861926400
+85,1.416666667,BASELINE,764,745,713.337930762,679,659.662069238,634,879,786,806.337930762,653,629.662069238,652,0.40099992728,-0.0053995720936,0.0498598167609,0.999999962579,0.00012773835451,-0.000238603963208,-3.99090823691e-05,1793245231878593024
+86,1.433333333,BASELINE,764,745,713.911449416,679,659.088550584,634,879,786,806.911449416,653,629.088550584,652,0.400998618854,-0.00539730711589,0.0498592058766,0.999999961892,0.00013029208484,-0.000240027672605,-4.03339989308e-05,1793245231895259392
+87,1.450000000,BASELINE,764,745,714,679,659.499432735,634,879,786,807,653,629.499432735,652,0.400999262437,-0.00539826058003,0.0498594722314,0.999999962233,0.000128440442936,-0.000239618697155,-4.02449163168e-05,1793245231911926016
+88,1.466666667,BASELINE,763.911604108,745,714,679,659.911604108,634,878.911604108,786,806.911604108,653,629.911604108,652,0.401000084002,-0.00539975159774,0.049859865765,0.999999962705,0.000126045110981,-0.000238951208875,-4.00653484112e-05,1793245231928592384
+89,1.483333333,BASELINE,763.33187485,745,714,679,659.33187485,634,878.33187485,786,806.33187485,653,629.33187485,652,0.400999913753,-0.00540096412392,0.0498600758921,0.999999962888,0.000125098775488,-0.000238706809951,-3.99044903838e-05,1793245231945259008
+90,1.500000000,BASELINE,763,745,713.75384744,679,659.24615256,634,878,786,806,653,629.24615256,652,0.400999970235,-0.00540062577183,0.0498603236873,0.999999962971,0.000125263214422,-0.000238255892799,-4.00232384795e-05,1793245231961925888
+91,1.516666667,BASELINE,763,745,713.178098834,679,659.821901166,634,878,786,806,653,629.821901166,652,0.401000330309,-0.00539821080772,0.0498606219199,0.999999962916,0.000126914970318,-0.000237528449633,-4.05163766509e-05,1793245231978592512
+92,1.533333333,BASELINE,763.40711999,745,713.40711999,679,659.59288001,633.59288001,878,786,806,653,630,652,0.401000523016,-0.00539727681682,0.0498606894646,0.999999962755,0.000128431232547,-0.00023738109819,-4.05687175747e-05,1793245231995259392
+93,1.550000000,BASELINE,763.996580375,745,713.996580375,679,659.003419625,633.003419625,878,786,806,653,630,652,0.401000640763,-0.00539700612214,0.0498606536891,0.999999962546,0.000129886810184,-0.000237493557442,-4.0423634819e-05,1793245232011926272
+94,1.566666667,BASELINE,764,745,714,678.424088254,659.575911746,633.575911746,878,786,806,653,630,652,0.401002830282,-0.00539803265358,0.0498623092177,0.999999963126,0.000130001925684,-0.000235080739329,-3.98099694022e-05,1793245232028592640
+95,1.583333333,BASELINE,764,745,714,678,660,634,878.154281036,786,806.154281036,653,630,652,0.40100384907,-0.00539879729939,0.0498631823484,0.999999963367,0.000130402164588,-0.000233904014274,-3.93636658796e-05,1793245232045259264
+96,1.600000000,BASELINE,764,745,714,678,660,634,878.730182789,786,806.730182789,653,630,652,0.401001635434,-0.00539882557589,0.049861890365,0.999999962682,0.000131602966953,-0.000236145564662,-3.93822025946e-05,1793245232061925888
+97,1.616666667,BASELINE,764,745,714,678.301638869,659.698361131,634,878.698361131,786,806.698361131,653,630,652,0.401000372829,-0.00539856429553,0.049860968614,0.999999962405,0.000131058792163,-0.000237563737637,-3.97220673388e-05,1793245232078592512
+98,1.633333333,BASELINE,764,745,714,678.869176,659.130824,634,878.130824,786,806.130824,653,630,652,0.400999948568,-0.00539804776733,0.0498603732273,0.999999962486,0.000128976399119,-0.000238256093462,-4.03451865738e-05,1793245232095259136
+99,1.650000000,BASELINE,764,745,713.539235993,679,659.460764007,634,878,786,806,653,630,652,0.40100183845,-0.00539829588387,0.0498615556329,0.999999963109,0.000127772494865,-0.000236289865239,-4.02842772047e-05,1793245232111925760
+100,1.666666667,BASELINE,764,745,713.057438073,679,659.942561927,634,878.057438073,785.942561927,806,653,630,652,0.401003994168,-0.00539881660417,0.0498629867251,0.999999963767,0.000126925417832,-0.000233988870606,-4.00633927306e-05,1793245232128592384
+101,1.683333333,BASELINE,764,745,713.634928803,679,659.365071197,634,878.634928803,785.365071197,806,653,630,652,0.401002280154,-0.00539973156838,0.0498618475472,0.999999963318,0.000126926376075,-0.000235867744515,-4.02493650397e-05,1793245232145259264
+102,1.700000000,BASELINE,763.7884496,745,714,679,659,633.7884496,879,785.2115504,806,653,630,652,0.401000701878,-0.00539978286131,0.0498606249009,0.999999962863,0.000127034967744,-0.000237695109376,-4.04546956171e-05,1793245232161925888
+103,1.716666667,BASELINE,763.213321782,745,714,679,659,633.213321782,879,785.786678218,806,653,630,652,0.400999356883,-0.00539834982052,0.0498592588034,0.999999962401,0.000127328541726,-0.000239433948917,-4.06932959272e-05,1793245232178592512
+104,1.733333333,BASELINE,763,745,714,679,659,633.370469711,878.629530289,786,806,653,630,652,0.400999815167,-0.00539898037639,0.0498598238507,0.99999996261,0.000127978580823,-0.000238257192159,-4.04245786911e-05,1793245232195259136
+105,1.750000000,BASELINE,763,745,714,679,659,633.959369386,878.040630614,786,806,653,630,652,0.401001336669,-0.00540082763439,0.0498615275062,0.999999963209,0.000128838792761,-0.000235361391947,-3.98567456527e-05,1793245232211925760
+106,1.766666667,BASELINE,763.53910523,745,713.46089477,679,659,633.46089477,878,786,806.53910523,653,630,652,0.401001108865,-0.00540027974938,0.0498610981928,0.99999996299,0.000129117036045,-0.000236126717133,-3.99229250793e-05,1793245232228592384
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878,786,806,653,630,652,0.400999840861,-0.00539963857269,0.0498602039038,0.999999962503,0.000128343773326,-0.000238560371358,-4.01305256321e-05,1793245232270791936
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.424566803,679,659.424566803,634,878,786,806,653,630,652,0.401000487981,-0.00540054138924,0.0498605175439,0.999999962787,0.000127391160552,-0.000237899252653,-4.00135890539e-05,1793245232287459072
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713,679,659.154747702,633.845252298,878,786,806,653,630,652,0.401000808221,-0.00540107873712,0.0498606879069,0.999999962985,0.000126484761905,-0.00023755585535,-3.99775361578e-05,1793245232304125952
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713,679,659.744985087,633.255014913,878,786,806,653,630,652,0.40100020856,-0.00540058758635,0.0498604550609,0.999999962945,0.000125708418445,-0.000238106586795,-4.01691054126e-05,1793245232320792320
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.329092875,679,659.670907125,633.329092875,878,786,806,653,630,652,0.400999533033,-0.00540082663127,0.0498601382157,0.999999962867,0.000125177964354,-0.000238733667987,-4.00339903411e-05,1793245232337458432
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.908537642,679,659.091462358,633.908537642,878,786,806,653,630,652,0.400998799793,-0.00540162116038,0.0498597574694,0.999999962761,0.000124834566526,-0.000239418830937,-3.96503556304e-05,1793245232354124544
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.484651655,634,878.484651655,786,806,653,630,652,0.400999899735,-0.00540022192991,0.0498600884724,0.999999962849,0.000125834926253,-0.000238476112937,-3.99611525743e-05,1793245232370791168
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.939959691,634,878.939959691,786,806.060040309,653,630,652,0.401001274942,-0.00539856145529,0.0498605671901,0.999999962958,0.000126999716554,-0.000237330611747,-4.03737423121e-05,1793245232387457792
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659.365437138,634,878.365437138,786,806.634562862,653,630,652,0.401002064643,-0.00539818573466,0.0498611685441,0.999999962962,0.000127415329026,-0.000237061970246,-4.05432801443e-05,1793245232404124672
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.784553732,679,659,634,878,786,806.784553732,653,630,652,0.401008810623,-0.00539857968775,0.0498637997685,0.999999963998,0.00012804174881,-0.00023234437231,-4.03278600616e-05,1793245232420791296
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.19255296,679,659,634,878,786,806.19255296,653,630,652,0.401025966919,-0.0054003188677,0.0498699787767,0.99999996673,0.000129036615122,-0.000219850939617,-3.94396149519e-05,1793245232437458176
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745.388859188,713.388859188,679,659,633.611140812,878,786,806,653,630,652,0.40106126775,-0.00540185841575,0.0498824505461,0.999999972097,0.000128424705012,-0.000194448188347,-3.87782301791e-05,1793245232454124800
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745.965167163,713.965167163,679,659,633.034832837,878,786,806,653,630,652,0.40110531512,-0.00540330173181,0.0498979557288,0.999999977944,0.000127038251554,-0.000162822524831,-3.82262028645e-05,1793245232470791168
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,746,714,678.459892513,659.540107487,633.540107487,878.540107487,786,806,653,630,652,0.401170805427,-0.00540589612217,0.0499148589122,0.999999983153,0.00012468737028,-0.00012963268048,-3.66379739107e-05,1793245232487457792
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.117997795,745.882002205,714,678.117997795,659.882002205,634,878.882002205,786,806,653,630,652,0.401239724167,-0.0054083597903,0.0499305890014,0.999999986741,0.000122872631469,-0.00010096740366,-3.50114791736e-05,1793245232504124416
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.708041536,745.291958464,714,678.708041536,659.291958464,634,878.291958464,786,806,653,630,652,0.401316839951,-0.00541000428308,0.0499412664019,0.999999987696,0.000123450904617,-9.08050262223e-05,-3.34985675467e-05,1793245232520791040
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.709182681,745,714,679,659,634,878,786,806,653,629.709182681,652,0.401399624572,-0.005412796213,0.0499465385982,0.999999988334,0.000122153097134,-8.57450243714e-05,-3.25293305799e-05,1793245232537457664
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.133525506,745,714,679,659,634,878,786,806,653,629.133525506,652,0.401487961509,-0.00541671199553,0.0499465166882,0.999999988732,0.000119017769982,-8.56825244247e-05,-3.20925936698e-05,1793245232554124288
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878,786,806,653,629.444407926,652,0.401593333641,-0.00542165534911,0.0499439215504,0.999999988749,0.000115866381129,-8.99883171974e-05,-3.12826249205e-05,1793245232570791424
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.977146605,878,786,806,653,630,652,0.40170525764,-0.00542687953428,0.0499407914345,0.999999988642,0.000112768343806,-9.52822734769e-05,-3.03433388475e-05,1793245232587458048
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.402932639,878,786,806,653,630,652,0.401851131087,-0.00543139203116,0.0499435033475,0.999999989124,0.000111074491208,-9.25886479392e-05,-2.90035650885e-05,1793245232604124672
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.176995432,878,786,806,653,629.823004568,652,0.402004784559,-0.00543654307278,0.0499449021233,0.9999999894,0.000109271507414,-9.21686846341e-05,-2.76567053122e-05,1793245232620791296
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.770365631,878,786,806,653,629.229634369,652,0.402176740211,-0.00544319626503,0.0499432117953,0.999999989193,0.00010721179703,-9.70974223673e-05,-2.62931761492e-05,1793245232637457920
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.354270791,785.645729209,806,653,629.354270791,652,0.402371985036,-0.00544909347771,0.0499426209382,0.999999989414,0.000104164180964,-9.84288055027e-05,-2.51638554226e-05,1793245232654124544
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.932200522,785.067799478,806,653,629.932200522,652,0.402581932845,-0.00545451342451,0.049942724201,0.999999989906,0.000100492878118,-9.7489100063e-05,-2.41823954982e-05,1793245232670790912
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.492123815,678.492123815,659,634,878.492123815,785.507876185,806,653,630,652,0.402817470281,-0.00546136846018,0.0499416928631,0.999999989749,9.86223759579e-05,-0.000101324137933,-2.25681281508e-05,1793245232687457536
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713,678.085057226,659,634,878,786,806,653,629.914942774,652,0.403065764253,-0.00546900473996,0.0499418650118,0.999999989876,9.63535441944e-05,-0.000102632140132,-2.07482642634e-05,1793245232704124416
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713,678.672908043,659,634,878,786,806,653,629.327091957,652,0.403369361008,-0.00548013167949,0.0499500426455,0.999999992122,9.03153085717e-05,-8.5251001381e-05,-1.82102284465e-05,1793245232720791296
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.257006397,679,659.257006397,634,878.257006397,786,806,653,629,652,0.403689436218,-0.00549032055439,0.0499592673222,0.999999993871,8.64763902133e-05,-6.74412689613e-05,-1.52274911265e-05,1793245232737457920
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.836397682,679,659.836397682,634,878.836397682,786,806,653,629,652,0.404030181733,-0.00549933273472,0.049969805393,0.99999999508,8.53962621264e-05,-4.90939162591e-05,-1.16869272042e-05,1793245232754124288
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.586888556,633.586888556,878.586888556,786,806.413111444,653,629.413111444,652,0.404400640236,-0.00550982722063,0.0499796284822,0.999999996105,8.2549669919e-05,-3.01040395143e-05,-8.29811395529e-06,1793245232770791168
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.011228344,633.011228344,878.011228344,786,806.988771656,653,629.988771656,652,0.404782790029,-0.00552090495559,0.0499891702442,0.999999996808,7.90080193484e-05,-1.08613464491e-05,-4.96901078951e-06,1793245232787457792
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.562018603,745,714,678.437981397,659,633.562018603,878.562018603,786,807,653,630,652,0.405189625662,-0.00552180705874,0.0499872769307,0.999999996042,8.8022321386e-05,-1.27520781997e-05,-2.12815242921e-06,1793245232804124160
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,678.133469723,659,634,879,786,806.866530277,653,630,652,0.405597631969,-0.00551855252035,0.0499802070755,0.99999999445,0.000102267310871,-2.53183274068e-05,1.6231866487e-07,1793245232820791040
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,678.699259387,659,634,879,786,806.300740613,653,630,652,0.406007839466,-0.00550248993563,0.0499571067832,0.999999988675,0.000132645894232,-7.11017503405e-05,7.01497784144e-07,1793245232837457664
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.715773453,745,714,678.715773453,659,634,878.715773453,785.715773453,806,653,630,652,0.406457980848,-0.0054924854376,0.0499375091847,0.999999982168,0.00015584298353,-0.000106642733731,2.18280768257e-06,1793245232854124288
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.109046273,745,714,678.109046273,659,634,878.109046273,785.109046273,806,653,630,652,0.406953433683,-0.00548935480909,0.0499218859515,0.999999976864,0.000170891519454,-0.000130562031712,4.73311621887e-06,1793245232870791168
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,678.46733407,659.46733407,633.53266593,878.46733407,785,806,653,630,652,0.407488665544,-0.0054985077215,0.0499223419087,0.999999977417,0.000170869123333,-0.000126101519574,8.254676602e-06,1793245232887457792
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.038616953,745,714,679,659.961383047,633.038616953,879,785.038616953,806,652.961383047,630,652,0.408036940068,-0.00550994841597,0.0499277091621,0.999999979434,0.000167992354187,-0.000112980358693,1.20456508064e-05,1793245232904124416
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.632201397,745,714,679,659.367798603,633.632201397,879,785.632201397,806,652.367798603,630,652,0.408647394866,-0.00551558823306,0.0499530264131,0.99999998305,0.00017155096796,-6.47595067095e-05,1.66500890457e-05,1793245232920791296
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.77990703,745,713.77990703,679,659.22009297,634,879,786,806,652,630,652,0.40927467419,-0.00551860435241,0.049974445849,0.999999983086,0.000180516895262,-2.79136732964e-05,2.15258373262e-05,1793245232937457664
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.201289017,745,713.201289017,679,659.798710983,634,879,786,806,652,630,652,0.40992936014,-0.00551734654416,0.0499895158558,0.999999979934,0.000198291179202,-9.59741722479e-06,2.68435415368e-05,1793245232954124288
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.37720177,745,713.37720177,679,659.62279823,634,879.37720177,786,806.37720177,652.37720177,630,652,0.410563107825,-0.00551426799895,0.0499840929694,0.999999975811,0.000215685013983,-3.00941430168e-05,3.08717985538e-05,1793245232970791168
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.955624669,745,713.955624669,679,659.044375331,634,879.955624669,786,806.955624669,652.955624669,630,652,0.411185685814,-0.00551021816791,0.0499677379939,0.999999969758,0.000232875894415,-7.1295947308e-05,3.42121900245e-05,1793245232987457792
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.471892172,785.471892172,806.471892172,652.471892172,629.471892172,652,0.411851028813,-0.00550880144483,0.0499444595191,0.999999963181,0.000245859043389,-0.000108932149735,3.64110761236e-05,1793245233004124416
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.103614599,634,879,785.103614599,806,652.103614599,629.103614599,652,0.412539972208,-0.00550850253772,0.0499295603786,0.999999958278,0.000255715107543,-0.000128761394954,3.84036341189e-05,1793245233020791296
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.695702229,634,879,785.695702229,806,652.695702229,629.695702229,652,0.413323423232,-0.00551244192596,0.0499568762696,0.999999965152,0.000252477344118,-6.60395574544e-05,3.98706498027e-05,1793245233037457920
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.718346599,745,713.718346599,679,660,633.718346599,878.718346599,785.718346599,806,652.718346599,630,652,0.414107015371,-0.00551944243439,0.0499700715743,0.999999978792,0.000199976967401,-3.8799339222e-05,3.03395453171e-05,1793245233054124288
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.138883808,745,713.138883808,679,660,633.138883808,878.138883808,785.138883808,806,652.138883808,630,652,0.414890756816,-0.00552967965318,0.0499683363217,0.999999994204,9.53882109575e-05,-4.90760022909e-05,9.17945478427e-06,1793245233070790912
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.438395698,745,713.438395698,679,659.561604302,633.438395698,878.438395698,785,806.438395698,652,630,652,0.41566351809,-0.00553313924907,0.0499472576308,0.999999993093,8.14778894237e-05,-8.44716863253e-05,6.30607989895e-06,1793245233087457536
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.985107864,745,714,679,659,633.985107864,879.014892136,785,807,652.014892136,630,652,0.416434720525,-0.00553438243255,0.0499212239087,0.999999987418,9.62339756068e-05,-0.000125770929815,9.25544858197e-06,1793245233104123904
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.41216371,745,714,679,659,633.41216371,879.58783629,785,807,652.58783629,630,652,0.417277214803,-0.00553263149899,0.0499380068831,0.999999989199,0.000114056324842,-9.1572996131e-05,1.43864330895e-05,1793245233120790784
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.166084828,745,714,679,659.166084828,633,879.833915172,785,806.833915172,652.833915172,630,652,0.418122880936,-0.00553086268746,0.0499561070798,0.999999989938,0.000127940706307,-5.83236195429e-05,1.88038319061e-05,1793245233137457664
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.757931218,745,714,679,659.757931218,633,879.242068782,785,806.242068782,652.242068782,630,652,0.418976678132,-0.00552904804552,0.0499775839995,0.999999990717,0.000131730033028,-2.7505889109e-05,2.13919401971e-05,1793245233154124544
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.658180882,745,713.658180882,679,660,633,879.341819118,785.341819118,806.341819118,652,630,652,0.419835066353,-0.00552799897709,0.0499716224346,0.999999990294,0.000131829523737,-3.95372455562e-05,2.16524891756e-05,1793245233170791424
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.079800799,745,713.079800799,679,660,633,879.920199201,785.920199201,806.920199201,652,630,652,0.420696631826,-0.00552747973519,0.0499466716606,0.999999988126,0.00012937540869,-8.12229463282e-05,2.03022162472e-05,1793245233187458048
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713.495515171,679,660,633.495515171,880,786,807,652,630,652,0.421624466588,-0.00553101092766,0.0499647170595,0.999999990981,0.00012686987482,-3.83265873182e-05,2.17297293794e-05,1793245233204124416
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.070124313,745,714,679,660,634,880,786,807,652,630.070124313,652,0.422556598431,-0.00553493909399,0.0499858587968,0.999999991938,0.000124429732197,9.60905379545e-06,2.3418497943e-05,1793245233220791296
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.64318117,745,714,679,660,634,880,786,807,652,630.64318117,652,0.423443476242,-0.00553706475883,0.0499798510508,0.999999992206,0.000122517605167,-3.40753137536e-06,2.37922989726e-05,1793245233237457664
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.775277073,745,714,679,660,634,880,786,807,652,630.775277073,652,0.424339235169,-0.00553880753152,0.0499746786268,0.99999999237,0.000120583569277,-1.16877432432e-05,2.41464709292e-05,1793245233254124032
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.179734112,745,714,679,660,634,880,786,807,652,630.179734112,652,0.425249649153,-0.00553991848616,0.0499708845839,0.999999992592,0.000118613380845,-1.21523678457e-05,2.44682526035e-05,1793245233270790912
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.401857178,745,714,679.401857178,660,633.598142822,880,786,807,652,630.401857178,652,0.426192932833,-0.00554065022995,0.0499855614352,0.999999992842,0.000116711862272,9.59804177163e-07,2.63366284297e-05,1793245233287457536
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+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880.55269391,786,807,652,630.44730609,652,0.428000104269,-0.00553535465124,0.0499713224793,0.999999990384,0.000123400184967,-5.69778615072e-05,2.75261169465e-05,1793245233320791552
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.868464403,745,714,679.868464403,660,633.131535597,880.868464403,786,807,652,630,651.868464403,0.4288642401,-0.0055324123021,0.0499401414805,0.999999984853,0.000127718419665,-0.000115268839451,2.63511835799e-05,1793245233337458176
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.277117898,745,714,679.277117898,660,633.722882102,880.277117898,786,807,652,630,651.277117898,0.429794300705,-0.00554059923814,0.0499374547273,0.999999988469,0.000115718872521,-9.47533784098e-05,2.63336697869e-05,1793245233354124544
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.304543474,745.304543474,714,679.304543474,660.304543474,633.695456526,880,786,807.304543474,652,630,651.609086949,0.430715767042,-0.00554411874565,0.0499395908042,0.999999990103,0.000111507435371,-8.15239930635e-05,2.67357389522e-05,1793245233370790912
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.877663508,745.877663508,714,679.877663508,660.877663508,633.122336492,880,786,807.877663508,652,630,652.755327016,0.431629654054,-0.00554352205259,0.0499459801299,0.999999990313,0.000114164324641,-7.47201910768e-05,2.75078378823e-05,1793245233387457536
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.54730858,714,679.54730858,660.54730858,633,880,786,808,652,630.45269142,652.54730858,0.43253985079,-0.00554326083154,0.0499375707584,0.999999989323,0.000113827281299,-8.74676322034e-05,2.73123575046e-05,1793245233404124160
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.970904805,679.029095195,660,633,880,786,808,652,630.970904805,651.970904805,0.433448736174,-0.00554320171268,0.0499270362672,0.999999988038,0.000112563612754,-0.000102602110024,2.69552143146e-05,1793245233420790784
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.377869865,679.622130135,660,633,880,786,808,652,630.377869865,651.377869865,0.434351614313,-0.00554529521615,0.0499531551012,0.999999991772,0.000109088146517,-6.11607015535e-05,2.85542578759e-05,1793245233437457664
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.790858541,745,713,679.790858541,660.209141459,633,880,786,808,652,630.209141459,651.418282918,0.43522634682,-0.00554563563253,0.0499667337864,0.999999992496,0.000109435044262,-4.60587913826e-05,3.01760966223e-05,1793245233454124288
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.214425711,745,713,679.214425711,660.785574289,633,880,786,808,652,630.785574289,652.571148578,0.436051650502,-0.00554289730167,0.049958289638,0.999999989727,0.000116494725001,-7.72139413084e-05,3.18379682759e-05,1793245233470791168
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,713.363139613,679.363139613,660.273720775,633,880,786,808.363139613,652,631,652.636860387,0.436898037394,-0.00554312657318,0.0499520655227,0.999999988726,0.000115071853059,-9.09606839386e-05,3.21198500188e-05,1793245233487457792
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,713.941375705,679.941375705,659.11724859,633,880,786,808.941375705,652,631,652.058624295,0.437756912338,-0.00554511362837,0.0499471563877,0.999999989146,0.000108624557188,-9.43959990472e-05,3.1584329877e-05,1793245233504124160
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.513946177,745,714,679.486053823,659.513946177,633,880,786,808.486053823,652,631,652,0.43863079305,-0.00555059301754,0.049967829051,0.999999993219,9.95764712497e-05,-5.14195056186e-05,3.16508388899e-05,1793245233520791040
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.911179857,679.088820143,660,633,880,785.911179857,808,652,631,652,0.439487115541,-0.00555513325396,0.0499843478004,0.999999995145,9.19704897834e-05,-1.59137496715e-05,3.15995176503e-05,1793245233537457664
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.319650611,679.680349389,660,633,880,785.319650611,808,652,631,652,0.440234478905,-0.005552127946,0.0499610204041,0.99999999373,9.4187380341e-05,-5.23281588154e-05,3.0496860964e-05,1793245233554124032
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.733817817,745,713,680,659.733817817,632.733817817,880,785.266182183,808,652,630.733817817,652.266182183,0.440981508528,-0.00555035455194,0.0499441799091,0.999999991648,9.74476980341e-05,-7.9258471808e-05,3.04246583137e-05,1793245233570790656
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.154682445,745,713,680,659.154682445,632.154682445,880,785.845317555,808,652,630.154682445,652.845317555,0.441728145714,-0.0055500295322,0.0499349661337,0.99999998979,0.000101934783913,-9.50382307863e-05,3.15639714093e-05,1793245233587457536
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745.42355887,713,680,659,632.42355887,880,786,808.42355887,652,630,653,0.442462365426,-0.00554913236617,0.0499365594126,0.999999989477,0.000108254314254,-9.08564431215e-05,3.27504883852e-05,1793245233604124416
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.001462773,746,713.001462773,680.001462773,659,632.998537227,880,786,809,652,630.001462773,652.998537227,0.443191772903,-0.00554802939876,0.0499419588281,0.999999989614,0.000115227724711,-7.96423551885e-05,3.39501481705e-05,1793245233620791296
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.574816087,746,713.574816087,680.574816087,659,632.425183913,880,786,809,652,630.574816087,652.425183913,0.443808965439,-0.00554798387809,0.0498956515406,0.999999979313,0.000116761216722,-0.000163136415241,3.35626176669e-05,1793245233637457664
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,680.847385195,659,632,880,785.847385195,809,652,630.847385195,652.152614805,0.444417108811,-0.00554762949111,0.0498492868468,0.999999963203,0.000118464862439,-0.000241832221985,3.28086013906e-05,1793245233654124288
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714,680.256829896,659,632,880,785.256829896,809,652,630.256829896,652.743170104,0.444999285024,-0.00554638878736,0.0498027574101,0.99999994519,0.000120656780014,-0.000306759075483,3.10029250333e-05,1793245233670790912
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.672015974,745.672015974,714,680,659,631.672015974,880.327984026,785,809,652,630,652.672015974,0.445603741407,-0.00554684765566,0.0497837219387,0.999999940324,0.000121506175741,-0.000321932227299,3.07986397718e-05,1793245233687457792
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.091620562,745.091620562,714,680,659,631.091620562,880.908379438,785,809,652,630,652.091620562,0.446225344227,-0.00554861448815,0.0497858453967,0.999999947489,0.000121322387712,-0.000298815703707,3.18267602655e-05,1793245233704124416
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.483583629,745,714,680.483583629,658.516416371,631,881,785,809,652,630,652,0.446790674564,-0.00554486302145,0.0497847483056,0.999999946326,0.000129917311879,-0.000299042766861,3.22844513311e-05,1793245233720791040
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.358117878,745,713.358117878,681,658,631,881,785,809.641882122,652,630,652,0.447800211471,-0.00554184934978,0.0497392793305,0.999999921799,0.000138072643221,-0.000369226912303,3.17579669394e-05,1793245233754124544
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.224885111,745.224885111,713.224885111,681,658,630.775114889,880.775114889,785,809.775114889,652,629.775114889,652,0.448266356305,-0.00554582396131,0.049711003578,0.999999905594,0.000135343237773,-0.000411667569092,3.19881652816e-05,1793245233770790912
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.807626027,745.807626027,713.807626027,681,658,630.192373973,880.192373973,785,809.192373973,652,629.192373973,652,0.448736066022,-0.00555425781859,0.0497012574197,0.999999900199,0.000129794550762,-0.000426160788336,3.38018777633e-05,1793245233787457280
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.117767519,658,628.882232481,880.882232481,785,809,653,629.882232481,652,0.45045049261,-0.00555048814186,0.0497580458346,0.999999940513,4.10104320524e-05,-0.000342399366044,7.39847501549e-06,1793245233854124544
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,628.291900844,880,784.708099156,809.291900844,653,629.291900844,652,0.451111349182,-0.0055669557245,0.0497492589436,0.999999931209,1.62062080537e-05,-0.000370477190168,8.17138052428e-06,1793245233887457536
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,628.874996939,880,784.125003061,809.874996939,653,629.874996939,652,0.451400735668,-0.005565537509,0.0497389318351,0.999999922724,2.25097973944e-05,-0.000392382333447,9.06881185187e-06,1793245233904124160
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657.550155549,628.550155549,880.449844451,784,810,653,629.550155549,652.449844451,0.451651546467,-0.00556226091368,0.0497239307466,0.999999910128,3.03586878162e-05,-0.000422757769521,9.90104902845e-06,1793245233920791040
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.022582045,714,681,657,628,880.977417955,784.022582045,810,652.977417955,629,653,0.451891698702,-0.00555857421792,0.0497082661374,0.99999989614,3.84528017186e-05,-0.000454012391565,1.07200871432e-05,1793245233937457664
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.598774846,714,681,657,628,880.401225154,784.598774846,810,652.401225154,629,653,0.452128611419,-0.00555726574029,0.0497076025999,0.99999989772,4.22210643026e-05,-0.000450156820596,1.16516746742e-05,1793245233954124288
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+210,3.500000000,POSE1_TO_POSE2_PRESS,764.231401679,746,714,681,657,627.231401679,880,784.231401679,809.231401679,652.768598321,629,652.231401679,0.452566754274,-0.00555794284585,0.049716621043,0.999999905206,4.98693469516e-05,-0.000432289384142,1.50862281342e-05,1793245233987457536
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+227,3.783333333,POSE1_TO_POSE2_PRESS,764,745,714,681,656,626,881.620224605,783.620224605,809.620224605,652.379775395,628.379775395,652.620224605,0.453794764513,-0.00555229152101,0.0496886258615,0.999999889466,6.58979042053e-05,-0.000465209013333,1.74784995273e-05,1793245234270790912
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.200852553,745,714.200852553,681,656,625.799147447,881.799147447,784,809.799147447,652.200852553,628,653,0.453798818121,-0.00555099228686,0.0496870293019,0.999999888095,6.7170411282e-05,-0.000467974957195,1.72668064229e-05,1793245234287457792
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.793308157,745,714.793308157,681,656,625.206691843,881.206691843,784,809.206691843,652.793308157,628,653,0.453802633888,-0.00554883974789,0.049687487461,0.999999888323,7.06212728324e-05,-0.000466978578174,1.7234110002e-05,1793245234304124416
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.622882433,745,715,681,656,625.377117567,880.622882433,784,809,653,628.377117567,652.622882433,0.453805569114,-0.00554803282165,0.0496877263755,0.99999988832,7.16223658139e-05,-0.000466830724779,1.72927518193e-05,1793245234320791552
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.043705663,745,715,681,656,625.956294337,880.043705663,784,809,653,628.956294337,652.043705663,0.453808032546,-0.00554794687339,0.049687847819,0.999999888197,7.13108752176e-05,-0.000467137510568,1.74003325713e-05,1793245234337458176
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.530076506,745,715,681.530076506,656,626,880,784,809,653,629,652,0.453807947499,-0.00554830666357,0.0496865847488,0.999999887189,7.08376910143e-05,-0.000469355893367,1.7601659922e-05,1793245234354124544
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.106234519,715,681.893765481,656,625.893765481,880,784,809,652.893765481,629,652,0.453807766866,-0.00554851803502,0.0496854973966,0.999999886352,7.03474720547e-05,-0.000471206078785,1.76834454138e-05,1793245234370790912
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.695188717,715,681.304811283,656,625.304811283,880,784,809,652.304811283,629,652,0.453808097073,-0.00554788969095,0.0496857219764,0.999999886646,6.98398175006e-05,-0.000470674240014,1.71872753198e-05,1793245234387457792
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.71997057,715,681,656,625.28002943,880.28002943,784,809,652,629,652,0.453808748503,-0.00554785973376,0.0496854301532,0.999999886728,6.95705372333e-05,-0.000470548608835,1.69600384389e-05,1793245234404124416
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.139542479,715,681,656,625.860457521,880.860457521,784,809,652,629,652,0.453809744522,-0.0055484716898,0.0496845843641,0.999999886582,6.95569704407e-05,-0.000470858732563,1.70212968045e-05,1793245234420790784
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.563145034,745,715,681,656,625.563145034,880.563145034,783.563145034,809,652,629,652,0.453810122366,-0.00554958693874,0.0496842122478,0.999999886642,6.76018970414e-05,-0.000471014789255,1.70438229861e-05,1793245234437457664
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.011902136,745,715,681,656.011902136,625,880,783.011902136,809,652,629,652.011902136,0.453810298872,-0.00555077372882,0.049684001818,0.999999886747,6.5172062186e-05,-0.000471134103189,1.70514554989e-05,1793245234454124288
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.583445347,745,715,681,656.583445347,625,880,783.583445347,809,652,629,652.583445347,0.453810208106,-0.00554783433069,0.0496843446655,0.999999886148,6.93125907155e-05,-0.000471818611049,1.69352019447e-05,1793245234470791168
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,656.839102234,625,880.160897766,784,809,652,628.839102234,652.839102234,0.45381031461,-0.00554583936227,0.0496846302704,0.999999885869,7.25496571776e-05,-0.000471926012666,1.68720031752e-05,1793245234487458048
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,656.245767981,625,880.754232019,784,809,652,628.245767981,652.245767981,0.453810951307,-0.00554638268821,0.0496847620273,0.999999886489,7.33585357925e-05,-0.000470482356091,1.69513969745e-05,1793245234504124672
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,656,625,880.661235775,784,809,652,628,652,0.453811044359,-0.00554634182399,0.049684472396,0.999999886432,7.21449523602e-05,-0.000470793643939,1.68773012111e-05,1793245234520791040
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,656,625,880.082927618,784,809,652,628,652,0.453810752995,-0.00554588787242,0.0496838847964,0.99999988589,6.9501263605e-05,-0.000472345872462,1.66946712763e-05,1793245234537457664
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.493591959,714.506408041,680.506408041,656,625,880,784,809,652.493591959,628.493591959,652,0.453810735611,-0.00554633099787,0.0496835185817,0.999999885751,6.94771045378e-05,-0.000472640048703,1.67812511485e-05,1793245234554124288
+245,4.083333333,HOLD_POSE2,765,745,715,681,656,626,880,783,809,653,628,652,0.453812133758,-0.00554147158853,0.0496837317097,0.999999885456,7.67675241196e-05,-0.000472144477057,1.65612844932e-05,1793245234597135872
+246,4.100000000,HOLD_POSE2,765,745,714.424961774,681,656,625.424961774,880,783,809,653,628,652,0.453812444053,-0.00554336937632,0.0496830667971,0.999999885531,7.26104516714e-05,-0.000472649697088,1.63632387851e-05,1793245234613802496
+247,4.116666667,HOLD_POSE2,765,745,714.151470827,681.151470827,656,625,880.151470827,783.151470827,809,652.848529173,628.151470827,652,0.453812469617,-0.00554484862552,0.0496825639663,0.999999885442,6.98653673739e-05,-0.000473257074944,1.62302357084e-05,1793245234630469376
+248,4.133333333,HOLD_POSE2,765,745,714.731851925,681.731851925,656,625,880.731851925,783.731851925,809,652.268148075,628.731851925,652,0.453811688923,-0.00554514272615,0.0496825200915,0.999999884928,7.11185188122e-05,-0.000474153726722,1.62814096531e-05,1793245234647135744
+249,4.150000000,HOLD_POSE2,764.692211307,745,714.692211307,681.692211307,656,625,880.692211307,784,809,652,628.692211307,652,0.453812394609,-0.00554491756346,0.0496830550162,0.999999885153,7.24133349397e-05,-0.000473478858732,1.63758965561e-05,1793245234663802112
+250,4.166666667,HOLD_POSE2,764.120091395,745,714.120091395,681.120091395,656,625,880.120091395,784,809,652,628.120091395,652,0.45381437681,-0.00554424645356,0.0496840870182,0.99999988601,7.37439329368e-05,-0.000471454357823,1.65075809466e-05,1793245234680468736
+251,4.183333333,HOLD_POSE2,764.470785774,745,714,681,656.470785774,625.470785774,880.470785774,784,809.470785774,652.470785774,628,652.470785774,0.45381418394,-0.00554401015023,0.0496842020595,0.999999885933,7.30564437372e-05,-0.00047172523757,1.6485052545e-05,1793245234697135104
+252,4.200000000,HOLD_POSE2,764.935550924,745.064449076,714,681,656.935550924,625.935550924,880.935550924,783.935550924,809.935550924,652.935550924,628.064449076,652.935550924,0.453813130874,-0.00554417229004,0.0496837958151,0.999999885467,7.1653219034e-05,-0.000472927268122,1.6489788203e-05,1793245234713801728
+253,4.216666667,HOLD_POSE2,764.359334358,745.640665642,714,681,656.359334358,625.359334358,880.359334358,783.359334358,809.359334358,652.359334358,628.640665642,652.359334358,0.453809835841,-0.00554658105491,0.0496811846515,0.999999883874,6.88239656287e-05,-0.000476680883751,1.70363469407e-05,1793245234730468608
+254,4.233333333,HOLD_POSE2,764.215845391,745.784154609,714,681,655.784154609,625.215845391,880,783.215845391,809,652.215845391,629,652,0.453808372212,-0.0055471271725,0.0496798198703,0.999999883063,6.80059885512e-05,-0.000478494237951,1.70812269477e-05,1793245234747135488
+255,4.250000000,HOLD_POSE2,764.789307267,745.210692733,714,681,655.210692733,625.789307267,880,783.789307267,809,652.789307267,629,652,0.453809942886,-0.00554458722274,0.049680520118,0.999999883572,7.0520330157e-05,-0.000477092932131,1.6294916655e-05,1793245234763802112
+256,4.266666667,HOLD_POSE2,765,745,714.374568899,681,655.374568899,625.625431101,880,784,809,653,629,652,0.453810496539,-0.00554418742493,0.0496805807675,0.999999883649,7.11611528875e-05,-0.000476840973067,1.61398540475e-05,1793245234780468480
+257,4.283333333,HOLD_POSE2,765,745,714.966683769,681,655.966683769,625.033316231,880,784,809,653,629,652,0.453810459515,-0.00554503060631,0.0496802699448,0.999999883479,7.07138543257e-05,-0.000477256543283,1.63514138781e-05,1793245234797135360
+258,4.300000000,HOLD_POSE2,765,745.545271542,714.454728458,681,656,625,880,783.454728458,809,652.454728458,628.454728458,652,0.453811437119,-0.00554475056977,0.0496810620943,0.999999884021,7.05330976237e-05,-0.00047614766545,1.63126385877e-05,1793245234813801984
+259,4.316666667,HOLD_POSE2,764.877693513,745.877693513,714,681,656,625,880,783.122306487,809,652.122306487,628,652,0.453812302558,-0.00554427205344,0.0496818291075,0.999999884386,7.10520979356e-05,-0.000475305787585,1.6251658705e-05,1793245234830468608
+260,4.333333333,HOLD_POSE2,764.303416378,745.303416378,714,681,656,625,880,783.696583622,809,652.696583622,628,652,0.453812529959,-0.00554330754756,0.0496822602214,0.999999883938,7.40982505288e-05,-0.000475786451517,1.61637788568e-05,1793245234847135232
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,746,715,682,656,626,881,784,809,653,628,652,0.453815696671,-0.00554878969188,0.0496842337697,0.999999886259,6.66695595946e-05,-0.000471949054805,1.73543947391e-05,1793245234884213760
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.420536544,745.420536544,714.420536544,680.841073087,655.420536544,625.420536544,881,784,809,653,628,652,0.4538143517,-0.00554673614331,0.0496829817085,0.99999988554,6.87003188584e-05,-0.000473200003612,1.68085866484e-05,1793245234900880640
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.158834202,745,714,680.158834202,655.158834202,625,880.841165798,783.841165798,809,653,628.158834202,652.158834202,0.453813768847,-0.00554509870612,0.0496823209953,0.999999885153,7.03390658087e-05,-0.000473793538548,1.63332304081e-05,1793245234917547520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.737959754,745,714,680.737959754,655.737959754,625,880.262040246,783.262040246,809,653,628.737959754,652.737959754,0.453815202636,-0.00554456234122,0.0496832250481,0.999999885657,7.09405090082e-05,-0.000472647490237,1.60442967638e-05,1793245234934214656
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.682492896,745.317507104,714.317507104,681,656,625,880,783,809,653,628.682492896,652.682492896,0.453815479831,-0.00554437688011,0.0496834908805,0.999999885712,7.11072955786e-05,-0.000472505715697,1.6094423133e-05,1793245234950881024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.102597006,745.897402994,714.897402994,681,656,625,880,783,809,653,628.102597006,652.102597006,0.453814801213,-0.00554448140694,0.0496832292858,0.999999885394,7.09148806218e-05,-0.000473193875966,1.64247496921e-05,1793245234967546880
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.468493553,745.531506447,715,681,656,625,880,783.468493553,809,652.531506447,628,652,0.453813810148,-0.00554332363822,0.0496826357302,0.999999884871,7.23414964083e-05,-0.000474080650195,1.64930502376e-05,1793245234984213760
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.960689334,745.039310666,714.960689334,681,656,625,880,783.960689334,809,652.039310666,628,652.039310666,0.453812645836,-0.0055420500406,0.0496819142551,0.999999884263,7.39330218209e-05,-0.000475117156747,1.64942483284e-05,1793245235000880128
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.367037648,745.632962352,714.367037648,681,656,625,880,783.367037648,809,652.632962352,628,652.632962352,0.453809985571,-0.00554296931434,0.0496803951491,0.999999883125,7.29424634832e-05,-0.000477663086605,1.63434447869e-05,1793245235017546496
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.219611265,745.780388735,714,681,656,625,880,783,809,653,628,653,0.453805314333,-0.00554296824534,0.0496780184292,0.9999998814,7.24374259116e-05,-0.00048134864003,1.59903817516e-05,1793245235034213376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.794918014,745.205081986,714,681,656,625,880,783,809,653,628,653,0.453797386006,-0.00554147653433,0.0496742526669,0.999999878713,7.27187667806e-05,-0.000486879995396,1.53097272102e-05,1793245235050880512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.629775272,745,714.370224728,681,656,625,880.370224728,783.370224728,809,653,628.370224728,652.629775272,0.453772318064,-0.00554043537337,0.0496627646294,0.999999869219,7.27385619611e-05,-0.000506022770545,1.45540814732e-05,1793245235067546880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.054468523,745,714.945531477,681,656,625,880.945531477,783.945531477,809,653,628.945531477,652.054468523,0.453737755817,-0.00553964378964,0.0496469989199,0.999999855381,7.26134766951e-05,-0.000532705446032,1.37568950951e-05,1793245235084213248
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,715,681,656.532094004,625,880.467905996,784,809,652.467905996,629,652.532094004,0.453681058865,-0.00553814243623,0.0496255033022,0.999999835376,7.30912986981e-05,-0.000568987383242,1.26274240207e-05,1793245235100879872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.118828427,745,714.881171573,681,656.881171573,625,880.118828427,784,809,652,628.881171573,652.881171573,0.453620738485,-0.00553641625617,0.0496051374011,0.999999816215,7.41205652934e-05,-0.000601616300233,1.15551337961e-05,1793245235117546496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.701638015,745,714.298361985,681,656.298361985,625,880.701638015,784,809,652,628.298361985,652.298361985,0.453555308434,-0.00553410203844,0.0495915223755,0.999999807206,7.70568284051e-05,-0.000616061764626,1.08417987939e-05,1793245235134213120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.720040811,745,714.279959189,681,656,625,880.720040811,784,809,652.279959189,628,652,0.453480683417,-0.00553123881559,0.0495822251138,0.999999800222,7.92507585888e-05,-0.000627039880399,9.84877314629e-06,1793245235150880256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.146427649,745,714.853572351,681,656,625,880.146427649,784,809,652.853572351,628,652,0.453396413647,-0.00552779973204,0.0495774568293,0.99999979549,8.06660429207e-05,-0.000634381034202,8.56237524837e-06,1793245235167547648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.428754902,745,714.571245098,681,656,625,880,784,809,653,628.428754902,652,0.453300564382,-0.00552534814915,0.049577942701,0.999999794599,8.16800464496e-05,-0.000635657577011,8.32793538552e-06,1793245235184214272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,656,625,880,783.995424516,809,652.995424516,629,652,0.453200549234,-0.0055232004409,0.0495802520253,0.999999795055,8.26006354139e-05,-0.000634819002464,8.44788563957e-06,1793245235200880384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,656,625,880,783.406827293,809,652.406827293,629,652,0.453075421112,-0.00551663455933,0.0495854294389,0.999999797959,8.91545124016e-05,-0.000629342875502,7.77739477169e-06,1793245235217547520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.82041024,745,714.17958976,681,656.17958976,625.17958976,880,783.17958976,809,652,628.82041024,652,0.452940633523,-0.00551111031292,0.0495897706651,0.999999799967,9.37977478415e-05,-0.000625472431568,7.23970619482e-06,1793245235234214400
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..140577ea937d6fea8a82a3a22145239bbe068a7c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,406 @@
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+374,6.233333333,pose2_to_pose3_retreat,0.575837558388,-0.000122229141106,1.0400509312,0.546409191401,0.00855345612588,1.03971742626
+375,6.250000000,pose2_to_pose3_retreat,0.575798213849,-0.000122226293425,1.04005088681,0.546369847188,0.0085534600114,1.03971738012
+376,6.266666667,pose2_to_pose3_retreat,0.575766697602,-0.000122153156836,1.04005090314,0.546338330316,0.0085535309195,1.03971739355
+377,6.283333333,pose2_to_pose3_retreat,0.575741304614,-0.000122127146328,1.04005089816,0.546312935228,0.008553549808,1.03971738872
+378,6.300000000,pose2_to_pose3_retreat,0.575721539529,-0.000122181286899,1.04005107308,0.546293172897,0.00855350517913,1.03971756799
+379,6.316666667,pose2_to_pose3_retreat,0.575705353873,-0.00012208294302,1.04005107553,0.546276986141,0.00855359956186,1.03971756448
+380,6.333333333,pose2_to_pose3_retreat,0.575692836689,-0.000122118977681,1.04005098992,0.546264469058,0.00855356372945,1.03971747529
+381,6.350000000,pose2_to_pose3_retreat,0.575684382048,-0.000122241074873,1.04005093864,0.546256016478,0.0085534487915,1.03971742841
+382,6.366666667,pose2_to_pose3_retreat,0.575678713147,-0.000122279582428,1.04005097577,0.546250349837,0.0085534183456,1.03971747588
+383,6.383333333,pose2_to_pose3_retreat,0.57567551787,-0.000122107080082,1.04005096775,0.546247151812,0.00855358169291,1.03971747216
+384,6.400000000,pose2_to_pose3_retreat,0.575673672221,-0.000121992289239,1.04005096087,0.546245304262,0.00855369012696,1.03971746763
+385,6.416666667,pose2_to_pose3_retreat,0.575672807365,-0.000122026067926,1.04005093836,0.546244439108,0.0085536551714,1.03971744078
+386,6.433333333,pose2_to_pose3_retreat,0.57567203833,-0.000122057193331,1.0400509181,0.546243669815,0.00855362302192,1.0397174166
+387,6.450000000,pose2_to_pose3_retreat,0.575671569868,-0.000122076153514,1.04005090576,0.546243201197,0.00855360343792,1.03971740188
+388,6.466666667,pose2_to_pose3_retreat,0.575671539346,-0.000122077388838,1.04005090496,0.546243170665,0.00855360216196,1.03971740092
+389,6.483333333,pose2_to_pose3_retreat,0.575671460435,-0.000122080582625,1.04005090288,0.546243091728,0.00855359886309,1.03971739843
+390,6.500000000,pose2_to_pose3_retreat,0.575671183604,-0.000122091786894,1.04005089559,0.546242814804,0.00855358729018,1.03971738973
+391,6.516666667,pose2_to_pose3_retreat,0.575671172069,-0.000122092253779,1.04005089529,0.546242803265,0.00855358680794,1.03971738937
+392,6.533333333,pose2_to_pose3_retreat,0.575671110745,-0.000122094735744,1.04005089367,0.546242741921,0.00855358424431,1.03971738744
+393,6.550000000,pose2_to_pose3_retreat,0.575670963898,-0.00012211082904,1.04005088762,0.546242595297,0.00855356895335,1.03971738251
+394,6.566666667,pose2_to_pose3_retreat,0.575670826644,-0.000122126649583,1.04005088181,0.546242458274,0.00855355395928,1.03971737788
+395,6.583333333,pose2_to_pose3_retreat,0.575670758561,-0.000122134497201,1.04005087892,0.546242390305,0.00855354652162,1.03971737559
+396,6.600000000,pose2_to_pose3_retreat,0.575670444507,-0.000122170696712,1.0400508656,0.546242076777,0.00855351221318,1.03971736499
+397,6.616666667,pose2_to_pose3_retreat,0.575669978134,-0.000122224453335,1.04005084583,0.546241611186,0.00855346126482,1.03971734926
+398,6.633333333,pose2_to_pose3_retreat,0.575669834672,-0.000122216496243,1.04005084473,0.546241467614,0.00855346860684,1.03971734194
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+400,6.666666667,pose2_to_pose3_retreat,0.57566978413,-0.000122204343491,1.04005084625,0.546241416898,0.00855347997837,1.03971733842
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+404,6.733333333,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343055,1.03971728237
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d31e9fc61f8078ee014f4409a5dffde76a79d71
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e1c3da6d19db3425195c041ae0eb8957fa2ad1282901e118136cccb73be7abd
+size 25769193
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..927be4b91d3522167d899bf25fa780512f97c78f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/franka_data.csv
@@ -0,0 +1,408 @@
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+23,0.383333333,BASELINE,764,745,713.666734594,678.333265406,659,633.333265406,878.333265406,785.666734594,806,653,630,652,0.400999376902,-0.0053992868134,0.0498568556542,0.999999960772,0.000134432767787,-0.000242662819073,-3.87044136554e-05,1793245237795246080
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+25,0.416666667,BASELINE,764,745,713.507103289,679,659.507103289,633.492896711,878.492896711,785.507103289,806,652.492896711,629.492896711,652,0.400999348737,-0.00539762920462,0.0498560660471,0.99999996052,0.000135060355343,-0.000243246233951,-3.93675208876e-05,1793245237828580352
+26,0.433333333,BASELINE,764,745,713.917942671,679,659.917942671,633,878,785.917942671,806.082057329,652.082057329,629.082057329,652,0.40099861251,-0.00539702859271,0.0498551611242,0.99999996002,0.000136270044522,-0.000244609788413,-3.944729921e-05,1793245237845247488
+27,0.450000000,BASELINE,764,745,713.342852637,679,659.342852637,633,878,785.342852637,806.657147363,652.657147363,629.657147363,652,0.401000051501,-0.0053992309906,0.0498569460956,0.99999996106,0.000133697669897,-0.000241836572401,-3.89798593373e-05,1793245237861913856
+28,0.466666667,BASELINE,764,745,713,679,659,633.237494293,878.237494293,785,806.762505707,653,630,652,0.401001226327,-0.0054001682011,0.0498581403177,0.999999961657,0.000132866866572,-0.000239856068136,-3.87520942537e-05,1793245237878579968
+29,0.483333333,BASELINE,764,745,713,679,659,633.825601958,878.825601958,785,806.174398042,653,630,652,0.401002011167,-0.00539923761241,0.0498584624154,0.999999961613,0.000134607149132,-0.000239045846217,-3.88781616425e-05,1793245237895246336
+30,0.500000000,BASELINE,764,745,713,679,659,634,878.180890891,785,806,652.590445446,630,652,0.401001303465,-0.00539819238304,0.0498582431986,0.999999961161,0.000135936881913,-0.00024013207856,-3.91939126896e-05,1793245237911912960
+31,0.516666667,BASELINE,764,745,713,679,659,634,877.016488841,785,806,652.00824442,630,652,0.400999966586,-0.00539709882727,0.0498577957923,0.999999960533,0.000137093548644,-0.000242017755419,-3.95896242997e-05,1793245237928579584
+32,0.533333333,BASELINE,764,745,713,679,659,634,877.562441249,785.562441249,806.562441249,652.562441249,630,652,0.401000251156,-0.00539788199384,0.0498578023677,0.999999960998,0.000135505972527,-0.000241022782307,-3.93746223732e-05,1793245237945246208
+33,0.550000000,BASELINE,764,745,713.134481088,679,659,634,878,786,806.865518912,653,630,652,0.401000134457,-0.00539844004,0.0498575996041,0.999999961216,0.000134266117327,-0.000240844828154,-3.91729800488e-05,1793245237961912832
+34,0.566666667,BASELINE,764,745,713.711521544,679,659,634,878,786,806.288478456,653,630,652,0.400998620586,-0.00539816853084,0.049856686474,0.999999960575,0.000134300287826,-0.000243491745059,-3.90441712568e-05,1793245237978579712
+35,0.583333333,BASELINE,764,745,714,678.70454424,659,634,878,786,806,653,630,652.29545576,0.400998747247,-0.00539798877855,0.0498569080385,0.999999960551,0.000134397742821,-0.000243565185705,-3.88665288949e-05,1793245237995246592
+36,0.600000000,BASELINE,764,745,714,678.11371819,659,634,878,786,806,653,630,652.88628181,0.401000513965,-0.00539790075656,0.0498582639691,0.999999961144,0.000134558464012,-0.000241065894858,-3.86400670736e-05,1793245238011913216
+37,0.616666667,BASELINE,764,745,714,678.469773348,659,634,878.469773348,786,806.469773348,653,629.530226652,652.530226652,0.401000631134,-0.00539837077111,0.0498581814606,0.999999961269,0.000133875669671,-0.000240904810265,-3.87708701056e-05,1793245238028579840
+38,0.633333333,BASELINE,764,745,714,679,659.050835718,634,879,786,806.949164282,653,629.050835718,652,0.40100036879,-0.00539888308621,0.0498577873276,0.999999961299,0.000133002896832,-0.000241226454943,-3.90026787721e-05,1793245238045246208
+39,0.650000000,BASELINE,764,745,714,679,659.624889459,634,879,786,806.375110541,653,629.624889459,652,0.401000246972,-0.00539846181626,0.0498577145818,0.999999961492,0.000132244086267,-0.00024078049896,-3.93976406579e-05,1793245238061912832
+40,0.666666667,BASELINE,764,745,714,679,659.80168081,634,879,786,806,653,630,652,0.401000314642,-0.00539846261863,0.049857732857,0.999999961546,0.000132419658025,-0.000240428229661,-3.95768881406e-05,1793245238078579200
+41,0.683333333,BASELINE,764,745,714,679,659.229427694,634,879,786,806,653,630,652,0.401000739593,-0.00539925924498,0.049857922754,0.999999961339,0.000134357022281,-0.000240252608093,-3.93494027258e-05,1793245238095246080
+42,0.700000000,BASELINE,764,745.357141546,714,678.642858454,659,634,879,785.642858454,806.357141546,653,630,652,0.401000246523,-0.0053984089889,0.0498575391139,0.999999960846,0.000135938339727,-0.000241455275649,-3.90875559517e-05,1793245238111913216
+43,0.716666667,BASELINE,764,745.953291486,714,678.046708514,659,634,879,785.046708514,806.953291486,653,630,652,0.40099913909,-0.00539645659634,0.0498567716479,0.999999960158,0.000137281381327,-0.000243580330069,-3.88027136732e-05,1793245238128580352
+44,0.733333333,BASELINE,764,746,713.468535669,678,659,633.468535669,878.468535669,785,806.468535669,653,630,652,0.401000364333,-0.00539678957364,0.0498576274673,0.999999960686,0.000137750348681,-0.000241130131662,-3.88487644002e-05,1793245238145246976
+45,0.750000000,BASELINE,764,745.892553007,713.107446993,678.107446993,659,633.107446993,878.107446993,785.107446993,806,653,629.892553007,652,0.401001246939,-0.00539739108241,0.0498582971294,0.999999961159,0.000137764351851,-0.000239138449867,-3.89208281984e-05,1793245238161913344
+46,0.766666667,BASELINE,764,745.31943928,713.68056072,678.68056072,659,633.68056072,878.68056072,785.68056072,806,653,629.31943928,652,0.400999785149,-0.00539831438511,0.0498575619325,0.999999960978,0.000136128611891,-0.000240819606253,-3.89837194788e-05,1793245238178579968
+47,0.783333333,BASELINE,764,745,713.737847676,679,659.262152324,634,879,786,806.262152324,653,629.262152324,652,0.400999486563,-0.0053991214938,0.0498575674877,0.999999961079,0.000135019026582,-0.000241033566867,-3.89080133717e-05,1793245238195246336
+48,0.800000000,BASELINE,764,745,713.145580235,679,659.854419765,634,879,786,806.854419765,653,629.854419765,652,0.401000652741,-0.00539978228541,0.0498585058344,0.999999961542,0.000134572000903,-0.000239399962532,-3.86577786165e-05,1793245238211912960
+49,0.816666667,BASELINE,764,745,713.435327488,679,659.564672512,634,879,786,807,653,630,652,0.401000868602,-0.00539994145773,0.0498586467057,0.999999961696,0.000133913367161,-0.000239130803463,-3.86167623632e-05,1793245238228579584
+50,0.833333333,BASELINE,764.012499797,745,713.987500203,679.012499797,659,633.987500203,878.987500203,785.987500203,807,653,630,652,0.401000787473,-0.00539990402218,0.0498585286434,0.99999996175,0.000133220422521,-0.000239286051739,-3.86529164035e-05,1793245238245246208
+51,0.850000000,BASELINE,764.588179773,745,713.411820227,679.588179773,659,633.411820227,878.411820227,785.411820227,807,653,630,652,0.401001279895,-0.00539837414985,0.0498584543859,0.999999961798,0.000134088838416,-0.000238527570677,-3.90938324892e-05,1793245238261913088
+52,0.866666667,BASELINE,764.832478419,745.167521581,713.167521581,679.832478419,659,633,878.167521581,785,807,653,630,652,0.401000893983,-0.00539779848914,0.0498579415818,0.999999961652,0.000134424032398,-0.000238924377601,-3.92499384065e-05,1793245238278579968
+53,0.883333333,BASELINE,764.243933553,745.756066447,713.756066447,679.243933553,659,633,878.756066447,785,807,653,630,652,0.400998300597,-0.00539962099898,0.0498563266014,0.999999961015,0.0001334191074,-0.000242224709832,-3.86902457011e-05,1793245238295246848
+54,0.900000000,BASELINE,764,745.660679788,713.660679788,679,659,633,879,785.339320212,806.660679788,653,630,652,0.400998135352,-0.00540041687177,0.0498567921923,0.9999999611,0.000133056386401,-0.00024212271362,-3.8376041485e-05,1793245238311913472
+55,0.916666667,BASELINE,764,745.081171361,713.081171361,679,659,633,879,785.918828639,806.081171361,653,630,652,0.400999688869,-0.00540048603821,0.0498587305182,0.999999961698,0.000133148250306,-0.000239612375028,-3.8235606612e-05,1793245238328579584
+56,0.933333333,BASELINE,764,745,713,679.49631498,659,633.49631498,878.50368502,786,806.49631498,653,630,652,0.400999782908,-0.00539922815267,0.0498580342217,0.999999961582,0.000133935675328,-0.000239585827648,-3.86740079459e-05,1793245238345246464
+57,0.950000000,BASELINE,764,745,713.073106741,679.926893259,659,634,878.073106741,786,806.926893259,653,630,652,0.400999724057,-0.00539810598131,0.0498571602465,0.999999961405,0.000134575013835,-0.000239896890795,-3.91015080965e-05,1793245238361913344
+58,0.966666667,BASELINE,764,745,713.647394522,679.352605478,659,634,878.647394522,786,806.352605478,653,630,652,0.401000246797,-0.00539939604682,0.0498580101497,0.999999961606,0.000133422451391,-0.000239748908433,-3.88079181456e-05,1793245238378579712
+59,0.983333333,BASELINE,764,745.227689656,714,679,659,634,879,786,806.227689656,653,630,652.227689656,0.401000694796,-0.00539992576083,0.0498585292708,0.999999961667,0.000133045556194,-0.000239705529729,-3.88036803673e-05,1793245238395246336
+60,1.000000000,BASELINE,764,745.817540111,714,679,659,634,879,786,806.817540111,653,630,652.817540111,0.401001023912,-0.00539924606783,0.0498585222534,0.999999961506,0.000133902429076,-0.000239828532489,-3.92596831003e-05,1793245238411913472
+61,1.016666667,BASELINE,764,745.600209982,714,679,659.399790018,634,879,785.600209982,806.600209982,653,630,652.600209982,0.400999821257,-0.00539870593401,0.0498579459288,0.999999961404,0.000132928488536,-0.000240774599021,-3.93583016129e-05,1793245238428579840
+62,1.033333333,BASELINE,764,745.021364203,714,679,659.978635797,634,879,785.021364203,806.021364203,653,630,652.021364203,0.40099793256,-0.00539822830523,0.0498571146261,0.999999961326,0.000131134573268,-0.000242089294834,-3.92968568127e-05,1793245238445246720
+63,1.050000000,BASELINE,764,745,714,679,660,634,878.446546502,785.553453498,806.553453498,653,630,652,0.400998768029,-0.00539776001664,0.0498571636148,0.999999961105,0.000134803812326,-0.000240994106203,-3.92274982435e-05,1793245238461913344
+64,1.066666667,BASELINE,764,745,714,679,659.868883568,634,878.131116432,786,806.868883568,653,630,652,0.40099980061,-0.00539752937209,0.0498575724634,0.999999961032,0.000137598753577,-0.000239733012877,-3.91205877904e-05,1793245238478579712
+65,1.083333333,BASELINE,764,745,714,679,659.280765672,634,878.719234328,786,806.280765672,653,630,652,0.40100115634,-0.0053981257795,0.0498591180075,0.999999961539,0.000136616635546,-0.000238215558945,-3.8883848705e-05,1793245238495246336
+66,1.100000000,BASELINE,764,745,713.697287346,679,659,634,878.697287346,786,806,653,629.697287346,652,0.401001083057,-0.00539808004839,0.049859221126,0.999999961627,0.000135385850484,-0.000238533573354,-3.89614276621e-05,1793245238511912960
+67,1.116666667,BASELINE,764,745,713.118047291,679,659,634,878.118047291,786,806,653,629.118047291,652,0.400999704373,-0.005397447725,0.0498580065913,0.999999961331,0.000133927908645,-0.000240528284486,-3.93261355321e-05,1793245238528579584
+68,1.133333333,BASELINE,764,745,713.459007235,679,659,634,878.459007235,786,806,653,629,652,0.400999931901,-0.00539735440681,0.0498579718174,0.999999961484,0.000134141315052,-0.000239749034065,-3.94737740939e-05,1793245238545246720
+69,1.150000000,BASELINE,764,745,714,679,659,634,878.964575013,785.964575013,806,653,629.035424987,652,0.401000549037,-0.00539751614219,0.04985824731,0.99999996175,0.000134622350826,-0.000238359014244,-3.95260686483e-05,1793245238561913856
+70,1.166666667,BASELINE,764,745,714,679,659,634,878.389336789,785.389336789,806,653,629.610663211,652,0.401000838258,-0.00539946210913,0.0498586491876,0.999999962004,0.000132662677176,-0.000238481481716,-3.89721451626e-05,1793245238578580480
+71,1.183333333,BASELINE,764,745,714,678.809266893,659.190733107,633.809266893,878,785.190733107,806,653,629.809266893,652,0.401000857579,-0.00540119952231,0.0498585595392,0.999999962121,0.000130717922588,-0.000239120043504,-3.86388560627e-05,1793245238595246848
+72,1.200000000,BASELINE,764,745,714,678.219077833,659.780922167,633.219077833,878,785.780922167,806,653,629.219077833,652,0.401000311648,-0.00540250015776,0.0498574404784,0.999999961951,0.00012880441291,-0.000240839471412,-3.87676456292e-05,1793245238611913216
+73,1.216666667,BASELINE,764,745,713.635992032,678.364007968,659.635992032,633,878.364007968,785.635992032,806,653,629,652,0.401000691333,-0.00540058955823,0.0498576507544,0.999999961742,0.000131046997087,-0.00024044854963,-3.90750632929e-05,1793245238628579584
+74,1.233333333,BASELINE,764,745,713.057099528,678.942900472,659.057099528,633,878.942900472,785.057099528,806,653,629,652,0.401001617435,-0.00539678327282,0.0498586457767,0.999999961492,0.000135743044966,-0.00023881182668,-3.94879303312e-05,1793245238645246464
+75,1.250000000,BASELINE,764,745,713,679,659,633,879,785.518094981,806,653,629,652,0.401001053848,-0.0053982260011,0.0498584674742,0.999999961373,0.000135820765353,-0.000239336770172,-3.90407619793e-05,1793245238661912832
+76,1.266666667,BASELINE,764.092842568,745,713.092842568,679,659,633.092842568,878.907157432,786,806,653,629.092842568,652,0.401000428438,-0.00539975884801,0.0498581501066,0.999999961303,0.000135286199284,-0.000239993875556,-3.86604063505e-05,1793245238678579712
+77,1.283333333,BASELINE,764.667370924,745,713.667370924,679,659,633.667370924,878.332629076,786,806,653,629.667370924,652,0.401000328042,-0.00539877916315,0.0498577773876,0.999999961404,0.000134196986975,-0.000240109394529,-3.91149666461e-05,1793245238695246848
+78,1.300000000,BASELINE,764.75055378,745,714,679,659,634,878.24944622,786,806.24944622,653,630,652,0.400999765365,-0.00539883352482,0.0498576024625,0.999999961444,0.000133086908896,-0.000240567426764,-3.9082879905e-05,1793245238711913472
+79,1.316666667,BASELINE,764.158100942,745,714,679,659,634,878.841899058,786,806.841899058,653,630,652,0.400998567018,-0.00540030977544,0.0498576995183,0.999999961398,0.000131948138964,-0.000241496439535,-3.83816182042e-05,1793245238728580096
+80,1.333333333,BASELINE,764,745,714,679,659,633.576767583,878.576767583,786,807,653,630,652,0.400999429004,-0.00540088510613,0.0498582381957,0.999999961732,0.000131243396509,-0.000240489745062,-3.84187747826e-05,1793245238745246720
+81,1.350000000,BASELINE,764,745,714,679,659,633.000516681,878.000516681,786,806.999483319,653,629.999483319,652,0.401001039641,-0.00540113209078,0.0498589373379,0.999999962202,0.000130697661329,-0.000238779069059,-3.87244953236e-05,1793245238761912832
+82,1.366666667,BASELINE,764,745,714,679,659,633.575872505,878.575872505,786,806.424127495,653,629.424127495,652,0.401001208728,-0.00540091430243,0.0498593222975,0.999999962369,0.000131291706634,-0.00023773817485,-3.87910549273e-05,1793245238778579712
+83,1.383333333,BASELINE,764,745,713.845205153,678.845205153,659,633.845205153,879,785.845205153,806,653,629.154794847,652,0.401001440225,-0.0054003287019,0.0498595697753,0.999999962371,0.000132376265942,-0.000237115562831,-3.8878564419e-05,1793245238795246336
+84,1.400000000,BASELINE,764,745,713.256280196,678.256280196,659,633.256280196,879,785.256280196,806,653,629.743719804,652,0.401001846759,-0.00539871155315,0.0498594316787,0.999999961906,0.00013483649714,-0.000237666044494,-3.9024828965e-05,1793245238811912960
+85,1.416666667,BASELINE,764,745,713.327345029,678.327345029,659,633,879,785.327345029,806,653,630,652,0.401001968116,-0.00539830029374,0.0498595655121,0.999999961806,0.000135469277166,-0.00023773880635,-3.89286079998e-05,1793245238828579840
+86,1.433333333,BASELINE,764,745,713.906887134,678.906887134,659,633,879,785.906887134,806,653,630,652,0.401001869763,-0.00539881809013,0.0498599088492,0.999999961992,0.000134694130231,-0.000237443517562,-3.86455684352e-05,1793245238845246720
+87,1.450000000,BASELINE,764,745,714,679,659.483264063,633,878.516735937,786,806,652.516735937,629.516735937,652,0.401001308041,-0.00539888451693,0.0498589008732,0.999999961699,0.0001342979863,-0.00023889791958,-3.86600483952e-05,1793245238861913600
+88,1.466666667,BASELINE,764.058819302,745,714,679,659.941180698,633,878,786,806,652.058819302,629.058819302,652,0.401000795271,-0.00539882303451,0.0498579016766,0.999999961386,0.00013408617277,-0.000240314507996,-3.87132042294e-05,1793245238878580480
+89,1.483333333,BASELINE,764.632485575,745,714,679,659.367514425,633,878,786,806,652.632485575,629.632485575,652,0.401001487362,-0.00539839823576,0.0498592434721,0.999999961729,0.000134852783115,-0.000238468479784,-3.8606392637e-05,1793245238895246848
+90,1.500000000,BASELINE,764.78690773,745,714,679,659.21309227,633.21309227,878.21309227,786,806.21309227,653,630,652,0.401001246991,-0.00539858756626,0.0498595416774,0.999999961836,0.000134664285162,-0.000238125543214,-3.86017040122e-05,1793245238911913216
+91,1.516666667,BASELINE,764.193928155,745,714,679,659.806071845,633.806071845,878.806071845,786,806.806071845,653,630,652,0.400999344284,-0.00539987172724,0.0498579794365,0.999999961523,0.000132773080984,-0.000240462222738,-3.8779073711e-05,1793245238928579840
+92,1.533333333,BASELINE,764,745,714,679,659.61057499,634,878.61057499,786,806.61057499,653,630,652,0.400999541586,-0.00539980257758,0.0498579617137,0.999999961486,0.000132969485696,-0.000240493758527,-3.8849149379e-05,1793245238945246208
+93,1.550000000,BASELINE,764,745,714,679,659.031899947,634,878.031899947,786,806.031899947,653,630,652,0.401000759434,-0.00539907575563,0.0498586945849,0.999999961585,0.000134180411752,-0.000239405056955,-3.88670830633e-05,1793245238961913088
+94,1.566666667,BASELINE,764,745,714,679,659.541830777,633.458169223,878.541830777,786,806,653,630,652,0.400999327108,-0.00539885849235,0.0498577351387,0.999999961167,0.000134762081969,-0.000240827119808,-3.88355611014e-05,1793245238978579456
+95,1.583333333,BASELINE,764,745.118544142,714,679,659.881455858,633.118544142,879,786,806,653,630,652,0.400998253927,-0.00539878634481,0.0498570085052,0.999999960926,0.00013474100402,-0.000241833069282,-3.88592454591e-05,1793245238995246080
+96,1.600000000,BASELINE,764,745.708259147,714,679,659.291740853,633.708259147,879,786,806,653,630,652,0.400999222767,-0.00539917281979,0.0498575996488,0.999999961516,0.000132470133661,-0.000240602898464,-3.91138235253e-05,1793245239011912704
+97,1.616666667,BASELINE,764,745.707304401,714,679,659,634,879,786,806.292695599,653,630,652,0.400999370594,-0.00539953410586,0.0498579423883,0.999999961698,0.000131822633776,-0.000240206591049,-3.90937114123e-05,1793245239028579328
+98,1.633333333,BASELINE,764,745.128036115,714,679,659,634,879,786,806.871963885,653,630,652,0.400998714584,-0.00539987072993,0.0498580419198,0.999999961483,0.000132764545143,-0.000240626703485,-3.88046553612e-05,1793245239045245952
+99,1.650000000,BASELINE,764,745,714,679,659.4485033,634,879,786,806.5514967,653,630,652,0.400999710989,-0.00540027695221,0.0498586065711,0.999999961631,0.000133663995365,-0.00023957796384,-3.83924959382e-05,1793245239061912576
+100,1.666666667,BASELINE,764,745,713.975721984,678.975721984,660,634,878.975721984,786,806,653,630,652,0.401001124143,-0.0054006587781,0.0498592704868,0.999999961875,0.000134495456017,-0.000238154304628,-3.79823580359e-05,1793245239078579200
+101,1.683333333,BASELINE,764,745,713.399728652,678.399728652,660,634,878.399728652,786,806,653,630,652,0.401001352848,-0.00540003741997,0.0498591910226,0.99999996203,0.00013405565654,-0.000237681997808,-3.84119462703e-05,1793245239095245824
+102,1.700000000,BASELINE,764,745,713.180531566,678.180531566,659.819468434,634,878.180531566,786,806.180531566,653,630,652,0.401001470154,-0.0053990983551,0.0498591193579,0.99999996203,0.000134217211851,-0.000237531841331,-3.87865917694e-05,1793245239111912704
+103,1.716666667,BASELINE,764,745,713.77046804,678.77046804,659.22953196,634,878.77046804,786,806.77046804,653,630,652,0.401001334834,-0.00539743880302,0.0498590653808,0.999999961676,0.000135742504369,-0.000238112249302,-3.90366394674e-05,1793245239128579328
+104,1.733333333,BASELINE,764,745,714,679,659,633.647369715,878.647369715,786,806.647369715,653,630,652,0.401001051355,-0.00539782391531,0.0498590248936,0.999999961608,0.00013554178296,-0.000238526922986,-3.89528324647e-05,1793245239145246208
+105,1.750000000,BASELINE,764,745,714,679,659,633.070158611,878.070158611,786,806.070158611,653,630,652,0.401000673517,-0.00539951121962,0.049858992998,0.999999961721,0.00013424180949,-0.000238836044982,-3.86564023369e-05,1793245239161913088
+106,1.766666667,BASELINE,764.506471692,745,714,679,659,633.506471692,878,786,805.493528308,653,630,652,0.401001510955,-0.00539921224888,0.0498596377762,0.999999961978,0.000134661186276,-0.000237514253531,-3.87061989155e-05,1793245239178579456
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,880,785,806,653,630,653,0.401001468414,-0.00540161738,0.0498596999509,0.999999961988,0.000133457755351,-0.00023814348515,-3.87275373491e-05,1793245239221987328
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878.815509734,785.592245133,806.592245133,653,629.407754867,652.407754867,0.401001807485,-0.0053999850585,0.0498595043968,0.999999962085,0.00013357493005,-0.000237660785673,-3.87899714816e-05,1793245239238653952
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659.819467173,634,878.180532827,785.819467173,806.819467173,653,629,652,0.401001695551,-0.00539915528118,0.0498593288449,0.999999962016,0.00013397662971,-0.000237728040911,-3.87744808686e-05,1793245239255320320
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.239925981,634,878.760074019,785.239925981,806.239925981,653,629,652,0.401000586819,-0.00540009926318,0.0498591975013,0.999999961579,0.000135007178128,-0.000239010789859,-3.85867632781e-05,1793245239271986944
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.33505128,745.33505128,714,679,659.33505128,634,878.66494872,785.33505128,806.33505128,653,629.33505128,652,0.400999547153,-0.00539982854867,0.0498590376232,0.99999996138,0.000135393101077,-0.000239621502955,-3.86003340215e-05,1793245239288653568
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.505246234,745.505246234,714,679,659.505246234,633.505246234,878,785.505246234,807,653,630,652,0.401001313832,-0.00539933907197,0.0498600648186,0.999999962238,0.00013303680452,-0.000237320957705,-3.87707751662e-05,1793245239321987072
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.084128579,878,785.084128579,806.915871421,653,629.915871421,652,0.401004500731,-0.00539998420893,0.049861398573,0.999999963108,0.000130967900496,-0.000234792784169,-3.87820804275e-05,1793245239338653696
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.663329508,878,785.663329508,806.336670492,653,629.336670492,652,0.401005918473,-0.00539863683392,0.0498618870547,0.999999962899,0.000132722417278,-0.000234673100824,-3.89353092536e-05,1793245239355320576
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.241695494,785.758304506,806,653,629.241695494,652,0.401013054501,-0.00539904796519,0.0498643370427,0.999999963995,0.000132626890049,-0.000230053149642,-3.86660298314e-05,1793245239371987200
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.818902399,785.181097601,806,653,629.818902399,652,0.401028128409,-0.00540190018026,0.0498695099105,0.999999966819,0.000129963210195,-0.0002191861179,-3.78102423993e-05,1793245239388653824
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.605150488,679,659,634,878.605150488,785.394849512,806,653,630.394849512,652,0.401064109742,-0.00540242754421,0.049882474659,0.999999972031,0.00013149460477,-0.000193074489183,-3.70183026335e-05,1793245239405320448
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.029779291,679,659,634,878.029779291,785.970220709,806,653,630.970220709,652,0.401109649766,-0.00540189200716,0.0498990017865,0.999999977439,0.000134943949718,-0.000159993165178,-3.62555533447e-05,1793245239421987072
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,679,659.559073212,634,878,786,806,653,630.440926788,652,0.401172061778,-0.00540522770309,0.0499136691413,0.999999982088,0.000132269849492,-0.000130807900142,-3.4907846685e-05,1793245239438653696
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745.146090461,713,679.146090461,659.853909539,634,878,786,806,653,630,652,0.401239601995,-0.00540865275594,0.0499272838682,0.999999985308,0.000130117278057,-0.000106469031348,-3.34369274874e-05,1793245239455320576
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.725482063,713,679.725482063,659.274517937,634,878,786,806,653,630,652,0.401319621002,-0.00541171613448,0.0499380776018,0.999999986386,0.000130502860981,-9.58737373293e-05,-3.16952598368e-05,1793245239471987200
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745.697002916,713.302997084,679.394005832,659,634,878.302997084,786,806,653,630,652,0.401406780187,-0.00541433778639,0.0499444197158,0.999999987183,0.000129670754062,-8.878311368e-05,-3.05976178288e-05,1793245239488653824
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745.121177662,713.878822338,678.242355323,659,634,878.878822338,786,806,653,630,652,0.40150036861,-0.00541656169346,0.0499467534498,0.999999987789,0.000127742200632,-8.48482068576e-05,-3.00798770106e-05,1793245239505320448
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,678.453243282,659.453243282,634,878.546756718,785.546756718,806.453243282,652.546756718,629.546756718,652,0.401610313792,-0.00542048661601,0.0499469572617,0.999999988111,0.000125409535655,-8.4740503602e-05,-2.94881945067e-05,1793245239521987072
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745.028144932,714,679,659.971855068,634,878,785,806.971855068,652,629.028144932,652,0.401725863807,-0.00542488518651,0.0499466267469,0.999999988349,0.000122973869558,-8.57225641658e-05,-2.88448398264e-05,1793245239538653696
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745.620176729,714,679,659.379823271,634,878,785,806.379823271,652,629.620176729,652,0.401866362576,-0.00542968996298,0.0499469646716,0.999999988463,0.000120632510524,-8.81009832629e-05,-2.75610741055e-05,1793245239555320320
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745.792582296,713.792582296,679,659.414835409,634,878,785.207417704,806,652.207417704,630,652,0.402020332845,-0.00543463785435,0.0499468472969,0.99999998855,0.000118207898,-9.07434335938e-05,-2.63192704079e-05,1793245239571987200
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745.213916274,713.213916274,679,660.572167452,634,878,785.786083726,806,652.786083726,630,652,0.402198415176,-0.00543984190058,0.0499459150007,0.999999988593,0.000115634273773,-9.38584621877e-05,-2.51525729273e-05,1793245239588653824
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679,660.276120928,633.638060464,878.361939536,785.638060464,806,653,629.638060464,652,0.402394366683,-0.00544676524712,0.0499446428943,0.999999988801,0.000112221614231,-9.6142488951e-05,-2.36998671598e-05,1793245239605320448
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713,679,659.127705431,633.063852716,878.936147284,785.063852716,806,653,629.063852716,652,0.402600798018,-0.00545469691948,0.0499431714977,0.999999989094,0.000108316881848,-9.79391548474e-05,-2.20794247896e-05,1793245239621987072
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,679,659,633.523814385,878.476185615,785,806.523814385,653,629,652,0.402838077527,-0.00546198349474,0.0499451855906,0.999999989637,0.000105279541891,-9.6021689913e-05,-2.05390456363e-05,1793245239638653696
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713.111310324,679,659,634,878.111310324,785,806.888689676,653,629.111310324,652,0.403090276035,-0.0054698277834,0.0499483901401,0.999999990401,0.000102327716208,-9.15182508999e-05,-1.87618246617e-05,1793245239655320320
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713.691000337,679,659,634,878.691000337,785,806.308999663,653,629.691000337,652,0.403389011384,-0.00548035848247,0.0499547689917,0.999999991896,9.92790709579e-05,-7.80887212115e-05,-1.59458524454e-05,1793245239671986944
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.268570817,713.731429183,679,659,634,879,785,806,653,629.731429183,652,0.403711209547,-0.00548989619715,0.0499625178618,0.999999993233,9.69897211216e-05,-6.28801834645e-05,-1.31771465104e-05,1793245239688653824
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745.843721762,713.156278238,679,659,634,879,785,806,653,629.156278238,652,0.404060191068,-0.00549830039532,0.0499718306409,0.999999994337,9.55671256718e-05,-4.56408654926e-05,-1.0462396355e-05,1793245239705320448
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745.572388416,713,679,659,633.572388416,879,785,806,652.572388416,629.427611584,652,0.404426680091,-0.00550729323329,0.0499802371838,0.999999995163,9.35517133884e-05,-2.94987172539e-05,-7.25062234594e-06,1793245239721987072
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.014567688,679,659,633.014567688,878.985432312,785.014567688,806.014567688,652,630,652,0.404800686492,-0.00551632241291,0.0499880644201,0.999999995697,9.16005139754e-05,-1.41852346281e-05,-3.85214516357e-06,1793245239738653952
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+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679.512387797,659,633.512387797,879,785,807,652.487612203,630,652,0.407528436978,-0.00549881128919,0.0499245346898,0.999999976391,0.000178286589927,-0.000123811488494,1.01170176576e-05,1793245239838653696
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.075669272,745,714,679,659.075669272,633.075669272,879,785.075669272,807,653,630,652,0.408081488714,-0.0055080615388,0.0499337598905,0.999999978299,0.000180212604675,-0.000103524711587,1.44212427073e-05,1793245239855320576
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.654297063,745,714,679,659.654297063,633.654297063,879,785.654297063,807,653,630,652,0.408700373446,-0.00551355358268,0.0499628978551,0.999999981653,0.000183863598131,-5.0253974017e-05,1.907005914e-05,1793245239871987200
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.767416305,745,714,679,660,634,878.767416305,786,807,653,630,652,0.409326907065,-0.00551682746005,0.0499846865333,0.999999981302,0.000191404489059,-1.37578788606e-05,2.39112199874e-05,1793245239888654080
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.18963605,745,714,679,660,634,878.18963605,786,807,653,630,652,0.40996479299,-0.00551680917403,0.0499955675303,0.999999978621,0.000204718696626,-2.15841136355e-06,2.90378547584e-05,1793245239905320704
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.614826517,679,659.614826517,634,878.385173483,786,806.614826517,652.614826517,630,652,0.410596525565,-0.00551484459393,0.0499849918789,0.999999974593,0.000220733063065,-3.16647617467e-05,3.29759288277e-05,1793245239921987328
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.041468411,679,659.041468411,634,878.958531589,786,806.041468411,652.041468411,630,652,0.411225251774,-0.00551192911085,0.0499639331293,0.999999967701,0.000238066648161,-8.12542261981e-05,3.63333062898e-05,1793245239938653696
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713.545279346,679,659,634,879,786,806.545279346,652,630,652,0.411888262797,-0.00550989948052,0.0499425259782,0.999999960967,0.000252177617521,-0.000113958120461,3.85357489778e-05,1793245239955320320
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,806.868278514,652,630,652,0.41258281694,-0.00550924887367,0.0499322033123,0.999999961432,0.000246040323906,-0.000123619760279,3.63219923687e-05,1793245239971986944
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,806.286448025,652,630,652,0.413376023819,-0.00551307456164,0.0499598505594,0.999999983352,0.000171570696559,-5.90416411909e-05,1.93252134419e-05,1793245239988653568
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.29127859,745,714,679,659.58255718,633.70872141,879,785.70872141,806,652,630,652,0.414153600679,-0.00552266537801,0.0499718610664,0.99999999299,0.000112778127045,-3.48833915982e-05,9.23030703493e-06,1793245240005320192
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.86502553,745,714,679,660.73005106,633.13497447,879,785.13497447,806,652,630,652,0.414916020372,-0.00553784694665,0.0499687077976,0.999999996343,6.9188426943e-05,-4.99224331869e-05,5.82851180622e-06,1793245240021986816
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.559729229,745,714,679,660.119458459,633.440270771,879,785.440270771,806,652.440270771,630,652,0.415701982101,-0.00553881438618,0.0499478824339,0.999999993345,7.79235724736e-05,-8.47042171295e-05,7.92761614458e-06,1793245240038653440
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.016468087,745,714,679,659,634,879,786,806.016468087,652.983531913,630,652,0.416496563699,-0.00553532614208,0.0499229302298,0.999999987068,0.000102573357819,-0.000123312544883,1.17088157419e-05,1793245240055320320
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.60987418,745,714,679,659,634,879,786,806.60987418,652.39012582,630,652,0.417339420211,-0.00552892461168,0.0499438518155,0.999999989119,0.000120866559514,-8.32112329914e-05,1.51367977536e-05,1793245240071986944
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.394469133,633.802765434,879.197234566,786,807,652,630,652,0.418185939114,-0.0055253182625,0.049963023645,0.999999989613,0.000134145474291,-4.93680705752e-05,1.84870675247e-05,1793245240088653312
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.545984573,633.227007713,879.772992287,786,807,652,630,652,0.419039486654,-0.00552707629188,0.0499788374249,0.999999989891,0.000137801208493,-2.75352521853e-05,2.16881955136e-05,1793245240105319936
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.652220861,633.347779139,879.652220861,786,807,652.347779139,630,652,0.419886932953,-0.00552781710502,0.0499718427153,0.999999989631,0.000136254754427,-4.10227752421e-05,2.21281386626e-05,1793245240121987328
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.078065988,633.921934012,879.078065988,786,807,652.921934012,630,652,0.420730407811,-0.00552789579362,0.0499500015466,0.999999988158,0.00013132210161,-7.75009485565e-05,2.0770776486e-05,1793245240138654976
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.508229113,714,679,660,633.491770887,879.508229113,786,807.508229113,652.491770887,630.508229113,652,0.421669705075,-0.00553077819079,0.0499713933024,0.999999991252,0.000127086061955,-2.94146493668e-05,2.19170789733e-05,1793245240155321088
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.904676874,714,679,660.095323126,633,880,786.095323126,807.904676874,652,630.904676874,652,0.422615108138,-0.0055341068235,0.0499939052866,0.999999991919,0.000123450161463,1.93543810863e-05,2.33807985671e-05,1793245240171987456
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.323251239,714,679,660.676748761,633,880,786.676748761,807.323251239,652,630.323251239,652,0.42351475237,-0.00553746113535,0.0499874365157,0.999999992213,0.000122315672907,3.74405017116e-06,2.44540635914e-05,1793245240188654592
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.255987032,660.744012968,633,880,786.744012968,807,652,630,652,0.424421071144,-0.00554106644393,0.049981740153,0.999999992578,0.000119070595497,-5.83011433029e-06,2.51466301645e-05,1793245240205321216
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.832486657,660.167513343,633,880,786.167513343,807,652,630,652,0.425335747006,-0.00554498601738,0.0499770108953,0.999999993242,0.000113182921961,-7.84660376682e-06,2.53625373993e-05,1793245240221987328
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.593607675,745,714,679.593607675,660.406392325,633,880,786,807,652,630,652,0.426266990446,-0.00554456068123,0.049990413341,0.999999993115,0.000114078231204,3.85322839973e-06,2.72288203041e-05,1793245240238653952
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.020764478,745,714,679.020764478,660.979235522,633,880,786,807,652,630,652,0.427205019609,-0.00554235574927,0.0500112422014,0.9999999924,0.00011775172658,2.11710153907e-05,2.97710669076e-05,1793245240255320320
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679.569626117,660.430373883,633,880,786,807,652,630,652,0.428069628078,-0.00553903411108,0.0499745235672,0.999999990843,0.000120056564474,-5.52675847522e-05,2.90729725208e-05,1793245240271987200
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660,633,880,786,807,652,630,652,0.428958498035,-0.00553779231301,0.0499464908147,0.999999986642,0.000120549767513,-0.000106673555447,2.83699631246e-05,1793245240288654080
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660,633,880,786,807,652,630,652,0.429919749126,-0.00554223388381,0.0499475207524,0.999999989514,0.000116328375319,-8.15841597804e-05,2.79802295504e-05,1793245240305321216
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745.312592673,714,680,660.312592673,633,880,786,807.312592673,652,630.312592673,652,0.430848433213,-0.0055439315113,0.0499486207184,0.999999990548,0.000114000457091,-7.15529336746e-05,2.80724839711e-05,1793245240321988096
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745.886603709,714,680,660.886603709,633,880,786,807.886603709,652,630.886603709,652,0.431749881768,-0.00554333440413,0.0499497792484,0.999999990432,0.000113256033892,-7.41147168173e-05,2.85678205254e-05,1793245240338654720
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.472736908,745.527263092,714,680,660.527263092,633,880,786,808,652,630.527263092,652,0.432658012768,-0.0055434584627,0.0499407747807,0.999999989697,0.000111386314288,-8.60916522576e-05,2.80438542625e-05,1793245240355321344
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.939129669,745,714,680,660,633,880,786,808,652,630.060870331,652,0.433569419852,-0.00554421508613,0.0499334960757,0.999999989208,0.000109223784903,-9.42801892667e-05,2.76603344574e-05,1793245240371987712
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.35938505,745,714,680,660,633,880,786,808,652,630.64061495,652,0.434494729155,-0.00554885045805,0.0499622556913,0.999999992544,0.000106926752264,-5.04173542221e-05,3.06130656683e-05,1793245240388654080
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.219129235,745,714,680,660,633,880,786,808.219129235,652,631,652,0.435384354946,-0.00554975141192,0.0499750378965,0.999999992923,0.000107531499253,-3.91970704391e-05,3.2459512664e-05,1793245240405320704
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.795637056,745,714,680,660,633,880,786,808.795637056,652,631,652,0.436215784526,-0.00554456189191,0.0499617624954,0.999999989804,0.000112868767918,-8.12136235198e-05,3.25017176172e-05,1793245240421987072
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.629490623,745,714,680,660,633,880,786,809,652.370509377,630.629490623,652.370509377,0.437062060024,-0.0055430257629,0.0499533745927,0.999999988732,0.000112474977436,-9.42832201462e-05,3.15537651092e-05,1793245240438653696
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.05551647,745,714,680,660,633,880,786,809,652.94448353,630.05551647,652.94448353,0.437916488089,-0.00554349588946,0.0499476706546,0.999999989433,0.000108933982498,-9.1456628138e-05,3.00620688461e-05,1793245240455320576
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.534168453,745,714,680,660.534168453,633,880,786,808.465831547,652.465831547,630.534168453,652.465831547,0.438793206487,-0.00554745688783,0.0499679043428,0.999999993047,0.000101760572763,-5.09935256281e-05,3.08287906707e-05,1793245240471987712
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.877033526,633,880,786,808.122966474,652,631,652,0.439650167495,-0.0055510452091,0.0499817948165,0.9999999946,9.63566789801e-05,-2.2595619041e-05,3.16941577421e-05,1793245240488654592
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.297769226,633,880,786,808.702230774,652,631,652,0.44042495673,-0.00555186353038,0.0499618409625,0.999999993136,9.89623471681e-05,-5.39234023453e-05,3.20281965833e-05,1793245240505320704
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786,808.720959635,652,631,652,0.441192373243,-0.00555156467305,0.0499497532876,0.999999991682,0.000101254898602,-7.29770735276e-05,3.25201342145e-05,1793245240521987328
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786,808.146746704,652,631,652,0.441951990744,-0.00555008404944,0.0499459865616,0.999999990999,0.000103216230926,-7.90470255842e-05,3.31790992654e-05,1793245240538653952
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.42673382,714,680,659.57326618,632.57326618,880,785.57326618,808,652,630.57326618,652.42673382,0.442676915159,-0.00554919792205,0.0499432341882,0.999999990245,0.000108273780858,-8.15085469187e-05,3.38221355622e-05,1793245240555320576
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.999962958,714,680,659.000037042,632.000037042,880,785.000037042,808,652,630.000037042,652.999962958,0.443389929695,-0.00554851588175,0.049940830036,0.999999989441,0.00011439424502,-8.27313147838e-05,3.44597036596e-05,1793245240571987200
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.405524025,745.405524025,714,680,659,632,880.594475975,785.594475975,808.594475975,652,630.594475975,653,0.444006393816,-0.00554907389266,0.0498863841488,0.999999976126,0.000116890681311,-0.000181392879231,3.43554552805e-05,1793245240588654080
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.183131734,745.183131734,714,680.183131734,659,632,880.816868266,785.816868266,809,652,630.816868266,653,0.444622646531,-0.00554837409496,0.0498357046728,0.999999957305,0.000120160021761,-0.000264249212684,3.35347387219e-05,1793245240605320960
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.759216504,745.759216504,714,680.759216504,659,632,880.240783496,785.240783496,809,652,630.240783496,653,0.445238459125,-0.00554497519549,0.0497931141411,0.99999994265,0.000125088318242,-0.000313178143995,3.1176771321e-05,1793245240621987840
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,746,714,680.666802972,659,632,880.333197028,785,809,652,630.333197028,652.666802972,0.445862170991,-0.00554405381833,0.0497810874396,0.999999940854,0.000127680108948,-0.000317848359764,3.10162972276e-05,1793245240638654464
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,746,714,680.094333562,659,632,880.905666438,785,809,652,630.905666438,652.094333562,0.446491555372,-0.00554491157688,0.0497910089568,0.999999948942,0.000128594029437,-0.000290735911689,3.24338669473e-05,1793245240655320832
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,680,658.503930666,631.503930666,880.503930666,785,809.496069334,652,631,652.496069334,0.447040526327,-0.00554418008407,0.0497777357591,0.999999942441,0.000130102219769,-0.00031168675057,3.22785285652e-05,1793245240671987456
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.912156225,714,680,658,630.912156225,880,785,809.912156225,652,630.912156225,653,0.447569424994,-0.00554393044442,0.0497576041853,0.999999931433,0.000131200457125,-0.000344825025921,3.18728089293e-05,1793245240688654080
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.33251185,714,680,658,630.33251185,880,785,809.33251185,652,630.33251185,653,0.448074769519,-0.00554813393772,0.0497246956007,0.999999913863,0.000129347127114,-0.000393106433378,3.18026954304e-05,1793245240705320960
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.820192838,658,630,880,785,809,652.820192838,630,653,0.449054976149,-0.0055551670455,0.0497077802726,0.999999904327,0.000125948402961,-0.000417557701656,3.35991117373e-05,1793245240738654976
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657.605129389,629.605129389,880.394870611,785,809,652.605129389,629.605129389,652.605129389,0.449520528326,-0.00555414140966,0.0497200515832,0.999999912064,0.000125651330102,-0.000398658560066,3.39785834852e-05,1793245240755321856
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+203,3.383333333,POSE1_TO_POSE2_PRESS,764.726904805,745.273095195,714.726904805,681,657.546190391,628.273095195,880.726904805,784.726904805,809.273095195,652,629.726904805,652.273095195,0.451134482301,-0.00556388288573,0.0497505450103,0.999999931548,1.51845512524e-05,-0.00036963770387,6.49424702095e-06,1793245240821987328
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,681,657,628,881.302687339,784.697312661,809,652.302687339,629.697312661,652.302687339,0.451449954446,-0.00556617551789,0.0497365306442,0.999999920473,1.62455972364e-05,-0.000398400072999,8.18292100933e-06,1793245240838653952
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,681,657,628,881.877189988,784.122810012,809,652.877189988,629.122810012,652.877189988,0.45173336497,-0.00556516815274,0.0497169506647,0.999999904292,2.16052429675e-05,-0.000436872804644,9.5874104325e-06,1793245240855320832
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.538745663,681,657,628,881.538745663,784,809,652.538745663,629,652.538745663,0.451995836005,-0.00556346403432,0.0497039740501,0.999999894577,2.74856968524e-05,-0.000458237982452,1.03710413157e-05,1793245240871987712
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.952447835,745,714.047552165,681,657,627.952447835,880.952447835,784.047552165,809,652,629,652.047552165,0.452253291721,-0.00556167236604,0.0496945221378,0.999999888095,3.33652224705e-05,-0.000471778284721,1.10615239174e-05,1793245240888654080
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.370267507,745,714.629732493,681,657,627.370267507,880.370267507,784.629732493,809,652,629,652.629732493,0.452518368931,-0.00556102623727,0.0497045129799,0.999999898125,3.76422866558e-05,-0.000449638655197,1.26026055161e-05,1793245240905320960
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.209415511,745,715,681,657,627,880.209415511,784.790584489,809.209415511,652.209415511,629,652.790584489,0.452768475353,-0.0055609275665,0.049714430442,0.999999906672,4.16873904192e-05,-0.000429788976384,1.41158881747e-05,1793245240921987840
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.784735009,745,715,681,657,627,880.784735009,784.215264991,809.784735009,652.784735009,629,652.215264991,0.452992423842,-0.00556178544896,0.0497242196888,0.999999913178,4.5327197877e-05,-0.000413940446441,1.55805986171e-05,1793245240938654464
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,681,657,627,880.639673492,784,809.639673492,653,629,652,0.453180811114,-0.00556172147016,0.0497247428218,0.999999913386,4.81998761176e-05,-0.000413070090685,1.66598280905e-05,1793245240955320832
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,681,657,627,880.063919317,784,809.063919317,653,629,652,0.453347937498,-0.00556110634015,0.0497197260433,0.99999990988,5.06139127453e-05,-0.000421154703565,1.75085909927e-05,1793245240971987200
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,681,657,626.4738354,880.5261646,784,809,653,629,652,0.453484986632,-0.00555931024459,0.04971174203,0.999999905583,5.27754599783e-05,-0.000430992430907,1.71513278815e-05,1793245240988653824
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.885049942,745,714.885049942,681,656.885049942,626,880.885049942,784,809,653,628.885049942,652,0.453613700045,-0.00555773952512,0.0497036320734,0.999999901219,5.5169749754e-05,-0.000440718374244,1.6904202244e-05,1793245241005320448
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.308660331,745,714.308660331,681,656.308660331,626,880.308660331,784,809,653,628.308660331,652,0.45372402981,-0.00555766555545,0.0496965040553,0.999999897272,5.86249054388e-05,-0.000449116733641,1.7703792066e-05,1793245241021987328
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.266727545,745.266727545,714.266727545,681,656,626,880,784,809,653,628.266727545,652,0.453826873209,-0.0055565402426,0.0496922682327,0.999999895153,6.1792056861e-05,-0.000453377726667,1.80348839316e-05,1793245241038654208
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.840960503,745.840960503,714.840960503,681,656,626,880,784,809,653,628.840960503,652,0.453921085705,-0.00555420285504,0.0496913667713,0.999999895208,6.46271731192e-05,-0.000452868823562,1.78258528395e-05,1793245241055320832
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,715,681,656.417142194,626,880,784,809.417142194,653,629,652,0.453998820131,-0.00555648891096,0.0496933831998,0.999999896392,6.30950950051e-05,-0.000450447045426,1.82125603399e-05,1793245241071987200
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,715,681,656.994070333,626,880,784,809.994070333,653,629,652,0.454070242644,-0.00556054597283,0.0496965173234,0.999999897994,5.98901669203e-05,-0.000447292542222,1.88274649806e-05,1793245241088653568
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,715,681.584461389,656.415538611,626,880.584461389,784,809.415538611,652.415538611,629,652.584461389,0.454123588248,-0.00555740105671,0.0496973006496,0.999999898935,6.45986767291e-05,-0.000444531646281,1.86827217914e-05,1793245241105320192
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,715,681.82833108,656,626,881,784,809,652.17166892,629,653,0.454169681604,-0.00555493921081,0.0496965203845,0.999999898517,6.73409589836e-05,-0.000445071644153,1.84912088287e-05,1793245241121986816
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,715,681.249015262,656,626,881,784,809,652.750984738,629,653,0.454198999457,-0.00555427699006,0.0496920851681,0.999999894903,6.52190720037e-05,-0.000453440274843,1.82073685608e-05,1793245241138653440
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,715,681,656,625.673488677,880.673488677,783.673488677,809.326511323,653,629,652.673488677,0.454224282855,-0.00555451746159,0.0496897603106,0.999999892723,6.46000126149e-05,-0.000458305852797,1.83412647853e-05,1793245241155320576
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,715,681,656,625.100818755,880.100818755,783.100818755,809.899181245,653,629,652.100818755,0.45424652466,-0.00555543847748,0.0496890264633,0.999999891659,6.51139426086e-05,-0.000460530461817,1.87900947134e-05,1793245241171988224
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,715,681.485707496,656,625,880.485707496,783,809.514292504,652.514292504,629,652,0.454261615595,-0.00555537154084,0.0496872709513,0.999999890478,6.46191431075e-05,-0.000463153177728,1.88903319192e-05,1793245241188654848
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,715,682,656,625,880.926077734,783.073922266,809,652.073922266,628.926077734,652,0.454274704357,-0.0055548751623,0.0496855939033,0.999999889532,6.4297815979e-05,-0.000465237777001,1.88737124747e-05,1793245241205321728
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,715,682,656,625,880.346563323,783.653436677,809,652.653436677,628.346563323,652,0.454284549332,-0.00555288537921,0.0496859465425,0.999999890395,6.66370856698e-05,-0.0004630601399,1.85672750112e-05,1793245241221988352
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.767950114,715,682,656,625,880,783.767950114,809,652.767950114,628,652.232049886,0.454291546373,-0.00555161022248,0.0496856319218,0.999999890397,6.8594653427e-05,-0.000462779975678,1.83160084523e-05,1793245241238654720
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.190677668,715,682,656,625,880,783.190677668,809,652.190677668,628,652.809322332,0.454294306518,-0.00555139822152,0.0496843246126,0.999999889124,6.99843598779e-05,-0.000465322697898,1.81468201293e-05,1793245241255320832
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.384287098,715,682,656,625.384287098,880,783.384287098,809.384287098,652.384287098,628,653,0.45429595343,-0.00555120625324,0.0496836311271,0.999999888347,7.01931792566e-05,-0.000466952514055,1.82762471336e-05,1793245241271987456
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.958113647,715,682,656,625.958113647,880,783.958113647,809.958113647,652.958113647,628,653,0.454297051269,-0.00555102416556,0.0496832403939,0.999999887817,6.98195572716e-05,-0.000468132063362,1.8552958257e-05,1793245241288654080
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.452783269,715,681.452783269,656,625.452783269,880,783.452783269,810,653,628.547216731,652.452783269,0.454297715253,-0.005549916118,0.0496822596292,0.999999887391,7.02348264012e-05,-0.000469003842672,1.79162775323e-05,1793245241305320960
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681.13474232,656,625,880,783,809.86525768,653,628.86525768,652.13474232,0.454298771165,-0.00554872782548,0.0496816914031,0.999999887248,7.06977500679e-05,-0.000469257420902,1.73932261786e-05,1793245241321987584
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681.713113491,656,625,880,783,809.286886509,653,628.286886509,652.713113491,0.454301229952,-0.00554751539157,0.0496826343965,0.999999888015,7.11130493799e-05,-0.000467555409462,1.74810915624e-05,1793245241338654464
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.288460002,715,681.711539998,656,625,880.288460002,783,809,653,628,653,0.454301472527,-0.00554770300131,0.0496821918729,0.999999887664,7.11227258741e-05,-0.000468289811239,1.78146920742e-05,1793245241355321088
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.860829632,715,681.139170368,656,625,880.860829632,783,809,653,628,653,0.45429953385,-0.00554926856926,0.0496803856887,0.99999988621,7.07331781819e-05,-0.000471422192317,1.8390151324e-05,1793245241371987456
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,715,681,656.447932287,625,880.552067713,783.447932287,809,653,628,652.552067713,0.45429891866,-0.00554902896461,0.0496787656227,0.999999885395,7.09492364481e-05,-0.000473128429847,1.807038384e-05,1793245241388654080
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.961083809,715,681.038916191,656.961083809,625,880,784,809,653,628.038916191,652,0.454298842646,-0.00554815989456,0.0496774267911,0.999999884883,7.14019516505e-05,-0.000474161664098,1.75021968446e-05,1793245241405320704
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.381925716,715,681.618074284,656.381925716,625,880,784,809,653,628.618074284,652,0.454300349081,-0.00554660320512,0.0496791620535,0.999999885731,7.24390918831e-05,-0.000472212479821,1.74779499039e-05,1793245241421987328
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.804625134,745,714.804625134,682,656,625,880,784,809,653,629,652,0.454301128234,-0.00554583249722,0.049679944989,0.999999885934,7.28334133823e-05,-0.000471723011774,1.74649708809e-05,1793245241438653952
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.23092152,745,714.23092152,682,656,625,880,784,809,653,629,652,0.454300499064,-0.0055465837836,0.0496788838151,0.99999988489,7.19829646366e-05,-0.00047406017466,1.7473811336e-05,1793245241455320320
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,714.343583734,682,656,625,880.343583734,784,809,653,628.656416266,652.343583734,0.454299352524,-0.00554738555636,0.0496778801101,0.999999884122,7.13521888548e-05,-0.000475766865135,1.76319506554e-05,1793245241471986688
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,714.918629003,682,656,625,880.918629003,784,809,653,628.081370997,652.918629003,0.454297857449,-0.00554822134015,0.0496769151202,0.999999883541,7.08693998619e-05,-0.000477048826118,1.78906679154e-05,1793245241488653568
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.509725352,745.509725352,715,681.490274648,656,625,880.490274648,783.490274648,809,652.490274648,628,652.490274648,0.454298838524,-0.00554727963077,0.0496773491069,0.999999883604,7.20429242922e-05,-0.000476740449486,1.7877881456e-05,1793245241505320192
+245,4.083333333,HOLD_POSE2,764,745,715,681,656,625,881,783,809,653,628,652,0.454299047364,-0.00554639200175,0.0496763885717,0.999999882791,7.30324008309e-05,-0.000478306810619,1.75201734685e-05,1793245241548042496
+246,4.100000000,HOLD_POSE2,764.576202935,745,715,681,656,625,880.423797065,783.576202935,809.576202935,653,628,652,0.454301563559,-0.00554671757694,0.0496783771303,0.99999988461,7.21885520123e-05,-0.000474603845618,1.78776988038e-05,1793245241564709120
+247,4.116666667,HOLD_POSE2,764.843910247,745,715,681,655.843910247,625,880,784,809.843910247,653,628,652.156089753,0.454303036095,-0.00554668543367,0.0496795589072,0.999999885607,7.19457407674e-05,-0.000472527960545,1.8065997805e-05,1793245241581376000
+248,4.133333333,HOLD_POSE2,764.253779469,745,715,681,655.253779469,625,880,784,809.253779469,653,628,652.746220531,0.454301606512,-0.00554565857761,0.0496784972552,0.999999884349,7.33742431756e-05,-0.000474976519239,1.77837267823e-05,1793245241598042368
+249,4.150000000,HOLD_POSE2,764.328894873,745,714.671105127,681,655.328894873,625,880,783.671105127,809,653,628.328894873,652.671105127,0.454300620746,-0.00554577591276,0.0496775911098,0.999999883485,7.29413487929e-05,-0.000476857477359,1.78058337593e-05,1793245241614709248
+250,4.166666667,HOLD_POSE2,764.905943246,745,714.094056754,681,655.905943246,625,880,783.094056754,809,653,628.905943246,652.094056754,0.454299969843,-0.0055467565483,0.0496768022954,0.999999882919,7.11040173264e-05,-0.000478310176697,1.80575960994e-05,1793245241631376384
+251,4.183333333,HOLD_POSE2,765,745.482309552,714.482309552,681.482309552,656,625,880.482309552,783,809.482309552,653,629,652.482309552,0.454300569185,-0.00554610711514,0.049676797623,0.999999883005,7.16641714423e-05,-0.000478059185536,1.76869900335e-05,1793245241648043008
+252,4.200000000,HOLD_POSE2,765,745.941655702,715,681.941655702,656,625,880.941655702,783,809.941655702,652.941655702,628.941655702,653,0.454301375479,-0.00554534760136,0.0496769428567,0.999999883239,7.2426278695e-05,-0.000477471076805,1.72589213772e-05,1793245241664709376
+253,4.216666667,HOLD_POSE2,765,745.367378324,715,681.367378324,656,625,880.367378324,783,809.367378324,652.367378324,628.367378324,653,0.454301858844,-0.00554642171214,0.0496770633656,0.999999883653,7.084565227e-05,-0.000476835706867,1.73944649673e-05,1793245241681376000
+254,4.233333333,HOLD_POSE2,765,745.213975976,714.786024024,681,656,625,880,783.213975976,809,652.213975976,628.213975976,652.786024024,0.454302251492,-0.00554685951394,0.0496773882432,0.999999883969,6.99806433304e-05,-0.000476297279792,1.74710683586e-05,1793245241698042624
+255,4.250000000,HOLD_POSE2,765,745.80789628,714.19210372,681,656,625,880,783.80789628,809,652.80789628,628.80789628,652.19210372,0.454302483059,-0.00554616745986,0.0496780760061,0.999999884116,7.03863136831e-05,-0.000475930988426,1.74430151535e-05,1793245241714709248
+256,4.266666667,HOLD_POSE2,765,746,714.38913235,681.38913235,656,625,880.38913235,784,809.38913235,653,628.61086765,652.38913235,0.454302655876,-0.00554592954105,0.0496780676676,0.999999883853,7.15095887636e-05,-0.000476307170461,1.76416063618e-05,1793245241731375616
+257,4.283333333,HOLD_POSE2,765,746,714.964304289,681.964304289,656,625,880.964304289,784,809.964304289,653,628.035695711,652.964304289,0.454302800605,-0.0055459087389,0.0496777265313,0.999999883393,7.29759422431e-05,-0.000477038320244,1.79485535905e-05,1793245241748042496
+258,4.300000000,HOLD_POSE2,765,746,714.460150287,682,656,625,881,784,809.460150287,653,628.539849713,652.460150287,0.454302721897,-0.00554534738687,0.0496777519587,0.999999883607,7.30322812296e-05,-0.000476596129036,1.7564983035e-05,1793245241764709120
+259,4.316666667,HOLD_POSE2,765,746,714.114639404,682,656,625,880.885360596,784,809.114639404,653,628.885360596,652,0.454302683538,-0.00554495020466,0.04967768338,0.999999883812,7.27668617038e-05,-0.000476218142568,1.72640005226e-05,1793245241781375488
+260,4.333333333,HOLD_POSE2,765,746,714.686317826,682,656,625,880.313682174,784,809.686317826,653,628.313682174,652,0.454302864985,-0.00554535012011,0.0496771433252,0.999999883804,7.15906221526e-05,-0.000476405643405,1.74744297131e-05,1793245241798042368
+261,4.350000000,HOLD_POSE2,765,745.730669935,715,681.730669935,656,625,880.269330065,784,809.730669935,653,628,652.269330065,0.454303216723,-0.00554487341158,0.0496769112424,0.999999883874,7.1277275541e-05,-0.000476311433466,1.73176238177e-05,1793245241814709248
+262,4.366666667,HOLD_POSE2,765,745.133877625,715,681.133877625,656,625,880.866122375,784,809.133877625,653,628,652.866122375,0.454303775508,-0.00554333086859,0.0496770536043,0.999999884039,7.20130686856e-05,-0.000475874708311,1.67143188311e-05,1793245241831376128
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,656,625,880,783,809,653,628,653,0.454300888283,-0.00554509199954,0.0496746958914,0.999999881606,7.29855252338e-05,-0.000480770975851,1.79080131832e-05,1793245241864073984
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,655.158965206,625,880.841034794,783.158965206,809.158965206,653,628,653,0.454300699881,-0.00554402272814,0.0496745803862,0.999999881437,7.50765987777e-05,-0.000480814376119,1.74971512611e-05,1793245241897406976
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,655.747036281,625,880.252963719,783.747036281,809.747036281,653,628,653,0.454303751909,-0.00554398411238,0.0496768888143,0.999999883052,7.31119998966e-05,-0.000477743611346,1.76415325016e-05,1793245241914073856
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d0eed3cdb617f9f892b9ef043ec8839db578058
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01b1d19eafd616ab87f869bed8b6a425bcaa155a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/fem_node.csv
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf51823126c28f96e6188470371f99d267147bbd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/franka_data.csv
@@ -0,0 +1,404 @@
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+62,1.033333333,BASELINE,764.976411625,744.976411625,714,679,658,633.023588375,878,785,806,652,630,652,0.401033875009,-0.00549553660118,0.0698586569073,0.999999988842,3.8238077016e-05,-0.000143608933303,1.51469102423e-05,1793245246832304896
+63,1.050000000,BASELINE,764.448689375,745,714,679,658,633.551310625,878.551310625,785,806,652.551310625,630,652,0.401032414292,-0.00549625851415,0.0698581208138,0.999999988575,3.73949350251e-05,-0.0001456973838,1.49619293996e-05,1793245246848971776
+64,1.066666667,BASELINE,764.129168153,745,714,679,658,634,879.129168153,785,806,652.870831847,630,652,0.401030883986,-0.00549694056723,0.0698574747584,0.999999988307,3.6809495707e-05,-0.000147681285138,1.4893310068e-05,1793245246865638656
+65,1.083333333,BASELINE,764.717914559,745,714,679,658,634,879.717914559,785,806,652.282085441,630,652,0.401029417031,-0.00549713811883,0.0698564853513,0.999999988093,3.73286306887e-05,-0.000148966961154,1.51755492523e-05,1793245246882305536
+66,1.100000000,BASELINE,764.697278828,745,714,679,658,633.697278828,879.697278828,785,806,652,629.697278828,652,0.401029666546,-0.00549645958753,0.0698566816816,0.999999988087,3.90808404847e-05,-0.000148526273834,1.54185164338e-05,1793245246898972416
+67,1.116666667,BASELINE,764.116096309,745,714,679,658,633.116096309,879.116096309,785,806,652,629.116096309,652,0.401031494973,-0.00549497518186,0.0698579687254,0.999999988267,4.19673074682e-05,-0.00014649757244,1.56253588227e-05,1793245246915639296
+68,1.133333333,BASELINE,764.45866074,745,714,679,658,633.45866074,879,785,806,652,629.45866074,652,0.401031337262,-0.00549496929149,0.0698578957603,0.999999988355,4.11359891698e-05,-0.000146165627697,1.52983293233e-05,1793245246932305664
+69,1.150000000,BASELINE,765,745,714,679,658,634,879.031978373,785,806,652.031978373,630,652,0.401030704157,-0.00549537050487,0.0698575158155,0.999999988417,3.9363402326e-05,-0.000146273560378,1.48687909301e-05,1793245246948972032
+70,1.166666667,BASELINE,765,745,714,679,658,634,879.608094905,785,806,652.608094905,630,652,0.401030418026,-0.00549641886382,0.0698576890544,0.999999988435,3.73658161707e-05,-0.000146659320393,1.49626242109e-05,1793245246965638656
+71,1.183333333,BASELINE,764.811221535,745,714,679,658.188778465,634,879.811221535,785.188778465,806,652.811221535,630,652,0.401031043966,-0.00549700114851,0.0698580977856,0.999999988567,3.5979269658e-05,-0.000146098276127,1.5058351407e-05,1793245246982305280
+72,1.200000000,BASELINE,764.220821628,745,714,679,658.779178372,634,879.220821628,785.779178372,806,652.220821628,630,652,0.401033610316,-0.0054965918721,0.0698590075208,0.999999988942,3.58926942565e-05,-0.00014352292962,1.5158107878e-05,1793245246998971904
+73,1.216666667,BASELINE,764,745,714,679,658.638004174,633.638004174,879,785.638004174,806,652,630,652.361995826,0.40103321437,-0.00549587586572,0.0698587508875,0.99999998879,3.74459580099e-05,-0.000144188459581,1.50897933416e-05,1793245247015638784
+74,1.233333333,BASELINE,764,745,714,679,658.059717242,633.059717242,879,785.059717242,806,652,630,652.940282758,0.401031048463,-0.00549497658938,0.0698577973534,0.999999988316,3.99790193261e-05,-0.000146790400858,1.49210570219e-05,1793245247032305664
+75,1.250000000,BASELINE,764,745,714,679,658,633,879,785,806,652.51587664,630,652.48412336,0.401032212488,-0.00549499819481,0.0698589474432,0.999999988479,3.99716673731e-05,-0.000145661412865,1.50392907321e-05,1793245247048972544
+76,1.266666667,BASELINE,764,745,714,679,658,633.09325418,878.90674582,784.90674582,806,652.90674582,629.90674582,652,0.401033095285,-0.00549532326053,0.0698597062435,0.999999988625,3.92076039179e-05,-0.000144855012863,1.5127637388e-05,1793245247065639168
+77,1.283333333,BASELINE,764,745,714,679,658,633.681751103,878.318248897,784.318248897,806,652.318248897,629.318248897,652,0.401030448109,-0.00549669672669,0.0698571005294,0.999999988284,3.5978517915e-05,-0.000148043477974,1.48817628274e-05,1793245247082305536
+78,1.300000000,BASELINE,764.265961368,745,714,679,658,633.734038632,878,784.265961368,805.734038632,652,629.265961368,652,0.401030578054,-0.00549771452185,0.0698569259837,0.999999988309,3.47141450536e-05,-0.000148173357185,1.49066857752e-05,1793245247098971904
+79,1.316666667,BASELINE,764.845123546,745,714,679,658,633.154876454,878,784.845123546,805.154876454,652,629.845123546,652,0.401033978386,-0.00549831347244,0.0698596144252,0.999999988775,3.57634533679e-05,-0.000144701391312,1.52505046764e-05,1793245247115638784
+80,1.333333333,BASELINE,764.575979165,745,714,679,658.424020835,633,878.424020835,785,805.424020835,652,629.575979165,652,0.401033369071,-0.00549874940503,0.0698595986206,0.99999998879,3.5045585506e-05,-0.00014474895827,1.5447760142e-05,1793245247132305152
+81,1.350000000,BASELINE,764,745,714,679,658.994416091,633.002791955,879,785,806,652,629.002791955,652,0.401031312732,-0.00549911279957,0.069858605228,0.999999988643,3.36955993436e-05,-0.000146068676531,1.55881698101e-05,1793245247148971776
+82,1.366666667,BASELINE,764,745,714,679,657.848928256,633.575535872,879,785,806,652,629.575535872,652,0.401032647811,-0.00549681586468,0.0698595592438,0.999999988788,3.49896006166e-05,-0.000144820467274,1.50455338053e-05,1793245247165638912
+83,1.383333333,BASELINE,764,745,714,679,657.152807181,633.847192819,879,785.152807181,806,652,630,652,0.401033689372,-0.00549522136902,0.0698602981061,0.999999988885,3.66929474904e-05,-0.000143760871646,1.47149230029e-05,1793245247182305792
+84,1.400000000,BASELINE,764,745,714,679,657.743038692,633.256961308,879,785.743038692,806,652,630,652,0.401033890715,-0.00549563766844,0.0698604210721,0.999999988846,3.95680833433e-05,-0.000143241199243,1.49912533272e-05,1793245247198972416
+85,1.416666667,BASELINE,764,744.672801283,714,679,658,633.327198717,879,785.672801283,806,652,629.672801283,652,0.401033955684,-0.00549648329449,0.0698604438982,0.999999988914,3.84931698847e-05,-0.000143053873587,1.50132634266e-05,1793245247215639040
+86,1.433333333,BASELINE,764,744.09332259,714,679,658,633.90667741,879,785.09332259,806,652,629.09332259,652,0.401033915505,-0.00549765994418,0.0698603895136,0.999999989057,3.43726503379e-05,-0.000143122797221,1.48391850253e-05,1793245247232305408
+87,1.450000000,BASELINE,764,744.481434655,714,679,658,634,878.518565345,785,806.481434655,652,629.481434655,652,0.401033470924,-0.00549640887774,0.0698596764227,0.999999988831,3.71627956581e-05,-0.000144004939941,1.48475178252e-05,1793245247248971776
+88,1.466666667,BASELINE,764,745,714,679,658,634,878.056645906,785,806.943354094,652.056645906,630,652,0.401032898956,-0.00549490604741,0.0698588720958,0.99999998854,4.06537069598e-05,-0.000145074725101,1.48852873188e-05,1793245247265638400
+89,1.483333333,BASELINE,764,745,714,679,658,634,878.644616805,785,806.355383195,652.644616805,630,652,0.401031860271,-0.00549541293204,0.0698583980249,0.999999988435,3.82747069879e-05,-0.000146440317898,1.48707272801e-05,1793245247282305280
+90,1.500000000,BASELINE,764,744.77051554,714,679.22948446,657.77051554,633.77051554,878.77051554,785,806,652.77051554,630,651.77051554,0.401030865807,-0.00549570795762,0.0698580394043,0.99999998835,3.71100538452e-05,-0.000147316090084,1.48803057512e-05,1793245247298971904
+91,1.516666667,BASELINE,764,744.190389549,714,679.809610451,657.190389549,633.190389549,878.190389549,785,806,652.190389549,630,651.190389549,0.401029938909,-0.0054956792724,0.0698578571866,0.999999988304,3.78008661323e-05,-0.000147443439144,1.4926766739e-05,1793245247315638784
+92,1.533333333,BASELINE,764,744.387271633,714,679.612728367,657.387271633,633,878,785,806,652,630,651.387271633,0.401031163298,-0.00549608422003,0.0698583489831,0.999999988429,3.80052231171e-05,-0.000146533433116,1.50124327872e-05,1793245247332305408
+93,1.550000000,BASELINE,764,744.963728786,714,679.036271214,657.963728786,633,878,785,806,652,630,651.963728786,0.401033438608,-0.00549670100103,0.0698591700413,0.999999988635,3.79719425674e-05,-0.000145116670222,1.51172508486e-05,1793245247348972288
+94,1.566666667,BASELINE,764.53938763,745,714,679,658.53938763,633,878.53938763,785,806,652,630,652,0.401031620494,-0.00549522257393,0.0698579750854,0.999999988295,3.9173438578e-05,-0.000147164270102,1.47876511239e-05,1793245247365638912
+95,1.583333333,BASELINE,764.882444747,745,714,679,658.882444747,633.117555253,878.882444747,785,806,652.117555253,630,652,0.401030277278,-0.00549413280689,0.0698570695236,0.999999988061,4.00235244215e-05,-0.000148539095444,1.45441852241e-05,1793245247382305536
+96,1.600000000,BASELINE,764.294013133,745,714,679,658.294013133,633.705986867,878.294013133,785,806,652.705986867,630,652,0.401031937256,-0.00549516336825,0.0698578653732,0.999999988425,3.91339085214e-05,-0.000146287306381,1.47625746176e-05,1793245247398971904
+97,1.616666667,BASELINE,764,744.708978149,714,679.291021851,658.291021851,634,878.291021851,785,806,652.708978149,630,652,0.401033518301,-0.0054957997316,0.069859217351,0.999999988719,3.9403870325e-05,-0.000144158653282,1.50609150219e-05,1793245247415638528
+98,1.633333333,BASELINE,764,744.127335151,714,679.872664849,658.872664849,634,878.872664849,785,806,652.127335151,630,652,0.401035020522,-0.00549604243966,0.069861124691,0.999999988943,4.08318132727e-05,-0.000142152966735,1.54390963398e-05,1793245247432305152
+99,1.650000000,BASELINE,764,744.447428301,714,679.552571699,658.552571699,634,879,785,806,652,630,652,0.401034064134,-0.00549658549553,0.0698600435499,0.99999998881,3.91297876187e-05,-0.000143583632337,1.52776560643e-05,1793245247448972032
+100,1.666666667,BASELINE,764,745,714,679.020238687,658,634,879,785,806,652,629.979761313,652,0.401032478006,-0.00549713032281,0.0698582032346,0.99999998857,3.67633706272e-05,-0.000145892291024,1.49712021125e-05,1793245247465638912
+101,1.683333333,BASELINE,764,745,714,679.592371894,658,634,879,785,806,652,629.407628106,652,0.401032510827,-0.00549542785479,0.0698585021604,0.999999988442,4.02022645973e-05,-0.000145878673363,1.48347322262e-05,1793245247482305536
+102,1.700000000,BASELINE,764,744.828147172,714,679.828147172,658,634,878.828147172,785,806,652,629.171852828,652,0.401032291597,-0.0054947917012,0.0698587818473,0.999999988362,4.15769823005e-05,-0.000146043739214,1.47820246307e-05,1793245247498972160
+103,1.716666667,BASELINE,764,744.230459356,714,679.230459356,658,634,878.230459356,785,806,652,629.769540644,652,0.401031447806,-0.00549679777373,0.0698590138622,0.999999988419,3.78368667105e-05,-0.000146651565848,1.49368720581e-05,1793245247515638784
+104,1.733333333,BASELINE,764,744.354485807,714,679,658,634,878,785,806,652,629.645514193,652,0.40103166384,-0.00549727484702,0.0698593657862,0.999999988432,3.77769405717e-05,-0.000146564177217,1.5079509149e-05,1793245247532305664
+105,1.750000000,BASELINE,764,744.931434197,714,679,658,634,878,785,806,652,629.068565803,652,0.401032544983,-0.0054967923754,0.0698597929609,0.999999988419,4.00265690173e-05,-0.000146040496472,1.52144834859e-05,1793245247548972032
+106,1.766666667,BASELINE,764,745,714,679,658,634,878.506004782,785,806,652,629.506004782,652,0.401032760804,-0.00549630069592,0.0698598567752,0.999999988625,3.90578499265e-05,-0.000144894940625,1.51946392309e-05,1793245247565638656
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,806,652,630,652,0.401031078438,-0.00549707306001,0.0698588360652,0.999999988486,3.89644253474e-05,-0.000145846129025,1.54794105697e-05,1793245247608981504
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.406558685,658,633.593441315,878.593441315,785,806,652,629.406558685,652,0.401031792328,-0.0054963636208,0.0698587064283,0.999999988444,3.86623103999e-05,-0.000146271080493,1.48922355659e-05,1793245247625648128
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.818226766,879.181773234,785,806,652,629.181773234,652,0.401032410253,-0.00549612693968,0.0698588197848,0.999999988443,3.87323884492e-05,-0.000146285069228,1.46773077942e-05,1793245247642314752
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.241010105,879.758989895,785,806,652,629.758989895,652,0.401032819406,-0.00549691873259,0.0698594617677,0.999999988528,3.96121636128e-05,-0.000145405018214,1.52721950706e-05,1793245247658981120
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.334127767,658,633,879.331744467,785,806.334127767,652,630,652,0.401033398237,-0.00549682541173,0.069859875669,0.999999988653,3.99835647527e-05,-0.000144425924255,1.53495516309e-05,1793245247675647744
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.90777542,658,633,878.18444916,785,806.90777542,652,630,652,0.401034098703,-0.00549609759597,0.0698601260699,0.999999988809,3.99905373157e-05,-0.000143375831296,1.50559156459e-05,1793245247692314368
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.496943009,878.496943009,785,806.503056991,652,630,652,0.401033352522,-0.00549545175132,0.0698599672576,0.999999988711,4.01910699988e-05,-0.000144000902813,1.5071718826e-05,1793245247708980736
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764.760086397,745,714,679,658,633.239913603,878.239913603,785,806,652.239913603,629.760086397,652,0.401035864422,-0.00549492244138,0.0698612192532,0.999999987852,4.18858718998e-05,-0.000149363920973,1.52028067284e-05,1793245247758980864
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.184052817,745,714,679,658,633.815947183,878.815947183,785,806,652.815947183,629.184052817,652,0.401042358075,-0.00549615736313,0.0698646803595,0.999999987697,3.94879549802e-05,-0.000151015424435,1.55172071567e-05,1793245247775647744
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+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,878.853096212,785,806,652,630,652,0.401194660006,-0.00549945465021,0.0699052610987,0.999999992362,3.77011237279e-05,-0.000116474694249,1.69838908931e-05,1793245247842313984
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,878.277081385,785,806,652,630,652,0.40126164827,-0.00550241414603,0.0699101653362,0.999999993106,3.46610038918e-05,-0.000111047253914,1.59925374465e-05,1793245247858980864
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.298996599,745,714,679,658,634,878,785,806,652,630,652,0.40133982317,-0.00550404391895,0.069913867315,0.999999993657,3.30883918016e-05,-0.000106694626509,1.44118364123e-05,1793245247875647488
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.875133092,745,714,679,658,634,878,785,806,652,630,652,0.401428366956,-0.00550444117177,0.0699164549201,0.999999994045,3.28760125531e-05,-0.000103338243336,1.22848692678e-05,1793245247892314112
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.539347057,745,714,679,658,633.539347057,878.460652943,785,806,652,630,652,0.401531390244,-0.0055060467031,0.069914843652,0.99999999353,3.23265658851e-05,-0.000108593564656,1.0075851522e-05,1793245247908980736
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679.048191729,658,633.048191729,879,785,806,652,630,652,0.401640792265,-0.00550791329242,0.0699121933697,0.999999992734,3.17850996902e-05,-0.000116020575083,7.8048531412e-06,1793245247925647872
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.629344423,658,633.629344423,879,785,806,652,630,652,0.401776429274,-0.00550896952826,0.0699109013725,0.999999992129,3.23633475389e-05,-0.000121112095249,5.09948175692e-06,1793245247942314496
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679.792045674,657.792045674,634,879,785,805.792045674,652.207954326,630,652,0.401924834275,-0.00551043818504,0.0699115532988,0.999999991948,3.13422686318e-05,-0.000122956264426,1.93723671971e-06,1793245247958981120
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679.217913328,657.217913328,634,879,785,805.217913328,652.782086672,630,652,0.402095721883,-0.00551263305641,0.0699156281984,0.999999992529,2.75050024863e-05,-0.000119082309375,-2.0294976197e-06,1793245247975647744
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,657.355614045,634,879,785,805.355614045,652.644385955,630,652,0.402288537466,-0.0055158926983,0.0699194240015,0.999999993066,2.25636857482e-05,-0.000115442819903,-5.68743038204e-06,1793245247992314112
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679,657.928771388,634,879,785,805.928771388,652.071228612,630,652,0.402494767282,-0.00551980370302,0.0699230490705,0.999999993548,1.6946976846e-05,-0.000111946762001,-9.15645728387e-06,1793245248008980736
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.521727213,658.521727213,634,879,785,806,652,630,652,0.4027369541,-0.00552218346523,0.0699255472987,0.999999993973,1.08539207856e-05,-0.000108280006645,-1.45193253509e-05,1793245248025647360
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.886665439,658.886665439,633.886665439,878.886665439,785.113334561,806,652,630,652,0.402991691775,-0.00552389104472,0.0699286093216,0.999999994445,5.01349153055e-06,-0.000103362705756,-2.00069703114e-05,1793245248042314240
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.311984035,658.311984035,633.311984035,878.311984035,785.688015965,806,652,630,652,0.403276748657,-0.00552374694373,0.0699346173022,0.999999995323,4.76589146081e-07,-9.34534601968e-05,-2.49085320429e-05,1793245248058980864
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.263168952,658,633.263168952,878.263168952,785.736831048,806,652,630,652,0.403582204048,-0.00552430513173,0.0699421707156,0.999999996195,-1.5384754905e-05,-8.08757555049e-05,-2.88433497574e-05,1793245248075647488
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679.838881963,658,633.838881963,878.838881963,785.161118037,806,652,630,652,0.403911885048,-0.00552569737043,0.0699515595117,0.99999999638,-4.46952040542e-05,-6.51289425218e-05,-3.16300450224e-05,1793245248092314112
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.57666627,658,634,879,785,806,652.42333373,630,652,0.404265039324,-0.00552783111487,0.0699538881214,0.999999996737,-3.97417950106e-05,-6.29599502495e-05,-3.1354715421e-05,1793245248108980736
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.98898593,714,679,658,633.98898593,879,785,806,652.98898593,629.98898593,652,0.40462825012,-0.00553021898051,0.0699536166417,0.99999999715,-2.18197169351e-05,-6.57830420662e-05,-2.9946936e-05,1793245248125647360
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.409940492,714,679,658,633.409940492,879,785,806,652.409940492,629.409940492,652,0.405039653448,-0.00553085132486,0.0699607515151,0.999999997812,-2.17830969217e-05,-5.39352195506e-05,-3.15046439134e-05,1793245248142314240
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.167981264,714,679,658,633.167981264,879,785,806,652,629.167981264,652,0.405460307305,-0.0055300100197,0.0699662741309,0.999999998238,-2.16725653755e-05,-4.44311823665e-05,-3.28609570681e-05,1793245248158980864
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744.743178929,714,679,658,633.743178929,879,785,806,652,629.743178929,652,0.405903386026,-0.00552559632646,0.0699678883466,0.999999998378,-2.13828591647e-05,-4.06088986198e-05,-3.37290533597e-05,1793245248175647232
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.318442732,745,714,679.318442732,658,634,879,784.681557268,806.318442732,652,630,652,0.406353573976,-0.00552208356224,0.0699584994155,0.999999997604,-1.91391622277e-05,-5.73514028902e-05,-3.37159062643e-05,1793245248192313856
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.893759946,745,714,679.893759946,658,634,879,784.106240054,806.893759946,652,630,652,0.406809496694,-0.00551929753945,0.0699402347045,0.999999995227,-1.53192623446e-05,-9.06826642756e-05,-3.29918969141e-05,1793245248208980736
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.531769273,745,714,680,658,633.531769273,879,784.468230727,806.531769273,652,630,652,0.407325730092,-0.00552093990924,0.0699292817887,0.999999993904,-1.84936922976e-05,-0.000103170333194,-3.47275664116e-05,1793245248225647872
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679.95774126,658,633.04225874,879,785,806.04225874,652,630,652,0.4078600579,-0.0055238888617,0.0699216565917,0.999999993174,-2.3685898471e-05,-0.00010829247839,-3.69302383457e-05,1793245248242314752
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679.386853396,658,633.613146604,879,785,806.613146604,652,630,652,0.408449862582,-0.00553063574906,0.0699349431275,0.999999995463,-3.4302770947e-05,-8.03310018575e-05,-3.80060232906e-05,1793245248258981120
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,679.192983584,658,634,879,785,807,652,630,652,0.409058110007,-0.00553663117891,0.069945941815,0.999999996782,-4.26338555172e-05,-5.58182527456e-05,-3.87591365138e-05,1793245248275647488
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679.791632199,658,634,879,785,807,652,630,652,0.409705125333,-0.00554104699197,0.0699521312844,0.999999997437,-4.61600529762e-05,-3.85549723824e-05,-3.88339711307e-05,1793245248292314368
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.616036223,680,658,633.616036223,879,785,807,652,630,652,0.410335626611,-0.00554238388344,0.0699492336024,0.999999997288,-4.45724019215e-05,-4.33077624864e-05,-3.95231009111e-05,1793245248308980992
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.027077281,680,658,633.027077281,879,785,807,652,630,652,0.41095731115,-0.00554207696337,0.0699414843633,0.999999996579,-4.02545082447e-05,-5.98147557085e-05,-4.05401979205e-05,1793245248325647616
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.444136782,744.444136782,713.555863218,680,658.555863218,633.555863218,879,785,807,652,630,652,0.41168904582,-0.00554247244543,0.0699544061646,0.999999997244,-4.75991911801e-05,-3.95904146429e-05,-4.09853992718e-05,1793245248342313984
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.136790058,744.136790058,714,680,658.863209942,633.863209942,879,785,807,652,630,652.136790058,0.412432438051,-0.00554258581668,0.0699728415286,0.999999997743,-5.21490117492e-05,-1.06682306289e-05,-4.09975350181e-05,1793245248358980864
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.712190058,744.712190058,714,680,658.287809942,633.287809942,879,785,807,652,630,652.712190058,0.413196204553,-0.00554168607969,0.0700057617461,0.999999997338,-4.59351563123e-05,4.04673948697e-05,-3.97094383716e-05,1793245248375647744
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.287242877,745,714,679.712757123,658.287242877,633,879,785,806.712757123,652,630,652.712757123,0.413953526882,-0.00554104906448,0.0700220506867,0.999999996106,-4.51923140128e-05,6.46462107593e-05,-3.9591815493e-05,1793245248392314368
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.861948319,745,714,679.138051681,658.861948319,633,879,785,806.138051681,652,630,652.138051681,0.414704400201,-0.00554067497188,0.0700216956345,0.999999996015,-4.99246684907e-05,6.18476063811e-05,-4.06455614978e-05,1793245248408980736
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.553184677,745,714,679,659,633,879,785.446815323,806.446815323,652,630,652,0.415418229862,-0.00554038929261,0.0699762059084,0.999999997524,-5.23428304671e-05,-1.73699383876e-05,-4.3700273334e-05,1793245248425647360
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.034520038,745,714,679.069040076,659,633,879,785.965479962,807,652,630,652,0.416130073723,-0.00554011181025,0.0699199383437,0.999999990845,-5.43058055902e-05,-0.000114564407943,-4.72941636704e-05,1793245248442313984
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.616281313,745,714,680.232562625,659,633,879,785.383718687,807,652,630,652,0.416996100946,-0.00553952114353,0.0699190266797,0.999999990473,-6.06515368096e-05,-0.000113732011783,-4.94067204199e-05,1793245248458980864
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.804781557,659,633,879,785.195218443,807,652,630,652,0.417860761738,-0.00553963001576,0.0699297145113,0.999999992304,-6.33538118325e-05,-9.41403188542e-05,-5.0148728478e-05,1793245248475647744
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.231316401,659,633,879,785.768683599,807,652,630,652,0.418722774944,-0.00554109428409,0.0699628770182,0.999999996367,-5.89966850278e-05,-3.82014330948e-05,-4.82352211269e-05,1793245248492314368
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.673340232,745,714,680.326659768,659,633,879,785.673340232,807,652,630,652,0.419599907764,-0.00554385240369,0.0699917667707,0.999999996972,-6.17122657958e-05,5.78736703538e-06,-4.70562246111e-05,1793245248508980992
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.125835719,745,714,680.874164281,659,633,879,785.125835719,807,652,630,652,0.42048726246,-0.00554748525677,0.0700177678424,0.99999999566,-6.920948947e-05,4.16970750421e-05,-4.63738086533e-05,1793245248525647360
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.482478323,745,714,680.517521677,659,633.482478323,879,785,807,652,630.482478323,652,0.421379666909,-0.00554736249352,0.0700307050434,0.999999994577,-7.21317101076e-05,5.84409059885e-05,-4.720011319e-05,1793245248542314240
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633.899996029,879,785,807,652,630.799992057,652,0.42226303029,-0.00554549673621,0.0700275126515,0.999999994829,-7.3374719719e-05,5.05846300922e-05,-4.8992424806e-05,1793245248558980864
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633.324918477,879,785,807,652,629.649836953,652,0.423096284423,-0.00554067504029,0.0699662161627,0.999999994806,-7.31264159938e-05,-4.69646688718e-05,-5.32349253296e-05,1793245248575647488
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.249977743,659,633,879.249977743,785,807.249977743,652,629.249977743,652,0.423936086997,-0.00553824255921,0.0699060603306,0.999999986183,-7.49292796314e-05,-0.000136507784767,-5.81834437327e-05,1793245248592314112
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.824638521,659,633,879.824638521,785,807.824638521,652,629.824638521,652,0.424784395116,-0.00553891330384,0.0698473860293,0.999999971544,-7.93962977584e-05,-0.000215652101227,-6.40489727342e-05,1793245248608980992
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.410996871,633,880,785,807.589003129,652,630,652,0.425701601847,-0.00554135434057,0.0698694336507,0.999999979074,-7.91207902559e-05,-0.000178046610855,-6.23832877271e-05,1793245248625647616
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.997559847,714,680.997559847,659.997559847,633,880,785,807,652,630,652,0.42664913202,-0.00554455351269,0.0699269133352,0.999999991417,-7.68138623506e-05,-8.92697754377e-05,-5.74226816028e-05,1793245248642313984
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.418473855,714,680.418473855,659.418473855,633,880,785,807,652,630,652,0.427612042984,-0.0055431849569,0.0699799446057,0.999999994407,-8.66462609007e-05,-2.46008705011e-05,-5.54360820449e-05,1793245248658980608
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.159410172,714,680.159410172,659.159410172,633.159410172,880,785.159410172,807.159410172,652,630,652,0.428577393385,-0.00554387094211,0.070026032577,0.999999993538,-9.28958178679e-05,3.7459920334e-05,-5.37671016709e-05,1793245248675647488
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.73416245,714,680.73416245,659.73416245,633.73416245,880,785.73416245,807.73416245,652,630,652,0.429549099669,-0.00554991001988,0.070054029827,0.999999990268,-8.98103057713e-05,9.2725283664e-05,-5.29256764429e-05,1793245248692313856
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.684314291,745,714,681.315685709,660,633.684314291,880,785.684314291,808,652,630,652,0.430435088929,-0.00555231120921,0.0700411521941,0.999999991959,-8.76633611155e-05,7.40032489446e-05,-5.40374360502e-05,1793245248708980736
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.096964273,745,714,681.903035727,660,633.096964273,880,785.096964273,808,652,630,652,0.431247314092,-0.00555158180213,0.0699930995534,0.999999994624,-8.63241034285e-05,-8.38887181323e-06,-5.68300147392e-05,1793245248725647360
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,681.516550376,659.516550376,633,879.516550376,785,808,652,630.483449624,652,0.432039619153,-0.00554932257924,0.0699245609006,0.999999986474,-9.00835273597e-05,-0.000123916092744,-5.98412651343e-05,1793245248742313728
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,714,681.062286845,659.062286845,633,879,785.062286845,808,652,631,652,0.432845775028,-0.00554737505152,0.0698653842027,0.999999969024,-9.43580806143e-05,-0.000221690833141,-6.24631046728e-05,1793245248758980352
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,714,681.639427631,659.639427631,633,879,785.639427631,808,652,631,652,0.43379897689,-0.0055505043018,0.0699170746874,0.999999986608,-9.45572751798e-05,-0.000118569691031,-6.15087351548e-05,1793245248775647232
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,744.784418078,714,682,660,633,879.215581922,785.784418078,808,652,630.784418078,652,0.434735441291,-0.00555344470873,0.069966591527,0.999999993221,-9.59462284384e-05,-2.80339830691e-05,-5.97216640718e-05,1793245248792314112
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,744.209906146,714,682,660,633,879.790093854,785.209906146,808,652,630.209906146,652,0.435644039048,-0.00555607070417,0.0700124893956,0.999999992606,-9.93160543499e-05,4.15478029369e-05,-5.65481990549e-05,1793245248808980736
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.232436568,745.767563432,714,685,653.767563432,627.232436568,880,780.232436568,809,652,629,653,0.452219254054,-0.00557876000061,0.0695891955266,0.999999803673,-0.000115107294587,-0.000613032886357,-5.99538585636e-05,1793245249842314240
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.349625747,746,714,685,653.650374253,627,880,780,809,652,629,652.650374253,0.452218969864,-0.00557877907508,0.0695886469357,0.999999803078,-0.000115480405942,-0.00061392727511,-6.00177342647e-05,1793245249858980864
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.936716502,746,714,685,653.063283498,627,880,780,809,652,629,652.063283498,0.452217676154,-0.00557792890896,0.0695869788021,0.999999801463,-0.000115671526205,-0.000616478742642,-6.03980516907e-05,1793245249875647232
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.483403887,714,685,652.483403887,627,880,780,809,652,629,652,0.452217997621,-0.00557732543344,0.0695868843316,0.999999801912,-0.000114255399783,-0.000616032228466,-6.02180507186e-05,1793245249892313856
+245,4.083333333,HOLD_POSE2,765,745,714,685,652,628,880,781,809,652,630,653,0.452217924171,-0.00557786110003,0.0695859740756,0.999999801669,-0.000115027426708,-0.000616320530332,-5.98274995597e-05,1793245249935014912
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+251,4.183333333,HOLD_POSE2,764.482697597,745,714,684.517302403,653,627,880,780,809,652,629,652.482697597,0.452220093918,-0.00557834831095,0.0695866760444,0.999999801905,-0.000110559740998,-0.000616873769177,-5.8594554118e-05,1793245250035013632
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+256,4.266666667,HOLD_POSE2,764.38520932,745,714,684,653,627,880,780,809,652,629.61479068,652,0.452220242925,-0.00557538689512,0.0695874729382,0.999999802855,-0.00011057987703,-0.000615232941048,-5.95857846611e-05,1793245250118347264
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,685,652.406464344,627,880,780,809,652,629,652.406464344,0.452221398797,-0.00557775700781,0.0695866306392,0.999999801397,-0.000113066496443,-0.000617177838698,-5.92670822394e-05,1793245250239743488
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745,713.063794,684,652.063794,627,880.936206,780.063794,809,652,629,652,0.452221319245,-0.00557428379411,0.0695870956631,0.999999800965,-0.000111133674797,-0.000618223855044,-5.93194051664e-05,1793245250306409472
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,685,652.908714289,627,880.908714289,780,809,652,629,652.091285711,0.452218774704,-0.00557652566319,0.0695850589264,0.999999799731,-0.000112322490444,-0.000620025039846,-5.90805170147e-05,1793245250339742976
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,685,652.334537256,627,880.334537256,780,809,652,629,652.665462744,0.452217040591,-0.00557608792201,0.0695845278626,0.999999799427,-0.000112633329971,-0.000620465812862,-5.90041553962e-05,1793245250356409344
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.753660317,685,652,627,880,780,809,652,629,652.753660317,0.452210615737,-0.0055757313462,0.0695810594492,0.999999796438,-0.000112754938961,-0.000625231717867,-5.9116809075e-05,1793245250373076224
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.163430353,685,652,627,880,780,809,652,629,652.163430353,0.452197642607,-0.00557548807729,0.0695734904948,0.999999789619,-0.000112612382024,-0.0006360355085,-5.94933281736e-05,1793245250389743104
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.418996463,685,652,627,880.418996463,780.418996463,809,652,629,652.418996463,0.452169163705,-0.00557578628507,0.0695616777418,0.9999997766,-0.000112996586517,-0.00065610388312,-5.9653863146e-05,1793245250406409728
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.998435341,685,652,627,880.998435341,780.998435341,809,652,629,652.998435341,0.452134747322,-0.00557629183546,0.0695482399499,0.999999760756,-0.000113582498798,-0.00067971985925,-5.97316933317e-05,1793245250423076352
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,685,652,627,880.424949487,780.424949487,809,652.575050513,629,652.424949487,0.452075008489,-0.00557279089033,0.0695286937659,0.999999740014,-0.00011041481752,-0.000710021787739,-6.04169186749e-05,1793245250439742976
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,685,652,627,880,780.150674516,809,652.849325484,629,652,0.452012102691,-0.00557000659631,0.069511608732,0.999999721431,-0.000108025710965,-0.000736054683001,-6.07530501447e-05,1793245250456409600
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,685,652,627,880,780.723542792,809,652.276457208,629,652,0.451940515076,-0.00556926077226,0.0695014662406,0.999999711072,-0.000107846667494,-0.000750074923964,-6.0106403961e-05,1793245250473076224
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,685,652.306257731,627,880,780.693742269,809,652,629,652.306257731,0.451860664133,-0.0055676709465,0.0694967382332,0.999999705219,-0.000106395736337,-0.000758113820715,-5.92015399726e-05,1793245250489742848
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,685,652.898156437,627,880,780.101843563,809,652,629,652.898156437,0.45177310614,-0.00556529393588,0.0694970602163,0.999999703695,-0.000103758538861,-0.000760574026558,-5.80558410147e-05,1793245250506409472
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.366678219,714,684.633321781,653,627,880.633321781,780.366678219,809.633321781,652,629,652.366678219,0.451422724227,-0.00555791324737,0.0695005499828,0.999999702633,-9.56311737684e-05,-0.00076353962701,-5.09530894198e-05,1793245250556409856
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.787465232,745.212534768,713.787465232,685,653,627,880.787465232,780.212534768,809.787465232,652,629,652,0.451274437998,-0.00555428276264,0.0695009301226,0.999999700421,-9.27093646857e-05,-0.00076695784598,-4.83553056598e-05,1793245250573076480
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.200475546,745.799524454,713.200475546,685,653,627,880.200475546,780.799524454,809.200475546,652,629,652,0.451104419463,-0.00554729733776,0.0695003344552,0.999999697172,-8.65769008516e-05,-0.000772023420408,-4.62677123599e-05,1793245250589743104
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.690994679,744.690994679,714,685,653,628,880,781,809,652,629,652,0.449983510737,-0.00552438171948,0.0695149186957,0.999999699601,-5.60312442042e-05,-0.00077266926301,-2.53181601368e-05,1793245250673076224
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,744,714,680,658,633.110974359,879,785,806,652,630,652,0.400980055234,-0.0053639149596,0.0698312740276,0.99999994252,0.000205431684883,-0.000269224271975,1.66251603952e-05,1793245252373075968
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,744,714,679.530236153,658,633,878.530236153,785,806,652,630,652,0.400979865041,-0.00536402596681,0.0698313217454,0.999999942202,0.000206858341386,-0.000269310220787,1.6645100995e-05,1793245252389742848
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.80035534,744.19964466,714,680,657,633.80035534,878,785,806,652,630,652,0.400976839343,-0.00536360625675,0.0698298573608,0.999999941654,0.000206848942697,-0.000271340886685,1.67039333916e-05,1793245252439742720
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.210470452,744.789529548,714,680,657,633.210470452,878,785,806,652,630,652,0.400978545175,-0.00536233281183,0.0698313967737,0.999999941941,0.000209251599406,-0.000268440811323,1.64826829336e-05,1793245252456409600
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.627323739,657.372676261,633,878.372676261,785,806,652,630,652,0.400978347677,-0.00536290491439,0.0698314211818,0.999999941993,0.000208742985725,-0.000268632405623,1.66207246799e-05,1793245252473075968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.047914876,657.952085124,633,878.952085124,785,806,652,630,652,0.400977094358,-0.00536450078716,0.0698306051797,0.999999941915,0.000206619419334,-0.000270539024519,1.69580745749e-05,1793245252489742592
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,744.321069028,714,680,658,633.321069028,878.678930972,785,806,652,630.321069028,652,0.400977606526,-0.00536483394622,0.0698324150127,0.999999942581,0.000205800211256,-0.000268692396446,1.70022885931e-05,1793245252539743488
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,744.850896445,714,680,657.149103555,633.850896445,878.149103555,785,806.850896445,652,630,652,0.400978269627,-0.00536417541677,0.0698322794114,0.999999942156,0.00020722611819,-0.000269190351794,1.67747187371e-05,1793245252573077504
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46bdf75916a663d5df1c5711b59359c886aaeacf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,404 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+381,6.350000000,pose2_to_pose3_retreat,0.575675421124,-0.00012218598801,1.06005101452,0.546247055079,0.00855350231352,1.0597175053
+382,6.366666667,pose2_to_pose3_retreat,0.575673992805,-0.000122222695085,1.06005110567,0.546245626988,0.00855346624405,1.0597175928
+383,6.383333333,pose2_to_pose3_retreat,0.575673368495,-0.000122238739523,1.0600511455,0.546245002778,0.0085534504783,1.05971763105
+384,6.400000000,pose2_to_pose3_retreat,0.575672817376,-0.000122213104198,1.06005114674,0.546244451709,0.00855347627267,1.05971763214
+385,6.416666667,pose2_to_pose3_retreat,0.57567227303,-0.000122187244794,1.06005114751,0.546243907411,0.00855350228798,1.05971763278
+386,6.433333333,pose2_to_pose3_retreat,0.575671935606,-0.000122171215339,1.06005114798,0.546243570017,0.00855351841407,1.05971763318
+387,6.450000000,pose2_to_pose3_retreat,0.575671650833,-0.000122157687106,1.06005114838,0.546243285269,0.00855353202386,1.05971763351
+388,6.466666667,pose2_to_pose3_retreat,0.575671293853,-0.000122140728605,1.06005114888,0.54624292832,0.00855354908461,1.05971763393
+389,6.483333333,pose2_to_pose3_retreat,0.575671183922,-0.000122135506315,1.06005114904,0.5462428184,0.00855355433838,1.05971763406
+390,6.500000000,pose2_to_pose3_retreat,0.575671143855,-0.000122133602885,1.06005114909,0.546242778336,0.00855355625329,1.05971763411
+391,6.516666667,pose2_to_pose3_retreat,0.575670833665,-0.000122140861805,1.06005108177,0.546242468043,0.0085535486586,1.05971756715
+392,6.533333333,pose2_to_pose3_retreat,0.575670448479,-0.000122181812442,1.06005089979,0.54624208254,0.00855350667446,1.05971738625
+393,6.550000000,pose2_to_pose3_retreat,0.575670296795,-0.000122197938662,1.06005082813,0.546241930731,0.00855349014125,1.05971731501
+394,6.566666667,pose2_to_pose3_retreat,0.575670144376,-0.000122214142893,1.06005075612,0.546241778187,0.00855347352806,1.05971724343
+395,6.583333333,pose2_to_pose3_retreat,0.575669899058,-0.000122230467714,1.06005066637,0.546241532569,0.00855345622121,1.05971715458
+396,6.600000000,pose2_to_pose3_retreat,0.575669857801,-0.000122223453089,1.06005067744,0.546241491163,0.00855346274672,1.05971716601
+397,6.616666667,pose2_to_pose3_retreat,0.575669691825,-0.000122195234043,1.06005072198,0.546241324591,0.00855348899812,1.059717212
+398,6.633333333,pose2_to_pose3_retreat,0.575669614584,-0.000122182101484,1.0600507427,0.546241247072,0.00855350121498,1.0597172334
+399,6.650000000,pose2_to_pose3_retreat,0.575669548474,-0.000122168809192,1.06005076012,0.546241180718,0.00855351370322,1.05971725153
+400,6.666666667,pose2_to_pose3_retreat,0.575669548503,-0.000122157852937,1.06005075843,0.546241180707,0.0085535245513,1.05971725051
+401,6.683333333,pose2_to_pose3_retreat,0.575669548507,-0.000122156253271,1.06005075818,0.546241180706,0.00855352613517,1.05971725036
+402,6.700000000,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.0085535275076,1.05971725023
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a55c7e3b9e12c5eff434eb377b00ac9572c96e3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d72082a16ee6d7e135b005f863c00191c31191095b30a72e92f7f700193fcef
+size 25599287
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a972fac842dd9adc23893a9fecbf7e6d2572f26e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+28,0.466666667,BASELINE,764,744.764402601,714,679.764402601,658,634,878.235597399,785,805.235597399,652,629.764402601,652,0.400980548587,-0.00536636447987,0.0698354520115,0.999999943972,0.000206270183874,-0.000263124183827,1.6536346251e-05,1793245253187801600
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+47,0.783333333,BASELINE,764,745,714,679.280205131,657.719794869,633,878,785,805.719794869,652,630,652,0.400981108025,-0.0053669793546,0.069835358232,0.999999944941,0.000202111737804,-0.000262726701184,1.55779953841e-05,1793245253504468224
+48,0.800000000,BASELINE,764,745,714,679.86239131,657.13760869,633,878,785,805.13760869,652,630,652,0.400978910576,-0.0053673838754,0.0698335649154,0.999999944081,0.000202585221941,-0.000265594446286,1.60156514771e-05,1793245253521134592
+49,0.816666667,BASELINE,764,745,714,680,657.436343239,633,878,785.436343239,805,652,629.563656761,652,0.400977917519,-0.00536601924294,0.0698337557493,0.999999943348,0.000206534381823,-0.000265307937917,1.60762584993e-05,1793245253537801216
+50,0.833333333,BASELINE,764,745,714,679.992165948,658,633.007834052,878.007834052,785.992165948,805.007834052,652,629.007834052,652,0.40097734099,-0.00536416218261,0.069834571335,0.999999942663,0.00021142896972,-0.000264036836733,1.6025111484e-05,1793245253554468096
+51,0.850000000,BASELINE,764,745,714,679.414297995,658,633.585702005,878.585702005,785.414297995,805.585702005,652,629.585702005,652,0.400979946812,-0.00536631967473,0.0698361584932,0.999999944111,0.000206836143405,-0.000262164227423,1.63343471596e-05,1793245253571134720
+52,0.866666667,BASELINE,764,744.832098064,714,679.167901936,658,633.832098064,878.832098064,785,805.832098064,652,630,652,0.400981529992,-0.00536717517086,0.0698370776578,0.999999944926,0.000204411905862,-0.00026094901914,1.64404654803e-05,1793245253587801344
+53,0.883333333,BASELINE,764,744.238925927,714,679.761074073,658,633.238925927,878.238925927,785,805.238925927,652,630,652,0.400980522975,-0.00536473290801,0.0698363048953,0.999999944183,0.000207480375885,-0.000261398908327,1.60321182522e-05,1793245253604467968
+54,0.900000000,BASELINE,764,744,714.344644928,680,658,633.344644928,878.344644928,785,805.344644928,652,630,651.655355072,0.400980268686,-0.00536447447719,0.0698358615381,0.999999944188,0.000207211436738,-0.000261599635044,1.58964617871e-05,1793245253621134848
+55,0.916666667,BASELINE,764,744,714.921740051,680,658,633.921740051,878.921740051,785,805.921740051,652,630,651.078259949,0.400980522085,-0.00536568895999,0.0698356403527,0.999999944698,0.000204691539029,-0.000261632310916,1.59447251224e-05,1793245253637801472
+56,0.933333333,BASELINE,764,744,714.503030286,679.503030286,658,633.503030286,878.503030286,785,806,652,630,651,0.40098049153,-0.00536500631832,0.0698364285991,0.999999944609,0.000205999352373,-0.000260937828279,1.60702129028e-05,1793245253654468096
+57,0.950000000,BASELINE,764,744.071956591,714,679.071956591,658,633,878.071956591,785,805.928043409,652,630,651.071956591,0.40098035231,-0.00536433229931,0.0698371285839,0.999999944416,0.000207506550939,-0.000260474945134,1.62081987425e-05,1793245253671134720
+58,0.966666667,BASELINE,764,744.647292117,714,679.647292117,658,633,878.647292117,785,805.352707883,652,630,651.647292117,0.400979764555,-0.00536580070716,0.0698361032688,0.999999944171,0.000206207629943,-0.000262430298772,1.63488615357e-05,1793245253687801344
+59,0.983333333,BASELINE,764,745,714,679.770210458,658,633,879,785,805,652,630,652,0.400979541274,-0.00536654465557,0.0698355850342,0.999999944137,0.000205447956335,-0.000263157192484,1.63192131797e-05,1793245253704467712
+60,1.000000000,BASELINE,764,745,714,679.176366379,658,633,879,785,805,652,630,652,0.400979895428,-0.0053661408464,0.0698358701647,0.999999944442,0.000205542609742,-0.00026193784296,1.60197416575e-05,1793245253721134336
+61,1.016666667,BASELINE,764,745,714,679.404589303,658,633.404589303,879,785,805.404589303,652,630,652,0.400980354092,-0.00536504468509,0.0698361603275,0.999999944155,0.000207577748263,-0.000261432037099,1.59400635028e-05,1793245253737801216
+62,1.033333333,BASELINE,764,745,714,679.980100158,658,633.980100158,879,785,805.980100158,652,630,652,0.400980856907,-0.00536365603486,0.0698364526161,0.999999943612,0.000210432658142,-0.00026122767277,1.5953238595e-05,1793245253754468096
+63,1.050000000,BASELINE,764,744.444811904,714,680,658,634,878.444811904,785,805.444811904,652,630,652,0.400981910351,-0.00536584229279,0.0698372547483,0.99999994483,0.000205990420149,-0.000260098499235,1.60178524351e-05,1793245253771134720
+64,1.066666667,BASELINE,764,744.133156774,714,680,658,634,878.133156774,785,805,652,630,652,0.400982428428,-0.0053670364629,0.0698379449606,0.99999994563,0.000203086278544,-0.000259304773072,1.60378135445e-05,1793245253787801600
+65,1.083333333,BASELINE,764,744.721014232,714,680,658,634,878.721014232,785,805,652,630,652,0.400981051001,-0.00536440564822,0.0698381906351,0.999999944848,0.000206326864666,-0.000259769632932,1.58990043646e-05,1793245253804467968
+66,1.100000000,BASELINE,764,745,714,680,658,633.694900062,878.694900062,785,805.305099938,652,630,652,0.400979947701,-0.00536319313821,0.0698374586795,0.999999944172,0.000208051688426,-0.000260992809421,1.58885651541e-05,1793245253821134592
+67,1.116666667,BASELINE,764,745,714,680,658,633.114221192,878.114221192,785,805.885778808,652,630,652,0.400979092005,-0.00536326170002,0.0698358436878,0.999999943597,0.000208407412509,-0.000262900928951,1.59940750384e-05,1793245253837801472
+68,1.133333333,BASELINE,764,744.540907218,714,679.540907218,658,633.459092782,878,785,806,652,630,652,0.400979726356,-0.00536452194964,0.0698362514301,0.999999944099,0.000207531895105,-0.000261668174611,1.61707901922e-05,1793245253854468096
+69,1.150000000,BASELINE,764,744.029988421,714,679.029988421,658,634,878,785,806,652.029988421,630,652,0.400980666093,-0.00536592615185,0.0698370980179,0.999999944786,0.0002065217909,-0.000259825552956,1.63490227041e-05,1793245253871134464
+70,1.166666667,BASELINE,764,744.59001511,714,679.59001511,658,634,878,785,806,652.59001511,630,652,0.400980554534,-0.00536471704556,0.0698369466829,0.999999944132,0.000208461721518,-0.000260797400773,1.6245896918e-05,1793245253887801344
+71,1.183333333,BASELINE,764,745,714,679.836438469,658,634,878.163561531,785,806,652.836438469,630,652,0.400980296554,-0.00536414535891,0.0698366537973,0.999999943795,0.000209242154735,-0.000261473545589,1.6117015908e-05,1793245253904468224
+72,1.200000000,BASELINE,764,745,714,679.225949631,658,634,878.774050369,785,806,652.225949631,630,652,0.400979638488,-0.00536531540331,0.0698359741284,0.999999944329,0.000206854294182,-0.000261341690449,1.59177594456e-05,1793245253921134848
+73,1.216666667,BASELINE,764,745,714,679.367132911,658,634,879,785,806,652,630,652,0.400979944129,-0.00536579234617,0.0698356999128,0.999999944414,0.000206462025181,-0.000261322402939,1.59800370418e-05,1793245253937801472
+74,1.233333333,BASELINE,764,745,714,679.949987732,658,634,879,785,806,652,630,652,0.40098081603,-0.00536586203268,0.0698356639356,0.999999944237,0.000207242336632,-0.000261369258526,1.61959882244e-05,1793245253954468096
+75,1.250000000,BASELINE,764,744.478771584,714,680,658,634,878.478771584,785,806,652,630,652,0.400979861094,-0.00536588795339,0.0698355962513,0.999999944007,0.000207641898096,-0.000261926376056,1.62879250951e-05,1793245253971134720
+76,1.266666667,BASELINE,764,744.094321751,714,679.905678249,658,634,878.094321751,785,806,652,630,652,0.400979295149,-0.00536592258994,0.0698357234537,0.999999943947,0.00020774109363,-0.000262076405586,1.62815223505e-05,1793245253987801088
+77,1.283333333,BASELINE,764,744.682833303,714,679.317166697,658,634,878.682833303,785,806,652,630,652,0.400981665661,-0.00536602441484,0.0698368873384,0.999999944804,0.000206453790927,-0.000259842606327,1.58208647575e-05,1793245254004467712
+78,1.300000000,BASELINE,764,744.73384657,714,679,658.26615343,633.73384657,878.73384657,785,806,652,630,652,0.400981907063,-0.00536585311991,0.0698366613821,0.999999944927,0.000205586555487,-0.000260078086926,1.55075613467e-05,1793245254021134592
+79,1.316666667,BASELINE,764,744.156594584,714,679,658.843405416,633.156594584,878.156594584,785,806,652,630,652,0.400979659812,-0.00536536258359,0.0698348108834,0.999999944189,0.000205210323839,-0.00026319983295,1.53664957389e-05,1793245254037801216
+80,1.333333333,BASELINE,764,744,714,679.417779347,658.582220653,633,878.417779347,785,806,652,630,652,0.400979881689,-0.00536553219865,0.0698352532078,0.999999944233,0.000205229332603,-0.000263013359997,1.54380647969e-05,1793245254054467840
+81,1.350000000,BASELINE,764,744,714,679.991081934,658.008918066,633,878.991081934,785,806,652,630,652,0.400981022726,-0.00536594756273,0.0698365490622,0.999999944569,0.000205395474194,-0.000261595364148,1.55887895809e-05,1793245254071134720
+82,1.366666667,BASELINE,764,744,714,680,658,633.573061964,878.426938036,785,806,652,630,652,0.400981275626,-0.00536544176215,0.0698367572382,0.999999944626,0.000206439183425,-0.000260534812658,1.59030203898e-05,1793245254087801344
+83,1.383333333,BASELINE,764,744.157683768,714,680,658,633.842316232,878,785,806,652,630,652,0.400981071686,-0.00536493979209,0.0698366980989,0.99999994444,0.000207477056532,-0.000260409304236,1.61542638018e-05,1793245254104467968
+84,1.400000000,BASELINE,764,744.749196675,714,680,658,633.250803325,878,785,806,652,630,652,0.400979649471,-0.00536448840715,0.0698359507906,0.999999943598,0.000208460722013,-0.000262840803274,1.62251043199e-05,1793245254121134848
+85,1.416666667,BASELINE,764,745,714,679.667225569,658,633.332774431,878,785,806.332774431,652,630,652,0.400980097155,-0.00536426151738,0.0698366572482,0.999999943675,0.000208903389638,-0.000262191958836,1.6244505623e-05,1793245254137801472
+86,1.433333333,BASELINE,764,745,714,679.089489075,658,633.910510925,878,785,806.910510925,652,630,652,0.400981921309,-0.00536419988312,0.0698384338527,0.999999944427,0.00020894781762,-0.00025927561044,1.62260414643e-05,1793245254154468096
+87,1.450000000,BASELINE,764,744.514303697,714,679,658,633.514303697,878,785,806.514303697,652,630,652,0.400981638519,-0.0053657909908,0.0698374005095,0.999999944973,0.000206521796648,-0.000259107819442,1.62858194082e-05,1793245254171134720
+88,1.466666667,BASELINE,764,744.061950181,714,679.061950181,658,633,878.061950181,785,806,652,630,652,0.400980975346,-0.00536743601243,0.0698360532143,0.999999945376,0.000204099870048,-0.000259469748188,1.6342974085e-05,1793245254187801856
+89,1.483333333,BASELINE,764,744.651280719,714,679.651280719,658,633,878.651280719,785,806,652,630,652,0.400980361484,-0.00536696120921,0.0698364176476,0.999999944925,0.000205567469677,-0.000260052561045,1.62557148698e-05,1793245254204468224
+90,1.500000000,BASELINE,764.23663123,745,714,679.76336877,658,633,879,785,806,652,630,652,0.400980256843,-0.00536667125588,0.0698368561334,0.999999944696,0.000206537326395,-0.000260166491595,1.62621400409e-05,1793245254221134848
+91,1.516666667,BASELINE,764.816213415,745,714,679.183786585,658,633,879,785,806,652,630,652,0.40098089022,-0.00536664920656,0.0698374019438,0.999999944789,0.000206785801421,-0.000259600868367,1.64043425206e-05,1793245254237801472
+92,1.533333333,BASELINE,764.607158796,745,714,679,658,633.392841204,879,785,805.607158796,652,630,652,0.4009813152,-0.00536701989615,0.0698377020683,0.999999944825,0.000206786639047,-0.000259456022372,1.6505203512e-05,1793245254254468096
+93,1.550000000,BASELINE,764.031902821,745,714,679,658,633.968097179,879,785,805.031902821,652,630,652,0.40098164341,-0.00536757295301,0.0698378881093,0.999999944834,0.000206672486926,-0.000259506563118,1.65868677056e-05,1793245254271134720
+94,1.566666667,BASELINE,764,745,714,679,657.456683658,634,878.456683658,785,805.543316342,652,630,652.543316342,0.400980329239,-0.00536658726444,0.0698366706002,0.999999944358,0.000207485044603,-0.000260698653177,1.644718443e-05,1793245254287801344
+95,1.583333333,BASELINE,764,745,714,679.121772798,657.121772798,633.878227202,878,785,805.878227202,652,630,652.878227202,0.400979253692,-0.00536590177746,0.0698356657953,0.999999944069,0.000207641157027,-0.000261688486915,1.62910676565e-05,1793245254304467968
+96,1.600000000,BASELINE,764,745,714,679.712710358,657.712710358,633.287289642,878,785,805.287289642,652,630,652.287289642,0.400979469044,-0.005366720991,0.0698357979994,0.999999944618,0.000205058489453,-0.000261640834388,1.61217082442e-05,1793245254321134592
+97,1.616666667,BASELINE,764,744.705272268,714,680,658,633.294727732,878.294727732,785,805.294727732,652,630,652,0.400980302505,-0.00536714862622,0.0698363578617,0.999999945239,0.000203186607747,-0.000260738463953,1.5878110896e-05,1793245254337801216
+98,1.633333333,BASELINE,764,744.13169456,714,680,658,633.86830544,878.86830544,785,805.86830544,652,630,652,0.400981720777,-0.00536720577842,0.0698373223433,0.999999945932,0.000201987220164,-0.000259027421507,1.55642750141e-05,1793245254354468096
+99,1.650000000,BASELINE,764,744.446602658,714,679.553397342,658,633.553397342,878.553397342,785,805.553397342,652,630,652,0.40098152811,-0.00536666907614,0.06983710485,0.999999945566,0.000203333434799,-0.000259393380335,1.54705124766e-05,1793245254371134976
+100,1.666666667,BASELINE,764,745,714,679.02670312,658,633.02670312,878,785,805.02670312,652,630,652,0.400980877174,-0.00536597243398,0.069836569914,0.999999944903,0.000205397950257,-0.000260322275806,1.545216509e-05,1793245254387801344
+101,1.683333333,BASELINE,764,745,714,679.615148701,658,633.615148701,878,785,805.615148701,652,630,652,0.400980685663,-0.00536563439674,0.0698367675056,0.999999944715,0.000206613309361,-0.000260071594849,1.56405364319e-05,1793245254404467968
+102,1.700000000,BASELINE,764,744.799715295,714,679.799715295,658,634,878,785,806,652,630,652,0.400980526474,-0.00536557470997,0.0698369011897,0.999999944793,0.000206600310555,-0.000259771664443,1.5796556963e-05,1793245254421134592
+103,1.716666667,BASELINE,764,744.220835404,714,679.220835404,658,634,878,785,806,652,630,652,0.400980428384,-0.00536604118494,0.0698369140707,0.999999945373,0.000204265364995,-0.000259378638564,1.5891425218e-05,1793245254437801216
+104,1.733333333,BASELINE,764,744.354070475,714,679.354070475,658,633.645929525,878.354070475,785,806,652,630,652,0.400980820557,-0.00536612088403,0.0698366867002,0.999999945584,0.000203523801826,-0.000259155203993,1.57745961651e-05,1793245254454467840
+105,1.750000000,BASELINE,764,744.926525309,714,679.926525309,658,633.073474691,878.926525309,785,806,652,630,652,0.400981515116,-0.0053659620267,0.069836311147,0.999999945569,0.000203765008296,-0.000259036370281,1.55271959944e-05,1793245254471134464
+106,1.766666667,BASELINE,764,744.494135804,714,679.494135804,658.505864196,633.505864196,878.494135804,785,806,652,630,652,0.400980630561,-0.00536631538069,0.0698362501305,0.999999945374,0.000203624211451,-0.000259892272435,1.56765441078e-05,1793245254487801600
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,806,652,630,652,0.400978751069,-0.00536662203246,0.0698349537168,0.99999994457,0.000204149613036,-0.00026255684187,1.57341005113e-05,1793245254530298880
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.420967362,745,714,679.420967362,658,634,878,785.420967362,806,652,630.579032638,652,0.400979895956,-0.0053657494752,0.0698361755845,0.99999994472,0.000206282364825,-0.000260291787325,1.60028911388e-05,1793245254546966272
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,878,785,806,652,630.843476085,652,0.400980452969,-0.00536541229238,0.0698370059347,0.999999944854,0.000207170069287,-0.000259057812581,1.61472024883e-05,1793245254563633664
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,878,785,806,652,630.270089712,652,0.400979444328,-0.00536650094582,0.0698367935764,0.999999944965,0.000204741900804,-0.00026056986156,1.59599943471e-05,1793245254580299776
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744.694838623,714,679.305161377,658,634,878.305161377,785,806.305161377,652,630,652,0.40097929342,-0.00536657126976,0.0698364158408,0.999999944744,0.000204766603574,-0.000261407265819,1.57670864658e-05,1793245254596965888
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744.117927014,714,679.882072986,658,634,878.882072986,785,806.882072986,652,630,652,0.400979906334,-0.00536573475779,0.0698358908346,0.999999944231,0.000206975620702,-0.000261643889961,1.5569102902e-05,1793245254613632256
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878.53035601,785,806.53035601,652,630,652,0.400980077342,-0.00536565391604,0.069836000972,0.999999944306,0.00020703401974,-0.000261307164823,1.56154137198e-05,1793245254630298880
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744.058807675,714,680,658,634,878,785,806,652,630,652,0.400980396334,-0.00536573544583,0.0698364504991,0.999999944549,0.000206568518171,-0.000260736002666,1.5747275038e-05,1793245254646965760
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744.637833419,714,680,658,634,878,785,806,652,630,652,0.400983028784,-0.00536553582063,0.069838458727,0.999999944937,0.00020635652943,-0.000259394113613,1.60806847397e-05,1793245254663632384
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744.786374269,714,680,657.786374269,634,878,785,806,652,630,652,0.400991534463,-0.00536551967625,0.0698425883736,0.999999946396,0.000206381830397,-0.00025366866776,1.6355816286e-05,1793245254680299008
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.215982021,714,680,657.215982021,634,878,785,806,652,630,652,0.401009848749,-0.0053658099548,0.0698502609041,0.99999994953,0.000206803418001,-0.000240622445194,1.65336201269e-05,1793245254696965632
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.368093466,714,680,657.368093466,634,878.368093466,785,806.368093466,652,630,652,0.40104386689,-0.00536681253181,0.06986340392,0.999999954665,0.000207359343284,-0.000217680551153,1.69322203485e-05,1793245254713632256
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.960507745,714,680,657.960507745,634,878.960507745,785,806.960507745,652,630,652,0.40108745516,-0.00536824919254,0.0698798807195,0.999999960411,0.000207997135562,-0.000188708108345,1.74653766842e-05,1793245254730298880
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.459542543,658,634,878.459542543,785,806.459542543,652,630,652,0.401147769966,-0.00536898457383,0.0698926680409,0.999999963394,0.000206717483302,-0.000173721640641,1.7362565852e-05,1793245254746965248
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.88214304,745,714,679,658,634,878.11785696,785,806,652,630,652,0.401211135513,-0.00536993664264,0.0699029316764,0.999999965839,0.00020505644274,-0.000161205478344,1.6931624486e-05,1793245254763632128
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.311125811,745,714,679,658,634,878.688874189,785,806,652,630,652,0.40128163761,-0.00537191446655,0.0699045049718,0.999999967476,0.000202455546758,-0.000154346703019,1.54136747844e-05,1793245254780299008
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.263256461,745,714,679.263256461,658,634,878.736743539,785,806,652,629.736743539,652,0.401361977557,-0.00537368944602,0.0699052171365,0.999999968345,0.000200286326264,-0.000151689506408,1.36103113845e-05,1793245254796965888
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.841667121,745,714,679.841667121,658,634,878.158332879,785,806,652,629.158332879,652,0.40145409476,-0.00537522159269,0.0699048984092,0.999999968339,0.000198633880875,-0.000154062177904,1.14652686178e-05,1793245254813632256
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.429857568,745,714,680,658,634,878.429857568,785,806,652,629.429857568,652,0.401559221751,-0.00537706456248,0.0699026003971,0.999999967949,0.0001964462741,-0.0001594718612,8.92383239911e-06,1793245254830298880
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.978753383,745,714,679.978753383,658.021246617,634,879,785,805.978753383,652,630,652,0.401670860214,-0.00537907033127,0.0698997939326,0.999999967434,0.000194070428565,-0.000165619520148,6.2297605199e-06,1793245254846965504
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.400153188,745,714,679.400153188,658.599846812,634,879,785,805.400153188,652,630,652,0.40182467835,-0.00538227350409,0.0699032194404,0.999999968577,0.000192047951977,-0.000161098016588,3.45096337207e-06,1793245254863632128
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.821667157,633.821667157,879,785,805.178332843,652,630,652,0.401988354005,-0.00538505280158,0.0699067948799,0.999999970074,0.000189044380216,-0.000155289426686,1.9421374045e-07,1793245254880298752
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658.243437209,633.243437209,879,785,805.756562791,652,630,652,0.402174134336,-0.00538688159218,0.0699107065285,0.999999972348,0.00018384078144,-0.00014659464944,-4.13430564876e-06,1793245254896965376
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.340259552,745,714,679,658,633,878.659740448,785,806,652,630,652,0.402375419272,-0.00539056516338,0.0699152267134,0.999999974707,0.00017761840462,-0.00013771958686,-8.39329671902e-06,1793245254913632512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.927931446,745,714,679,658,633,878.072068554,785,806,652,630,652,0.402587978064,-0.00539559739822,0.0699201893826,0.999999977075,0.000170655244927,-0.000128713432806,-1.26017322303e-05,1793245254930299392
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.491799396,745,714,680.016401208,658,633.508200604,878,785,806,652,630,652,0.402836820898,-0.0054009468944,0.0699226301867,0.999999978747,0.000163060300708,-0.000124984152212,-1.72422619924e-05,1793245254946965760
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680.826631855,658,633.913315928,878,785,806,652,630,652,0.403098729007,-0.00540640217939,0.0699255193245,0.99999998046,0.000155355864133,-0.000120252975218,-2.19891727354e-05,1793245254963632384
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.678112489,658,633.339056244,878,785,806,652,630,652,0.403405599534,-0.00541220307065,0.0699329129139,0.999999983163,0.000147532266856,-0.000105737712365,-2.69947387301e-05,1793245254980299008
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.236116775,744.763883225,714,679.236116775,658,633.236116775,878.236116775,785,806,651.763883225,630,652,0.40372716876,-0.00541879595456,0.0699413907446,0.999999986425,0.000134280466779,-9.00231708379e-05,-3.18650392848e-05,1793245254996965376
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.812606375,744.187393625,714,679.812606375,658,633.812606375,878.812606375,785,806,651.187393625,630,652,0.404069926795,-0.00542653053072,0.0699514315566,0.999999990291,0.000113203671561,-7.25798166557e-05,-3.65403483888e-05,1793245255013632256
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.796873246,634,879,785,806,651.398436623,630,651.601563377,0.40442731907,-0.00543204259934,0.0699558755448,0.999999992517,9.70032024508e-05,-6.75883901527e-05,-3.14384014437e-05,1793245255030298880
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659.977530858,634,879,785,806,651.988765429,630,651.011234571,0.404791759372,-0.00543648427962,0.0699576240306,0.999999993956,8.31512350953e-05,-6.85939720941e-05,-2.16276025574e-05,1793245255046965504
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.432086786,744.567913214,714,680,658.864173573,634,878.432086786,784.432086786,806,652,630,651.567913214,0.405211632793,-0.00545086873093,0.0699620105713,0.999999995183,7.35832062164e-05,-6.04563433221e-05,-2.37785279959e-05,1793245255063632128
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,679.854420668,658,634,878.145579332,784.145579332,806,652,630,652,0.405641845139,-0.00546718712838,0.0699645392868,0.999999996434,5.83873844267e-05,-5.52538774833e-05,-2.59012616428e-05,1793245255080298752
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679.280476168,658,634,878.719523832,784.719523832,806,652,630,652,0.406099315154,-0.00548862855032,0.0699614507828,0.999999997527,2.63873132115e-05,-5.92100291834e-05,-2.72582063857e-05,1793245255096965376
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.291025318,658,634,878.708974682,785,806,652,630,652,0.406560460701,-0.00549644240339,0.0699494535025,0.999999996433,1.20886389885e-05,-7.84705885466e-05,-2.88284191593e-05,1793245255113632256
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679.860192013,658,634,878.139807987,785,806,652,630,652,0.407025119112,-0.00549123199431,0.0699289418448,0.999999993111,1.47077019068e-05,-0.000112358016704,-3.06024585588e-05,1793245255130299136
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.452136639,745,713.547863361,679.547863361,658,633.547863361,878,785,806,652,630,652,0.40755967113,-0.00549769841505,0.0699251007592,0.999999993165,6.94017441494e-06,-0.000112073021007,-3.25843129648e-05,1793245255146965760
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.950584023,744.950584023,713.049415977,679.049415977,658.049415977,633.049415977,878,785,806,652,630,652,0.408122079241,-0.00550794968592,0.0699279038964,0.999999994484,-4.59045362424e-06,-9.90764374967e-05,-3.45738683815e-05,1793245255163632128
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.375456265,744.375456265,713.624543735,679.624543735,658.624543735,633.624543735,878,785,806,652,630,652,0.408738715404,-0.00551801622922,0.0699436428445,0.999999996755,-2.01745066214e-05,-6.92247742217e-05,-3.59254577578e-05,1793245255180298752
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.19931942,714,680,658.80068058,633.80068058,878,785,806.19931942,652,630,652,0.409358448877,-0.00552502510466,0.0699522628427,0.999999997626,-2.92003673428e-05,-5.0193249132e-05,-3.70862867033e-05,1793245255196965632
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744.773433043,714,680,658.226566957,633.226566957,878,785,806.773433043,652,630,652,0.409984006404,-0.00552628443342,0.0699474965822,0.99999999762,-2.58944010258e-05,-5.15075861073e-05,-3.78884154942e-05,1793245255213632768
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744.651289172,714,680,658.348710828,633.348710828,878.348710828,785,807,652,630,652,0.410627195342,-0.00553153262594,0.0699443291795,0.999999997124,-3.18658082208e-05,-5.68537362075e-05,-3.87904915309e-05,1793245255230299648
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744.075252486,714,680,658.924747514,633.924747514,878.924747514,785,807,652,630,652,0.411281878237,-0.00553938117322,0.0699422040782,0.999999996145,-4.38851690762e-05,-6.48282398879e-05,-3.97577235033e-05,1793245255246966016
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.518382108,744.518382108,714,680,659,634,879,785,806.481617892,652,630,652,0.411997957619,-0.00554134156466,0.0699598623588,0.999999997404,-5.08793986941e-05,-3.23623761758e-05,-3.94502901593e-05,1793245255263632640
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.889440819,745,714,680.110559181,658.889440819,634,879,785,806,652,630,652,0.412732614326,-0.00553753996581,0.0699822716933,0.999999997995,-4.93931385408e-05,7.00460424805e-06,-3.90060169428e-05,1793245255280299264
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.314493566,745,714,680.685506434,658.314493566,634,879,785,806,652,630,652,0.413506549704,-0.00551325246214,0.0700121501778,0.999999997886,-1.54575749318e-05,4.98333877411e-05,-3.87915169183e-05,1793245255296965632
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.739876928,658.260123072,634,879,785,806.260123072,652,630,652,0.414267051157,-0.0054983822034,0.0700181545177,0.999999997813,2.04146982864e-06,5.30870944393e-05,-3.93803198465e-05,1793245255313632000
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.165659426,658.834340574,634,879,785,806.834340574,652,630,652,0.415011331464,-0.00549488311332,0.0699953312157,0.999999999125,-3.06313264786e-07,8.55453775102e-06,-4.09390982021e-05,1793245255330298624
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.578824795,879,785,807,652,630,652,0.415757233922,-0.00550317995553,0.0699537140053,0.999999997157,-1.2951809089e-05,-5.94923295601e-05,-4.44915142617e-05,1793245255346965504
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.012804517,745,714,680,659,633.012804517,879,785,807,652,630,652,0.41650612851,-0.00551601686688,0.069905998529,0.999999989302,-2.95394607229e-05,-0.000134711511906,-4.87446087662e-05,1793245255363632896
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.59026975,745,714,680,659,633.59026975,879,785,807,652,630,652,0.417357968423,-0.00551814371039,0.0699254081397,0.999999992601,-3.58392928758e-05,-0.000105765187976,-4.82488136252e-05,1793245255380299520
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.832857537,745,714,680,659,634,879.167142463,785,807,652,630,652,0.418216868732,-0.00552017364305,0.0699480292046,0.999999995483,-4.05278507406e-05,-7.16318423059e-05,-4.75446168616e-05,1793245255396965888
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.257432222,745,714,680,659,634,879.742567778,785,807,652,630,652,0.419093015585,-0.00552196684914,0.0699784949637,0.999999997766,-4.1280510379e-05,-2.48280376045e-05,-4.63313525697e-05,1793245255413632512
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.325569889,744.674430111,714,680,659,634,880,785.325569889,807,652,630,652,0.419986317792,-0.00552312661214,0.0700044622714,0.999999997954,-4.15187292874e-05,1.64048736456e-05,-4.58101962716e-05,1793245255430298880
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.91470579,744.08529421,714,680,659,634,880,785.91470579,807,652,630,652,0.42089350812,-0.00552377356944,0.0700267878437,0.999999996683,-4.13404812416e-05,5.31278502701e-05,-4.58493379998e-05,1793245255446965248
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,680.495124633,659.495124633,634,880,785.504875367,807,652,630,652,0.421784473465,-0.0055222897985,0.0700273383734,0.999999996646,-4.44857266513e-05,5.00912395019e-05,-4.71109181789e-05,1793245255463632128
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.073620363,714,681,659.926379637,634,880,785,807,652,630,652,0.422661012858,-0.00552025378098,0.0700148533298,0.999999997313,-4.79383074932e-05,2.59877939663e-05,-4.89991503576e-05,1793245255480298752
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.649066017,714,681,659.350933983,634,880,785,807,652,630,652,0.423457941405,-0.00551691214942,0.0699386396121,0.999999992731,-4.96507211983e-05,-9.58356202062e-05,-5.37482771388e-05,1793245255496965888
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.775038247,745,714,681,659.224961753,633.775038247,879.775038247,785,807,651.775038247,630,652,0.424296896062,-0.00551683062225,0.0698830016457,0.999999980808,-5.51743927647e-05,-0.000178650668691,-5.85043397767e-05,1793245255513632768
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.198438899,745,714,681,659.801561101,633.198438899,879.198438899,785,807,651.198438899,630,652,0.425201541831,-0.00552184496198,0.0698595256131,0.999999975678,-6.66554406008e-05,-0.000200491782667,-6.32712455705e-05,1793245255530299392
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659.61329704,633,879,785,807.38670296,651.38670296,630,652,0.426153536073,-0.00552443897722,0.0698960177083,0.999999985784,-6.44666824411e-05,-0.000143575502616,-6.05134630743e-05,1793245255546966272
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.023672552,633,879,785,807.976327448,651.976327448,630,652,0.427130376268,-0.00552576293221,0.069963977948,0.999999996007,-5.51047224414e-05,-4.53314507499e-05,-5.38071161779e-05,1793245255563632640
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1bdd7533ef51908ccb172fa0f9caff3c40dc05f4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+376,6.266666667,pose2_to_pose3_retreat,0.575735775564,-0.00012216636843,1.0600509764,0.546307408929,0.00855351971046,1.05971746147
+377,6.283333333,pose2_to_pose3_retreat,0.575717327881,-0.000122066821867,1.06005085433,0.546288960022,0.00855361540247,1.05971734707
+378,6.300000000,pose2_to_pose3_retreat,0.575703414439,-0.000122087310659,1.06005076131,0.546275045589,0.00855359158099,1.05971725489
+379,6.316666667,pose2_to_pose3_retreat,0.575693379489,-0.00012211771322,1.06005090947,0.546265011629,0.00855356444233,1.05971740055
+380,6.333333333,pose2_to_pose3_retreat,0.57568595095,-0.000122128191221,1.06005097273,0.546257584157,0.00855355755346,1.0597174631
+381,6.350000000,pose2_to_pose3_retreat,0.575680778498,-0.00012211265114,1.06005088938,0.546252412538,0.00855357599694,1.05971738185
+382,6.366666667,pose2_to_pose3_retreat,0.575677774371,-0.000122122837307,1.06005083183,0.546249408414,0.00855356582745,1.05971732447
+383,6.383333333,pose2_to_pose3_retreat,0.575675668823,-0.00012213996082,1.06005078674,0.546247302619,0.00855354784795,1.05971727895
+384,6.400000000,pose2_to_pose3_retreat,0.575674140461,-0.000122154624889,1.0600507654,0.546245774163,0.00855353285649,1.05971725736
+385,6.416666667,pose2_to_pose3_retreat,0.575673312505,-0.000122177477655,1.06005082987,0.54624494673,0.00855351178759,1.05971732198
+386,6.433333333,pose2_to_pose3_retreat,0.575672845146,-0.000122190377406,1.06005086626,0.546244479667,0.00855349989478,1.05971735846
+387,6.450000000,pose2_to_pose3_retreat,0.575672411883,-0.000122202336066,1.06005089999,0.546244046678,0.0085534888696,1.05971739227
+388,6.466666667,pose2_to_pose3_retreat,0.575672307484,-0.000122205217648,1.06005090812,0.546243942345,0.00855348621295,1.05971740042
+389,6.483333333,pose2_to_pose3_retreat,0.575671933483,-0.000122215540594,1.06005093724,0.54624356858,0.0085534766958,1.05971742961
+390,6.500000000,pose2_to_pose3_retreat,0.575671504359,-0.00012222738502,1.06005097065,0.546243139728,0.00855346577594,1.05971746311
+391,6.516666667,pose2_to_pose3_retreat,0.575671130639,-0.000122218389452,1.06005099198,0.546242765937,0.00855347451384,1.05971748394
+392,6.533333333,pose2_to_pose3_retreat,0.575670960383,-0.000122199868423,1.06005099588,0.54624259542,0.00855349212364,1.05971748721
+393,6.550000000,pose2_to_pose3_retreat,0.575670918404,-0.000122195301746,1.06005099684,0.546242553377,0.00855349646563,1.05971748801
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+395,6.583333333,pose2_to_pose3_retreat,0.575670834197,-0.000122186141491,1.06005099877,0.546242469041,0.00855350517521,1.05971748963
+396,6.600000000,pose2_to_pose3_retreat,0.575670686003,-0.00012217002037,1.06005100217,0.54624232062,0.00855352050317,1.05971749247
+397,6.616666667,pose2_to_pose3_retreat,0.575670473518,-0.00012214690552,1.06005100704,0.546242107809,0.00855354248078,1.05971749655
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d174d8c3ac59d34176f7ea71b9c003995c39aeee
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25f2212c0a1cfeded6758234a313f83d0b6b0c38691fa373456d1c9406a6c74d
+size 25660966
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d58c18f9349a6f4cbeb0424fcd25a83273565d2f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+31,0.516666667,BASELINE,764,745,713.006176745,679.006176745,658,633.006176745,879.987646509,785,806,652,630,652,0.400981476565,-0.00535750336538,0.0698352331132,0.999999941484,0.000218345266058,-0.000262954733698,1.45888110778e-05,1793245260159947264
+32,0.533333333,BASELINE,764,745,713.566697677,679,658,633,878.866604646,785,806,652,630,652.566697677,0.400982255839,-0.00535953422068,0.0698357052984,0.999999942261,0.000215983703895,-0.000261941097269,1.47201595475e-05,1793245260176613888
+33,0.550000000,BASELINE,764,745,714,679,658,633.144548746,878.144548746,785,806,652,630,652.855451254,0.400982293278,-0.00536056932922,0.0698357880863,0.999999942561,0.00021473935921,-0.000261814763584,1.47554014366e-05,1793245260193280512
+34,0.566666667,BASELINE,764,745,714,679,658,633.737952684,878.737952684,785,806,652,630,652.262047316,0.400980021766,-0.00535844040864,0.0698346489802,0.999999941361,0.000217089892256,-0.000264459975002,1.45017146658e-05,1793245260209946880
+35,0.583333333,BASELINE,764,744.678069949,714,679,658.321930051,634,878.678069949,785,806,652,630,652,0.400980051656,-0.00535736365915,0.0698345252442,0.999999941023,0.000219003989987,-0.000264163970857,1.44617547806e-05,1793245260226613504
+36,0.600000000,BASELINE,764,744.101547351,714,679,658.898452649,634,878.101547351,785,806,652,630,652,0.40098190157,-0.00535711899986,0.0698352044952,0.999999941365,0.00022057294101,-0.000261541959963,1.4590816903e-05,1793245260243279872
+37,0.616666667,BASELINE,764,744,714,679,658.525528915,634,878.474471085,785,806,652,630,652,0.400982942429,-0.00535815266024,0.0698360476306,0.999999942077,0.000219015064257,-0.000260127034201,1.45848965058e-05,1793245260259946752
+38,0.633333333,BASELINE,764,744.051454113,714,679,658,634,879,785,805.948545887,652,630,652,0.400983633448,-0.00535926069408,0.0698367497887,0.999999942764,0.000216939280078,-0.000259226238456,1.45380766823e-05,1793245260276613120
+39,0.650000000,BASELINE,764,744.639623475,714,679,658,634,879,785,805.360376525,652,630,652,0.400982479547,-0.00535829375296,0.0698356159435,0.999999942415,0.000216434320631,-0.000260996403399,1.43656595118e-05,1793245260293280000
+40,0.666666667,BASELINE,764,744.775590283,714,679.224409717,658,633.775590283,878.775590283,785,805.224409717,652,630,652,0.400981987284,-0.00535748625652,0.0698352622084,0.999999942203,0.000216832401722,-0.000261489357389,1.41816453687e-05,1793245260309947136
+41,0.683333333,BASELINE,764,744.196156294,714,679.803843706,658,633.196156294,878.196156294,785,805.803843706,652,630,652,0.400982541755,-0.00535693100739,0.0698361426354,0.999999942206,0.000218659125566,-0.000259961717447,1.3979284407e-05,1793245260326614016
+42,0.700000000,BASELINE,764,744.380622829,714,680,658,633,878,785,806,652,630,652,0.400982351479,-0.00535715182775,0.0698360967342,0.999999942054,0.000218604619246,-0.000260577484992,1.42787838933e-05,1793245260343280640
+43,0.716666667,BASELINE,764,744.956043212,714,680,658,633,878,785,806,652,630,652,0.400981780052,-0.00535776982987,0.0698355767507,0.99999994182,0.000217587325026,-0.000262290219192,1.48351286923e-05,1793245260359947264
+44,0.733333333,BASELINE,764,745,714,680,658,633,878.533117893,785,806,652,630,652,0.400980907799,-0.00535767401478,0.0698348513873,0.999999941613,0.000217165869715,-0.000263446276469,1.44755861317e-05,1793245260376613632
+45,0.750000000,BASELINE,764,745,714,680,658,633.112484429,879,785,806,652,630,652,0.400980173741,-0.00535726594822,0.069834309834,0.99999994133,0.000217440681659,-0.00026431045591,1.41049183229e-05,1793245260393280768
+46,0.766666667,BASELINE,764,745,714,680,658,633.700970271,879,785,806,652,630,652,0.400980129776,-0.00535578636041,0.0698346179945,0.999999940719,0.000220453350638,-0.000264134329893,1.40077325526e-05,1793245260409950720
+47,0.783333333,BASELINE,764,745,714,680,658,633.714990248,878.714990248,785,806,652,630,652,0.400980883299,-0.00535555325223,0.0698352720469,0.999999940795,0.000221557831272,-0.000262920145437,1.40027354982e-05,1793245260426617600
+48,0.800000000,BASELINE,764,745,714,680,658,633.135544117,878.135544117,785,806,652,630,652,0.400982460683,-0.0053566078505,0.0698362834313,0.999999941584,0.000220691011073,-0.000260633568999,1.40929762669e-05,1793245260443281408
+49,0.816666667,BASELINE,763.561466832,744.561466832,714,680,658,633.438533168,878,785,806,652,630,652,0.400983001841,-0.00535692522427,0.0698370649649,0.999999942215,0.000218694235035,-0.000259893806829,1.40934375198e-05,1793245260459947520
+50,0.833333333,BASELINE,763.022120498,744.011060249,714,679.988939751,658,634,878,785,806,652,630,652,0.400983230721,-0.00535702971645,0.0698377561238,0.99999994278,0.000216416044064,-0.00025962529954,1.40708308118e-05,1793245260476614144
+51,0.850000000,BASELINE,764.17630371,744.588151855,714,679.411848145,658,634,878,785,806,652,630,652,0.400983670977,-0.00535775998516,0.069837414003,0.999999942649,0.000217393405476,-0.000259302538249,1.42706365089e-05,1793245260493280512
+52,0.866666667,BASELINE,765,745,714,679.169334964,658,633.830665036,878.169334964,785,806,652,630,652,0.400983699196,-0.00535806398731,0.0698370173905,0.999999942359,0.000218547967753,-0.000259444504799,1.43977090802e-05,1793245260509946880
+53,0.883333333,BASELINE,765,745,714,679.760715587,658,633.239284413,878.760715587,785,806,652,630,652,0.400982700469,-0.00535730557474,0.0698364849646,0.999999941671,0.000220144180379,-0.00026074474585,1.43435036618e-05,1793245260526613504
+54,0.900000000,BASELINE,764.656128208,745,714,680,658.343871792,633.343871792,878.656128208,785,806,652,630,652,0.400981037237,-0.00535691692508,0.0698355069345,0.99999994124,0.000220007428079,-0.000262516722448,1.42084193461e-05,1793245260543280640
+55,0.916666667,BASELINE,764.078561337,745,714,680,658.921438663,633.921438663,878.078561337,785,806,652,630,652,0.400978922409,-0.00535677956612,0.0698342260721,0.999999940979,0.000218692953706,-0.000264609290209,1.40183697788e-05,1793245260559948032
+56,0.933333333,BASELINE,764,745,714,680,658.501313586,633.501313586,878,785,806.498686414,652.498686414,630,652,0.400980312613,-0.00535846602595,0.0698351096184,0.999999941478,0.000217813028902,-0.000263436889808,1.42349437426e-05,1793245260576614400
+57,0.950000000,BASELINE,764,745,714,680,658,633.075605024,878,785,806.924394976,652.924394976,630,652,0.400982066243,-0.00536005834116,0.069836162409,0.999999942084,0.000216955783028,-0.000261827122696,1.44592701331e-05,1793245260593280512
+58,0.966666667,BASELINE,764,745,714,680,658,633.65068087,878,785,806.34931913,652.34931913,630,652,0.400982575305,-0.00535913180525,0.0698360821419,0.999999942625,0.000215796399365,-0.000260723771427,1.43118940638e-05,1793245260609947648
+59,0.983333333,BASELINE,764.231939419,745,714,680,658,634,878,785,806,652,630,652,0.40098291082,-0.00535757412274,0.0698362893903,0.99999994257,0.000216879025459,-0.000260046067925,1.41162956064e-05,1793245260626614016
+60,1.000000000,BASELINE,764.822764716,745,714,680,658,634,878,785,806,652,630,652,0.400982977799,-0.00535503985056,0.069836941519,0.999999941581,0.000221430771195,-0.000260026980077,1.3846081375e-05,1793245260643280384
+61,1.016666667,BASELINE,765,745,714,680,658,634,878.404152383,785,806,652,630,652,0.400982241867,-0.00535548935303,0.0698367846666,0.999999941454,0.0002216373307,-0.000260337767588,1.39129623807e-05,1793245260659947008
+62,1.033333333,BASELINE,765,745,714,680,658,634,878.981495718,785,806,652,630,652,0.400981161865,-0.00535721748914,0.0698362811425,0.999999941699,0.000219981852306,-0.000260789916207,1.41242984345e-05,1793245260676613376
+63,1.050000000,BASELINE,764.444302443,744.444302443,714,680,658,633.444302443,878.444302443,785,806,652,630,652,0.400981462509,-0.00535746645871,0.0698355467578,0.999999941637,0.000218945749097,-0.000261896728173,1.41098946368e-05,1793245260693280256
+64,1.066666667,BASELINE,764,744.133304369,714,679.866695631,658,633.133304369,878.133304369,785,806,652,630,652,0.400981840942,-0.00535787117695,0.0698351764694,0.999999941685,0.000218009815173,-0.000262494605153,1.41162965746e-05,1793245260709947136
+65,1.083333333,BASELINE,764,744.722922787,714,679.277077213,658,633.722922787,878.722922787,785,806,652,630,652,0.400982329168,-0.0053589766954,0.069836078686,0.999999942147,0.000217346567186,-0.000261276143984,1.42195052413e-05,1793245260726614272
+66,1.100000000,BASELINE,764,745,714,679.307501979,658,633.692498021,878.692498021,785,806,652,630,652,0.400982485249,-0.0053587995235,0.0698364760126,0.99999994223,0.000218032635729,-0.000260373771656,1.43854126765e-05,1793245260743280640
+67,1.116666667,BASELINE,764,745,714,679.887613714,658,633.112386286,878.112386286,785,806,652,630,652,0.400982346872,-0.00535748520797,0.0698364257391,0.999999941977,0.000219914914003,-0.000259751621661,1.46069044507e-05,1793245260759947008
+68,1.133333333,BASELINE,764,745,714,679.536291581,658,633,878,785,806,652,630,652,0.400982130529,-0.00535786410878,0.0698362568958,0.999999941664,0.000220519867409,-0.000260446054577,1.45518419852e-05,1793245260776613376
+69,1.150000000,BASELINE,764,745,713.960555634,679,658,633,878,785,806,652,630,652,0.400981895339,-0.00535867175222,0.0698360889992,0.99999994141,0.000220619231648,-0.000261340142439,1.44275373349e-05,1793245260793280000
+70,1.166666667,BASELINE,764,745,713.376445943,679,658,633,878,785,806,652,630,652,0.400981658595,-0.00535978169219,0.069836327581,0.99999994218,0.000217975268787,-0.000260622825029,1.42646932512e-05,1793245260809946880
+71,1.183333333,BASELINE,764,745,713.206517034,679,658,633,878,785,806,652,630,652,0.400981530619,-0.00535949447185,0.0698365251202,0.999999942483,0.000217173716321,-0.000260134709225,1.41329484939e-05,1793245260826613504
+72,1.200000000,BASELINE,764,745,713.787401385,679,658,633,878,785,806,652,630,652,0.400981599811,-0.00535667452525,0.0698366482589,0.999999941948,0.000219712024639,-0.000260062082474,1.40575795499e-05,1793245260843280896
+73,1.216666667,BASELINE,764,745,714,679.366698963,658,633,878,785.366698963,806,652,630,652,0.400982694395,-0.0053559622012,0.069837127487,0.999999941752,0.000221719886511,-0.000259110174038,1.4111321429e-05,1793245260859948032
+74,1.233333333,BASELINE,764,745,714,679.945080518,658,633,878,785.945080518,806,652,630,652,0.400984380903,-0.0053564665347,0.0698378122732,0.999999941748,0.000223421539896,-0.000257650686794,1.4239594512e-05,1793245260876614912
+75,1.250000000,BASELINE,764,745,714,680,658,633.520519197,878,785.479480803,805.479480803,652,630,652,0.400984658129,-0.00535792912111,0.0698380875088,0.999999942869,0.0002186467964,-0.00025740524098,1.40620378007e-05,1793245260893280768
+76,1.266666667,BASELINE,764,745,714,679.902141862,658,634,878,785,805.097858138,652,630,652,0.400984641477,-0.00535900535026,0.0698381739154,0.999999943645,0.000214867114575,-0.000257582001763,1.39073709128e-05,1793245260909946880
+77,1.283333333,BASELINE,764,745,714,679.313729334,658,634,878,785,805.686270666,652,630,652,0.400983892832,-0.00535764082576,0.0698375291355,0.999999942214,0.000219481749858,-0.000259236741823,1.40282950938e-05,1793245260926613504
+78,1.300000000,BASELINE,763.72902696,744.72902696,713.72902696,679,658,633.72902696,878,785,806,652,630,652,0.40098335677,-0.00535691339845,0.0698370137916,0.99999994162,0.000221260919972,-0.000260006948961,1.41449977871e-05,1793245260943280128
+79,1.316666667,BASELINE,763.148562179,744.148562179,713.148562179,679,658,633.148562179,878,785,806,652,630,652,0.40098306351,-0.0053569136315,0.0698366462829,0.999999942003,0.000219801564442,-0.000259766887091,1.42568789019e-05,1793245260959946752
+80,1.333333333,BASELINE,763.428761885,744.428761885,713.428761885,679.428761885,658,633,878,785,806,652,630,652,0.400981702507,-0.00535724135868,0.0698360138682,0.999999941733,0.00021929081931,-0.000261239624412,1.41183105915e-05,1793245260976613376
+81,1.350000000,BASELINE,764,745,713.994898692,680,658,633,878.005101308,785,806,652,630,652,0.400980012897,-0.00535768396365,0.0698353141506,0.999999941251,0.000219101319782,-0.000263248470552,1.38983707099e-05,1793245260993280512
+82,1.366666667,BASELINE,764,745,713.40764644,680,658,633,878.59235356,785,806,652,630,652,0.400982735836,-0.0053583809489,0.0698373323982,0.99999994247,0.000218335603486,-0.000259203879058,1.42234478146e-05,1793245261009946880
+83,1.383333333,BASELINE,764,745,713.177174913,679.822825087,658,633,878.822825087,785,806,652,630,652,0.400984233323,-0.00535862842533,0.0698384099596,0.999999943122,0.000217982308669,-0.000256965346516,1.44313586281e-05,1793245261026613248
+84,1.400000000,BASELINE,764,745,713.756479033,679.243520967,658,633,878.243520967,785,806,652,630,652,0.400982949433,-0.00535785566362,0.0698373524706,0.999999942516,0.000218565075808,-0.000258825977351,1.43733402783e-05,1793245261043279872
+85,1.416666667,BASELINE,764,744.665204495,714,679.334795505,658.334795505,633,878.334795505,785,806,652,630,652,0.400982519677,-0.00535707649957,0.0698370092344,0.999999942148,0.000219582710878,-0.00025938298966,1.43965901866e-05,1793245261059946752
+86,1.433333333,BASELINE,764,744.087604331,714,679.912395669,658.912395669,633,878.912395669,785,806,652,630,652,0.400982709367,-0.00535629269239,0.0698371839978,0.999999941954,0.000220915726367,-0.000258994575033,1.44787784992e-05,1793245261076613632
+87,1.450000000,BASELINE,764,744.484139354,714,679.515860646,658.515860646,633,878.515860646,785,805.515860646,652,630,652,0.400983462098,-0.00535732478661,0.0698373201372,0.999999942334,0.000219625017609,-0.000258630393551,1.43708673905e-05,1793245261093280256
+88,1.466666667,BASELINE,764,745,714,679.056979951,658,633.056979951,878,785,805.056979951,652,630,652,0.400984289914,-0.00535845239804,0.069837529008,0.999999942761,0.000218200803873,-0.000258192338655,1.42417667067e-05,1793245261109946880
+89,1.483333333,BASELINE,764,745,714,679.649989598,658,633.649989598,878,785,805.649989598,652,630,652,0.400984877089,-0.00535742440906,0.0698384870501,0.999999942684,0.000219933503344,-0.000257018573813,1.42330565787e-05,1793245261126613248
+90,1.500000000,BASELINE,764.237385093,744.762614907,714,680,658,633.762614907,878,785,806,652,630,652,0.400985071014,-0.00535713879996,0.069838977033,0.999999942723,0.000220505578751,-0.000256375140255,1.42765854515e-05,1793245261143280128
+91,1.516666667,BASELINE,764.816694045,744.183305955,714,680,658,633.183305955,878,785,806,652,630,652,0.400984698512,-0.0053579224973,0.0698387928343,0.999999942932,0.000219405918627,-0.000256495583402,1.43953581433e-05,1793245261159946752
+92,1.533333333,BASELINE,764.211100734,744.394449633,714,680,657.605550367,633,878.394449633,785,806,652,630,652,0.400984421122,-0.00535826624678,0.0698381858873,0.99999994281,0.000219050948713,-0.00025727579289,1.43787234e-05,1793245261176613376
+93,1.550000000,BASELINE,763.057027534,744.971486233,714,680,657.028513767,633,878.971486233,785,806,652,630,652,0.400984187758,-0.00535840634866,0.0698373832542,0.999999942533,0.00021904068869,-0.000258361401926,1.42994098586e-05,1793245261193280512
+94,1.566666667,BASELINE,763.556036775,744.443963225,714,679.443963225,657.556036775,633,878.443963225,785,805.443963225,652,630,652,0.400983354051,-0.00535755672878,0.0698373193518,0.999999942339,0.000219429623816,-0.000258780996426,1.4306805035e-05,1793245261209946880
+95,1.583333333,BASELINE,764,744,714,679,658,633.136936965,878,785,805.136936965,652,630,652,0.400982365701,-0.0053567915429,0.0698371395828,0.999999942185,0.000219512203741,-0.000259311640199,1.42164035721e-05,1793245261226613760
+96,1.600000000,BASELINE,764,744,714,679,658,633.705111673,878,785,805.705111673,652,630,652,0.400980988636,-0.00535645427391,0.0698364739982,0.999999942141,0.000218564669911,-0.000260301025476,1.38038294448e-05,1793245261243280384
+97,1.616666667,BASELINE,764,744,714,679.28441052,658,634,878,785,806,652,630,652,0.400981797071,-0.00535652688809,0.0698367173466,0.999999942295,0.00021881139085,-0.000259505313581,1.3767969296e-05,1793245261259947008
+98,1.633333333,BASELINE,764,744,714,679.875712778,658,634,878,785,806,652,630,652,0.400984963757,-0.00535704178463,0.0698379414747,0.999999942655,0.000220346766433,-0.000256783401519,1.41386004921e-05,1793245261276613632
+99,1.650000000,BASELINE,764,744,714,680,658,633.546208073,878.453791927,785,806,652,630,652,0.400985001572,-0.00535746922226,0.0698384830558,0.999999943157,0.000218599937944,-0.000256334416045,1.39030949376e-05,1793245261293280256
+100,1.666666667,BASELINE,764.028952984,744.028952984,714,679.971047016,658,633.028952984,878.971047016,785,806,652,630,652,0.400984269343,-0.00535779768966,0.0698388452996,0.99999994364,0.000216249339818,-0.000256460407262,1.35515686501e-05,1793245261309946880
+101,1.683333333,BASELINE,764.615692345,744.615692345,714,679.384307655,658,633.615692345,878.384307655,785,806,652,630,652,0.400984744002,-0.00535666788033,0.0698392520418,0.999999943129,0.000219095096821,-0.000256009987251,1.40725865493e-05,1793245261326613248
+102,1.700000000,BASELINE,764.799172162,744.799172162,714,679.200827838,658,634,878,785,806,652,630,652,0.400984240288,-0.00535630379374,0.069838913787,0.999999942575,0.000220794349813,-0.000256698293372,1.43480216332e-05,1793245261343280128
+103,1.716666667,BASELINE,764.21708161,744.21708161,714,679.78291839,658,634,878,785,806,652,630,652,0.400981879176,-0.0053573933978,0.0698371611888,0.999999941947,0.000220317015627,-0.000259548420447,1.41572286082e-05,1793245261359946752
+104,1.733333333,BASELINE,764,744.360678575,714,679.639321425,658.360678575,634,878,785,806,652,630,652,0.400981571669,-0.00535815535525,0.0698367886468,0.99999994203,0.000219302606405,-0.000260089503839,1.41101847636e-05,1793245261376613632
+105,1.750000000,BASELINE,764,744.935863417,714,679.064136583,658.935863417,634,878,785,806,652,630,652,0.400982485502,-0.00535872245162,0.0698372368651,0.999999942538,0.000217968782655,-0.000259257330605,1.41486328104e-05,1793245261393280256
+106,1.766666667,BASELINE,764,745,714,679.509329267,658.490670733,633.490670733,878,785,805.490670733,652.509329267,630,652,0.400984667566,-0.00535781895144,0.0698385242325,0.99999994297,0.00021886188324,-0.000256824830014,1.41826993319e-05,1793245261409947392
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,785,806,652,630,652,0.400981777111,-0.0053563385404,0.0698368792368,0.999999941467,0.000221293304048,-0.000260553765972,1.43593035842e-05,1793245261452496384
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.417138499,745,714,680,658,634,878.417138499,785,806,652,630,652,0.400984401049,-0.00535800477838,0.0698384074939,0.999999942833,0.000219623238823,-0.000256694135818,1.4411067404e-05,1793245261469162496
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679.83727583,658,634,878,785,806,652,630,652,0.400986083454,-0.00535898967539,0.0698394975568,0.999999943756,0.000218313424776,-0.000254205145545,1.43550662805e-05,1793245261485828864
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679.26496135,658,634,878,785,806,652,630,652,0.400985395943,-0.00535825958067,0.0698394846484,0.999999943604,0.000217910392655,-0.00025516616939,1.40278118165e-05,1793245261502495232
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.309628193,658,634,878,785,806,652,630.309628193,652,0.40098485194,-0.00535795148595,0.0698390893748,0.999999943361,0.000218041356243,-0.000256009930082,1.39316060419e-05,1793245261519161344
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.886178977,658,634,878,785,806,652,630.886178977,652,0.400984431652,-0.00535800718675,0.0698383644739,0.99999994304,0.000218632663973,-0.000256752601137,1.40345814858e-05,1793245261535827712
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.524950184,658,633.524950184,878,785,806,652,630.524950184,652,0.400985088279,-0.00535881623681,0.0698390833916,0.999999943238,0.000218561871815,-0.000256028031451,1.42947238498e-05,1793245261552494336
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.065330143,658,633.065330143,878,785,806,652,630,652,0.400985904555,-0.00535963566938,0.0698399894018,0.999999943506,0.000218282492403,-0.000255201413426,1.45660688033e-05,1793245261569160960
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.642900822,658,633.642900822,878,785,806,652,630,652,0.400985895599,-0.00535908355551,0.0698395777341,0.999999943337,0.00021764458692,-0.000256404461474,1.46221296771e-05,1793245261585827840
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679.780668306,658,634,878.219331694,785,806,652,630,652,0.400992665386,-0.00535830263544,0.069842499017,0.999999944381,0.000217926738449,-0.000252053991476,1.46794469014e-05,1793245261602494464
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679.206083645,658,634,878.793916355,785,806,652,630,652,0.401010414746,-0.00535715111656,0.0698508187015,0.999999947267,0.000219699112324,-0.000238708452107,1.47387990374e-05,1793245261619161088
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.622078851,714,679.377921149,657.622078851,634,878.622078851,785,806,652,630,652,0.401042543155,-0.00535784564936,0.0698631325594,0.999999951995,0.000220363573684,-0.000217314639127,1.49950794828e-05,1793245261635827968
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.032805808,714,679.967194192,657.032805808,634,878.032805808,785,806,652,630,652,0.401082713028,-0.00535957258396,0.0698776801542,0.999999957271,0.000220408436517,-0.000191419838588,1.53614918188e-05,1793245261652495104
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744.54667253,714,679.45332747,657.54667253,633.45332747,878,785,806,652,630,652,0.401140155152,-0.00536103317407,0.0698906657885,0.999999960425,0.000218318420151,-0.000176773700383,1.54042869286e-05,1793245261669161728
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.12493381,658,633.12493381,878,785,806,652,630,652,0.401201352247,-0.00536266572375,0.0699015320945,0.999999963034,0.000216145102488,-0.000164258011759,1.52628995417e-05,1793245261685828096
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679.700886173,658,633.700886173,878,785,806,652,630,652,0.401272429041,-0.00536497574334,0.069905079928,0.999999964639,0.000214125420363,-0.000157039357556,1.4525476601e-05,1793245261702494464
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.281564536,785,806,652,630,652,0.401352852372,-0.00536712180707,0.0699067170606,0.999999965574,0.00021278635838,-0.000152981164607,1.30377007361e-05,1793245261719160832
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.867349132,785,806,652,630,652,0.401443374286,-0.00536909072242,0.0699062897512,0.999999965828,0.000212182681403,-0.000152337733518,1.07391963511e-05,1793245261735827712
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.551743749,785,805.551743749,652,630,652,0.40154904456,-0.0053703643064,0.069903782697,0.999999965197,0.000210176634839,-0.000159269213789,8.05357729694e-06,1793245261752494336
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.972282378,714,679.972282378,658,634,878.027717622,785.027717622,805.027717622,652,630,652.027717622,0.401660961384,-0.00537148692548,0.0699009169747,0.999999964343,0.000207768589387,-0.000167689685414,5.22823311416e-06,1793245261769161216
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.393177144,714,679.393177144,658,634,878.606822856,785.606822856,805.606822856,652,630,652.606822856,0.401808924455,-0.00537365566344,0.0699030276665,0.999999965817,0.000205530277671,-0.000161618152539,1.87769706169e-06,1793245261785828096
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.184501076,714,679.184501076,658,634,879,786,806,652,630,652.815498924,0.401967465807,-0.00537606444995,0.0699058598532,0.999999967339,0.000202766612123,-0.000155579473329,-1.52362268076e-06,1793245261802494720
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.759161556,714,679.759161556,658,634,879,786,806,652,630,652.240838444,0.402148376745,-0.0053789808603,0.0699102177649,0.999999969017,0.000198891995419,-0.000149610269649,-5.03233288485e-06,1793245261819161088
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785.658721349,806,652,630,652,0.402346533112,-0.00538237744175,0.0699128414305,0.999999970934,0.000192413725181,-0.000144996006502,-9.19115619646e-06,1793245261835827712
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785.071224561,806,652,630,652,0.402557131347,-0.0053861204467,0.0699142139112,0.999999972975,0.000184057028447,-0.000141359275112,-1.38190090257e-05,1793245261852494336
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.489362347,785,806,652,630,652,0.402805214228,-0.00539029308002,0.0699157590081,0.999999974865,0.000176966419784,-0.000136281963749,-1.94770189925e-05,1793245261869160960
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.090812889,634,878,785.090812889,806,652,630.090812889,652,0.403066226845,-0.00539480821817,0.0699191250828,0.999999977046,0.000169913897485,-0.000128097038634,-2.50773945725e-05,1793245261885827840
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.666135207,634,878,785.666135207,806,652,630.666135207,652,0.403368632458,-0.00540083447981,0.0699320794758,0.999999980969,0.000162132672044,-0.000104392551535,-2.9612034075e-05,1793245261902494464
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,785.759331798,806,652,630.759331798,652,0.40368449892,-0.00540690289895,0.0699426290199,0.999999983774,0.000154483706649,-8.60361231378e-05,-3.44286449023e-05,1793245261919161088
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,785.185890241,806,652,630.185890241,652,0.40401897776,-0.00541302960917,0.0699498533642,0.999999985589,0.000147017618565,-7.50744888481e-05,-3.9635138905e-05,1793245261935827968
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.399146498,785,806,652,630,652,0.404379521314,-0.00541836026167,0.0699533446302,0.999999993207,8.05444619982e-05,-7.19496261764e-05,-4.38402169109e-05,1793245261952494848
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.989744885,785,806,652,630,652,0.404752566881,-0.00542330908237,0.0699550453131,0.999999996133,-1.42316233513e-05,-7.25836957557e-05,-4.75649620663e-05,1793245261969161472
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.430104364,633.430104364,878.430104364,785,806,652,630,652,0.405167193437,-0.00542560452221,0.0699593810153,0.999999995939,5.02944081893e-05,-6.53122971304e-05,-3.64143127641e-05,1793245261985827840
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.149014722,878,785,806,652,630,652,0.405590325604,-0.00542945315184,0.0699624384702,0.99999999305,9.75389356736e-05,-5.93669147664e-05,-2.93526225236e-05,1793245262002494464
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.725702672,878,785,806,652,630,652,0.40603576007,-0.00543789401281,0.0699616937107,0.999999993941,8.71063773358e-05,-5.76281375043e-05,-3.47806831791e-05,1793245262019161088
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.295508598,634,878.295508598,785,806,652,630,652,0.406487708744,-0.00544739248439,0.0699511151005,0.999999993814,7.14487300464e-05,-7.65185075359e-05,-3.75724950751e-05,1793245262035827712
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.85907193,634,878.85907193,785,806,652,630,652,0.406945566485,-0.00545785031152,0.0699316162412,0.999999991464,5.10514229822e-05,-0.00011412149899,-3.7972976236e-05,1793245262052494592
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.449129049,745,714,680,659,633.550870951,879,785,806.449129049,652,630,652,0.407477291031,-0.00548131175284,0.0699208466925,0.999999991285,2.50595805311e-05,-0.000124467593724,-3.61826261108e-05,1793245262069161472
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.953518681,745,714,680.046481319,659,633.046481319,879,785,806.953518681,652,630,652,0.408038859013,-0.00550747527987,0.0699149876702,0.999999991871,-1.80113034307e-06,-0.000122865708634,-3.40386240047e-05,1793245262085828352
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+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680.795772496,659,634,879,785,806.204227504,652,630,652,0.409277831448,-0.00551978504816,0.0699425772386,0.999999996837,-2.61435090867e-05,-6.47777261923e-05,-3.80333871402e-05,1793245262119161344
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680.220707935,659,634,879,785,806.779292065,652,630,652,0.409888621038,-0.00552008402575,0.0699411513871,0.99999999713,-2.323150277e-05,-6.05443420061e-05,-3.91875790474e-05,1793245262135827712
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679.63676914,658.63676914,633.63676914,879,785,807,652,630,652,0.410528025505,-0.00552925155984,0.0699387350797,0.999999996502,-3.4373808413e-05,-6.52774581538e-05,-3.94031276867e-05,1793245262152494080
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,679.047303126,658.047303126,633.047303126,879,785,807,652,630,652,0.411185252475,-0.0055439427965,0.0699357018756,0.999999994908,-5.426971901e-05,-7.55952804738e-05,-3.90340505456e-05,1793245262169160704
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+158,2.633333333,POSE1_TO_POSE2_PRESS,764.577055453,745,714,680,660,633.577055453,879,784.577055453,806.577055453,652,630,652.577055453,0.417244009035,-0.00550880512928,0.0699172805126,0.999999991249,-2.46324146172e-05,-0.00012051913169,-4.86830262554e-05,1793245262302494208
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.854081728,659.854081728,634,879,785,807,652,630,652.854081728,0.418093613118,-0.00551860861921,0.0699378915101,0.999999994153,-4.01407058814e-05,-8.80204168017e-05,-4.83220048594e-05,1793245262319160832
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.265156868,659.265156868,634,879,785,807,652,630,652.265156868,0.418984568483,-0.00552072343439,0.0699687250736,0.999999997228,-4.09278046178e-05,-4.05222112717e-05,-4.7191187529e-05,1793245262335827456
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.675204005,745,714,679.324795995,659,633.675204005,879.324795995,785,807,652,630,652,0.419876185076,-0.00552443113323,0.0699954516368,0.999999997816,-4.70168606435e-05,1.48867771917e-06,-4.64336534773e-05,1793245262352494080
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.084409265,745,714,679.915590735,659,633.084409265,879.915590735,785,807,652,630,652,0.420768343153,-0.00552944335869,0.0700188146813,0.999999996532,-5.74480698788e-05,3.9005607106e-05,-4.59818279497e-05,1793245262369160960
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.498273848,744.501726152,714,680,659,633,879.501726152,785,806.501726152,652,630,652,0.421681674237,-0.00552315993756,0.0700219281909,0.99999999687,-5.1503610914e-05,3.74456832704e-05,-4.69505831404e-05,1793245262385827840
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.078957827,714,680.078957827,659,633,879,785,806.078957827,652,630,652,0.422583065063,-0.0055151329963,0.0700114173871,0.999999997769,-4.34530605711e-05,1.42396116788e-05,-4.87001906618e-05,1793245262402494464
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.655563638,714,680.655563638,659,633,879,785,806.655563638,652,630,652,0.423386955265,-0.00550798433006,0.0699363106288,0.999999992331,-3.93326578934e-05,-0.000104341762552,-5.38788230153e-05,1793245262419161088
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.770725573,659,633.229274427,879,785,807.229274427,652,630,652,0.424224982829,-0.00550758296996,0.0698799689731,0.99999998003,-4.30781057349e-05,-0.000186075014361,-5.88164197998e-05,1793245262435827456
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.201309625,659,633.798690375,879,785,807.798690375,652,630,652,0.425113655211,-0.00551719161734,0.0698514663925,0.999999973565,-5.84929856738e-05,-0.000213142021584,-6.33964283918e-05,1793245262452494080
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.386027111,659,633.613972889,879,785,808,652,630,652,0.426053646232,-0.00552542973015,0.0698837870101,0.999999982887,-6.42755324592e-05,-0.000162421888581,-6.09381146676e-05,1793245262469160704
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.983164313,659,633.016835687,879,785,808,652,630,652,0.427021702281,-0.00553291832591,0.0699493705547,0.999999994017,-6.47903578744e-05,-6.91616051693e-05,-5.46306901059e-05,1793245262485827328
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.557663501,633,879,785.557663501,808,652,630.557663501,652,0.428007025102,-0.0055274182447,0.0699967529243,0.999999996374,-6.61921692e-05,-5.3109558796e-06,-5.33146833497e-05,1793245262502494208
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.131757894,633.131757894,879,786,808,652,631,652,0.428981117293,-0.00552304956637,0.0700357505545,0.999999995177,-6.61867430706e-05,5.00813286992e-05,-5.25163739549e-05,1793245262519161088
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.706699817,633.706699817,879,786,808,652,631,652,0.42991574883,-0.00552375400687,0.0700483212386,0.999999993523,-6.13613428835e-05,7.98927994077e-05,-5.29723153068e-05,1793245262535827712
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681.290333285,660.709666715,633.709666715,879,786,808,652,631,652.290333285,0.430780417868,-0.00552385279744,0.0700205340196,0.999999996322,-5.6545474897e-05,3.418961459e-05,-5.46841188013e-05,1793245262552494336
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681.883018042,660.116981958,633.116981958,879,786,808,652,631,652.883018042,0.431572228289,-0.00552332086746,0.0699507183034,0.999999992933,-5.17395333725e-05,-9.01541163874e-05,-5.77037695551e-05,1793245262569160960
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,879,786,808,652.463319685,631,653,0.432416884819,-0.00552595248288,0.0699049915537,0.999999983218,-5.96281961785e-05,-0.000162483241596,-6.00703792487e-05,1793245262585827584
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.959668453,682,660,633,879.040331547,785.959668453,808,652.959668453,630.959668453,653,0.433283036006,-0.00552946027651,0.0698725601637,0.999999973658,-7.03115066588e-05,-0.000209509785419,-6.20098412383e-05,1793245262602494208
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.385892359,682,660,633,879.614107641,785.385892359,808,652.385892359,630.385892359,653,0.434261599033,-0.00553426714881,0.0699376284562,0.99999999109,-7.66679913985e-05,-9.10535984556e-05,-6.04237054817e-05,1793245262619160832
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713,682,660,633,880,785,808,652,630,652.810822099,0.435211456532,-0.0055383212456,0.0699915151986,0.999999995054,-8.04545878486e-05,3.43530873064e-06,-5.83737153867e-05,1793245262635827712
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713,682,660,633,880,785,808,652,630,652.233093662,0.436102356225,-0.0055408292254,0.0700224362825,0.999999994164,-7.89629202085e-05,4.8698087316e-05,-5.53710207442e-05,1793245262652494336
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.64701511,745,713.35298489,682.35298489,660,633,880,785,808,652,630,652,0.43695652262,-0.00554158015146,0.070030269215,0.999999993056,-7.98293131534e-05,6.6432339719e-05,-5.57010566795e-05,1793245262669161216
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.055288997,745,713.944711003,682.944711003,660,633,880,785,808,652,630,652,0.437785844408,-0.00554114269462,0.0700224864814,0.999999992767,-8.22905798298e-05,6.55476790767e-05,-5.82851841699e-05,1793245262685827840
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,880,785.52441155,808,652,630.52441155,652.52441155,0.438545048263,-0.00553973225391,0.0699721300195,0.999999994894,-8.0479400178e-05,-6.95551756533e-06,-6.07154796861e-05,1793245262702494464
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,879.897748273,785.897748273,808.102251727,652,630.897748273,653,0.43928429427,-0.00553895771178,0.0699129372205,0.9999999902,-7.88968455411e-05,-9.69892598919e-05,-6.2987514789e-05,1793245262719161088
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764.573183759,745,713,683,659,632,879.426816241,785,808.426816241,652,630.573183759,652,0.442155290883,-0.00554187737885,0.0698301070495,0.99999996526,-7.83792816913e-05,-0.000243155798574,-6.49016582186e-05,1793245262785828096
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+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,713.583500707,683.583500707,659,632,880.583500707,784.416499293,809,652,630,652.583500707,0.4435223725,-0.00553598146768,0.0698382481369,0.999999964776,-7.02374634358e-05,-0.000247860478621,-6.38683769187e-05,1793245262819161600
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+191,3.183333333,POSE1_TO_POSE2_PRESS,764.73535379,745,713.26464621,684,658.26464621,631.26464621,880.26464621,784,809,652,630,652.26464621,0.444752120017,-0.00553868595903,0.0697621627617,0.999999925881,-7.04135907034e-05,-0.000372977776699,-6.45525091262e-05,1793245262852494592
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.317678355,683.682321645,657.682321645,631,880,784,809,651.682321645,630,652.317678355,0.445331236403,-0.00554328060871,0.069729958767,0.999999908715,-7.02096005748e-05,-0.000416414765926,-6.51091476904e-05,1793245262869160704
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.906287926,683.093712074,657.093712074,631,880,784,809,651.093712074,630,652.906287926,0.445892263621,-0.00554960857607,0.0697093646148,0.999999900764,-7.07855994393e-05,-0.000434892503638,-6.57983997806e-05,1793245262885827328
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.212638691,745.212638691,713.212638691,684,656,630,880,783,809,652,630,652.212638691,0.448381521217,-0.00555367971561,0.0696725728557,0.999999861556,-8.17668028808e-05,-0.00051601569868,-6.26871682641e-05,1793245262969161472
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d618792d40310e61bcb83621bb51aa9bf531259
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac835939598ccf7b1ac5e81e24fa13f6edbef0c6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:649ac397e51107f71bc686a0e49a6441daa1d8f1b065c9ad7d7569e7e9b926f5
+size 25794236
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1b98a6dc987daa9200b8654bb033237ce43a4ad
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+19,0.316666667,BASELINE,764,745,714,680,658.023605584,633.023605584,878.023605584,785,806,652,630,652,0.400978957484,-0.00535849548842,0.0698344115452,0.999999940837,0.000218520203452,-0.000265309220713,1.36287683131e-05,1793245266910265600
+20,0.333333333,BASELINE,764,745,714,680,658.602458118,633.602458118,878.602458118,785,806,652,630,652,0.400979352514,-0.00535926284827,0.0698343261493,0.999999940973,0.000217917451881,-0.000265259271779,1.42551583513e-05,1793245266926932224
+21,0.350000000,BASELINE,764,745,714,680,658.82010169,634,878.82010169,785,806,652,630,652,0.400979981688,-0.00535966894099,0.0698346253089,0.999999941129,0.000217700232,-0.000264828617419,1.46384260542e-05,1793245266943599104
+22,0.366666667,BASELINE,764,745,714,680,658.245758279,634,878.245758279,785,806,652,630,652,0.400981124251,-0.00535928291916,0.0698357676454,0.999999941329,0.000218328329132,-0.000263563228202,1.44886235492e-05,1793245266960265728
+23,0.383333333,BASELINE,764.329851734,745,714,680,658,634,878.329851734,785,806,652,630,652,0.400980658978,-0.00536001276026,0.0698356790752,0.999999941544,0.000217150435558,-0.000263723728689,1.43713468969e-05,1793245266976932096
+24,0.400000000,BASELINE,764.906409134,745,714,680,658,634,878.906409134,785,806,652,630,652,0.400978991159,-0.00536157718754,0.0698346698743,0.999999941767,0.000214621789285,-0.000264950693255,1.42783972563e-05,1793245266993598720
+25,0.416666667,BASELINE,764.505383727,745,714,679.505383727,658,634,878.505383727,785.494616273,806,652,630,652,0.400979208503,-0.00536095566664,0.0698347227682,0.999999941488,0.000216028614748,-0.000264865209898,1.4185169365e-05,1793245267010265600
+26,0.433333333,BASELINE,764.083306273,745,714,679.083306273,658,634,878.083306273,785.916693727,806,652,630,652,0.400979783159,-0.00536006504288,0.0698349624862,0.999999941235,0.000217753616989,-0.000264409686422,1.41404443489e-05,1793245267026932480
+27,0.450000000,BASELINE,764.661454946,745,714,679.661454946,658,634,878.661454946,785.338545054,806,652,630,652,0.400980310285,-0.00536009213949,0.0698350893907,0.999999941732,0.000216838558172,-0.000263266843533,1.4384148489e-05,1793245267043599104
+28,0.466666667,BASELINE,764.762788122,745,714,680,658,634,878.762788122,785,806,652,630,652,0.400980382821,-0.00536002843595,0.0698349482438,0.999999941825,0.000216679307461,-0.000263048450747,1.43670774764e-05,1793245267060265728
+29,0.483333333,BASELINE,764.190410604,745,714,680,658,634,878.190410604,785,806,652,630,652,0.400979813051,-0.00535983643743,0.0698344283569,0.999999941346,0.000217587966681,-0.000264136248569,1.39815473671e-05,1793245267076932608
+30,0.500000000,BASELINE,764,745,714,680,658,634,878.385561725,785,806,652,630,652,0.400979441554,-0.0053601036105,0.0698344586628,0.999999941456,0.000216790344185,-0.000264382514043,1.38606769568e-05,1793245267093599232
+31,0.516666667,BASELINE,764,745,714,680,658,634,878.963326052,785,806,652,630,652,0.400979168898,-0.00536059968072,0.0698347632402,0.999999941857,0.000215142139864,-0.000264209275428,1.38717394738e-05,1793245267110265600
+32,0.533333333,BASELINE,764.556478702,745,714,680,658,634,879,785,806,652,630,652,0.400979428022,-0.00536030201177,0.0698347725482,0.999999941817,0.000214946168361,-0.000264520127096,1.39282224952e-05,1793245267126932224
+33,0.550000000,BASELINE,764.853803746,745,714,680,658,633.853803746,878.853803746,785,806,652,630,652,0.400979636344,-0.00535983527612,0.069834877656,0.999999941712,0.00021533818011,-0.000264597275056,1.39012803011e-05,1793245267143598848
+34,0.566666667,BASELINE,764.277267886,745,714,680,658,633.277267886,878.277267886,785,806,652,630,652,0.400979589031,-0.00535902923834,0.0698353236662,0.999999941507,0.00021717123075,-0.000263889918152,1.3619707927e-05,1793245267160265728
+35,0.583333333,BASELINE,764.298400154,745,714,680,658,633,878,785,806,652,629.701599846,652,0.400980186265,-0.00535842934078,0.0698353646752,0.99999994125,0.000218456152101,-0.000263812763045,1.34267459979e-05,1793245267176932864
+36,0.600000000,BASELINE,764.873264237,745,714,680,658,633,878,785,806,652,629.126735763,652,0.400981380661,-0.0053580204294,0.0698350304559,0.999999940947,0.000219233238883,-0.000264319481762,1.33158804807e-05,1793245267193599488
+37,0.616666667,BASELINE,764.53922157,745,714,679.53922157,658,633.46077843,878,785,806,652,629.46077843,652,0.40097951614,-0.00535879545672,0.0698344134561,0.999999940989,0.000217982322817,-0.000265189510516,1.34029913801e-05,1793245267210265856
+38,0.633333333,BASELINE,764,745,714,679.050821054,658,633.949178946,878.050821054,785,806,652,630,652,0.400977073712,-0.00535981318049,0.0698337779376,0.999999941106,0.000216319539794,-0.000266101615484,1.35404507734e-05,1793245267226932224
+39,0.650000000,BASELINE,764,745,714,679.629957392,658,633.370042608,878.629957392,785,806,652,630,652,0.400977616789,-0.00535987310842,0.0698337812779,0.999999941026,0.000216337466177,-0.00026638299959,1.36192637193e-05,1793245267243599104
+40,0.666666667,BASELINE,764,744.793565406,714,680,658,633,879,785.206434594,805.793565406,652,630,651.793565406,0.400978429843,-0.00535980076025,0.0698338869349,0.999999941037,0.000216598076401,-0.000266126809556,1.37266030868e-05,1793245267260265984
+41,0.683333333,BASELINE,764,744.221794232,714,680,658,633,879,785.778205768,805.221794232,652,630,651.221794232,0.400979720687,-0.00535949431714,0.0698341736666,0.999999941205,0.000217288175126,-0.00026491925039,1.38844269404e-05,1793245267276932352
+42,0.700000000,BASELINE,764,744,714,679.638814872,658,633.361185128,878.638814872,785.638814872,805.361185128,652,630,651.361185128,0.400980651446,-0.00535988122143,0.0698350861413,0.99999994152,0.000217337734224,-0.000263685455955,1.39527036893e-05,1793245267293598976
+43,0.716666667,BASELINE,764,744,714,679.048732462,658,633.951267538,878.048732462,785.048732462,805.951267538,652,630,651.951267538,0.400981354005,-0.00536070752738,0.0698363951741,0.999999941926,0.000216981358035,-0.00026243503524,1.39642308951e-05,1793245267310265856
+44,0.733333333,BASELINE,764,744.531555448,714,679.531555448,658,634,878,785,805.468444552,652,630,652,0.400979007585,-0.00536084983944,0.0698350420784,0.999999941279,0.000216876523358,-0.000264966556495,1.40820112383e-05,1793245267326932480
+45,0.750000000,BASELINE,764,745,714,680,658,633.889506369,878,785,805.110493631,652,630,652,0.400977142833,-0.00536103975653,0.0698337816227,0.999999940833,0.000216343467415,-0.000267075799186,1.41430081048e-05,1793245267343599104
+46,0.766666667,BASELINE,764,745,714,680,658,633.312544198,878,785,805.687455802,652,630,652,0.400978470256,-0.00536169058936,0.0698339239701,0.999999941656,0.000213907004197,-0.00026596504074,1.3923903301e-05,1793245267360265728
+47,0.783333333,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400979998607,-0.00536131237368,0.0698348664482,0.999999942094,0.000214186599123,-0.000264089832878,1.38836254548e-05,1793245267376932608
+48,0.800000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400981764455,-0.00535971781406,0.0698367546875,0.999999942068,0.000217676597357,-0.000261311039215,1.40547225517e-05,1793245267393598976
+49,0.816666667,BASELINE,764,745,714,680,658,633.420614678,878,785,806,652,630,652,0.400981271895,-0.00536006451527,0.0698359666544,0.999999941994,0.000216714928775,-0.000262393783159,1.40084157144e-05,1793245267410265600
+50,0.833333333,BASELINE,764,745,714,680,658,633.989423752,878.021152495,785,806,652,630,652,0.400979910884,-0.00536115809525,0.0698341640927,0.999999941901,0.000214021003242,-0.000264951946035,1.387725587e-05,1793245267426932224
+51,0.850000000,BASELINE,764,745,714,680,658,633.410433135,879.17913373,785,806,652,630,652,0.400980802869,-0.00536033572207,0.0698358164855,0.999999942238,0.00021467123667,-0.000263147216901,1.38956761227e-05,1793245267443599104
+52,0.866666667,BASELINE,764,745,714,679.831500111,658,633.168499889,879.663000223,785,805.831500111,652,630,652,0.400981062669,-0.00535981690306,0.0698364852951,0.99999994229,0.000215267976169,-0.000262463771538,1.38738781688e-05,1793245267460265984
+53,0.883333333,BASELINE,764,745,714,679.252707361,658,633.747292639,878.505414722,785,805.252707361,652,630,652,0.400979783114,-0.00536003723063,0.0698347591052,0.999999941652,0.000215734459299,-0.000264510623207,1.37541499229e-05,1793245267476932864
+54,0.900000000,BASELINE,764,744.677008525,714,679.322991475,658,633.677008525,878,785,805.322991475,652,630,652,0.400979529426,-0.00536069030229,0.0698348414475,0.999999941852,0.000215138258976,-0.000264229635269,1.39455450604e-05,1793245267493599232
+55,0.916666667,BASELINE,764,744.103707417,714,679.896292583,658,633.103707417,878,785,805.896292583,652,630,652,0.400980070756,-0.00536167873887,0.0698363253534,0.999999942699,0.000213718507771,-0.000262144634664,1.43780523888e-05,1793245267510265600
+56,0.933333333,BASELINE,764,744.483855934,714,680.483855934,658,633.483855934,878,785,806,652,629.516144066,652,0.400980524598,-0.00536138971641,0.0698365071482,0.999999942728,0.000213865159994,-0.000261937448254,1.39746400456e-05,1793245267526932224
+57,0.950000000,BASELINE,764,745,714,680.926494557,658,634,877.926494557,785,806,652,629.073505443,652,0.400980772342,-0.00536105513145,0.0698363363096,0.999999942614,0.000213992099441,-0.000262293498316,1.34855330019e-05,1793245267543598848
+58,0.966666667,BASELINE,764,745,714,680.344207166,658,634,877.344207166,785,806,652,629.655792834,652,0.400979727284,-0.00536235792782,0.0698357150856,0.999999942759,0.000211588156099,-0.000263677631188,1.36810782063e-05,1793245267560265728
+59,0.983333333,BASELINE,764,745,714,680,658.23399381,633.76600619,877.46798762,785,806,652,630.23399381,652,0.400979479838,-0.0053620953579,0.0698353988862,0.999999942618,0.000211588345916,-0.000264208823925,1.3688595934e-05,1793245267576932608
+60,1.000000000,BASELINE,764,745,714,680,658.806286889,633.193713111,878.612573778,785,806,652,630.806286889,652,0.400980385549,-0.00535956964169,0.0698355236793,0.999999942066,0.000215064338825,-0.000263506868756,1.34242707817e-05,1793245267593599744
+61,1.016666667,BASELINE,764,745,714,680,658.621404939,633.378595061,878.621404939,785.378595061,806,652,631,652,0.40098059139,-0.0053598657916,0.0698358323747,0.999999942305,0.000214603959918,-0.000262957958677,1.36848943657e-05,1793245267610266368
+62,1.033333333,BASELINE,764,745,714,680,658.049089079,633.950910921,878.049089079,785.950910921,806,652,631,652,0.400980439118,-0.00536160584366,0.0698362351699,0.99999994295,0.000212129404774,-0.000262487359267,1.42141255081e-05,1793245267626932736
+63,1.050000000,BASELINE,764.543480344,745,714,680,658,633.456519656,878.543480344,785.456519656,806,652,630.456519656,652,0.400980440729,-0.00536133195878,0.0698361610926,0.999999942799,0.000212617002201,-0.000262688649977,1.38264139078e-05,1793245267643599104
+64,1.066666667,BASELINE,764.867511422,745,713.867511422,680,658,633.132488578,878.867511422,785,806,652,630,652,0.400980587028,-0.00536105637158,0.0698361389114,0.999999942583,0.000213539461894,-0.000262775988191,1.35852529763e-05,1793245267660265984
+65,1.083333333,BASELINE,764.296576618,745,713.296576618,680,658,633.703423382,878.296576618,785,806,652,630,652,0.400981164371,-0.00536140043684,0.06983643653,0.999999942397,0.000214981329676,-0.000262277613822,1.41137660017e-05,1793245267676932352
+66,1.100000000,BASELINE,764,745,713.279494565,680,658,634,878,785,806,652,630,652,0.400980718271,-0.00536158216007,0.0698359955054,0.999999942058,0.000215735682139,-0.000262938668576,1.43121805186e-05,1793245267693598976
+67,1.116666667,BASELINE,764,745,713.861118051,680,658,634,878,785,806,652,630,652,0.400979165848,-0.00536158839427,0.0698347560199,0.999999941553,0.000215746842024,-0.000264853046724,1.41537640713e-05,1793245267710265600
+68,1.133333333,BASELINE,764,745,714,680,658,633.552095236,878,785,806,652,630,652,0.400979673924,-0.00536108676526,0.0698354622041,0.999999942079,0.000214634933547,-0.000263782874096,1.38503479946e-05,1793245267726932480
+69,1.150000000,BASELINE,764,745,714,679.964220585,658,633,878,785,806,652,630,652,0.400980767041,-0.00536047506322,0.0698366769536,0.999999942856,0.000213293462763,-0.000261934526515,1.35375036257e-05,1793245267743599104
+70,1.166666667,BASELINE,764,745,714,679.384430851,658,633,878,785,806,652,630,652,0.400980927975,-0.00536061198437,0.0698363444167,0.999999942596,0.000213818031925,-0.000262489075316,1.37728769148e-05,1793245267760265728
+71,1.183333333,BASELINE,764,744.80545381,714,679.19454619,658,633.19454619,878.19454619,785,806,652,630,652,0.400981032477,-0.00536055476984,0.0698363102641,0.999999942321,0.000214856657764,-0.000262679840138,1.39507301983e-05,1793245267776932608
+72,1.200000000,BASELINE,764,744.228075899,714,679.771924101,658,633.771924101,878.771924101,785,806,652,630,652,0.400981025934,-0.00536011553143,0.0698368632779,0.999999942015,0.000216906854272,-0.000262154743974,1.40153945541e-05,1793245267793599232
+73,1.216666667,BASELINE,764,744.34493621,714,679.65506379,658,634,879,785.34493621,806,652,630,652,0.400981035128,-0.00535952595198,0.069836905529,0.999999941937,0.00021758176778,-0.000261893228243,1.39705120464e-05,1793245267810265600
+74,1.233333333,BASELINE,764,744.915097645,714,679.084902355,658,634,879,785.915097645,806,652,630,652,0.400981054598,-0.00535883820776,0.0698366142787,0.999999942011,0.000217358693614,-0.000261803816719,1.3854101188e-05,1793245267826932224
+75,1.250000000,BASELINE,764,744.491693569,714,679.508306431,658.508306431,634,879,785.491693569,806,652,630,652,0.400979568709,-0.00535934231697,0.0698350646339,0.999999941538,0.000216801568002,-0.000264065827471,1.38082255559e-05,1793245267843598848
+76,1.266666667,BASELINE,764,744.101682639,714,680.101682639,658.898317361,633.898317361,879,785,806,652,630,652,0.40097844403,-0.00535983060329,0.0698338353998,0.999999941152,0.000216539050673,-0.000265739158609,1.37566356943e-05,1793245267860265728
+77,1.283333333,BASELINE,764,744.677053703,714,680.677053703,658.322946297,633.322946297,879,785,806,652,630,652,0.400980229011,-0.00535927374118,0.0698351244712,0.999999941643,0.000217921239108,-0.000262753565583,1.36209353374e-05,1793245267876932608
+78,1.300000000,BASELINE,764.252730484,744.747269516,714,680.747269516,658.252730484,633.252730484,878.747269516,785,806,652,630,652,0.400981452719,-0.00535946099541,0.0698363635068,0.999999942244,0.000217773484326,-0.00026057695742,1.36181814375e-05,1793245267893599232
+79,1.316666667,BASELINE,764.828798349,744.171201651,714,680.171201651,658.828798349,633.828798349,878.171201651,785,806,652,630,652,0.400981958346,-0.00536060025446,0.0698375385277,0.999999942995,0.000215668356411,-0.000259435345518,1.37855160888e-05,1793245267910265856
+80,1.333333333,BASELINE,765,744.414394123,714,680,658.585605877,634,878.414394123,785,806,652.414394123,630,652,0.400981396253,-0.00535954345106,0.0698374000058,0.999999942403,0.000217384019438,-0.000260279670309,1.39062818882e-05,1793245267926932480
+81,1.350000000,BASELINE,764.99605426,745,714,680,658,634,879,785,806,652.99605426,630,652,0.400980393247,-0.00535758044116,0.0698367147943,0.999999941243,0.000220681665499,-0.000261948231828,1.40055700164e-05,1793245267943599104
+82,1.366666667,BASELINE,764.417165602,745,714,680,658,634,879,785,806,652.417165602,630,652,0.400980932571,-0.00535888433527,0.0698373052691,0.999999941755,0.000219072275419,-0.000261352972893,1.38446766174e-05,1793245267960265728
+83,1.383333333,BASELINE,764,745,714,680,658,634,878.839071315,785,806,652,630,652,0.400981272912,-0.00535976719791,0.0698375423804,0.999999942116,0.000217752787597,-0.000261087205253,1.36132114376e-05,1793245267976932352
+84,1.400000000,BASELINE,764,745,714,680,658,634,878.263025989,785,806,652,630,652,0.400981099974,-0.00535956400728,0.0698368679882,0.999999942093,0.000217181104289,-0.00026167136253,1.31997058333e-05,1793245267993598976
+85,1.416666667,BASELINE,764,745,714,680,658,634,878.310728661,785,806,652,630,652,0.400980678931,-0.00535968972096,0.0698361897527,0.999999941977,0.000216703096644,-0.000262514693568,1.30972688173e-05,1793245268010265856
+86,1.433333333,BASELINE,764,745,714,680,658,634,878.882558451,785,806,652,630,652,0.400980049408,-0.00536009180855,0.0698355082878,0.999999941782,0.000216303803438,-0.00026357580481,1.32562185922e-05,1793245268026932736
+87,1.450000000,BASELINE,764,745,714,680,658,634,878.528519519,785,806,652,630,652,0.400980523493,-0.00536026601115,0.0698362443194,0.999999942078,0.000215835662733,-0.000262822425736,1.35526407924e-05,1793245268043599360
+88,1.466666667,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400981113299,-0.00536044111134,0.0698371492379,0.999999942435,0.000215389733546,-0.000261811436758,1.38641763196e-05,1793245268060265984
+89,1.483333333,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400980320917,-0.00536110377336,0.0698364439742,0.999999942272,0.000215269997471,-0.000262523836589,1.40092318962e-05,1793245268076932608
+90,1.500000000,BASELINE,764,745,714,680,658,634,878.217884267,785,806,652,630,652,0.400980028788,-0.00536178419893,0.0698360901236,0.999999942398,0.000214734887612,-0.000262479027182,1.40529886305e-05,1793245268093599232
+91,1.516666667,BASELINE,764,745,714,680,658,634,878.794897134,785,806,652,630,652,0.400980561202,-0.00536249390327,0.0698363154911,0.999999943,0.000213515136289,-0.000261186144596,1.39297791346e-05,1793245268110265856
+92,1.533333333,BASELINE,764,745,714,680.378065302,658.378065302,634,878.621934698,785,806,652,630,652,0.400980866371,-0.00536142591832,0.0698365428933,0.999999942494,0.000215869702107,-0.000261185954424,1.39019659729e-05,1793245268126932480
+93,1.550000000,BASELINE,764,745,714,680.964628083,658.964628083,634,878.035371917,785,806,652,630,652,0.400981046217,-0.00535937756383,0.0698367714175,0.999999941365,0.000220195451375,-0.000261898665068,1.3926762481e-05,1793245268143599104
+94,1.566666667,BASELINE,764.543944737,745,714,680.456055263,658.456055263,634,878,785,806,652,630,652,0.400980110201,-0.00535954550307,0.0698365196976,0.999999941676,0.000218195553859,-0.000262392936396,1.37047448342e-05,1793245268160265728
+95,1.583333333,BASELINE,764.877790211,745,714,680,658,634,878.122209789,785,806,652,630,652,0.400979567793,-0.00535986616169,0.0698364239994,0.999999941967,0.000216633027018,-0.000262588031705,1.3566825917e-05,1793245268176932352
+96,1.600000000,BASELINE,764.301703549,745,714,680,658,634,878.698296451,785,806,652,630,652,0.400980753162,-0.00536022578597,0.0698370222119,0.999999941849,0.000218202483262,-0.000261724074423,1.38000671008e-05,1793245268193599232
+97,1.616666667,BASELINE,764,745,714,679.725389603,658,634,878.725389603,785,806,652,630,652,0.400980768841,-0.00536061742828,0.0698370548777,0.999999941922,0.000217721974199,-0.00026183601898,1.39961463023e-05,1793245268210266112
+98,1.633333333,BASELINE,764,745,714,679.148825775,658,634,878.148825775,785,806,652,630,652,0.400979498363,-0.00536104427663,0.069836465685,0.9999999422,0.000214987384123,-0.000263021036243,1.4151363279e-05,1793245268226932736
+99,1.650000000,BASELINE,764.436287527,745,714,679.436287527,658,634,878,785,806,652,630,652,0.400979478067,-0.00536110403019,0.0698362119605,0.999999942302,0.000214412649769,-0.000263112440082,1.39611593399e-05,1793245268243599360
+100,1.666666667,BASELINE,764.975888521,744.975888521,714,679.975888521,658,634,878,785,806,652,630,652,0.400979851056,-0.00536105435954,0.0698360476495,0.999999942325,0.000214604098238,-0.000262884672038,1.36733437336e-05,1793245268260265472
+101,1.683333333,BASELINE,764.394170247,744.394170247,714,679.394170247,658,634,878,785,806,652,630,652,0.400979259701,-0.0053614279342,0.0698352518007,0.999999941894,0.000215135263892,-0.000264075381094,1.39075545351e-05,1793245268276932096
+102,1.700000000,BASELINE,764,744.184773081,714,679,658,634,878,785,806,652,630,652,0.400979358345,-0.0053617007777,0.0698352900457,0.999999941764,0.00021579325492,-0.000264019327806,1.41240958652e-05,1793245268293598976
+103,1.716666667,BASELINE,764,744.757884227,714,679,658,634,878,785,806,652,630,652,0.400980907159,-0.00536176191421,0.0698370813082,0.999999942264,0.0002167177951,-0.000261342950718,1.43035011918e-05,1793245268310265856
+104,1.733333333,BASELINE,764,745,714,679.33293543,658,634,878,785,806,652,630,652,0.400981229674,-0.00536092678363,0.0698371819571,0.999999942198,0.000217352417413,-0.000261072028504,1.42312423692e-05,1793245268326932736
+105,1.750000000,BASELINE,764,745,714,679.909405803,658,634,878,785,806,652,630,652,0.400980655178,-0.00535943605339,0.0698360459596,0.99999994172,0.000217774971284,-0.000262560643333,1.39748967766e-05,1793245268343599616
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,806,652,630,653,0.40098265695,-0.00536166329385,0.0698380886829,0.999999942859,0.000216064257446,-0.000259615957637,1.40339320211e-05,1793245268374789632
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679.413232779,658,634,878,785,806,652,630.586767221,652.413232779,0.400982119175,-0.00536028408738,0.0698377609133,0.99999994239,0.000217591136502,-0.000260150026457,1.39749915064e-05,1793245268391456000
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.169421244,658,634,878.338842489,785,806,652,630.830578756,652,0.400981647171,-0.0053593963255,0.0698374668742,0.999999941994,0.000219073244278,-0.000260428827743,1.40135808378e-05,1793245268408123136
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679.742280739,658,634,879.484561477,785,806,652,630.257719261,652,0.40098133179,-0.00535967882715,0.0698372531566,0.999999941773,0.000220448739722,-0.000260099767431,1.42844153554e-05,1793245268424790784
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879.350410063,785,806,652,630.324794969,652,0.400980753907,-0.0053602304424,0.0698371756659,0.999999941823,0.000219608532818,-0.000260623055644,1.42073551929e-05,1793245268441457408
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.169590535,785,806,652,630.915204732,652,0.400979961352,-0.00536100213664,0.0698372095807,0.999999942088,0.000216956341713,-0.000261843387858,1.38457894552e-05,1793245268458123520
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.495877882,785,806,652,630.504122118,652,0.400980696555,-0.00536052167818,0.0698379337659,0.999999942307,0.000217203429489,-0.000260798115136,1.38880507421e-05,1793245268474790144
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.925356304,785,806,652,630,652,0.400981482972,-0.00536009133506,0.0698384536386,0.999999942466,0.000217568560227,-0.000259879191932,1.39514198155e-05,1793245268491456256
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.348437147,785,806,652,630,652,0.400980889929,-0.00536141126896,0.0698368197282,0.999999942277,0.000215456167548,-0.000262367202711,1.37011045011e-05,1793245268508123136
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,806,652,630,652,0.400982692442,-0.00536198460511,0.0698369961777,0.999999942528,0.000214770392121,-0.000261975121027,1.36788478142e-05,1793245268524790016
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,806,652,630,652,0.400988148198,-0.00536141937295,0.0698399334423,0.999999943444,0.000216260220862,-0.000257190872548,1.40043825813e-05,1793245268541456384
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.613443399,878,785,806,652,630,652,0.401005143459,-0.00536115162324,0.0698480521936,0.999999946349,0.000217419099884,-0.000244589203228,1.44045774289e-05,1793245268558123008
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.023006764,878,785,806,652,630,652,0.401028224955,-0.00536104077349,0.0698589037966,0.999999950079,0.000218403427483,-0.000227864421783,1.48441499768e-05,1793245268574789632
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.55744578,744.44255422,714,679.44255422,658,633.55744578,878.55744578,785,806,652,630,652,0.401075657144,-0.00536325160753,0.0698746419111,0.999999956584,0.000217272243016,-0.000198470154339,1.5325430289e-05,1793245268591456000
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.864442135,744.135557865,714,679.135557865,658,634,878.864442135,785,806,652,630,652,0.40112668179,-0.00536504249144,0.0698891341951,0.999999961315,0.000216566467993,-0.000173847181027,1.56922699903e-05,1793245268608123136
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.292560236,744.707439764,714,679.707439764,658,634,878.292560236,785,806,652,630,652,0.401186091702,-0.00536517867851,0.069898978777,0.999999962405,0.000217506056212,-0.000166235137186,1.56853134555e-05,1793245268624791040
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+123,2.050000000,POSE1_TO_POSE2_PRESS,764.876954196,745,714,680,658,634,878,785,806,652,630,652,0.401330981675,-0.00537059150431,0.069910459824,0.999999966663,0.000211938245423,-0.000146859427886,1.37573306334e-05,1793245268658123776
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.539667871,745,714,680,658,634,878.460332129,785,806,652,630,652,0.40142448985,-0.00537192656542,0.0699098509836,0.999999966887,0.000210648894927,-0.000147381980123,1.14889148912e-05,1793245268674789888
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.041727138,633.958272862,878.958272862,785,806.041727138,652,630,652,0.401523743151,-0.00537269153925,0.0699078206333,0.99999996652,0.000209930536799,-0.00015102684723,8.91401435903e-06,1793245268691456000
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.617355464,633.382644536,878.382644536,785,806.617355464,652,630,652,0.401640496492,-0.00537377761578,0.0699042827663,0.99999996609,0.000207147761815,-0.000157726517872,5.71234255335e-06,1793245268708122624
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.809914587,633.190085413,878,785,806.809914587,652,630,652,0.401768805334,-0.00537518401935,0.0699030123841,0.999999966181,0.000204371453766,-0.000160822244607,2.51066382741e-06,1793245268724789504
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.242931553,633.757068447,878,785,806.242931553,652,630,652,0.401920026182,-0.00537722556096,0.0699062379266,0.999999967388,0.000201607968578,-0.000156772141398,-6.91028238517e-07,1793245268741456128
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679.657174071,658,634,878,785,806,652,630,652,0.40209342061,-0.00538060844427,0.0699103310222,0.999999969447,0.00019663427007,-0.000149743880766,-4.1884457123e-06,1793245268758123008
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744.096386221,714,679.096386221,658,634,878,785,806,652,630,652,0.402733597449,-0.0053915831193,0.0699177552137,0.999999975336,0.000176106269494,-0.000134161478288,-1.77722017588e-05,1793245268808123392
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+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.175002356,658,633.175002356,878.824997644,785,806,652,630,652.824997644,0.403591800096,-0.00540583402163,0.0699395632304,0.999999983706,0.000151790855771,-9.15969848792e-05,-3.40098501222e-05,1793245268858123008
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+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744.936684225,714,679.063315775,658,633.063315775,879,784,806,652,630,652,0.40731338731,-0.00548270712044,0.0699216168316,0.999999991954,1.75206059357e-05,-0.000121049431498,-3.36568207972e-05,1793245269008122624
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,744.362912002,714,679.637087998,658,633.637087998,879,784,806,652,630,652,0.407887942443,-0.00550362429716,0.069921837592,0.999999993119,-3.25137732505e-06,-0.000112207453652,-3.40584172025e-05,1793245269024789504
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744.216195302,714,680,658.216195302,633.783804698,878.783804698,784.216195302,806,652,630,652,0.408476218254,-0.0055172035311,0.069928575401,0.999999994871,-1.82141818015e-05,-9.33198738324e-05,-3.49038489128e-05,1793245269041456384
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.804484792,714,680,658.804484792,633.195515208,878.195515208,784.804484792,806,652,630,652,0.409088108715,-0.00551815341507,0.069946529716,0.999999997432,-2.31787952233e-05,-5.71427878873e-05,-3.65131664665e-05,1793245269058123776
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744.613327514,714,680.386672486,658.613327514,633.386672486,878.386672486,785,806,652,630,652,0.40970028724,-0.0055238733277,0.0699478785155,0.999999997564,-2.9829904088e-05,-5.02689668004e-05,-3.81385698928e-05,1793245269074790400
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744.034177189,714,680.965822811,658.034177189,633.965822811,878.965822811,785,806,652,630,652,0.410312609138,-0.00553196766527,0.0699409614205,0.999999996832,-3.73205165485e-05,-5.79817265889e-05,-3.97719805096e-05,1793245269091456512
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.544137678,744,713.455862322,680.455862322,658,633.455862322,879,785,806.544137678,652,630,652.544137678,0.410977384751,-0.00554118620033,0.0699393353821,0.999999995576,-5.50818227956e-05,-6.47154620378e-05,-4.03209483292e-05,1793245269108123136
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.878228919,744.121771081,713.121771081,680,658.121771081,633.121771081,879,785,807,652,630,652.878228919,0.411666472341,-0.0055497514169,0.0699447511922,0.999999994985,-7.01339623212e-05,-5.88922138315e-05,-4.05448407068e-05,1793245269124790016
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.302938534,744.697061466,713.697061466,680,658.697061466,633.697061466,879,785,807,652,630,652.302938534,0.412433854823,-0.00555562086194,0.0699751575594,0.999999996544,-7.26972833222e-05,-6.53090865577e-06,-3.98113259333e-05,1793245269141456640
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.278228248,745,714,680,659.278228248,633.721771752,878.721771752,785,807,652,630,652,0.413192470899,-0.00555639080551,0.0700011850818,0.999999996057,-7.23489804609e-05,3.41907471945e-05,-3.8498723312e-05,1793245269158123520
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.865931455,745,714,680,659.865931455,633.134068545,878.134068545,785,807,652,630,652,0.413941336146,-0.0055514885436,0.0700223419926,0.999999995048,-6.8762061278e-05,6.19655575608e-05,-3.6541997764e-05,1793245269174789888
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.553333491,745,714,680.446666509,659.553333491,633.446666509,878.446666509,785,807,652,630,652.446666509,0.414667352849,-0.00552242709211,0.0700011810631,0.999999998424,-3.4971194823e-05,1.99653037503e-05,-3.91293133702e-05,1793245269191456512
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,744.974796508,714,680.974796508,659,633.974796508,878.974796508,785,807,652,630,653,0.415389087408,-0.00548784363379,0.0699671241851,0.999999998143,5.6598232892e-06,-4.27413164281e-05,-4.30795259586e-05,1793245269208123136
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,744.399286792,714,680.399286792,659,633.399286792,878.399286792,785,807,652,630,653,0.416164766972,-0.00548858996404,0.0699245691058,0.999999993117,7.3505730142e-07,-0.000107300353981,-4.74650729132e-05,1793245269224790016
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,744,713.823198193,680,659,633.176801807,878.176801807,785,807,652,630,652.823198193,0.416975664744,-0.00549413431652,0.0699034209026,0.999999989009,-8.88613191421e-06,-0.000139348752451,-4.98424891242e-05,1793245269241456896
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,744,713.245797993,680,659,633.754202007,878.754202007,785,807,652,630,652.245797993,0.417866360058,-0.005510550051,0.0699307765054,0.999999993663,-2.91484993423e-05,-9.77343841067e-05,-4.76698730144e-05,1793245269258123008
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744.3390424,713.3390424,680.3390424,659.3390424,634,879,784.6609576,807,652,630,652,0.418742432361,-0.00552003504028,0.0699587133553,0.999999996425,-4.13513167442e-05,-5.70788516214e-05,-4.67137679655e-05,1793245269274789632
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,744.929397762,713.929397762,680.929397762,659.929397762,634,879,784.070602238,807,652,630,652,0.419607665415,-0.00552438265929,0.0699870810496,0.999999997633,-4.75800444777e-05,-1.71340518137e-05,-4.66593938756e-05,1793245269291456256
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.510888966,745,714,680.489111034,659.489111034,633.489111034,879,784.510888966,807,652,630,652,0.420516294021,-0.00552993819709,0.0700112626309,0.999999997246,-5.36805593015e-05,2.29654871854e-05,-4.58222046481e-05,1793245269308122880
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.909900916,744.909900916,714,680.090099084,659.090099084,633.090099084,879,785,807.090099084,652,630,652,0.421424969429,-0.00553339640202,0.0700290872953,0.999999995876,-5.8150762973e-05,5.29424142621e-05,-4.54237024e-05,1793245269324789504
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.336468518,744.336468518,714,680.663531482,659.663531482,633.663531482,879,785,807.663531482,652,630,652,0.422302273304,-0.00552472332945,0.0700158609106,0.999999996988,-5.3968647451e-05,2.85041791913e-05,-4.7948957401e-05,1793245269341456128
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.243469132,744.243469132,714,681,660,633.756530868,879,785,807.756530868,652,630.243469132,652.243469132,0.423148135781,-0.00551483166895,0.0699715878357,0.999999996537,-4.80831332044e-05,-4.36262351375e-05,-5.20713684572e-05,1793245269358122752
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.832643769,744.832643769,714,681,660,633.167356231,879,785,807.167356231,652,630.832643769,652.832643769,0.423949354269,-0.00550320971576,0.0698832310933,0.999999980668,-3.97789360543e-05,-0.000183475500163,-5.84616052736e-05,1793245269374789376
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.58525653,745,714,680.58525653,659.58525653,633,879,785,807,652,630.58525653,652.58525653,0.424853007056,-0.00550895742975,0.0698608823641,0.999999974762,-4.88014710124e-05,-0.000210489332941,-6.15562340754e-05,1793245269391456000
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.005963842,745,714,680.005963842,659.005963842,633,879,785,807,652,630.005963842,652.005963842,0.42579730054,-0.00552159654928,0.0698647222792,0.999999977327,-6.46983770166e-05,-0.000192735769551,-6.33433323012e-05,1793245269408122624
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.568274074,744.431725926,714,680.568274074,659.568274074,633,879.568274074,785,807,652,630,652,0.426758334896,-0.00552828242809,0.0699272698436,0.999999990828,-6.48515580024e-05,-0.000104336855833,-5.70326212898e-05,1793245269424790016
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.857249144,744.142750856,714,681.142750856,660,633,880,785,807.142750856,652,630,652,0.427723831447,-0.00553296067994,0.069985154804,0.999999996252,-6.56729124883e-05,-2.16044133692e-05,-5.21088242705e-05,1793245269441456896
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.281889164,744.718110836,714,681.718110836,660,633,880,785,807.718110836,652,630,652,0.428702322975,-0.00553174244958,0.0700270589619,0.999999995414,-6.90154832422e-05,4.17286618123e-05,-5.1643371479e-05,1793245269458123264
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.301927473,745,714,681.698072527,660,633,879.698072527,785,808,652,630,652.301927473,0.429657985855,-0.00552964825768,0.0700469773221,0.999999993554,-6.78880477977e-05,7.47272912411e-05,-5.19447530019e-05,1793245269474789888
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.893866998,745,714,681.106133002,660,633,879.106133002,785,808,652,630,652.893866998,0.430591720953,-0.00552671267371,0.0700457775414,0.999999993557,-6.24670128087e-05,7.85886057631e-05,-5.29827062644e-05,1793245269491456512
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681.474647708,659.525352292,633,879.474647708,785,808,652,630,653,0.431406877074,-0.00552596085214,0.0699737977531,0.999999995362,-6.14132081065e-05,-4.8369807709e-05,-5.62619426857e-05,1793245269508123392
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.947369315,682,659.052630685,633.052630685,880,785.052630685,808,652,630.052630685,652.947369315,0.432206141671,-0.00552608288358,0.0698939537481,0.999999978463,-6.17520604586e-05,-0.000188902881427,-5.98111620082e-05,1793245269524789760
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.372954781,682,659.627045219,633.627045219,880,785.627045219,808,652,630.627045219,652.372954781,0.433104686544,-0.00553013853314,0.0698894460085,0.9999999796,-6.64388223654e-05,-0.000180673212022,-6.11826185989e-05,1793245269541456640
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.798461917,745,713.201538083,682,660,633.798461917,880,786,808,652,630.798461917,652.201538083,0.434024518339,-0.00553420485742,0.069911210481,0.999999986348,-7.26789137073e-05,-0.000135344578026,-6.08502162805e-05,1793245269558123264
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.223823945,745,713.776176055,682,660,633.223823945,880,786,808,652,630.223823945,652.776176055,0.434983757968,-0.00553829094407,0.0699816117127,0.999999994782,-8.17946257366e-05,-2.13360202114e-05,-5.73635236021e-05,1793245269574789888
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.362051751,745,714,682,660,633,880,785.637948249,808,652,630,652.637948249,0.435909290309,-0.00553972233452,0.0700210651433,0.999999994345,-7.90645294139e-05,4.4437808291e-05,-5.55338787207e-05,1793245269591456256
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.955097228,745,714,682,660,633,880,785.044902772,808,652,630,652.044902772,0.436813316906,-0.00553945999403,0.07004077347,0.99999999298,-6.87766531997e-05,7.94372455502e-05,-5.47614523545e-05,1793245269608122624
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.466957376,745,714,682.533042624,660,633,880,785.533042624,808,652,630,652.533042624,0.437646318389,-0.00553939054903,0.0700206851554,0.999999993379,-7.77261988685e-05,6.27841368732e-05,-5.70892824376e-05,1793245269624789760
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.109728187,745,714,682.890271813,660.109728187,633,880.109728187,785.890271813,808,652.109728187,630,653,0.438449477014,-0.00553895514638,0.0699874965794,0.999999994466,-8.3795603933e-05,2.21514996971e-05,-5.96247301308e-05,1793245269641456640
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.686316449,745,714,682.313683551,660.686316449,633,880.686316449,785.313683551,808,652.686316449,630,653,0.439150418144,-0.00553689547411,0.0699124409498,0.999999990313,-7.09059449585e-05,-0.000102503952021,-6.19629751001e-05,1793245269658123264
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.731796602,745,713.731796602,682.268203398,660.463593204,633,880.731796602,785,808.268203398,652.731796602,630.268203398,653,0.439855621767,-0.00553698536237,0.0698442474512,0.999999972434,-6.94606673131e-05,-0.000214890765397,-6.42585940542e-05,1793245269674789632
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.143587593,745,713.143587593,682.856412407,659.287175185,633,880.143587593,785,808.856412407,652.143587593,630.856412407,653,0.440565911114,-0.00553963998871,0.0697842414773,0.999999945582,-8.16702003844e-05,-0.00031263930271,-6.65033542655e-05,1793245269691456256
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,744.562353825,713.437646175,683,658.562353825,632.562353825,880,785,809,652,631,652.562353825,0.441340890414,-0.00554323875374,0.0697991625314,0.999999952395,-8.36613553788e-05,-0.000289647996076,-6.5687246717e-05,1793245269708122880
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.016461484,744.016461484,714,683,658.016461484,632,879.983538516,784.983538516,809,652,630.983538516,652.016461484,0.442134011792,-0.00554682465036,0.0698375452372,0.99999996832,-8.21124529128e-05,-0.000229201879988,-6.39103683699e-05,1793245269724789504
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.589666077,744.589666077,714,683,658.589666077,632,879.410333923,784.410333923,809,652,630.410333923,652.589666077,0.442834153118,-0.00553966318876,0.0698510510225,0.999999971022,-7.24431878752e-05,-0.000220750153039,-6.30708970036e-05,1793245269741456128
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.83595737,745,714,683.16404263,658.83595737,632,879.16404263,784,809,652,630,653,0.443512353632,-0.00553466126241,0.0698493948231,0.999999968477,-6.66900294114e-05,-0.00023384227678,-6.25818855472e-05,1793245269758122752
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.258628079,745,714,683.741371921,658.258628079,632,879.741371921,784,809,652,630,653,0.444135276928,-0.00553510003681,0.0698095397388,0.999999950146,-7.08030517478e-05,-0.000301211668138,-6.29758174479e-05,1793245269774789632
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.326152269,745,713.673847731,683.673847731,658,632,880,784,809,652,630,653,0.44474926428,-0.0055375833264,0.0697698220041,0.999999929775,-6.93207273812e-05,-0.000362737394907,-6.37719415416e-05,1793245269791456256
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.916979164,745,713.083020836,683.083020836,658,632,880,784,809,652,630,653,0.445356000019,-0.00554172575294,0.0697302157319,0.999999907892,-6.32977436168e-05,-0.000419520946895,-6.48944471224e-05,1793245269808123136
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.600947729,745,714,684,656.600947729,630,880,783,809,652,630,653,0.448506535906,-0.00555536048623,0.0696788246457,0.999999868594,-8.16160117977e-05,-0.000502198454155,-6.28368835214e-05,1793245269908122880
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,744.921473688,714,679.921473688,658,633.078526312,878,785,806,652,630,652,0.400978433409,-0.00536011629094,0.0698301110359,0.999999939956,0.000215030518111,-0.000271426568488,1.33275694115e-05,1793245273317551360
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.410562758,658,633.410562758,878,785.589437242,806,652,630,652,0.400979221697,-0.00536363948611,0.0698316833864,0.999999940965,0.000213113255964,-0.000269175396247,1.4042608758e-05,1793245273384217344
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d11980e57bfbc3bd9a5a4bd57d3914b09197410
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15fe91acf31d2b5b8ce9363cf54a08dbbfe59dbf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec0cfea85b615ed1b269f69156f51bb5b65d96893919d077a979c19a691eaeed
+size 25852214
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16121d1adefbe8798b688f0138244992769054d4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+57,0.950000000,BASELINE,763.068705246,745,714,679.068705246,658,633.068705246,878,785,805.931294754,652,630.931294754,652,0.400981280639,-0.00536374846469,0.0698354358526,0.999999943041,0.000210581384411,-0.000263424826295,1.34411247812e-05,1793245274494361600
+58,0.966666667,BASELINE,763.644793939,745,714,679.644793939,658,633.644793939,878,785,805.355206061,652,630.355206061,652,0.400981255968,-0.00536229289454,0.0698348383516,0.999999942327,0.000213044011345,-0.000264156227206,1.33696513927e-05,1793245274511028224
+59,0.983333333,BASELINE,764,745,714,680,658,634,878,785,805.225007812,652,630,652,0.400980832996,-0.0053613195637,0.0698343167417,0.999999941796,0.000214641725612,-0.000264878143817,1.32697594487e-05,1793245274527694848
+60,1.000000000,BASELINE,764,745,714,680,658,634,878,785,805.811855569,652,630,652,0.400979769506,-0.00536112173214,0.0698339171738,0.999999941566,0.000214848555447,-0.000265584808639,1.31241669978e-05,1793245274544361472
+61,1.016666667,BASELINE,764,745,714,680,658,633.604057991,878,785,806,652,630,652,0.400979740312,-0.00536087542063,0.0698341136216,0.999999941583,0.00021530066112,-0.000265154863256,1.31036885534e-05,1793245274561028352
+62,1.033333333,BASELINE,764,745,714,680,658,633.021274624,878,785,806,652,630,652,0.400980199192,-0.00536060623189,0.0698345913239,0.999999941716,0.000215868510172,-0.000264188562029,1.31422502553e-05,1793245274577695232
+63,1.050000000,BASELINE,763.445286956,745,714,680,658,633.554713044,878,785,806,652,630,652,0.400980321282,-0.00536053638186,0.0698348605697,0.999999941914,0.000215179194073,-0.000264007098687,1.30063577419e-05,1793245274594361856
+64,1.066666667,BASELINE,763.130169325,745,714,679.869830675,658,633.869830675,878,785,806,652,630,652,0.400980620109,-0.00536067505483,0.0698350941998,0.999999942164,0.000214330319045,-0.000263759947258,1.28917430781e-05,1793245274611028736
+65,1.083333333,BASELINE,763.704690551,745,714,679.295309449,658,633.295309449,878,785,806,652,630,652,0.400981565809,-0.00536149976946,0.0698352332116,0.999999942578,0.000213099364815,-0.000263187051207,1.28723268875e-05,1793245274627695104
+66,1.100000000,BASELINE,764,745,714,679,658,633.287224132,878,785,806,652,630,652,0.400982016546,-0.00536180579218,0.0698351538812,0.999999942717,0.000212773984375,-0.000262923583492,1.28545494729e-05,1793245274644361728
+67,1.116666667,BASELINE,764,745,714,679,658,633.878231974,878,785,806,652,630,652,0.400981943784,-0.00536156321834,0.0698348436204,0.999999942565,0.000213406387624,-0.000262987383884,1.28385053171e-05,1793245274661028352
+68,1.133333333,BASELINE,764,745,714,679.458182949,658,633.541817051,878,785,806,652,630,652,0.400981927706,-0.00536147580327,0.0698352651598,0.999999942694,0.000213683448178,-0.000262261987511,1.30728504852e-05,1793245274677695232
+69,1.150000000,BASELINE,764,745,714,679.964950377,658,633.035049623,878,785,806,652,630,652,0.40098184858,-0.00536144589742,0.0698357857582,0.999999942832,0.000213925878938,-0.000261521626368,1.33516023894e-05,1793245274694362112
+70,1.166666667,BASELINE,764,745,714,679.391388268,658,633.608611732,878,785,806,652,630,652,0.400980574765,-0.00536168095538,0.0698349106102,0.999999942019,0.000215053013704,-0.000263697904161,1.33143189917e-05,1793245274711028736
+71,1.183333333,BASELINE,764,745,714,679,658,633.812491559,878.187508441,785.187508441,806,652,630,652,0.40098022339,-0.00536206616496,0.0698346270223,0.999999941775,0.000215498642481,-0.000264260046496,1.3330392894e-05,1793245274727695360
+72,1.200000000,BASELINE,764,745,714,679,658,633.222133708,878.777866292,785.777866292,806,652,630,652,0.400981853811,-0.00536277396537,0.0698356143618,0.999999942755,0.000214480101206,-0.000261354326619,1.34611013976e-05,1793245274744362240
+73,1.216666667,BASELINE,764.361456789,745,714,679.361456789,658,633.361456789,879,785.638543211,806,652,629.638543211,652,0.400982033253,-0.00536216365251,0.0698356729598,0.999999942752,0.000214459689432,-0.000261396143016,1.32407736593e-05,1793245274761028864
+74,1.233333333,BASELINE,764.940964798,745,714,679.940964798,658,633.940964798,879,785.059035202,806,652,629.059035202,652,0.400981337382,-0.00536075817899,0.0698351712882,0.999999942155,0.000215041406003,-0.000263216080522,1.28086809566e-05,1793245274777695232
+75,1.250000000,BASELINE,764.484640466,745,714,679.484640466,658,634,878.484640466,785,806,652,629.515359534,652,0.4009810831,-0.00536134024456,0.0698349826977,0.999999942159,0.000214492845493,-0.000263635814734,1.31031288567e-05,1793245274794361600
+76,1.266666667,BASELINE,764,745,714,679.08919678,658,634,878.08919678,785,806,652,630,652,0.400980918978,-0.00536200917429,0.069834847478,0.999999942176,0.000214119297099,-0.000263858130462,1.344437888e-05,1793245274811028480
+77,1.283333333,BASELINE,764,745,714,679.663156227,658,634,878.663156227,785,806,652,630,652,0.400980972642,-0.00536192498459,0.0698348093186,0.999999941897,0.000215393648261,-0.000263870670717,1.35921160357e-05,1793245274827694848
+78,1.300000000,BASELINE,764,745,714,680,658,634,878.754765471,785,805.754765471,652,630,652,0.400980595987,-0.00536140267424,0.0698344802693,0.99999994172,0.000215626284457,-0.000264353456032,1.34759853475e-05,1793245274844361728
+79,1.316666667,BASELINE,764,745,714,680,658,634,878.161153669,785,805.161153669,652,630,652,0.400979608028,-0.00536025797486,0.0698337379852,0.99999994169,0.000214379072579,-0.00026550426592,1.29850071073e-05,1793245274861028608
+80,1.333333333,BASELINE,764,744.578992738,714,680,657.578992738,633.578992738,878,785,805.421007262,652,630,652,0.40097893384,-0.00536078360958,0.0698335463148,0.999999941832,0.000213076094798,-0.000266027908443,1.2808001631e-05,1793245274877695488
+81,1.350000000,BASELINE,764,744.001098877,714,680,657.001098877,633.001098877,878,785,805.998901123,652,630,652,0.400978376578,-0.00536193168724,0.0698335598282,0.999999942037,0.000211752335981,-0.00026631783976,1.27479967544e-05,1793245274894362368
+82,1.366666667,BASELINE,764,744.574565642,714,680,658.149131284,633,878,785,806,652,630,652,0.400979879365,-0.00536231074501,0.0698345974541,0.99999994256,0.000211037383451,-0.000264903966753,1.30208197027e-05,1793245274911028736
+83,1.383333333,BASELINE,764,745,714,679.84656317,659,633.15343683,878.15343683,785,806,652,630,652,0.400981075509,-0.00536269902247,0.0698354841911,0.999999942961,0.000210773660874,-0.000263588546547,1.31879338922e-05,1793245274927695360
+84,1.400000000,BASELINE,764,745,714,679.258598646,659,633.741401354,878.741401354,785,806,652,630,652,0.400981392138,-0.00536311755896,0.0698359380913,0.999999943019,0.000211784520765,-0.00026256113341,1.30538889616e-05,1793245274944361728
+85,1.416666667,BASELINE,764,745,714,679,658.675462291,634,878.675462291,785,806,652,630,652,0.40098114576,-0.00536223565838,0.0698361201957,0.99999994265,0.00021386540628,-0.000262285474412,1.29493108309e-05,1793245274961028352
+86,1.433333333,BASELINE,764,745,714,679,658.096116764,634,878.096116764,785,806,652,630,652,0.400980457344,-0.00536033273148,0.069836088902,0.99999994194,0.000216786412576,-0.000262600048372,1.28678682974e-05,1793245274977694976
+87,1.450000000,BASELINE,764,744.519064183,714,679,658,634,878,785,806,652,629.519064183,652,0.400981000401,-0.00536033593863,0.0698358781423,0.999999942034,0.000216738777956,-0.000262288626226,1.27107946643e-05,1793245274994361600
+88,1.466666667,BASELINE,764,744.05752051,714,679.05752051,658,634,878.05752051,785,806,652,629.05752051,652,0.400981785383,-0.0053607970234,0.069835695819,0.999999942286,0.000216026039395,-0.000261918546367,1.26156256757e-05,1793245275011028224
+89,1.483333333,BASELINE,764,744.633998685,714,679.633998685,658,634,878.633998685,785,806,652,629.633998685,652,0.400982543097,-0.00536196848788,0.0698360921124,0.999999942518,0.000214640019474,-0.000262142630125,1.32146923711e-05,1793245275027695104
+90,1.500000000,BASELINE,764,744.785358027,713.785358027,680,658,634,878.785358027,785,805.785358027,652,630,652,0.400982368668,-0.00536283247354,0.0698360288807,0.999999942505,0.000214052855518,-0.000262652300688,1.3584463145e-05,1793245275044361984
+91,1.516666667,BASELINE,764,744.197472022,713.197472022,680,658,634,878.197472022,785,805.197472022,652,630,652,0.400980573323,-0.0053631617797,0.0698351665739,0.999999942069,0.000214854833896,-0.000263658582255,1.35555078618e-05,1793245275061028352
+92,1.533333333,BASELINE,764,744.384681334,713.384681334,679.615318666,658,633.615318666,878.384681334,785,805.384681334,652,630,652,0.4009798699,-0.00536194777611,0.0698348329879,0.999999941573,0.00021644980099,-0.000264246089006,1.33107236019e-05,1793245275077694976
+93,1.550000000,BASELINE,764,744.963935159,713.963935159,679.036064841,658,633.036064841,878.963935159,785,805.963935159,652,630,652,0.400979718774,-0.00535995316377,0.0698347668298,0.999999941044,0.000218445863234,-0.000264621778812,1.29567726652e-05,1793245275094361856
+94,1.566666667,BASELINE,764,745,714,679,658,633.540698618,878.459301382,785,805.459301382,652,630,652,0.400982157401,-0.00536085510659,0.0698362796617,0.999999942376,0.000215491653017,-0.000262001867156,1.28694457663e-05,1793245275111028480
+95,1.583333333,BASELINE,764,745,714,679,658,634,878.116829947,785,805.116829947,652,630,652,0.400983872504,-0.00536153860683,0.0698373105,0.9999999434,0.000213102035951,-0.000260042601862,1.28497336171e-05,1793245275127694848
+96,1.600000000,BASELINE,764,745,714,679,658,634,878.691133658,785,805.691133658,652,630,652,0.400982081191,-0.00536061369135,0.0698360434746,0.999999942794,0.000214210195625,-0.000261449049897,1.30254643731e-05,1793245275144361472
+97,1.616666667,BASELINE,764,745,714,679.272758719,658,633.727241281,879,785,805.727241281,652,630,652,0.400981188692,-0.00536057460183,0.0698353451023,0.999999942584,0.000213960071032,-0.000262450888634,1.3113656432e-05,1793245275161028096
+98,1.633333333,BASELINE,764,745,714,679.86290296,658,633.13709704,879,785,805.13709704,652,630,652,0.400981342062,-0.00536156627076,0.0698353084221,0.999999942835,0.000212129429481,-0.000262981918749,1.30999873363e-05,1793245275177694720
+99,1.650000000,BASELINE,763.556030733,745,714,680,658,633,878.556030733,785,805.443969267,652,630,652,0.400980949582,-0.00536272792921,0.0698348304311,0.999999942783,0.000211498543146,-0.000263673966218,1.33389504164e-05,1793245275194361600
+100,1.666666667,BASELINE,763.022190191,745.022190191,714,680,658,633,878.022190191,785,806,652,630,652,0.40098044885,-0.00536390030581,0.0698342573989,0.999999942657,0.000211241949407,-0.00026434344399,1.36360267177e-05,1793245275211028224
+101,1.683333333,BASELINE,763.59795907,745.59795907,714,680,658,633,878.59795907,785,806,652,630,652,0.400981368323,-0.00536405677752,0.0698346449293,0.999999942946,0.000211265598699,-0.000263234317982,1.34756739825e-05,1793245275227694848
+102,1.700000000,BASELINE,764.176906012,745.823093988,714,680,658,633.176906012,879,785,806,652,630,652,0.40098182949,-0.00536369714182,0.0698348943481,0.999999942976,0.000211786831086,-0.000262711873055,1.32888491695e-05,1793245275244361728
+103,1.716666667,BASELINE,764.763207544,745.236792456,714,680,658,633.763207544,879,785,806,652,630,652,0.400981230045,-0.00536214313142,0.0698348241493,0.999999942404,0.000213459569217,-0.000263547124401,1.30407627525e-05,1793245275261028352
+104,1.733333333,BASELINE,764.653158682,745,713.653158682,680,658,633.653158682,878.653158682,785,806,652,630,652,0.400981452867,-0.00536156368375,0.0698355095495,0.999999942587,0.000213292093718,-0.000262992887411,1.29182342222e-05,1793245275277694976
+105,1.750000000,BASELINE,764.071332256,745,713.071332256,680,658,633.071332256,878.071332256,785,806,652,630,652,0.400982232774,-0.00536164450247,0.0698367068683,0.999999943281,0.000211877873043,-0.000261497271696,1.2880771177e-05,1793245275294361600
+106,1.766666667,BASELINE,764,744.494563716,713.505436284,679.494563716,658,633.505436284,878.505436284,785,806,652,630,652,0.400981421787,-0.00536340330368,0.0698364282783,0.999999943422,0.000210473575565,-0.000262076722706,1.31220299271e-05,1793245275311028480
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,806,652,630,652,0.400979693904,-0.00536177292277,0.0698343104326,0.999999941851,0.000215104068084,-0.000264301985486,1.31727828219e-05,1793245275354290944
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.410190499,658,633,878,785,805.410190499,652,630,652,0.400978980098,-0.00536331258582,0.0698339909117,0.999999942222,0.000211981585467,-0.000265416283174,1.31992841719e-05,1793245275370957568
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744.823742566,714,679,658,633,878,785,805.176257434,652,630,652,0.40097903088,-0.0053642830807,0.0698342239654,0.999999942669,0.00021019097102,-0.00026515300079,1.32547482219e-05,1793245275387624192
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744.244971227,714,679,658,633,878,785,805.755028773,652,630,652,0.400980827729,-0.00536395378331,0.069835718917,0.999999943302,0.000211441904026,-0.000261743779647,1.33763535414e-05,1793245275404290816
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744,714,679.331134627,658,633.331134627,878,785,806,652,630,652,0.400980530317,-0.00536316993913,0.0698356471025,0.999999943147,0.000211611572087,-0.000262201024942,1.32815001975e-05,1793245275420957440
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.491375189,714,680,658,634,878,785,806,652,630,652,0.400979161697,-0.00536260453613,0.0698345370215,0.999999942297,0.000211883819665,-0.000265216224254,1.30885455914e-05,1793245275454290688
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.921462167,658,633.921462167,878.078537833,785,806,652,630,652,0.400980235869,-0.00536322115406,0.0698350124878,0.999999942353,0.000212939638206,-0.000264152603242,1.31699843629e-05,1793245275470957568
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+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744,714,679.550519983,658,634,879,785,805.550519983,652.449480017,630,652,0.401118184783,-0.00536336889584,0.0698845573316,0.999999959758,0.000215342628036,-0.000184129911664,1.44143073556e-05,1793245275570957312
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.137791626,714,680,658,634,879,785,806,652,630,652,0.401175098887,-0.00536577297005,0.0698964482738,0.999999962916,0.000214076845393,-0.000167718372736,1.44930734305e-05,1793245275587624192
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.717131972,714,680,658,634,879,785,806,652,630,652,0.401242741037,-0.0053689259373,0.0699025990421,0.999999965115,0.000210154657743,-0.000159392200832,1.41197013301e-05,1793245275604291584
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679.70462876,658,634,879,785,806,652,630,652,0.401320367509,-0.00537072577089,0.0699060176266,0.99999996638,0.000207884943531,-0.000154481122034,1.26133431172e-05,1793245275620958464
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679.12744008,658,634,879,785,806,652,630,652,0.401407520144,-0.00537123456233,0.0699068293998,0.999999966807,0.000207191875399,-0.000152828427331,1.00259885288e-05,1793245275637625088
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.556542541,679.443457459,658,634,878.556542541,785,805.556542541,652,630,652,0.401508761769,-0.00537330334392,0.0699045980012,0.999999966712,0.000204514308772,-0.000157136632321,7.56135852654e-06,1793245275654291456
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.986859812,713.013140188,680,658,634,878,785,805,652,630,652,0.401614707182,-0.0053758052527,0.0699016374633,0.999999966452,0.00020131519961,-0.000162916892278,5.1260738619e-06,1793245275670957568
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.392040048,713.607959952,680,658,634,878,785,805,652,630,652,0.401752151242,-0.00537791277581,0.069904571951,0.999999967358,0.000199921391685,-0.000159090439322,2.45042916226e-06,1793245275687624192
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.19748595,714,680,658,634,878,785,805.19748595,652,630,652,0.401901128657,-0.00538014158069,0.0699076302971,0.999999968421,0.000197712246203,-0.000155138644208,-4.9315571585e-07,1793245275704290816
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.776777284,714,680,658,634,878,785,805.776777284,652,630,652,0.402072403833,-0.00538260486294,0.069910928102,0.999999969796,0.000193926784849,-0.000150944521864,-3.95475689617e-06,1793245275720957440
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679.645581678,658,633.645581678,878,785,806,652,630,652,0.402265907353,-0.00538595386826,0.0699150844442,0.999999972071,0.000187810344376,-0.000143238590231,-8.2134082304e-06,1793245275737624320
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679.068975168,658,633.068975168,878,785,806,652,630,652,0.402473346048,-0.00538985814195,0.0699197790117,0.999999974785,0.000180232590728,-0.000133331071824,-1.29717381562e-05,1793245275754291456
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.51812167,658,633.51812167,878.51812167,785,806,652,630,652,0.402708783682,-0.00539280981429,0.0699202571062,0.999999976262,0.000173888630722,-0.000130034072117,-1.81664637746e-05,1793245275770958336
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744.895133455,714,680,658,634,878.895133455,785,806,652,630,652,0.402955507021,-0.00539598939375,0.0699208178368,0.999999977728,0.000167228798755,-0.000126601329236,-2.34738009173e-05,1793245275787624704
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744.316419492,714,680,658,634,878.316419492,785,806,652,630,652,0.403236035294,-0.00540078365674,0.0699243407446,0.999999980015,0.000158384163285,-0.000118496571261,-2.90220504048e-05,1793245275804291328
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744.260257128,714,680,658,634,878,785,806,652,630,652,0.403538836709,-0.00540657611135,0.0699326109952,0.999999982862,0.000149495650525,-0.000103710496779,-3.42131690294e-05,1793245275820957952
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744.83447596,714,680,658,634,878,785,806,652,630,652,0.403868507357,-0.0054135727361,0.0699466082122,0.999999986093,0.000140554206796,-8.08644032853e-05,-3.89734617839e-05,1793245275837624320
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.393989963,745,714,679.606010037,658,634,878,785,806,652,630,652,0.404217924055,-0.00541988273725,0.0699526359293,0.999999994087,6.69339998154e-05,-7.32927568329e-05,-4.44384588501e-05,1793245275854291200
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.947548402,745,714,679.052451598,658,634,878,785,806,652,630,652,0.404575338021,-0.00542591465124,0.0699554359472,0.999999995615,-3.28815237539e-05,-7.19073598623e-05,-5.01888652218e-05,1793245275870957824
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.557827314,658,634,878.557827314,784.442172686,806,652,630,652,0.404986782265,-0.00543246337649,0.0699611255225,0.999999996995,-9.10339643194e-06,-6.09689457047e-05,-4.70030526554e-05,1793245275887624448
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.163222933,633.836777067,878.836777067,784.163222933,806,652,630,652,0.405407925667,-0.00543853023857,0.0699647651411,0.999999997212,3.20357385571e-05,-5.3541273999e-05,-4.10269016443e-05,1793245275904291328
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.741128477,633.258871523,878.258871523,784.741128477,806,652,630,652,0.405839342456,-0.00544323544837,0.069962428246,0.999999994319,8.44151413028e-05,-5.75733714575e-05,-3.03380295916e-05,1793245275920958208
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.682189879,745,714,680,658.682189879,633.317810121,878.317810121,785,806,652,630,652,0.406283419394,-0.00545863932557,0.0699527768809,0.99999999334,8.30819481104e-05,-7.53487088539e-05,-2.7215063854e-05,1793245275937624832
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.106501273,745,714,680,658.106501273,633.893498727,878.893498727,785,806,652,630,652,0.406737769116,-0.00548272434956,0.0699371903851,0.999999993378,3.81651174074e-05,-0.000104275629514,-3.0231248389e-05,1793245275954291200
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,806,652,630,652,0.407253290486,-0.00549903991996,0.0699250768722,0.999999992482,6.55190840508e-06,-0.000118151017429,-3.21593256063e-05,1793245275970957824
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680.065991307,658,634,879.065991307,785,806.065991307,652,630,652,0.407790746874,-0.00551161347466,0.069916484472,0.999999991564,-1.74841330318e-05,-0.000124182989342,-3.38446409558e-05,1793245275987624448
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680.645267319,658,634,879.645267319,785,806.645267319,652,630,652,0.408390813926,-0.00550879875587,0.069929147786,0.999999994762,-6.0726987942e-06,-9.5782603573e-05,-3.55628478662e-05,1793245276004291072
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680.775770317,658.224229683,634,879.551540633,785,806.775770317,652,630,652,0.409001879769,-0.00551276582951,0.0699404591749,0.999999996855,-1.07801141894e-05,-6.93968139226e-05,-3.68617719152e-05,1793245276020957952
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680.197303486,658.802696514,634,878.394606972,785,806.197303486,652,630,652,0.409630321421,-0.00552744675158,0.0699496347973,0.999999997391,-4.09520237346e-05,-4.61936768095e-05,-3.74983144986e-05,1793245276037624832
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,784.622220026,806.377779974,652,630,652,0.410254955515,-0.00553457526873,0.0699467024931,0.99999999693,-4.62341889455e-05,-4.99404782818e-05,-3.88377008358e-05,1793245276054291712
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,784.048887935,806.951112065,652,630,652,0.410877618664,-0.0055377943967,0.0699375027025,0.999999996145,-3.86325517146e-05,-6.76375105394e-05,-4.05409036501e-05,1793245276070958336
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.539552878,784,806.460447122,652,630,652,0.411583735412,-0.00554602715309,0.0699477647823,0.999999996033,-5.73810480454e-05,-5.44803057917e-05,-4.08968468682e-05,1793245276087624960
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,784.12705806,806.12705806,652,630,652,0.412310403353,-0.00555503337666,0.0699646290998,0.999999995893,-7.53884030898e-05,-2.96586890159e-05,-4.06436331604e-05,1793245276104291328
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,784.706222372,806.706222372,652,630,652,0.41308251646,-0.00556512879701,0.0699985304939,0.999999995539,-8.20183321526e-05,2.64337545993e-05,-3.86697587522e-05,1793245276120957696
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.283269903,744.716730097,714,680,659,634,879,785,807,652,630,652,0.413844292604,-0.00555474355027,0.0700157931452,0.999999995386,-7.00668969239e-05,5.34648983417e-05,-3.82196037727e-05,1793245276137624320
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.858138487,744.141861513,714,680,659,634,879,785,807,652,630,652,0.414595427948,-0.00552327545968,0.0700159278412,0.999999997187,-3.89877641916e-05,5.05802811009e-05,-3.93379688489e-05,1793245276154290944
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.441974047,714,680,659.441974047,633.558025953,879,785,807,652,630,652.441974047,0.415310181196,-0.00549904495379,0.0699727468394,0.999999998708,-9.10435060174e-06,-2.57554297814e-05,-4.28605641555e-05,1793245276170957824
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.971608513,745,714,680.028391487,659.971608513,633.028391487,879,785,807,652,630,652.971608513,0.416020743511,-0.00547907169349,0.0699179572517,0.999999991356,1.74205131664e-05,-0.000121539895637,-4.70404141297e-05,1793245276187625216
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.392098394,745,714,680.607901606,659.392098394,633.607901606,879,785,807,652,630,652.392098394,0.416881328615,-0.00549570972255,0.0699132970954,0.999999990563,-1.3644518949e-05,-0.000127736049395,-4.86886847079e-05,1793245276204291840
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680.812490483,659,634,879,785,807,652,630,652.187509517,0.417746820534,-0.00551027414577,0.0699207424123,0.999999991608,-3.56327889226e-05,-0.000114510505469,-4.90063400296e-05,1793245276220958464
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680.232678012,659,634,879,785,807,652,630,652.767321988,0.418622578324,-0.00552050021914,0.0699535145129,0.999999996332,-3.86308709845e-05,-6.06513468712e-05,-4.65401136296e-05,1793245276237624832
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.344008372,745,714,680.344008372,659,634,879.344008372,785,807,652,630,653,0.419515511775,-0.00552783714364,0.0699844124328,0.999999997789,-4.67108470307e-05,-1.36165535818e-05,-4.53325174369e-05,1793245276254291456
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.918599372,745,714,680.918599372,659,634,879.918599372,785,807,652,630,653,0.420419957729,-0.00553323752317,0.0700140541216,0.999999996879,-5.81971251339e-05,2.88439881119e-05,-4.49685585406e-05,1793245276270957824
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.50811977,879.50811977,785,807,652,630,652.50811977,0.421315638615,-0.00553493504567,0.0700286533195,0.999999995979,-6.09691974663e-05,4.79525816018e-05,-4.50115436108e-05,1793245276287624192
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.932417292,745,714,680.932417292,659.067582708,633,879,785,807,652,630.067582708,652,0.422204079227,-0.00553412391255,0.0700321514404,0.99999999587,-6.06984560133e-05,4.98820629745e-05,-4.56970364702e-05,1793245276304290816
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.336076893,745,714,680.336076893,659.663923107,633,879,785,807,652,630.663923107,652,0.423047190965,-0.00551846698438,0.0699682209622,0.999999996184,-4.78740005968e-05,-5.24405801887e-05,-5.0883925129e-05,1793245276320957696
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.251009798,745,713.748990202,680.251009798,659.748990202,633,879,785,807,652,630.748990202,652.251009798,0.423895116357,-0.00550901097446,0.0699054252247,0.999999986652,-4.15756791918e-05,-0.000147626255172,-5.6336489707e-05,1793245276337624576
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.826147301,745,713.173852699,680.826147301,659.173852699,633,879,785,807,652,630.173852699,652.826147301,0.424749257716,-0.00550756217733,0.0698440947634,0.999999969831,-4.37045207568e-05,-0.000233596012683,-6.21321212562e-05,1793245276354291200
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.39982614,681,659.39982614,633,879,785,807.39982614,652,630.39982614,653,0.425689153086,-0.00551651385363,0.0698659349977,0.999999977414,-5.20096582569e-05,-0.000196982548382,-6.05405088112e-05,1793245276370957824
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.972872992,681,659.972872992,633,879,785,807.972872992,652,630.972872992,653,0.426666200481,-0.00552997143206,0.0699238081152,0.99999999071,-6.2990614369e-05,-0.00010726111209,-5.57484454814e-05,1793245276387624448
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.434773432,745,714,681,660.565226568,633,879,785,808,652,630.434773432,652.434773432,0.427626483075,-0.00553281062357,0.0699763051396,0.999999995013,-7.26610285049e-05,-4.26680141682e-05,-5.36070329466e-05,1793245276404291328
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.154632918,745,714,681,660.845367082,633,879.154632918,785.154632918,808,652,630,652.154632918,0.428597091477,-0.00553451192408,0.0700220568158,0.999999995386,-7.86809841218e-05,1.85475313638e-05,-5.19031044699e-05,1793245276420957952
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.733325949,745,714,681,660.266674051,633,879.733325949,785.733325949,808,652,630,652.733325949,0.429598301512,-0.00553453967215,0.0700500428706,0.999999993162,-7.48686319229e-05,7.39248118652e-05,-5.10377153303e-05,1793245276437624576
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.689750045,745,714,681.310249955,660,633.310249955,879.689750045,785.689750045,808,652,630,652.689750045,0.430515652921,-0.00553190018081,0.0700355382443,0.999999995014,-6.64957227514e-05,5.34094173093e-05,-5.19489527817e-05,1793245276454291200
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.114338006,745,714,681.885661994,660,633.885661994,879.114338006,785.114338006,808,652,630,652.114338006,0.431361332623,-0.00552698107346,0.0699847180028,0.99999999654,-5.42250311966e-05,-3.1969357596e-05,-5.43786238522e-05,1793245276470957824
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633.529447003,879.941105993,785,808,652,630,652,0.432169170452,-0.00552759035934,0.0699196877602,0.999999986754,-5.89083292214e-05,-0.000140324168165,-5.77202221894e-05,1793245276487624704
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.056995497,745,714,682,660,633.056995497,880.943004503,785.056995497,808.056995497,652,630.056995497,652,0.432986314177,-0.00552989599914,0.0698635995266,0.999999968935,-6.76333369731e-05,-0.000232056216833,-6.08706130332e-05,1793245276504291584
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.636117044,745,714,682,660,633.636117044,880.363882956,785.636117044,808.636117044,652,630.636117044,652,0.433974673224,-0.00553518268682,0.0699217087047,0.999999988267,-7.48690445083e-05,-0.00011931478879,-6.01977437535e-05,1793245276520958208
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682.214030812,660,633.785969188,880,785.785969188,808.785969188,652,631,652.214030812,0.434945867071,-0.00553867785795,0.0699748756057,0.999999994858,-7.93420003066e-05,-2.43530021255e-05,-5.82786160227e-05,1793245276537624832
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682.789902797,660,633.210097203,880,785.210097203,808.210097203,652,631,652.789902797,0.435888041536,-0.00553914428633,0.0700196870869,0.999999994574,-7.91442414797e-05,4.05504825983e-05,-5.42525605574e-05,1793245276554291200
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,880,785,808.365311427,652,631,652.634688573,0.436783187238,-0.00553917994231,0.0700337707862,0.999999993104,-7.87969181127e-05,6.77194201986e-05,-5.47383835931e-05,1793245276570958080
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,880,785,808.940453878,652,631,652.059546122,0.437651320058,-0.00553896816714,0.0700302047697,0.999999992578,-7.83636865949e-05,7.32140289477e-05,-5.78157822822e-05,1793245276587624704
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+247,4.116666667,HOLD_POSE2,765,746,714,685,651,627,881,779,809,652,629,652,0.454174873983,-0.00557206388255,0.069594264828,0.999999800835,-0.000115668314511,-0.000617751148765,-5.7750981562e-05,1793245277709406464
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.538620459,745,713.538620459,680,657.461379541,633,879,785,806,652,629.538620459,652,0.405398207115,-0.00539165040634,0.0698075749957,0.999999930637,0.000180508811595,-0.000324796824152,2.54755835947e-05,1793245279563063040
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.882754776,745,714,680,657.117245224,633,878.882754776,784.882754776,806,652,630,652,0.404995109361,-0.00538244467015,0.0698147740646,0.999999933841,0.000191710109866,-0.000308142329092,2.47774630428e-05,1793245279579729920
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.293888226,745,714,680,657.706111774,633,878.293888226,784.293888226,806,652,630,652,0.404632079344,-0.0053866509297,0.0698311869645,0.999999944938,0.000179218844651,-0.000278143195889,2.53042836003e-05,1793245279596396544
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633,878.290176175,784.290176175,806.290176175,652,630,652,0.404281384386,-0.00538626961621,0.0698444935067,0.99999995096,0.0001818521083,-0.000253718950682,2.52335212655e-05,1793245279613062912
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633,878.869456138,784.869456138,806.869456138,652,630,652,0.403942978921,-0.00538131768345,0.0698547051704,0.99999995221,0.000199554006819,-0.000234848992583,2.45673844649e-05,1793245279629729536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,744.551920782,714,680,657.551920782,633,878.551920782,785,806.551920782,652,630,652,0.403618752369,-0.00537778409333,0.0698472237204,0.999999948577,0.000202838656855,-0.000247217214199,2.42250479621e-05,1793245279646395904
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,744.597771476,713.402228524,680,657,633,878.597771476,785,806,652,630,652,0.403022297136,-0.00537363824726,0.0698274688671,0.999999940071,0.000197297776291,-0.00028352773819,2.33335644796e-05,1793245279679729152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,744.824987018,713,679.824987018,657.175012982,633,878.824987018,785,806,652,630,652,0.402754483737,-0.00537151025635,0.0698197695386,0.999999936073,0.000196106595903,-0.000298114856087,2.29040183526e-05,1793245279696396032
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,744.234285582,713,679.234285582,657.765714418,633,878.234285582,785,806,652,630,652,0.402511508575,-0.00536698033864,0.0698112817213,0.999999930715,0.000202699038302,-0.000311379381133,2.29411475519e-05,1793245279713063168
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,744.350571442,713.350571442,679.701142884,658,633,878.350571442,785,806.350571442,652.350571442,630,652,0.402291743948,-0.00536544478196,0.0698046243312,0.999999926432,0.000205947273924,-0.000322730883676,2.3819747752e-05,1793245279729730048
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,744.931586771,713.931586771,680.863173542,658,633,878.931586771,785,806.931586771,652.931586771,630,652,0.40208723646,-0.00536587753174,0.0697991701494,0.999999922871,0.000206997236424,-0.000332824885393,2.52514787169e-05,1793245279746396416
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633,879,785,806,652,630,652,0.401770525583,-0.00536284499468,0.0698032202073,0.999999924477,0.000213198503252,-0.000323721896014,2.82268410232e-05,1793245279779729664
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633,879,785,806,652,630,652,0.401643691408,-0.00536105639839,0.0698044863367,0.999999924932,0.000219144812193,-0.000318231138357,2.90079835594e-05,1793245279796396288
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,744.70108738,714,680,658,633.29891262,878,785,806,652,630,652,0.401061395473,-0.0053641690342,0.0698099881096,0.999999931936,0.000205718769455,-0.000306081751569,1.10583819718e-05,1793245279929729280
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,744.95590853,714,680.04409147,658.911817059,633.04409147,879.04409147,785,806,652,630,652,0.401007506648,-0.00536340801954,0.0698198177612,0.999999936992,0.000206549477065,-0.000288437911184,1.25429098988e-05,1793245279979729408
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,744.381169516,714,680.618830484,657.762339031,633.618830484,879.618830484,785,806,652,630,652,0.400997534508,-0.00536413118219,0.0698205058459,0.999999937569,0.000206185030188,-0.000286681578353,1.27796883333e-05,1793245279996396288
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,744.19979053,714,680.600418939,657.19979053,633.80020947,879.600418939,785,806,652,630,652,0.400989374447,-0.00536426766812,0.0698213507464,0.999999937899,0.000206769542562,-0.00028509459855,1.30342739835e-05,1793245280013063168
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,744.793000755,714,679.41399849,657.793000755,633.206999245,878.41399849,785,806,652,630,652,0.40098478266,-0.00536324889315,0.0698225044424,0.999999937741,0.000209222708379,-0.000283841102209,1.33239248919e-05,1793245280029729536
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.376260827,658,633.376260827,878,785,806,652,630,652,0.400982710957,-0.00536437191656,0.0698239626671,0.999999938806,0.000207407004839,-0.000281404072923,1.3485209482e-05,1793245280046396160
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.954187853,658,633.954187853,878,785,806,652,630,652,0.400981989957,-0.00536664288926,0.0698255841114,0.999999940507,0.000203303296217,-0.000278332700225,1.35776929929e-05,1793245280063062784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,744.471533061,714,680,658,634,877.471533061,785,806,652,630,652,0.400979997977,-0.00536363077214,0.0698256700326,0.999999939245,0.000208662753253,-0.000278922772482,1.30981880274e-05,1793245280079729408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,744.105074083,714,680,658,633.894925917,877.105074083,785,805.894925917,652,630,652,0.400978086834,-0.00536094611607,0.0698257396384,0.99999993808,0.000213437561348,-0.000279506602822,1.26687624738e-05,1793245280096396032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,744.693843756,714,680,658,633.306156244,877.693843756,785,805.306156244,652,630,652,0.400977051534,-0.0053618627096,0.0698263427045,0.999999938684,0.000211770516592,-0.000278610575868,1.2696564969e-05,1793245280113062656
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633.277970117,878,785,805.277970117,652,630,652,0.400976840151,-0.00536327268118,0.0698267633484,0.99999993941,0.000209453125175,-0.000277743752484,1.2949993751e-05,1793245280129729536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633.857066431,878,785,805.857066431,652,630,652,0.400977521321,-0.00536521713141,0.0698269863734,0.999999940263,0.000206431210275,-0.000276908565337,1.34478444423e-05,1793245280146396672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.428672363,785,806,652,630,652,0.400977226635,-0.00536457923955,0.069826805324,0.999999940214,0.000206877140335,-0.000276762326837,1.33195491372e-05,1793245280163063296
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.997823611,785,806,652,630,652,0.400976612154,-0.0053630950963,0.0698264918566,0.999999939867,0.000208459507243,-0.000276841861601,1.29860614493e-05,1793245280179729664
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.425214279,785,806,652,630,652,0.400977131322,-0.00536463214778,0.0698278409245,0.999999940304,0.000208750038201,-0.000275019188772,1.34017167601e-05,1793245280196396032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.156505944,745,714,680,658,634,878,785,806,652,630,652,0.400977961832,-0.00536556940177,0.0698292681047,0.999999940668,0.000209390587538,-0.000273189358804,1.37118472691e-05,1793245280213062656
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.751472265,745,714,680,658,634,878,785,806,652,630,652,0.400979652392,-0.00536479379852,0.0698308962416,0.999999940822,0.000211025625884,-0.000271359934258,1.37182876472e-05,1793245280229729024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.663784679,745,714,680,658,634,878.336215321,785,806,652,630,652,0.400980055111,-0.00536504977232,0.0698312583515,0.999999941338,0.000209421070628,-0.00027070231142,1.3708776533e-05,1793245280246395904
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.086375604,745,714,680,658,634,878.913624396,785,806,652,630,652,0.400979533961,-0.00536604577771,0.0698307122404,0.999999942103,0.00020549249941,-0.000270885314401,1.36878221554e-05,1793245280263062528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.509984363,634,879,785,806,652,630,652,0.400979104349,-0.00536568294274,0.0698304628561,0.999999941791,0.000206512766769,-0.000271274227211,1.34169901062e-05,1793245280279729664
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.066030305,634,879,785,806,652,630,652,0.400978763356,-0.00536507976604,0.0698303747714,0.999999941381,0.000208175590587,-0.000271528251645,1.31611494851e-05,1793245280296396544
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.640523603,634,879,785,806,652,630,652,0.400978980784,-0.005364466472,0.0698311268336,0.999999941686,0.000208082921825,-0.000270464659004,1.3359222343e-05,1793245280313062912
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.223291108,745,714,680,658,634,879,785,806.223291108,652,630,652,0.400978724901,-0.00536446669745,0.0698312461116,0.999999941977,0.00020694945281,-0.000270258819401,1.33649873176e-05,1793245280329729536
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.819891958,745,714,680,658,634,879,785,806.819891958,652,630,652,0.400977677711,-0.00536549263675,0.069830307468,0.999999942239,0.000204075919532,-0.00027148701597,1.30492419567e-05,1793245280346396160
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.599300751,745,714,680,657.599300751,634,879,785,806.599300751,652,630,652,0.400976941595,-0.00536478671313,0.0698296979313,0.999999941709,0.000205194359686,-0.000272600756978,1.28743853433e-05,1793245280363062784
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.025323257,745,714,680,657.025323257,634,879,785,806.025323257,652,630,652,0.400976339999,-0.00536333186325,0.0698292307135,0.999999940832,0.000208039087622,-0.000273665002787,1.27604546303e-05,1793245280379729664
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,744.449094153,714,680,657.550905847,634,878.449094153,785,806,652.550905847,630,652,0.400977627657,-0.00536496865375,0.0698299994056,0.999999941327,0.000207962639984,-0.000271887215538,1.32040632042e-05,1793245280396396032
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63a34716e73d79a0be2f890ab3af71be254d0b30
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+1,0.016666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+2,0.033333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+3,0.050000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+4,0.066666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+6,0.100000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+7,0.116666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+8,0.133333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+9,0.150000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+11,0.183333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+12,0.200000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+13,0.216666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+359,5.983333333,pose2_to_pose3_retreat,0.578841905575,-0.000122045752811,1.06005106817,0.549413539251,0.00855364165935,1.05971756012
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+361,6.016666667,pose2_to_pose3_retreat,0.578238132715,-0.000122226945162,1.06005087194,0.548809766388,0.00855346054595,1.05971736606
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+363,6.050000000,pose2_to_pose3_retreat,0.577693398346,-0.000122245705557,1.06005110482,0.548265032854,0.008553444612,1.05971759873
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+365,6.083333333,pose2_to_pose3_retreat,0.577215016698,-0.000122260285134,1.06005104619,0.54778664987,0.00855342502423,1.05971752789
+366,6.100000000,pose2_to_pose3_retreat,0.577004729718,-0.000122204811356,1.06005090324,0.54757636179,0.0085534770542,1.05971739239
+367,6.116666667,pose2_to_pose3_retreat,0.576814517069,-0.000122171366975,1.06005087852,0.547386150802,0.00855351626899,1.05971737124
+368,6.133333333,pose2_to_pose3_retreat,0.576644182821,-0.000122186557103,1.06005102911,0.547215816672,0.00855350172991,1.05971752833
+369,6.150000000,pose2_to_pose3_retreat,0.576494281692,-0.000122153585292,1.06005095578,0.547065914168,0.00855352979775,1.05971744872
+370,6.166666667,pose2_to_pose3_retreat,0.576362012272,-0.000122105793333,1.06005095209,0.546933644556,0.00855357686552,1.05971744322
+371,6.183333333,pose2_to_pose3_retreat,0.576246879466,-0.000122127989569,1.0600508274,0.546818512232,0.00855355645597,1.05971732244
+372,6.200000000,pose2_to_pose3_retreat,0.576144616347,-0.000122164294125,1.06005078703,0.5467162495,0.00855352147602,1.05971728274
+373,6.216666667,pose2_to_pose3_retreat,0.576054674687,-0.000122142686147,1.06005104393,0.546626308432,0.00855354487934,1.05971753465
+374,6.233333333,pose2_to_pose3_retreat,0.575976872895,-0.000122181059141,1.06005080424,0.546548506616,0.00855350629746,1.05971729133
+375,6.250000000,pose2_to_pose3_retreat,0.575910332041,-0.000122154492508,1.06005091032,0.546481963136,0.00855352400928,1.0597173987
+376,6.266666667,pose2_to_pose3_retreat,0.575855006929,-0.000122249425271,1.06005110869,0.546426642622,0.00855344478469,1.05971759989
+377,6.283333333,pose2_to_pose3_retreat,0.575809593093,-0.000122098341364,1.060050795,0.546381226134,0.00855358703206,1.05971729042
+378,6.300000000,pose2_to_pose3_retreat,0.575774455388,-0.000122193703684,1.06005083647,0.546346088336,0.00855349127687,1.05971732974
+379,6.316666667,pose2_to_pose3_retreat,0.575746461245,-0.000122097881087,1.06005089027,0.546318093318,0.00855358397953,1.05971737965
+380,6.333333333,pose2_to_pose3_retreat,0.575725078804,-0.000122015841629,1.06005082276,0.546296710726,0.00855366572421,1.05971731782
+381,6.350000000,pose2_to_pose3_retreat,0.575709165301,-0.000122069116362,1.06005074855,0.546280798348,0.00855361664485,1.05971725347
+382,6.366666667,pose2_to_pose3_retreat,0.57569761355,-0.000122193380247,1.06005105351,0.546269247751,0.00855349578326,1.0597175451
+383,6.383333333,pose2_to_pose3_retreat,0.575689142024,-0.000122279179217,1.06005091157,0.546260777632,0.00855341470548,1.05971740195
+384,6.400000000,pose2_to_pose3_retreat,0.575683000613,-0.000122320133734,1.06005080805,0.546254636865,0.00855337594259,1.05971729855
+385,6.416666667,pose2_to_pose3_retreat,0.575679144632,-0.000122291745111,1.06005102498,0.546250779827,0.00855340060574,1.0597175116
+386,6.433333333,pose2_to_pose3_retreat,0.575676527388,-0.000122267959692,1.06005110969,0.546248161658,0.0085534211718,1.05971759411
+387,6.450000000,pose2_to_pose3_retreat,0.575674916327,-0.000122243063875,1.06005101987,0.546246549557,0.00855344251778,1.05971750392
+388,6.466666667,pose2_to_pose3_retreat,0.575673812878,-0.0001222260122,1.06005095836,0.546245445395,0.0085534571381,1.05971744215
+389,6.483333333,pose2_to_pose3_retreat,0.575672974948,-0.000122213063625,1.06005091165,0.546244606924,0.00855346824036,1.05971739524
+390,6.500000000,pose2_to_pose3_retreat,0.575672390549,-0.000122189951318,1.06005098125,0.546244022622,0.00855349179864,1.05971746794
+391,6.516666667,pose2_to_pose3_retreat,0.575672031417,-0.000122174798715,1.06005103091,0.546243663581,0.00855350734218,1.05971751972
+392,6.533333333,pose2_to_pose3_retreat,0.575671840317,-0.000122166735747,1.06005105734,0.546243472529,0.00855351561317,1.05971754728
+393,6.550000000,pose2_to_pose3_retreat,0.575671829978,-0.000122166299498,1.06005105877,0.546243462192,0.00855351606067,1.05971754877
+394,6.566666667,pose2_to_pose3_retreat,0.575671684622,-0.000122160166589,1.06005107887,0.546243316873,0.00855352235181,1.05971756972
+395,6.583333333,pose2_to_pose3_retreat,0.575671408461,-0.000122148514735,1.06005111705,0.546243040783,0.00855353430429,1.05971760954
+396,6.600000000,pose2_to_pose3_retreat,0.575671041926,-0.000122133049746,1.06005116774,0.54624267434,0.00855355016827,1.05971766239
+397,6.616666667,pose2_to_pose3_retreat,0.57567067475,-0.000122125029557,1.06005118571,0.546242307366,0.00855355893815,1.05971768212
+398,6.633333333,pose2_to_pose3_retreat,0.575670457484,-0.00012214091969,1.06005110575,0.546242090517,0.00855354445825,1.05971760207
+399,6.650000000,pose2_to_pose3_retreat,0.575670369222,-0.000122147374909,1.06005107326,0.546242002424,0.00855353857593,1.05971756955
+400,6.666666667,pose2_to_pose3_retreat,0.575670295265,-0.000122152783827,1.06005104604,0.546241928609,0.00855353364704,1.0597175423
+401,6.683333333,pose2_to_pose3_retreat,0.575670148785,-0.000122163496916,1.06005099213,0.54624178241,0.00855352388473,1.05971748833
+402,6.700000000,pose2_to_pose3_retreat,0.575669944378,-0.000122178446564,1.0600509169,0.546241578395,0.00855351026185,1.05971741301
+403,6.716666667,pose2_to_pose3_retreat,0.575669741015,-0.000122186712312,1.06005084011,0.546241374966,0.00855350173471,1.05971733529
+404,6.733333333,pose2_to_pose3_retreat,0.575669594285,-0.000122174632567,1.0600507794,0.546241226941,0.00855350930746,1.05971727161
+405,6.750000000,pose2_to_pose3_retreat,0.575669548487,-0.000122164033613,1.06005075939,0.546241180713,0.00855351843168,1.05971725109
+406,6.766666667,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+407,6.783333333,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68266968859664adcf9dd6649faf44afa8c721ea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc148722b1d9a078476285cbbea2bcaadf16b36f893ddc14ee51638b79dbd02
+size 25581120
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e9856370bee19eb9776e20c0a16e23f7e238406
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/franka_data.csv
@@ -0,0 +1,404 @@
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+36,0.600000000,BASELINE,764.107051724,745,714,679.892948276,658,634,878,785.892948276,806,652,629.107051724,652,0.401036661957,-0.00550568463845,0.0798668924529,0.999999982202,0.000112080948028,-0.000144400279992,4.67259936646e-05,1793245282244404224
+37,0.616666667,BASELINE,764,745,714,680,658,633.529972483,878,785.529972483,806,652,629.470027517,652,0.401036538921,-0.00550556209708,0.0798668506215,0.999999982312,0.000111483402565,-0.00014411912419,4.66539561743e-05,1793245282261070592
+38,0.633333333,BASELINE,764.048333807,745,714,680,658,633.048333807,878,785,806.048333807,652,630,652,0.401036139919,-0.00550579926298,0.0798666424947,0.99999998246,0.000110179224335,-0.000144127628932,4.65525571878e-05,1793245282277737216
+39,0.650000000,BASELINE,764.637239038,745,714,680,658,633.637239038,878,785,806.637239038,652,630,652,0.401034691298,-0.00550682913639,0.0798653514821,0.999999982261,0.000108877470192,-0.000146450532896,4.66515643699e-05,1793245282294403840
+40,0.666666667,BASELINE,764.777543647,745,714,679.777543647,658.222456353,633.777543647,878.222456353,785,807,652,630,652,0.401034265305,-0.00550729236624,0.0798647887079,0.999999982181,0.000108229677612,-0.000147484567843,4.66025679106e-05,1793245282311070464
+41,0.683333333,BASELINE,764.1982422,745,714,679.1982422,658.8017578,633.1982422,878.8017578,785,807,652,630,652,0.401035479724,-0.0055068466358,0.0798653941104,0.999999982303,0.000108630913257,-0.000146451111297,4.63161569021e-05,1793245282327737600
+42,0.700000000,BASELINE,764,745,714,679.37644958,658.62355042,633,878.62355042,785,806.62355042,652,630,652,0.401035252399,-0.00550649355011,0.0798654911527,0.999999982201,0.000109457737335,-0.000146517259462,4.63601871908e-05,1793245282344404736
+43,0.716666667,BASELINE,764,745,714,679.948743209,658.051256791,633,878.051256791,785,806.051256791,652,630,652,0.401034275022,-0.00550618866193,0.0798653237258,0.999999981982,0.000110505969437,-0.000147155465782,4.65761261988e-05,1793245282361071360
+44,0.733333333,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.401034631147,-0.0055071559501,0.0798657540166,0.999999982446,0.00010773024605,-0.000146111301889,4.6417777635e-05,1793245282377738752
+45,0.750000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630,651.895602766,0.401035183027,-0.00550771441694,0.0798662315354,0.999999982848,0.000105620922054,-0.000144943148467,4.62475840237e-05,1793245282394405632
+46,0.766666667,BASELINE,764,745,714,680,658,633,878,785,806,652,630,651.302798733,0.401036036996,-0.00550577477938,0.0798666549145,0.999999982695,0.000108389150755,-0.000143969207626,4.61942338702e-05,1793245282411071232
+47,0.783333333,BASELINE,764,745,714,680,658.28362212,633.28362212,878,785,806,652,630,651.28362212,0.401036023253,-0.00550480073299,0.0798666887968,0.999999982417,0.000110729830206,-0.000144136138934,4.61513686177e-05,1793245282427737088
+48,0.800000000,BASELINE,764,745,714,680,658.863378274,633.863378274,878,785,806,652,630,651.863378274,0.40103510352,-0.00550483487435,0.0798663159998,0.99999998201,0.000112624099524,-0.000145494271543,4.61194507987e-05,1793245282444403712
+49,0.816666667,BASELINE,764,745,714,680,659,633.562881725,878.437118275,785,806,652,630,652,0.401035624633,-0.00550541523246,0.079866661491,0.999999982112,0.000112147811882,-0.000145091672532,4.63310059031e-05,1793245282461070848
+50,0.833333333,BASELINE,764,745.009288637,714,679.990711363,658.990711363,633,879,785,806,652,630.009288637,652,0.401036556519,-0.00550615820935,0.0798671988135,0.999999982365,0.000110929869663,-0.00014419216585,4.66091913451e-05,1793245282477737984
+51,0.850000000,BASELINE,764,745.599290645,714,679.400709355,658.400709355,633,879,785,806,652,630.599290645,652,0.401035397172,-0.00550653957955,0.0798658841885,0.999999982299,0.000109037110477,-0.000146164721816,4.63600813699e-05,1793245282494404352
+52,0.866666667,BASELINE,764,745.813501429,714,679.186498571,658,633.186498571,879,785,806,652,630.813501429,652,0.401034875238,-0.0055063724508,0.0798653235589,0.99999998223,0.00010868708826,-0.000146937707324,4.621608997e-05,1793245282511070976
+53,0.883333333,BASELINE,764,745.232208269,714,679.767791731,658,633.767791731,879,785,806,652,630.232208269,652,0.401035702625,-0.00550504421708,0.0798663590449,0.999999982163,0.000111602851019,-0.000145171349253,4.62946217104e-05,1793245282527737344
+54,0.900000000,BASELINE,764,745,714,679.655373711,658,633.655373711,879.344626289,785,806.344626289,652,630,652.344626289,0.401036047587,-0.00550423083237,0.0798669840847,0.99999998213,0.000112718452335,-0.000144541269996,4.62782814639e-05,1793245282544403712
+55,0.916666667,BASELINE,764,745,714,679.081504999,658,633.081504999,879.918495001,785,806.918495001,652,630,652.918495001,0.401036071644,-0.00550375992084,0.0798673360991,0.999999982125,0.000112636601733,-0.00014466703364,4.61988331903e-05,1793245282561070336
+56,0.933333333,BASELINE,764,744.508305669,714,679,658,633.491694331,879.508305669,785,807,652,630,652.508305669,0.401034876259,-0.00550482904845,0.0798665670478,0.999999982321,0.000109856621702,-0.000145470515637,4.61293068153e-05,1793245282577736704
+57,0.950000000,BASELINE,764,744.067039349,714,679,658,634,878.932960651,785,807,652,630,652,0.401033810261,-0.00550600594849,0.0798658493996,0.999999982507,0.000107238513337,-0.000146144804961,4.61219653857e-05,1793245282594403584
+58,0.966666667,BASELINE,764,744.660089187,714,679,658,634,878.339910813,785,807,652,630,652,0.401035343353,-0.00550602816451,0.0798669911858,0.999999982429,0.000109394995861,-0.000144925147751,4.6589658235e-05,1793245282611071232
+59,0.983333333,BASELINE,764,745,714,679,658,633.753048713,878,785,806.753048713,652,630,652.246951287,0.40103645908,-0.00550579911448,0.0798677747831,0.999999982275,0.000111739744108,-0.000144096723375,4.69170861663e-05,1793245282627738368
+60,1.000000000,BASELINE,764,745,714,679,658,633.174495321,878,785,806.174495321,652,630,652.825504679,0.401037014379,-0.00550523266854,0.0798680774107,0.999999982018,0.000114337292758,-0.000143793639805,4.70561687504e-05,1793245282644404992
+61,1.016666667,BASELINE,764,745,714,679.402158963,658,633.402158963,878.402158963,785,806,652,630,652.597841037,0.401037473228,-0.00550443517707,0.0798682205466,0.999999982224,0.000113345042485,-0.000143273335577,4.66666048438e-05,1793245282661071104
+62,1.033333333,BASELINE,764,745,714,679.977993071,658,633.977993071,878.977993071,785,806,652,630,652.022006929,0.401037890425,-0.00550353790703,0.079868294805,0.999999982625,0.000110802512438,-0.000142659223117,4.60487412667e-05,1793245282677737216
+63,1.050000000,BASELINE,764,745,714,679.435968191,658.564031809,633.435968191,878.435968191,785,806,652,630,652,0.40103684997,-0.00550579860136,0.0798675778403,0.999999982714,0.00010960030626,-0.000142886806906,4.63001105354e-05,1793245282694403840
+64,1.066666667,BASELINE,764,745,714,679,658.85135569,633,878,785.14864431,806,652,630.14864431,652,0.401035913811,-0.00550704339097,0.0798670448587,0.999999982675,0.000109216548359,-0.000143401618725,4.64435534676e-05,1793245282711070720
+65,1.083333333,BASELINE,764,745,714,679,658.272050215,633,878,785.727949785,806,652,630.727949785,652,0.401035447642,-0.00550498127754,0.0798671360147,0.999999982306,0.00011104974186,-0.00014465170377,4.61742346507e-05,1793245282727737856
+66,1.100000000,BASELINE,764,745,714,679.306142479,658,633,878.306142479,785.693857521,806,652,630.693857521,652,0.401033971155,-0.00550410859174,0.0798662396566,0.999999981905,0.000111843171876,-0.000146831868497,4.60686699731e-05,1793245282744404736
+67,1.116666667,BASELINE,764,745,714,679.883349865,658,633,878.883349865,785.116650135,806,652,630.116650135,652,0.401031600112,-0.00550428904996,0.0798644689332,0.999999981471,0.00011171597362,-0.000149835545012,4.61080966237e-05,1793245282761071104
+68,1.133333333,BASELINE,764,745,714,679.542359341,658,633,878.542359341,785.457640659,806,652,630,652,0.401033115991,-0.0055038601486,0.0798653610757,0.999999981541,0.000113200671477,-0.000148281593911,4.60067937619e-05,1793245282777737728
+69,1.150000000,BASELINE,763.9678537,745,714,679,658,633,878,785.9678537,806,652,630,652,0.401035477545,-0.00550342306705,0.0798668387866,0.999999981741,0.000114807629398,-0.000145709104345,4.58832847661e-05,1793245282794404608
+70,1.166666667,BASELINE,763.376768892,745,714,679,658,633,878,785.376768892,806,652,630,652,0.401035425651,-0.00550552729606,0.0798667710481,0.999999982148,0.000111441777978,-0.00014549815563,4.59934251662e-05,1793245282811070976
+71,1.183333333,BASELINE,763.210078078,745,714,679,658,633.210078078,878.210078078,785,806,652,630,652,0.40103459104,-0.00550715610334,0.079866356897,0.999999982307,0.000108848170063,-0.00014632552558,4.61188859758e-05,1793245282827737600
+72,1.200000000,BASELINE,763.789474998,745,714,679,658,633.789474998,878.789474998,785,806,652,630,652,0.401032380406,-0.00550794911598,0.0798653337502,0.999999982042,0.000107612171478,-0.00014897826751,4.62712801991e-05,1793245282844404224
+73,1.216666667,BASELINE,764,745,714,679.366028074,658,634,878.633971926,785,806,652,630,652,0.401032978924,-0.00550714568558,0.0798654406861,0.999999982078,0.000108035008739,-0.000148429807187,4.6274730636e-05,1793245282861070848
+74,1.233333333,BASELINE,764,745,714,679.940958057,658,634,878.059041943,785,806,652,630,652,0.401035180699,-0.00550543112283,0.0798661925903,0.999999982282,0.000109404587601,-0.000146054335842,4.61931749023e-05,1793245282877737216
+75,1.250000000,BASELINE,764,745,714,679.486316584,658,633.486316584,878,785,806,652,630,652,0.401035847977,-0.00550384548553,0.0798669954078,0.999999981984,0.000113355111161,-0.000145048273286,4.6293812338e-05,1793245282894404096
+76,1.266666667,BASELINE,764,745.089498922,714,679.089498922,658.089498922,633.089498922,878,785,806,652,630,652,0.401035856889,-0.00550297322603,0.079867320656,0.999999981698,0.000116037577307,-0.000144871339276,4.63953414675e-05,1793245282911070720
+77,1.283333333,BASELINE,764,745.684181178,714,679.684181178,658.684181178,633.684181178,878,785,806,652,630,652,0.401033140901,-0.00550604439411,0.0798649173389,0.999999981861,0.000109895093668,-0.000148489837193,4.63842059925e-05,1793245282927737344
+78,1.300000000,BASELINE,764,745.729215542,714,680,658.729215542,634,878,785,806,652,630,652,0.401032702839,-0.00550705173084,0.0798646202617,0.999999982045,0.000107637222928,-0.000148901687324,4.63899605155e-05,1793245282944403968
+79,1.316666667,BASELINE,764,745.151761913,714,680,658.151761913,634,878,785,806,652,630,652,0.401034844577,-0.00550572173438,0.0798667085465,0.999999982286,0.000109778759504,-0.00014568194026,4.64148433235e-05,1793245282961070592
+80,1.333333333,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.401034927748,-0.00550565705137,0.0798668219129,0.99999998238,0.000109234486955,-0.000145482525353,4.62890507435e-05,1793245282977736960
+81,1.350000000,BASELINE,764,745,714,679.999861314,658,633.999861314,878,785,806,652,630,652,0.401034277339,-0.00550604295816,0.0798662313369,0.999999982423,0.000107734022671,-0.000146359501709,4.61096432859e-05,1793245282994403328
+82,1.366666667,BASELINE,764,745,714,679.411262372,658,633.411262372,878,785,806,652,630,652,0.401034951473,-0.00550429526198,0.0798661885294,0.999999982068,0.000111822228104,-0.000145635940047,4.63626507668e-05,1793245283011069952
+83,1.383333333,BASELINE,764,745,714,679.173968724,658.173968724,633.173968724,878,785,806,652,630,652,0.401035603762,-0.00550331667925,0.0798665238182,0.999999981942,0.000113986690337,-0.000144831761152,4.63352947464e-05,1793245283027736832
+84,1.400000000,BASELINE,764,745,714,679.751389543,658.751389543,633.751389543,878,785,806,652,630,652,0.401036205387,-0.00550412175263,0.0798677359525,0.999999982375,0.000111689786978,-0.000143840622124,4.56577458066e-05,1793245283044403712
+85,1.416666667,BASELINE,764,745,714,679.670637685,658.670637685,634,878,785,806,652,630,652,0.401035975141,-0.00550471609983,0.0798679004978,0.999999982557,0.00010984258435,-0.000144049427833,4.54978896516e-05,1793245283061070336
+86,1.433333333,BASELINE,764,745,714,679.09224762,658.09224762,634,878,785,806,652,630,652,0.401035115925,-0.0055051511189,0.0798672729709,0.99999998255,0.000108335396355,-0.000145165500533,4.57294561837e-05,1793245283077737216
+87,1.450000000,BASELINE,764,745,714,679,658,634,878,785,806,652,630.492044756,652,0.401034401102,-0.00550521123216,0.0798668277493,0.999999982197,0.000110452765695,-0.00014592793129,4.59579383009e-05,1793245283094403840
+88,1.466666667,BASELINE,764,745,714,679.076674585,658.076674585,633.923325415,878,785,806,652,630.923325415,652,0.401033976224,-0.00550523302092,0.0798665932481,0.999999981894,0.000112548561498,-0.000146339582672,4.61396632221e-05,1793245283111070464
+89,1.483333333,BASELINE,764,745,714,679.65617264,658.65617264,633.34382736,878,785,806,652,630.34382736,652,0.401035273087,-0.00550547001006,0.0798675137699,0.999999982395,0.00010999252558,-0.000144890929327,4.60185978206e-05,1793245283127736832
+90,1.500000000,BASELINE,764,745,714,679.775141395,658.775141395,633,878,785,806.224858605,652,630,652,0.401035766586,-0.00550592933975,0.0798679281518,0.999999982674,0.000108242349766,-0.000144272971425,4.60429565129e-05,1793245283144403456
+91,1.516666667,BASELINE,764,745,714,679.222229576,658.222229576,633,878,785,806.777770424,652,630,652,0.40103508803,-0.00550671304897,0.0798676041101,0.99999998264,0.000107667868554,-0.000144866941074,4.62794789504e-05,1793245283161070080
+92,1.533333333,BASELINE,764,745,714.359515362,679,658,633,878,785,806.640484638,652,630,652,0.401034315223,-0.00550692147297,0.0798666844172,0.999999982401,0.000108272442982,-0.000146095273789,4.61635888789e-05,1793245283177736960
+93,1.550000000,BASELINE,764,745,714.960637185,679,658,633,878,785,806.039362815,652,630,652,0.401033479077,-0.00550674328596,0.0798653644264,0.999999982022,0.000109669382552,-0.000147749919961,4.58108657271e-05,1793245283194403840
+94,1.566666667,BASELINE,764,745,714.449649583,679,658,633.550350417,878,785,806,652,630,652,0.401034680698,-0.00550619980613,0.0798670301086,0.999999982232,0.000110670636161,-0.000145473473525,4.60968316667e-05,1793245283211070464
+95,1.583333333,BASELINE,764,745,714.137481959,679,658,633.862518041,878.137481959,785,806.137481959,652,630,652,0.401035724235,-0.00550598448097,0.0798684426769,0.999999982456,0.000111068650804,-0.00014353770749,4.63614230345e-05,1793245283227737600
+96,1.600000000,BASELINE,764,745,714.718859101,679,658,633.281140899,878.718859101,785,806.718859101,652,630,652,0.401035796333,-0.00550691132993,0.0798683625231,0.999999982607,0.000109608476823,-0.000143591286735,4.64125037956e-05,1793245283244403968
+97,1.616666667,BASELINE,764.297039753,745,714.702960247,679,658,633.297039753,878.702960247,785,806.702960247,652,630,652,0.401035269161,-0.00550622881892,0.0798679302312,0.999999982355,0.000111021760154,-0.00014427331873,4.63601622093e-05,1793245283261070592
+98,1.633333333,BASELINE,764.872227181,745,714.127772819,679,658,633.872227181,878.127772819,785,806.127772819,652,630,652,0.401034180834,-0.00550403930508,0.0798671681976,0.999999981714,0.000115125745616,-0.000145543833136,4.62109760551e-05,1793245283277737216
+99,1.650000000,BASELINE,764.545054323,745,714,679,658.454945677,634,878,785,806,652,630,652,0.401034664031,-0.00550475281847,0.0798672399904,0.999999981956,0.000113078884623,-0.000145455966604,4.63065864758e-05,1793245283294403840
+100,1.666666667,BASELINE,764,745,714,679.0394179,658.9605821,633.9605821,878.0394179,785,806,652,630.0394179,652,0.401035487893,-0.00550616075891,0.0798674986642,0.999999982399,0.000109565539943,-0.000145050989723,4.64418691277e-05,1793245283311070208
+101,1.683333333,BASELINE,764,745,714,679.618455432,658.381544568,633.381544568,878.618455432,785,806,652,630.618455432,652,0.401034831457,-0.0055057257844,0.0798670558282,0.99999998228,0.000110023267032,-0.000145615470796,4.616321797e-05,1793245283327736832
+102,1.700000000,BASELINE,764,745,714,679.801961179,658.198038821,633,878.801961179,785,806,652,630.801961179,652,0.401034722031,-0.00550512090515,0.0798670434516,0.999999982234,0.000110509952743,-0.000145628962745,4.59624259319e-05,1793245283344403968
+103,1.716666667,BASELINE,764,745,714,679.221323294,658.778676706,633,878.221323294,785,806,652,630.221323294,652,0.401035669396,-0.00550418778023,0.0798678626967,0.999999982328,0.000111052584711,-0.000144577976861,4.59120530511e-05,1793245283361070848
+104,1.733333333,BASELINE,764,745,714,679,658.645378401,633,878,785,806.354621599,652,630,652,0.401036428849,-0.00550386417685,0.0798683247799,0.999999982374,0.000111792513873,-0.000143690714493,4.58992400092e-05,1793245283377737472
+105,1.750000000,BASELINE,764,745,714,679,658.072324145,633,878,785,806.927675855,652,630,652,0.401037072557,-0.00550391601417,0.0798685668659,0.99999998239,0.000112653970231,-0.00014290429913,4.5909562314e-05,1793245283394403840
+106,1.766666667,BASELINE,763.500713624,745,714,679,658.499286376,633,878,785,806.500713624,652,630,652,0.401036280745,-0.0055045132266,0.0798679396939,0.999999982195,0.000112781383583,-0.0001440561952,4.62334049422e-05,1793245283411070464
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633,879,785,806,652,630,652,0.401032261527,-0.00550609217193,0.0798659195227,0.999999981658,0.000112629496066,-0.000147937440862,4.59707429074e-05,1793245283453477376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.149597076,714,679.574798538,658.425201462,633,879,785,806,652,630,652,0.401034342862,-0.00550588026843,0.0798668892565,0.999999981874,0.000113258459587,-0.000145844958592,4.64088413432e-05,1793245283470143744
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745.850297232,714,679.850297232,658.149702768,633,878.850297232,785,806,652,630,652,0.401035407641,-0.00550541641295,0.0798673633873,0.999999981943,0.000113723571405,-0.000144937907136,4.66250153185e-05,1793245283486810112
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745.275092459,714,679.275092459,658.724907541,633,878.275092459,785,806,652,630,652,0.401033583054,-0.00550423643126,0.07986642886,0.999999981602,0.000113722965675,-0.000147400219663,4.62104107923e-05,1793245283503476736
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714.30721496,679.30721496,659,633,878,785,806,652,630,652,0.401033649315,-0.005503787247,0.0798662868382,0.999999981565,0.000113961930029,-0.000147547675023,4.59575582224e-05,1793245283520143360
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714.896032856,679.896032856,659,633,878,785,806,652,630,652,0.401035448787,-0.00550400793481,0.079866871252,0.999999981807,0.000114420491888,-0.000145573259046,4.58529726291e-05,1793245283536809984
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.52081816,745,715,680,658.52081816,633.47918184,878.47918184,785,806.47918184,652,630,652,0.401033616009,-0.00550384856408,0.0798657487809,0.999999981629,0.000113760180892,-0.000147322630556,4.57823480894e-05,1793245283553476864
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,745,714.939504966,680,658,634,878.939504966,785,807,652,630,652,0.40103143296,-0.00550373104503,0.0798645993051,0.999999981398,0.000112847554998,-0.000149591824296,4.57460859364e-05,1793245283570143488
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,745,714.363477015,680,658,634,878.363477015,785,807,652,630,652,0.401032902363,-0.00550466468678,0.0798663387959,0.999999981519,0.000111829311876,-0.000149486183948,4.59405976122e-05,1793245283586810112
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.211300603,745,714,680,658,634,878,785.211300603,806.788699397,652,630,652,0.401035780649,-0.00550548784957,0.079868062236,0.999999981383,0.000111599632363,-0.000150510098888,4.61199489344e-05,1793245283603476736
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.783940008,745,714,680,658,634,878,785.783940008,806.216059992,652,630,652,0.401041068224,-0.00550612208556,0.0798697582282,0.999999980801,0.000112718451844,-0.000153465632339,4.6273374972e-05,1793245283620143616
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.367563862,785.632436138,806,652,630,652,0.401059371291,-0.0055064457635,0.0798770466051,0.999999981364,0.000113122428254,-0.000149327525457,4.66574410657e-05,1793245283636810240
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.957843515,785.042156485,806,652,630,652,0.401085560758,-0.00550658126689,0.0798877235425,0.999999982567,0.000113093264143,-0.000140891211448,4.71812575324e-05,1793245283653476608
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.46110426,658.53889574,633.46110426,878.46110426,785,806,652,630,652,0.40113609191,-0.00550704970398,0.0799004789954,0.999999984856,0.000112366432121,-0.000124512823131,4.64676708624e-05,1793245283670143232
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.118085736,658.881914264,633.118085736,878,785,806,652,630,652,0.40119174222,-0.00550791165026,0.0799124075912,0.999999986852,0.000111208519114,-0.000108861849336,4.5573258646e-05,1793245283686810112
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679.692818923,658.307181077,633.692818923,878,785,806,652,630,652,0.401259949055,-0.0055101963087,0.079920520473,0.999999988281,0.000108591079855,-9.83859736167e-05,4.43476068256e-05,1793245283703476736
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714.274463878,679.725536122,658,633.725536122,878,785,806,652,630,652,0.401338982558,-0.00551098818874,0.0799273361427,0.999999989272,0.00010782001855,-8.94982800923e-05,4.26766037454e-05,1793245283720143360
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714.864044314,679.135955686,658,633.135955686,878,785,806,652,630,652,0.401430446335,-0.00551006618482,0.0799326624607,0.999999989824,0.000109168814754,-8.24340056874e-05,4.0494285527e-05,1793245283736810240
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.555605174,745,714.555605174,679.444394826,658,633.444394826,878.444394826,785,806,652,630,652,0.401536914878,-0.00551118565373,0.0799356850894,0.999999990463,0.000106953048885,-7.90869164311e-05,3.71589186553e-05,1793245283753477376
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.021911155,745,714,680,658,634,879,785,806,652,630,652.021911155,0.401649238085,-0.00551293539531,0.0799382242558,0.999999991143,0.000103669483662,-7.64717288387e-05,3.34595822591e-05,1793245283770144512
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.597711621,745,714,680,658,634,879,785,806,652,630,652.597711621,0.401795879788,-0.00551515086813,0.0799459955293,0.99999999247,0.000100399417776,-6.41956032215e-05,2.92953712149e-05,1793245283786811392
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679.82295061,658,634,878.82295061,785,806,652,630,652.82295061,0.401948465622,-0.00551697391276,0.0799526819059,0.99999999353,9.72184600783e-05,-5.36315508608e-05,2.47481536558e-05,1793245283803478016
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679.235411676,658,634,878.235411676,785,806,652,630,652.235411676,0.402114832924,-0.00551788711115,0.0799568529445,0.999999994266,9.42441004652e-05,-4.7036947226e-05,1.93129349267e-05,1793245283820143872
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.347167475,634,878.347167475,785,806.347167475,652,630,652,0.402303244136,-0.00551971644282,0.0799596332563,0.999999994996,8.86864311041e-05,-4.43141475509e-05,1.33980697488e-05,1793245283836810496
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.926430863,634,878.926430863,785,806.926430863,652,630,652,0.402506392636,-0.00552215824782,0.0799614838098,0.999999995685,8.14017113064e-05,-4.41798093839e-05,7.16254040306e-06,1793245283853477120
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680.008348826,658.495825587,634,878.495825587,785,806.495825587,652,630,652,0.402721812187,-0.00552235677435,0.0799549211682,0.999999995568,7.28387810525e-05,-5.96391402504e-05,-1.0063258405e-06,1793245283870143488
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680.918796254,658.081203746,633.918796254,878,785,806,652,630,652,0.402945142663,-0.00552265138724,0.0799476700686,0.999999995201,6.05803883786e-05,-7.6417976521e-05,-9.4001131508e-06,1793245283886810368
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680.344759399,658.655240601,633.344759399,878,785,806,652,630,652,0.403205650759,-0.00552550983865,0.0799436690007,0.99999999566,2.7022469661e-05,-8.74367392805e-05,-1.74519494639e-05,1793245283903476992
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.235580965,878,785,805.764419035,652,630,652,0.403488374996,-0.00552798715253,0.0799430054984,0.99999999566,3.76634540374e-06,-9.02891226973e-05,-2.26649937603e-05,1793245283920143872
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.82539974,878,785,805.17460026,652,630,652,0.40380450513,-0.00552989135828,0.0799473606186,0.999999996444,-3.99919973043e-06,-8.0861904285e-05,-2.36094097704e-05,1793245283936810496
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.593112211,745,714,680,659,634,878,785,805.406887789,652,630,652,0.404158877505,-0.00552941134516,0.0799512825753,0.999999996954,2.11428410731e-06,-7.40504432855e-05,-2.45628532115e-05,1793245283953477120
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.015127264,745,714,680,659,634,878,785,805.984872736,652,630,652,0.404529330814,-0.005527928763,0.0799550223857,0.99999999724,1.40639285791e-05,-6.83389139276e-05,-2.55200926795e-05,1793245283970143744
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.563057011,745,714,680,659,633.436942989,878,785,806,652,630,652,0.40493742613,-0.00552757188786,0.079954832485,0.999999997632,-2.19587905871e-06,-6.23755882958e-05,-2.8974110195e-05,1793245283986810368
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878.14068188,785,806,652,630,652,0.4053526345,-0.00552754663219,0.079953197033,0.999999997506,-1.5355063599e-05,-6.0869731337e-05,-3.23691058918e-05,1793245284003476992
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878.716559556,785,806,652,630,652,0.405786717298,-0.00552845364196,0.0799474165202,0.99999999656,-1.65772219924e-05,-7.31738750747e-05,-3.53739371368e-05,1793245284020143616
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.701495994,633,879,785,806,652,630,652,0.406240270384,-0.00552895169069,0.0799413182293,0.999999995819,-5.73019735266e-06,-8.47042651233e-05,-3.39825359905e-05,1793245284036810496
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.113671342,633,879,785,806,652,630,652,0.406712694815,-0.00552905335999,0.0799349119359,0.999999994899,1.68147064036e-05,-9.54847071391e-05,-2.83301511937e-05,1793245284053477120
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680.466709043,658.466709043,633,878.533290957,785,806,652,630,652,0.407230563411,-0.00553166544023,0.0799315137139,0.999999994239,6.10516053639e-06,-0.000102476029194,-3.13476458787e-05,1793245284070144512
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680.954984868,658.954984868,633,878.045015132,785,806.045015132,652,630,652,0.407760431924,-0.00553562880654,0.0799280984569,0.999999993238,-1.18862432564e-05,-0.000109959585622,-3.59370730068e-05,1793245284086811904
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680.38008777,658.38008777,633,878.61991223,785,806.61991223,652,630,652,0.408303312025,-0.00554841411796,0.0799159939811,0.999999990197,-2.17506921336e-05,-0.000133930127851,-3.45638663565e-05,1793245284103478272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.199190865,633.199190865,879,785,806.800809135,652,630,652,0.408871221328,-0.00555941248754,0.079912722076,0.999999988711,-3.30846572038e-05,-0.000142588511391,-3.39419989916e-05,1793245284120144640
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.787018177,633.787018177,879,785,806.212981823,652,630,652,0.409487964465,-0.00556692439763,0.0799266831854,0.999999990911,-4.72857589551e-05,-0.000121371713614,-3.47860515169e-05,1793245284136810752
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.630814514,785,806.369185486,652,630,652,0.410163613669,-0.00556765469583,0.0799557215043,0.999999995538,-5.05724173043e-05,-7.17244375281e-05,-3.49465325692e-05,1793245284153477376
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.051863156,785,806.948136844,652,630,652,0.41087273243,-0.00556453177965,0.0799933264759,0.999999998244,-4.76576455805e-05,-5.92337393624e-06,-3.47186180192e-05,1793245284170144000
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744.473556947,714,680,659,633.473556947,878.526443053,785,806.473556947,652,630,652,0.411563174013,-0.00556030270682,0.07998739013,0.999999998083,-4.55611009465e-05,-2.02175204072e-05,-3.67359102935e-05,1793245284186810624
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,744.10410994,714,680,659,633,878.89589006,785,806.10410994,651.89589006,630,652,0.412251873081,-0.00555584476422,0.0799725782255,0.999999997178,-4.3688467527e-05,-4.68689188073e-05,-3.92266117648e-05,1793245284203477248
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,744.679171777,714,680,659,633,878.320828223,785,806.679171777,651.320828223,630,652,0.41294100276,-0.00555084386025,0.0799369971806,0.999999993784,-4.24645249303e-05,-9.37690200672e-05,-4.28594800752e-05,1793245284220144128
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.258366297,659.258366297,633.258366297,878.258366297,785,807,651.258366297,630,652,0.413654705978,-0.00554802370871,0.0799172122238,0.999999991364,-4.29377700047e-05,-0.000115473607261,-4.5751521819e-05,1793245284236811008
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.842776104,659.842776104,633.842776104,878.842776104,785,807,651.842776104,630,652,0.414399419693,-0.00554795554151,0.0799173610233,0.999999992272,-4.55527689132e-05,-0.000105382901233,-4.77086833294e-05,1793245284253477888
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680.57445201,659.57445201,634,879,785,807,652,630,652,0.415197860755,-0.00554873490553,0.0799368787099,0.99999999515,-4.66564172535e-05,-7.24942581692e-05,-4.7612838125e-05,1793245284270144512
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,807,652,630,652,0.416015847327,-0.00554978970309,0.0799629694943,0.999999997272,-4.7196207813e-05,-3.22396415992e-05,-4.67820291206e-05,1793245284286810624
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,807,652,630,652,0.416816820332,-0.00554812770944,0.0799477064639,0.99999999543,-4.71693818755e-05,-6.82637258082e-05,-4.74873807467e-05,1793245284303477248
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.161185837,633.838814163,879,785,807,652,630,652,0.417643792229,-0.00554784187256,0.0799438397413,0.999999994643,-4.88501756917e-05,-7.74610877864e-05,-4.8248900513e-05,1793245284320143616
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.738385651,633.261614349,879,785,807,652,630,652,0.418537866143,-0.0055511078395,0.0799693864187,0.999999997131,-5.49382654928e-05,-1.74197870754e-05,-4.91553879097e-05,1793245284336810240
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,680.32154201,660,633,879.32154201,784.67845799,807,652,630,652,0.41940120339,-0.00555159701329,0.0799814449037,0.999999996776,-6.13480491551e-05,1.0336652304e-05,-5.07703080894e-05,1793245284353477120
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,680.909636201,660,633,879.909636201,784.090363799,807,652,630,652,0.420239060482,-0.00554978427848,0.0799823219337,0.999999996219,-6.80245106998e-05,1.13295556372e-05,-5.2972505569e-05,1793245284370144256
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+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,680.144012629,659.072006315,633,879,785,807,652,630,652,0.421993458298,-0.005550942283,0.0799592637616,0.999999996345,-6.24041671246e-05,-2.61606007088e-05,-5.22571774689e-05,1793245284403478016
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+166,2.766666667,POSE1_TO_POSE2_PRESS,764.219724517,745,714,681.780275483,660,633.219724517,879,785,807,651.780275483,630,652,0.423841354449,-0.00555075723355,0.0800006290537,0.999999996748,-5.70237271483e-05,2.99070164923e-05,-4.85514203049e-05,1793245284436810240
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+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,879.190238314,785,808,652,630,652,0.43445745594,-0.00554794842285,0.0799042521528,0.999999987475,-6.95447871909e-05,-0.000129643436163,-5.83623002296e-05,1793245284636810496
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713.679761183,684,658.359522366,631,880,784,808,652,630,652,0.444581182894,-0.00556358706412,0.0797727187031,0.999999930847,-0.000101784759171,-0.000351850283983,-6.43986370096e-05,1793245284870143488
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea7640f5a92db202fb82a3c99a5c862dff05d8d3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,404 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.575685825996,-0.000122126006298,1.07005095697,0.546257458661,0.00855355778263,1.06971744445
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+381,6.350000000,pose2_to_pose3_retreat,0.575678072679,-0.000122135659926,1.07005098735,0.546249705532,0.00855354896236,1.06971747991
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+383,6.383333333,pose2_to_pose3_retreat,0.575675165829,-0.000122201634776,1.07005101044,0.546246798408,0.00855348201961,1.06971750193
+384,6.400000000,pose2_to_pose3_retreat,0.575674294924,-0.000122199654633,1.07005107014,0.546245928126,0.00855348612862,1.06971756198
+385,6.416666667,pose2_to_pose3_retreat,0.575673577101,-0.000122198022548,1.07005111935,0.546245210818,0.00855348951538,1.06971761147
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+388,6.466666667,pose2_to_pose3_retreat,0.575672341679,-0.000122195213616,1.07005120404,0.54624397628,0.00855349534422,1.06971769666
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+390,6.500000000,pose2_to_pose3_retreat,0.575672130016,-0.000122194732366,1.07005121855,0.546243764769,0.00855349634286,1.06971771125
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ff73ad3a43e16a0e48a6936a2dfbb62d40c01dd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f10352ba682272b4526f8481e715464009156da9d17173f5ea692bebbcf2711
+size 25708269
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cea010c222a95795ec03341b885484e96ec2e25b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+27,0.450000000,BASELINE,764,745,714.316414038,680,658,633.683585962,878.683585962,785,806,651.316414038,630,652,0.40097613811,-0.00539329421007,0.0798375480171,0.99999993059,0.000246093841619,-0.000276228271779,4.42156402936e-05,1793245289016486656
+28,0.466666667,BASELINE,764,745,714,680,658,634,879,785.261318441,806.261318441,651.261318441,630,652.261318441,0.400975844772,-0.0053935866303,0.0798374108776,0.999999930513,0.000246149010451,-0.000276482671665,4.40707789295e-05,1793245289033153536
+29,0.483333333,BASELINE,764,745,714,680,658,634,879,785.837627597,806.837627597,651.837627597,630,652.837627597,0.400974690844,-0.00539562316798,0.0798368667531,0.999999930479,0.000245103684946,-0.000277478836803,4.43966975722e-05,1793245289049820416
+30,0.500000000,BASELINE,764,745,714,680,658,634,878.586764149,785.586764149,806.586764149,652,630,652.586764149,0.400975544873,-0.00539620911629,0.0798373003651,0.999999931004,0.000243760270549,-0.000276779144164,4.43320987745e-05,1793245289066487040
+31,0.516666667,BASELINE,764,745,714,680,658,634,878.011430848,785.011430848,806.011430848,652,630,652.011430848,0.400977186552,-0.00539622605089,0.0798381175078,0.999999931746,0.000242299926706,-0.000275414227945,4.41143141278e-05,1793245289083153664
+32,0.533333333,BASELINE,764,745,714,680,658,633.422396711,878,785.577603289,806,652,630,652,0.400975626242,-0.00539487328897,0.0798375146544,0.999999931032,0.00024396734119,-0.000276545054168,4.40245923815e-05,1793245289099820544
+33,0.550000000,BASELINE,764,745,714,680,658.16379924,633,878.16379924,785.83620076,806,651.83620076,630,652,0.400974148005,-0.00539422187394,0.0798367880957,0.999999930325,0.000245396862221,-0.000277828783611,4.40695020303e-05,1793245289116487168
+34,0.566666667,BASELINE,764,745,714,680,658.742109945,633,878.742109945,785.257890055,806,651.257890055,630,652,0.400973041716,-0.0053954155548,0.0798358213308,0.999999929714,0.000246063920935,-0.000279371424581,4.44485414599e-05,1793245289133153792
+35,0.583333333,BASELINE,764,745,714,680,658.679763973,633.320236027,878.679763973,785,806,651.320236027,630,652,0.400973194621,-0.0053959126733,0.0798359366338,0.999999930069,0.000245024547532,-0.00027901920144,4.44273584801e-05,1793245289149820416
+36,0.600000000,BASELINE,764,745,714,680,658.101786422,633.898213578,878.101786422,785,806,651.898213578,630,652,0.400974360986,-0.00539584916468,0.0798369228375,0.999999931194,0.000242611754669,-0.0002771418997,4.40840570882e-05,1793245289166486784
+37,0.616666667,BASELINE,764,745,714,679.517618685,658,634,878.482381315,785,806,652,630,652,0.400974074312,-0.00539551684127,0.0798365806676,0.999999931055,0.000242350909908,-0.000277882045725,4.40277911059e-05,1793245289183153664
+38,0.633333333,BASELINE,764,745,713.932942857,679.067057143,658.067057143,634,879,785.067057143,806,652,630,652,0.400973890598,-0.00539519461834,0.0798362639599,0.999999930852,0.000242443462096,-0.000278529912148,4.40274534835e-05,1793245289199820288
+39,0.650000000,BASELINE,764,745,713.354482737,679.645517263,658.645517263,634,879,785.645517263,806,652,630,652,0.400976860768,-0.00539538763284,0.0798383068808,0.999999932223,0.000241723160732,-0.000274207195874,4.39857366631e-05,1793245289216487168
+40,0.666666667,BASELINE,764,745,713.223737517,680,659,634,878.776262483,786,805.776262483,652,630,652,0.400976955971,-0.00539512104258,0.0798386189387,0.999999932276,0.000242168364107,-0.000273640326968,4.38601858752e-05,1793245289233154048
+41,0.683333333,BASELINE,764,745,713.801578108,680,659,634,878.198421892,786,805.198421892,652,630,652,0.400972501044,-0.00539412704878,0.0798361916085,0.999999930244,0.000244458179093,-0.000279017732308,4.36019534278e-05,1793245289249820416
+42,0.700000000,BASELINE,764,745,714,679.623078865,658.623078865,633.623078865,878,785.623078865,805.376921135,652,630,652,0.400972856353,-0.00539402028854,0.0798363817793,0.999999929999,0.000245652991814,-0.000278818967554,4.37676142625e-05,1793245289266487040
+43,0.716666667,BASELINE,764,745,714,679.04904199,658.04904199,633.04904199,878,785.04904199,805.95095801,652,630,652,0.400975727235,-0.00539437751848,0.0798379408058,0.999999930693,0.000246275158989,-0.000275704072984,4.41549555324e-05,1793245289283153664
+44,0.733333333,BASELINE,764,745,714,679.539283167,658,633,878,785,806,652,630,652,0.400975676612,-0.00539411783869,0.0798380355417,0.999999930843,0.000245756519863,-0.000275643781508,4.40280711848e-05,1793245289299820288
+45,0.750000000,BASELINE,764,744.873218126,714,680,658,633.126781874,878,785,806,652,630,652,0.400975647094,-0.00539370413666,0.0798381766008,0.999999930908,0.000245549388596,-0.000275614802916,4.38919467615e-05,1793245289316487168
+46,0.766666667,BASELINE,764,744.293441502,714,680,658,633.706558498,878,785,806,652,630,652,0.400976668095,-0.0053929460162,0.0798389719124,0.999999930849,0.000246836051131,-0.000274678167074,4.38944411241e-05,1793245289333154048
+47,0.783333333,BASELINE,763.714804516,744,714,680,658,634,878.285195484,785,806,651.714804516,630,652,0.40097710734,-0.00539270947022,0.0798393156319,0.999999930914,0.000247381734054,-0.000273938043055,4.39527335398e-05,1793245289349820672
+48,0.800000000,BASELINE,763.137335381,744,714,680,658,634,878.862664619,785,806,651.137335381,630,652,0.40097695039,-0.00539300744339,0.0798391965516,0.999999931109,0.00024716804741,-0.000273399307905,4.40682088411e-05,1793245289366487296
+49,0.816666667,BASELINE,763,744,714,680,658.435680872,633.564319128,879,785,806,651,630,652,0.40097622824,-0.00539309247951,0.0798386245044,0.999999930942,0.000247025931015,-0.000274122903928,4.41644567337e-05,1793245289383154176
+50,0.833333333,BASELINE,763,744.007574861,714,680,658.992425139,633.007574861,879,785,806,651,630,652,0.400975319734,-0.00539311941551,0.079837898566,0.999999930657,0.000246899974925,-0.000275261658406,4.4249374215e-05,1793245289399820544
+51,0.850000000,BASELINE,763,744.600103399,714,680,658.399896601,633.600103399,879,785,806,651,630,652,0.400973639403,-0.00539379061189,0.079836203363,0.99999993005,0.00024629741079,-0.000278043104573,4.39226267425e-05,1793245289416487168
+52,0.866666667,BASELINE,763.187873588,745,714,680,658,633.812126412,879,785,806,651.187873588,630,652,0.400972999363,-0.00539452142975,0.0798356787588,0.999999929991,0.000245318291919,-0.000279148770054,4.37272404919e-05,1793245289433153536
+53,0.883333333,BASELINE,763.765765591,745,714,680,658,633.234234409,879,785,806,651.765765591,630,652,0.400974518926,-0.00539537601951,0.0798375842734,0.999999931078,0.000243557459789,-0.000276775578464,4.38045551563e-05,1793245289449820160
+54,0.900000000,BASELINE,764,745,714,679.657957088,658.342042912,633,878.657957088,785,806,652,630,652,0.400975436486,-0.00539484444694,0.0798381570118,0.999999931295,0.000243966534806,-0.000275625557679,4.38357433898e-05,1793245289466486784
+55,0.916666667,BASELINE,764,745,714,679.082780344,658.917219656,633,878.082780344,785,806,652,630,652,0.400975943726,-0.00539336807669,0.07983782134,0.999999930919,0.000245854601998,-0.000275309240848,4.3835492198e-05,1793245289483153664
+56,0.933333333,BASELINE,764,745,714,679.503572182,658.496427818,633.503572182,879.007144364,785,806,652,630,652,0.400975837657,-0.0053943548867,0.0798377204593,0.999999931093,0.000244597159838,-0.000275783030803,4.39201450032e-05,1793245289499820544
+57,0.950000000,BASELINE,764,745,714,680,658,633.909067124,879.818134248,785,806,651.909067124,630,652,0.40097557703,-0.00539527712347,0.0798376690117,0.999999931275,0.000243225772626,-0.000276329756986,4.39708322869e-05,1793245289516487424
+58,0.966666667,BASELINE,764,745,714,680,658,633.326414827,878.652829654,785,806,651.326414827,630,652,0.400975038186,-0.0053936109176,0.0798376714271,0.99999993101,0.000244097792064,-0.000276552604172,4.37606653012e-05,1793245289533153792
+59,0.983333333,BASELINE,764,744.74729051,714,680,658,633.25270949,878,785,806,651.25270949,630,652.25270949,0.400974998977,-0.0053931678955,0.0798378065483,0.999999931071,0.000243958730451,-0.000276469859581,4.36542694936e-05,1793245289549820160
+60,1.000000000,BASELINE,764,744.172660324,714,680,658,633.827339676,878,785,806,651.827339676,630,652.827339676,0.400975596241,-0.00539428305831,0.0798381107205,0.999999931548,0.000242531676509,-0.00027599782882,4.36800653285e-05,1793245289566487040
+61,1.016666667,BASELINE,764,744.402499434,714,679.597500566,658,634,878,785,806,652,630,652.597500566,0.400975459539,-0.00539533114149,0.079838232916,0.999999931687,0.000242038970262,-0.000275898322018,4.38469463092e-05,1793245289583153664
+62,1.033333333,BASELINE,764,744.977886626,714,679.022113374,658,634,878,785,806,652,630,652.022113374,0.400975007573,-0.00539635041152,0.079838276946,0.999999931683,0.000241947599519,-0.000275958827478,4.40744283541e-05,1793245289599820288
+63,1.050000000,BASELINE,764,745,714,679,658,633.435150754,878.564849246,785,806,652,630,652,0.400975420643,-0.0053955460314,0.0798388708245,0.999999931763,0.000242478419554,-0.000275203342078,4.405153704e-05,1793245289616487168
+64,1.066666667,BASELINE,764,745,714,679.150480347,658.150480347,633,879,785,806,652,630,652,0.400975981063,-0.00539422003002,0.0798391950185,0.999999931611,0.000243866431734,-0.000274540426928,4.39937970637e-05,1793245289633154048
+65,1.083333333,BASELINE,764,745,714,679.730984275,658.730984275,633,879,785,806,652,630,652,0.400976863758,-0.00539161169603,0.079838685741,0.999999930774,0.000247632954268,-0.0002742352466,4.38650676897e-05,1793245289649820672
+66,1.100000000,BASELINE,764,745,714,680,658.691213829,633,878.691213829,785,806,652,630,652,0.400976660812,-0.00539175212531,0.0798381536808,0.999999930528,0.000247859159611,-0.000274938442931,4.37942303178e-05,1793245289666487040
+67,1.116666667,BASELINE,764,745,714,680,658.115745564,633,878.115745564,785,806,652,630,652,0.400975520257,-0.00539426651449,0.0798376019443,0.999999930793,0.00024502778223,-0.000276512520242,4.37733911773e-05,1793245289683153408
+68,1.133333333,BASELINE,764,744.540361923,714,680,658,633,878.459638077,785,806,652,630,652,0.400975770683,-0.0053947740402,0.0798384847,0.999999931355,0.000244186970463,-0.00027519312254,4.39523769532e-05,1793245289699820288
+69,1.150000000,BASELINE,764,744.035862855,714,680,658,633,879,785.035862855,806,652,630,652,0.400976197893,-0.00539480790086,0.0798395120769,0.999999931884,0.000243884186043,-0.000273502049959,4.41501386955e-05,1793245289716486656
+70,1.166666667,BASELINE,764,744.625401971,714,680,658,633,879,785.625401971,806,652,630,652,0.400973947603,-0.0053953297499,0.0798371962844,0.99999993078,0.000244150434818,-0.000277319863237,4.38610486573e-05,1793245289733153536
+71,1.183333333,BASELINE,764,745,714,680,658,633.210577276,879,785.789422724,806,651.789422724,630,652,0.400973224683,-0.00539563049592,0.0798362465293,0.999999930425,0.000244020620959,-0.0002787227604,4.37991205679e-05,1793245289749820160
+72,1.200000000,BASELINE,764,745,714,680,658,633.788147449,879,785.211852551,806,651.211852551,630,652,0.400975163656,-0.00539554590491,0.0798376774958,0.999999931388,0.000243200551402,-0.000275916955901,4.41330890047e-05,1793245289766486784
+73,1.216666667,BASELINE,764,745,714,679.634894894,658,634,879,785.365105106,806.365105106,651.365105106,630,652,0.400975416635,-0.00539441812067,0.0798379903766,0.999999931462,0.000243231191063,-0.000275669760417,4.38158156371e-05,1793245289783153920
+74,1.233333333,BASELINE,764,745,714,679.05829209,658,634,879,785.94170791,806.94170791,651.94170791,630,652,0.400974692953,-0.00539268603657,0.0798376555738,0.999999931024,0.000243754628704,-0.000276904713411,4.31212915891e-05,1793245289799820800
+75,1.250000000,BASELINE,764,745,714,679.527531818,658,634,879,785.472468182,806.472468182,652,630,652,0.400975560042,-0.0053947975067,0.0798378574749,0.999999931585,0.000242061702595,-0.000276271008031,4.37185769958e-05,1793245289816487168
+76,1.266666667,BASELINE,763.886544854,745,714,680,658,633.886544854,878.886544854,785,806,652,630,652,0.400976318424,-0.00539660119941,0.079838075028,0.999999932091,0.000240641453045,-0.000275592327494,4.42621574833e-05,1793245289833153536
+77,1.283333333,BASELINE,763.304494201,745,714,680,658,633.304494201,878.304494201,785,806,652,630,652,0.40097588889,-0.00539534833902,0.0798381079239,0.999999931925,0.000241376938734,-0.000275595896474,4.39838683891e-05,1793245289849820160
+78,1.300000000,BASELINE,763.274421774,745,714,679.725578226,658,633,878.274421774,785,806,652,630,652,0.400975076022,-0.00539456386507,0.079837869431,0.999999931579,0.00024226673478,-0.000276090877002,4.38463014648e-05,1793245289866486528
+79,1.316666667,BASELINE,763.849898802,745,714,679.150101198,658,633,878.849898802,785,806,652,630,652,0.400973842616,-0.005394293236,0.0798373332101,0.999999931035,0.000243325817429,-0.000277124962086,4.3863114249e-05,1793245289883153152
+80,1.333333333,BASELINE,764,745,714,679.433705693,658,633.433705693,878.566294307,785,806,652,630,652,0.400973658309,-0.005395119713,0.0798369870131,0.999999931285,0.000242129003779,-0.000277251844454,4.39829330101e-05,1793245289899820288
+81,1.350000000,BASELINE,764,745,714,680,658,634,878,785,806.020159622,652,630,652,0.40097386818,-0.00539626172741,0.0798367565043,0.999999931789,0.00024026614767,-0.000277031880427,4.41261070224e-05,1793245289916487168
+82,1.366666667,BASELINE,764,745,714,680,658,634,878,785,806.598518771,652,630,652,0.400974742179,-0.00539542133469,0.0798378726505,0.999999931645,0.000242002572678,-0.000276071948919,4.39095402462e-05,1793245289933153792
+83,1.383333333,BASELINE,764,745,714,680,658,633.823454061,878,785,806.823454061,651.823454061,630,652,0.400974820884,-0.00539471707382,0.0798381804377,0.999999931341,0.000243326501972,-0.000276030652147,4.37765689278e-05,1793245289949820160
+84,1.400000000,BASELINE,764,745,714,680,658,633.246180321,878,785,806.246180321,651.246180321,630,652,0.400973094411,-0.00539432180779,0.079836653394,0.999999930678,0.00024371413989,-0.000278074492244,4.38333443513e-05,1793245289966486784
+85,1.416666667,BASELINE,764,745,714,680.330102768,658,633,878.330102768,785,806,651.330102768,630,652,0.400973852175,-0.00539451221301,0.0798368958429,0.999999931057,0.000243073308787,-0.000277305047642,4.36211285891e-05,1793245289983153408
+86,1.433333333,BASELINE,764,745,714,680.905649236,658,633,878.905649236,785,806,651.905649236,630,652,0.400976457063,-0.00539513808664,0.0798384539756,0.999999932205,0.000241667772642,-0.00027444382098,4.32089078598e-05,1793245289999820032
+87,1.450000000,BASELINE,764,744.507627181,714,680.015254362,658,633,878.507627181,785.492372819,806,652,630,652,0.400976181196,-0.00539506114231,0.0798383813327,0.999999931789,0.000243029677936,-0.000274723323313,4.3431716393e-05,1793245290016486400
+88,1.466666667,BASELINE,764,744.079985536,714,679.079985536,658,633,878.079985536,786,806,652,630,652,0.40097556175,-0.00539488664116,0.0798381084753,0.999999931242,0.000244519737834,-0.000275339830861,4.37488975127e-05,1793245290033153024
+89,1.483333333,BASELINE,764,744.659464874,714,679.659464874,658,633,878.659464874,786,806,652,630,652,0.400976324066,-0.00539496348488,0.0798385821274,0.999999931813,0.000243421494296,-0.000274215192297,4.38778528694e-05,1793245290049820160
+90,1.500000000,BASELINE,764,745,714,680,658.236081273,633,878.763918727,785.763918727,806,652,630,652,0.400976721279,-0.00539456118189,0.0798389510393,0.999999932049,0.00024300162014,-0.000273725667436,4.38816721225e-05,1793245290066486784
+91,1.516666667,BASELINE,764,745,714,680,658.808617462,633,878.191382538,785.191382538,806,652,630,652,0.400976598161,-0.0053934760155,0.0798391706791,0.99999993181,0.000243548534804,-0.000274141284888,4.37071516921e-05,1793245290083153664
+92,1.533333333,BASELINE,764,745,714,680,658.61811455,633.38188545,878,785,806,652,630,652,0.400976591536,-0.00539377653862,0.0798393341,0.99999993148,0.000244802649205,-0.000274208436391,4.38425940294e-05,1793245290099820544
+93,1.550000000,BASELINE,764,745,714,680,658.044479064,633.955520936,878,785,806,652,630,652,0.400976643403,-0.00539477283578,0.0798394692926,0.999999931101,0.000246411858553,-0.000274100618294,4.4133673001e-05,1793245290116487168
+94,1.566666667,BASELINE,764,745,714,680,658,633.450419179,878,785,806,652,630,652,0.400975062651,-0.00539407488844,0.079838593555,0.99999993024,0.00024796114809,-0.000275853928176,4.40401981666e-05,1793245290133153536
+95,1.583333333,BASELINE,764.140969986,745,714,680,658,633,878,785,806,652,630,652,0.400973995015,-0.00539350758254,0.0798379362913,0.999999929798,0.000248572237539,-0.000276929604608,4.38886075081e-05,1793245290149819904
+96,1.600000000,BASELINE,764.718763676,745,714,680,658,633,878,785,806,652,630,652,0.400974942613,-0.00539378638824,0.0798382193254,0.999999930789,0.000246291733788,-0.000275420738076,4.36570965186e-05,1793245290166486528
+97,1.616666667,BASELINE,764.704170726,745,714,680,658,633.295829274,878,785,806,652,630.295829274,652,0.400974694798,-0.005393737959,0.0798380182708,0.99999993109,0.000244922004133,-0.000275590468421,4.33934387704e-05,1793245290183153152
+98,1.633333333,BASELINE,764.127795641,745,714,680,658,633.872204359,878,785,806,652,630.872204359,652,0.400973313328,-0.00539337920079,0.0798373581373,0.99999993074,0.000244415995284,-0.000277352074188,4.30992950794e-05,1793245290199820032
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+100,1.666666667,BASELINE,764,745,714,680,658.957203387,633.042796613,878.957203387,786,806,652,630,652,0.400976495257,-0.00539459803627,0.0798389272546,0.999999931628,0.000243623055109,-0.000274697033888,4.3970049986e-05,1793245290233153536
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+102,1.700000000,BASELINE,764,745,714,680,658,634,878.199155739,785.800844261,806,652,630,652,0.400972586679,-0.00539439118298,0.0798365272486,0.999999930508,0.000243988246606,-0.000278419858603,4.39931657401e-05,1793245290266486784
+103,1.716666667,BASELINE,764,745,714,680,658,634,878.774252797,785.225747203,806,652,630,652,0.400975807568,-0.00539302948682,0.0798383945385,0.999999931206,0.000244503828995,-0.000275546236507,4.33671450356e-05,1793245290283153408
+104,1.733333333,BASELINE,764,745,714,680,658,634,878.650151517,785,806,652,630,652,0.400977066529,-0.00539244220981,0.0798393124372,0.99999993134,0.000245782750116,-0.000273913608402,4.33887926415e-05,1793245290299820032
+105,1.750000000,BASELINE,764,745,714,680,658,634,878.074233565,785,806,652,630,652,0.400977057707,-0.00539235535651,0.0798396168466,0.999999931111,0.000247554935059,-0.000273082901036,4.38289585965e-05,1793245290316486656
+106,1.766666667,BASELINE,763.48589752,745,714,680,658,634,878.51410248,785.51410248,806,652,630,652,0.40097623241,-0.00539345279128,0.0798387347706,0.99999993098,0.000246324699268,-0.000274698246802,4.3642062486e-05,1793245290333153280
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633,879,785,806,652,630,653,0.400977237625,-0.00539468019465,0.0798402580314,0.999999931896,0.000244576801738,-0.000272879113657,4.38886479342e-05,1793245290375615232
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.572440245,745,714,679.572440245,658.427559755,633.572440245,879,785.572440245,806,652,630.572440245,652.427559755,0.400976111596,-0.00539521772513,0.079838818944,0.999999931993,0.000242683341176,-0.000274227518387,4.37978716541e-05,1793245290392282368
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.854982462,745,714,680,658,633.854982462,878.854982462,785.854982462,806,652,630.854982462,652,0.400975420859,-0.00539560390672,0.0798379076092,0.999999932065,0.000241330770618,-0.000275176941149,4.36675190516e-05,1793245290408949248
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.304085954,633.304085954,878,785,806.304085954,652,630,652,0.400974995167,-0.00539456976615,0.0798380398428,0.999999931401,0.000242902490773,-0.000276265643447,4.32776408292e-05,1793245290442281728
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.518704282,634,878.481295718,785,807,652,630,652,0.400975093781,-0.00539313215418,0.0798381334316,0.999999930627,0.000246355682064,-0.000275950749536,4.36651993169e-05,1793245290475614720
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680.055728086,658,634,879,785,806.944271914,652,630,652,0.400978552425,-0.00539407392637,0.0798403294987,0.999999931558,0.0002467855353,-0.000272088003803,4.41476244673e-05,1793245290492281088
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680.629713863,658,634,879,785,806.370286137,652,630,652,0.400979755952,-0.00539575314249,0.0798407765582,0.999999932337,0.000243572425464,-0.000272098374617,4.42785990213e-05,1793245290508947968
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680.789623682,658,633.789623682,878.789623682,785,806.210376318,652,630,652,0.400987132278,-0.00539640291026,0.0798440858055,0.999999934128,0.000241830991816,-0.000267015560782,4.43205273214e-05,1793245290525614848
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680.196824393,658,633.196824393,878.196824393,785,806.803175607,652,630,652,0.401005729542,-0.00539518134222,0.0798525979502,0.999999937634,0.000242764777756,-0.00025267433409,4.4200586941e-05,1793245290542281472
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.385344923,633.385344923,878.385344923,785,806.614655077,651.614655077,630,652,0.401040327448,-0.00539469494902,0.0798657589353,0.999999942987,0.000244652241161,-0.000228507864225,4.42193279661e-05,1793245290558948096
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.962230527,633.962230527,878.962230527,785,806.037769473,651.037769473,630,652,0.401082878681,-0.00539457398387,0.0798812306874,0.999999948619,0.000247013742218,-0.000199457628645,4.43070023397e-05,1793245290575614464
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.460718729,634,878.460718729,785,806,651.539281271,630,652,0.40115120686,-0.00539624870428,0.0798977720396,0.999999954895,0.00024588868716,-0.000166809200318,4.38550778109e-05,1793245290592281088
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.115512484,745,714,679.884487516,658,634,878,785,806,652,630,652,0.401222090147,-0.00539801911314,0.0799124170397,0.999999959529,0.00024418678899,-0.000139479373821,4.31299017519e-05,1793245290608947712
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+123,2.050000000,POSE1_TO_POSE2_PRESS,764.72925846,745,714,679.27074154,658,633.72925846,878.27074154,785,806,652,630,652,0.401379972392,-0.00540084982612,0.0799246391423,0.999999962428,0.00023946891433,-0.000127496664367,3.9281219453e-05,1793245290642281472
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.135827344,745,714,679.864172656,658,633.135827344,878.864172656,785,806,652,630,652,0.401476139836,-0.00540146728791,0.0799282878776,0.999999963605,0.000239343175895,-0.000119064449659,3.64541167996e-05,1793245290658948096
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744.555733846,714,680,658,633.444266154,878.555733846,785.444266154,806,651.555733846,630,652,0.401593361472,-0.00540245096877,0.0799326523196,0.999999965271,0.000236627877564,-0.000111344154458,3.2688645681e-05,1793245290675614720
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.020367491,714,680,658,634,878.020367491,785.979632509,806,651.020367491,630,652,0.401717998484,-0.00540362808053,0.0799372687633,0.99999996704,0.000233119205148,-0.000103706943093,2.86275554355e-05,1793245290692281344
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.595563355,714,680,658,634,878.595563355,785.404436645,806,651.595563355,630,652,0.401874398618,-0.00540711327594,0.0799429629544,0.999999969218,0.000228936781926,-9.25766230849e-05,2.41009238581e-05,1793245290708947968
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,806,652,630.17010174,652,0.402039055264,-0.00540968674659,0.0799489305125,0.999999971198,0.000225044020973,-8.11476134216e-05,1.93470775845e-05,1793245290725614592
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.497823017,879,785,806,652,630,652,0.40284656884,-0.00541578120173,0.0799478863765,0.999999976858,0.000197748458369,-8.43573574658e-05,-7.98508215277e-06,1793245290792281344
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+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679.826932869,658.826932869,634,878.826932869,785,806.173067131,652,630,652,0.404012162326,-0.00542510064584,0.0799469170061,0.999999986784,0.000136153792006,-8.70247251119e-05,-1.79195442819e-05,1793245290858948096
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+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.009803696,785,806,652,630,652,0.404755547759,-0.00542421217872,0.0799573132993,0.99999998807,0.000136815071577,-6.66166099051e-05,-2.65382096436e-05,1793245290892281344
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+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.956334477,634,878,785,807,651,630,652,0.411304426478,-0.00548542384651,0.0800039759572,0.999999998249,4.59349970534e-05,5.68548612408e-06,-3.68724459225e-05,1793245291092281600
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.467718232,634,878.532281768,785,807,651,630,652,0.411967191535,-0.0055064418605,0.0799806118087,0.999999998558,2.14130499117e-05,-3.34238509412e-05,-3.6161128307e-05,1793245291108948224
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.892578368,745,714,680,658.892578368,633.892578368,878.892578368,785,807,651,630,652,0.412637216044,-0.00552358026956,0.0799523070119,0.999999996331,-5.72248697158e-07,-7.73278800055e-05,-3.68539236917e-05,1793245291125615104
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.318608351,745,714,680,658.318608351,633.318608351,878.318608351,785,807,651,630,652,0.413353201922,-0.00552192471365,0.0799200584705,0.999999992623,-1.06615535411e-05,-0.000113118210325,-4.29385931553e-05,1793245291142281472
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.261892484,745,714,680.261892484,658.261892484,633.261892484,878.261892484,785,807,651.261892484,630,652,0.414103319654,-0.00552239986484,0.0799098748956,0.999999991669,-1.57722827322e-05,-0.000119721664837,-4.56013336014e-05,1793245291158948096
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.850541734,745,714,680.850541734,658.850541734,633.850541734,878.850541734,785,807,651.850541734,630,652,0.414896022952,-0.00552553344628,0.0799272212288,0.999999994883,-1.46713677147e-05,-8.99093819573e-05,-4.39946187884e-05,1793245291175614976
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680.567359467,659,633.567359467,879,784.567359467,807,652,630,652,0.415696044499,-0.00553182080497,0.0799440659263,0.999999996371,-2.02579965339e-05,-7.06108026899e-05,-4.31441815784e-05,1793245291192281600
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.012431021,745,714,680.012431021,659.012431021,633.012431021,879,784.012431021,807,652,630,652,0.416498589932,-0.00553903131927,0.0799600720924,0.99999999715,-2.81647572912e-05,-5.55788077448e-05,-4.26390011791e-05,1793245291208948224
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.5886327,745,714,680.5886327,659.5886327,633.5886327,879,784.5886327,807,652,630,652,0.417302655057,-0.00553943516114,0.0799457912457,0.999999995635,-3.80822997408e-05,-7.178214751e-05,-4.61199279756e-05,1793245291225614848
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.831659839,745,714,681,660,634,879,785,807,652,630,652,0.418140525435,-0.0055428331987,0.0799454589692,0.999999995641,-4.83319691992e-05,-6.3582309145e-05,-4.83662408049e-05,1793245291242281472
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.243203247,745,714,681,660,634,879,785,807,652,630,652,0.419062761506,-0.00555370367067,0.0799799373031,0.99999999709,-5.94105073891e-05,5.51907686967e-06,-4.75314013593e-05,1793245291258948096
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.660291972,879,785,807,652,630,652,0.419941596642,-0.00555910294911,0.0799863838332,0.999999996564,-6.50116367147e-05,1.8904193598e-05,-4.78394565341e-05,1793245291275614720
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.081286953,879,785,807,652,630,652,0.42078985927,-0.00556064821117,0.07997308421,0.99999999655,-6.67543715616e-05,-6.95832433479e-06,-4.89525891983e-05,1793245291292281344
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879,785,807.496187513,652,630,652,0.421678543749,-0.00555206910471,0.0799720019982,0.999999996868,-6.15409084396e-05,-6.35999964513e-06,-4.935294103e-05,1793245291308947968
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.073074459,879,785.073074459,808,651.926925541,630,652,0.422576079341,-0.00554026064366,0.0799764533463,0.999999997452,-5.15411173638e-05,2.8090387478e-06,-4.932053546e-05,1793245291325614592
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.647644581,879,785.647644581,808,651.352355419,630,652,0.423489052001,-0.00551763743785,0.0800051868111,0.999999997908,-1.64904023895e-05,4.11391440372e-05,-4.7117105384e-05,1793245291342281216
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,681.228138733,660,633.771861267,879,785.771861267,808,651.228138733,630,652.228138733,0.424376074722,-0.00550495366162,0.0800046358261,0.999999998572,4.84082560181e-07,2.59273997729e-05,-4.67241916139e-05,1793245291358947840
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,681.818026432,660,633.181973568,879,785.181973568,808,651.818026432,630,652.818026432,0.425221949975,-0.00550803037259,0.0799576498571,0.999999995975,-1.12040634457e-05,-7.41831567211e-05,-4.92021287487e-05,1793245291375614464
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,681.600845217,660,633,879,785,807.600845217,652,630,652.600845217,0.426119621034,-0.00551747077103,0.0799267580442,0.999999992452,-2.62009931591e-05,-0.00010817616979,-5.20255682553e-05,1793245291392281344
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,681.023624513,660,633,879,785,807.023624513,652,630,652.023624513,0.427040398538,-0.00552975005768,0.0799030459569,0.999999991229,-4.26739952696e-05,-0.00011267364854,-5.50031389303e-05,1793245291408947968
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,681.553299417,660,633,879.553299417,785,807.553299417,651.446700583,630.553299417,652,0.427943280894,-0.00552928803495,0.0799039955482,0.999999990238,-4.38329851151e-05,-0.000120775889681,-5.49116485255e-05,1793245291425614592
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.132597175,745,714,681.867402825,660,633,879.867402825,785,808,651,630.867402825,652,0.428845573419,-0.0055297898402,0.0799120393466,0.999999990455,-4.44704997044e-05,-0.000118936143156,-5.44732596815e-05,1793245291442281216
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.720081999,745,714,681.279918001,660,633,879.279918001,785,808,651,630.279918001,652,0.429748462266,-0.00553546347378,0.079940810062,0.999999994142,-4.55610060957e-05,-8.24616941519e-05,-5.32941106623e-05,1793245291458947840
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.696782899,745,714,681,660,633,879.303217101,785,807.696782899,651.303217101,630,652,0.430699934355,-0.00554035629962,0.0799799056991,0.999999997073,-5.09495266235e-05,-2.41643229219e-05,-5.17143408675e-05,1793245291475614464
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.117606531,745,714,681,660,633,879.882393469,785,807.117606531,651.882393469,630,652,0.431695622226,-0.00554453850848,0.0800283980928,0.999999995489,-6.02496891652e-05,5.39941874664e-05,-4.9769964144e-05,1793245291492281088
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.460410044,745,714,681.460410044,660.460410044,633,880,785,807.460410044,652,630.460410044,652,0.432561072443,-0.00554047271508,0.0800111074689,0.999999997099,-5.36733765404e-05,2.01497579368e-05,-5.01449604263e-05,1793245291508947968
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682.037859808,660.962140192,633,879.962140192,785,808,652,631,652,0.433393035971,-0.00553453125282,0.0799755632455,0.999999996795,-4.39924077356e-05,-4.2857487524e-05,-5.13583370616e-05,1793245291525614592
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682.611469807,660.388530193,633,879.388530193,785,808,652,631,652,0.434220717282,-0.0055317864277,0.0799189017459,0.999999990715,-4.76220585637e-05,-0.000114706454667,-5.60728081075e-05,1793245291542281216
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.809510378,745,714,683,660.190489622,633,879,785,808,652,630.809510378,652,0.435061374724,-0.00553035947572,0.0798911881739,0.999999986221,-5.08572601461e-05,-0.000146653339292,-5.8853877472e-05,1793245291558947840
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.219133852,745,714,683,660.780866148,633,879,785,808,652,630.219133852,652,0.435929272569,-0.00553169907923,0.0799242437656,0.999999992427,-5.32644119367e-05,-9.48354639575e-05,-5.75762387799e-05,1793245291575614464
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745.363529198,714,683,660.636470802,633,879,785.363529198,808,652,630.363529198,652,0.436796829504,-0.00553332553661,0.0799540022895,0.999999995273,-5.40770653641e-05,-5.87395672118e-05,-5.5493894272e-05,1793245291592281088
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745.941639171,714,683,660.058360829,633,879,785.941639171,808,652,630.941639171,652,0.437664185157,-0.00553512131545,0.0799818146474,0.999999996634,-5.39485323868e-05,-3.1923903063e-05,-5.29365552909e-05,1793245291608947712
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745.481753434,714,683,660,633,879.518246566,785.481753434,808,652,630.481753434,652,0.438459082982,-0.00554203982799,0.0799744442836,0.99999999579,-6.18517983303e-05,-4.0495192248e-05,-5.43483665712e-05,1793245291625614592
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.094705779,745,714,683,660,633,880.094705779,784.905294221,808.094705779,652,630,652.094705779,0.439230000965,-0.00554885213746,0.0799544774593,0.999999993631,-7.06348716547e-05,-6.7651822848e-05,-5.63143115557e-05,1793245291642281216
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.671269467,745,714,683,660,633,880.671269467,784.328730533,808.671269467,652,630,652.671269467,0.439920306507,-0.00555219743328,0.0798905206865,0.999999980818,-7.93057274231e-05,-0.000169152827304,-5.88320520652e-05,1793245291658947840
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.746836538,745,714,683,659.746836538,633,880.493673076,784,809,652,630,652.746836538,0.440567916075,-0.00555190447284,0.0798088886219,0.999999950543,-8.23698372518e-05,-0.000297101122154,-6.21307628132e-05,1793245291675614464
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.157872372,745,714,683,659.157872372,633,879.315744743,784,809,652,630,652.157872372,0.441158892857,-0.00554678566164,0.0797038117279,0.99999988889,-7.79970540241e-05,-0.000460129581892,-6.64653662293e-05,1793245291692281088
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,713.575879116,683,659,632.575879116,879.424120884,784,809,651.575879116,630,652,0.441838941871,-0.00554535975349,0.0796671981136,0.999999865131,-7.37515782109e-05,-0.000509447030966,-6.90057462918e-05,1793245291708947968
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.003530134,745,713.003530134,683.003530134,658.996469866,632,880,784,809,651.003530134,630,652.003530134,0.442551634024,-0.0055453214984,0.0796561284241,0.999999861689,-6.96466325196e-05,-0.000516479437357,-7.08544495287e-05,1793245291725614336
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.577894329,745,713.577894329,683.577894329,658.422105671,632,880,784,809,651.577894329,630,652.577894329,0.443268122028,-0.00555098421844,0.0797213230469,0.99999990644,-8.07269269663e-05,-0.000419642584474,-6.71073289088e-05,1793245291742280960
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,684,658,631.844051255,880,784,809,651.844051255,630,653,0.443952751402,-0.00555559923589,0.0797708432155,0.999999933762,-8.70958209298e-05,-0.000347543338654,-6.40635176356e-05,1793245291758947840
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,684,658,631.255766319,880,784,809,651.255766319,630,653,0.444549059362,-0.00555730971216,0.0797769091608,0.999999935609,-8.04033192053e-05,-0.000344024067075,-6.29694892326e-05,1793245291775614464
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.672566693,683.672566693,657.672566693,631,880.327433307,783.672566693,809,651.327433307,630,652.672566693,0.445123542611,-0.00555598107605,0.0797646843783,0.999999926942,-8.64608981997e-05,-0.000366970513522,-6.30310107616e-05,1793245291792281088
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.093278615,683.093278615,657.093278615,631,880.906721385,783.093278615,809,651.906721385,630,652.093278615,0.445681238718,-0.00555231481891,0.0797383907546,0.999999908556,-0.000102325569718,-0.000410273829806,-6.39813568062e-05,1793245291808947712
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.51463566,745,713.48536434,683,657,631,880.51463566,783,809,652,629.51463566,652,0.446222183862,-0.00555018948575,0.0797192761835,0.999999900405,-9.14091704836e-05,-0.000431986574257,-6.49818571566e-05,1793245291825614336
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,714,683.063168995,657,630.936831005,880,783,809,652,629.063168995,652.063168995,0.446754202768,-0.00554873819661,0.0797026051113,0.99999989444,-7.74613393449e-05,-0.000448075202166,-6.59457352681e-05,1793245291842281216
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,714,683.635217899,657,630.364782101,880,783,809,652,629.635217899,652.635217899,0.44724021259,-0.00555033442098,0.0796945186798,0.999999892286,-8.0500023006e-05,-0.000452238833745,-6.65370447442e-05,1793245291858947840
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713.785810167,684.214189833,656.785810167,630,880,782.785810167,809,651.785810167,630,653,0.44769868713,-0.00555148100456,0.0796863504769,0.999999888054,-8.69710740353e-05,-0.000460234301878,-6.71746335933e-05,1793245291875614464
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713.194654014,684.805345986,656.194654014,630,880,782.194654014,809,651.194654014,630,653,0.448108700527,-0.00555183623655,0.0796780383601,0.999999879947,-9.94829665203e-05,-0.000474973662512,-6.78936723795e-05,1793245291892281088
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,713,684.612602339,655.612602339,629.612602339,880,782,809,651.387397661,630,653,0.448506150499,-0.00555430455586,0.0796591450196,0.999999864126,-0.000101824998388,-0.000506687330008,-6.81718075461e-05,1793245291908948224
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,745,713,684.035020256,655.035020256,629.035020256,880,782,809,651.964979744,630,653,0.448897432768,-0.0055578102493,0.0796350570578,0.999999843295,-9.91743602434e-05,-0.000546734163516,-6.82334906889e-05,1793245291925615104
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02f68a78b47426953b3d54c8257250e32f8e5afc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d11cc5613d5406477b904cf09351ce92da2c69b3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e404dc03d963113c4a4a715e28ac5e86bab6ff66f2c8fac49f7a5e9271a6c560
+size 25779504
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..552e6f090cae6a45012cdea0fe1338bb256e13bf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+13,0.216666667,BASELINE,764,744.446163885,714,680,658.553836115,633.553836115,878,785.446163885,806.553836115,652,629.446163885,652.553836115,0.400971955871,-0.00539765792513,0.0798324685653,0.999999929806,0.000239708056382,-0.000284729064078,4.31046201829e-05,1793245295705275392
+14,0.233333333,BASELINE,764,744.142625324,714,680,658.857374676,634,878.285250647,785,806.857374676,652,629.142625324,652.857374676,0.40097210661,-0.00539746172956,0.0798326159378,0.999999929823,0.000239899916263,-0.000284518322839,4.30386611236e-05,1793245295721942016
+15,0.250000000,BASELINE,764,744.722181993,714,680,658.277818007,634,879.444363987,785,806.277818007,652,629.722181993,652.277818007,0.400973597397,-0.00539654740402,0.0798336398745,0.999999929505,0.000243092077779,-0.000282905328204,4.3139279919e-05,1793245295738608640
+16,0.266666667,BASELINE,764,744.699998755,714,680,658.300001245,634,879.399997511,785,806,652,630,652,0.400973819366,-0.00539656583532,0.079834124036,0.999999929518,0.000243567834947,-0.000282425340073,4.32865594619e-05,1793245295755275776
+17,0.283333333,BASELINE,764,744.123779221,714,680,658.876220779,634,878.247558442,785,806,652,630,652,0.400972873105,-0.00539744307813,0.0798341112133,0.999999929842,0.000241542533756,-0.000282988538106,4.34768006601e-05,1793245295771942912
+18,0.300000000,BASELINE,764,744.450697325,714,679.549302675,659,633.549302675,878.90139465,785,806,652,630,652,0.400972008327,-0.00539779251057,0.0798334610033,0.999999929574,0.000241583280925,-0.000283889653998,4.35427143966e-05,1793245295788610304
+19,0.316666667,BASELINE,764.02545383,745,714,679.02545383,658.97454617,633,879.97454617,785,806,652,630,652,0.400971236782,-0.00539794083214,0.0798326813977,0.999999929152,0.000242231151687,-0.000284817143577,4.35862295108e-05,1793245295805277696
+20,0.333333333,BASELINE,764.617043169,745,714,679.617043169,658.382956831,633,879.382956831,785,806,652,630,652,0.400972043056,-0.00539682778857,0.0798329022592,0.999999928909,0.000243810755699,-0.000284275030499,4.38880826497e-05,1793245295821943552
+21,0.350000000,BASELINE,764.796489514,745,714,680,658,633.203510486,878.796489514,785,806,652,630,652,0.400972555388,-0.00539596664749,0.0798330163992,0.999999928817,0.00024481914194,-0.000283732645568,4.38804950163e-05,1793245295838609664
+22,0.366666667,BASELINE,764.219424024,745,714,680,658,633.780575976,878.219424024,785,806,652,630,652,0.400972528172,-0.0053955678878,0.079832934646,0.999999929006,0.000244779025481,-0.000283189761697,4.33049113123e-05,1793245295855276288
+23,0.383333333,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400973087348,-0.00539610724858,0.0798335948363,0.999999929556,0.000243381519789,-0.000282441857452,4.33498996801e-05,1793245295871942656
+24,0.400000000,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400974006293,-0.00539722217519,0.0798347102319,0.999999930325,0.000241151213895,-0.000281568166825,4.37756281145e-05,1793245295888609024
+25,0.416666667,BASELINE,764,745,714,680,658,633.480338099,878.519661901,785,806,652,630,652,0.400972243846,-0.00539754454313,0.0798333553348,0.999999929436,0.000241958237048,-0.000284048353341,4.35951544959e-05,1793245295905275648
+26,0.433333333,BASELINE,764,745,714,680,658.106455023,633.106455023,879,785,806,652,630,652.106455023,0.400970679008,-0.00539786062242,0.0798321023361,0.999999928701,0.000242493701044,-0.000286211991801,4.33387829947e-05,1793245295921942272
+27,0.450000000,BASELINE,764,745,714,680,658.683151833,633.683151833,879,785,806,652,630,652.683151833,0.400971569254,-0.00539861658372,0.0798327570824,0.99999992965,0.000240037392458,-0.000284998345844,4.31048473663e-05,1793245295938608640
+28,0.466666667,BASELINE,764,745,714,680,658.741452992,633.741452992,878.741452992,785,805.741452992,652,630,652.741452992,0.400972282251,-0.00539831378402,0.0798331496513,0.999999929948,0.000239744905165,-0.000284211082354,4.3023396639e-05,1793245295955275520
+29,0.483333333,BASELINE,764,745,714,680,658.167645009,633.167645009,878.167645009,785,805.167645009,652,630,652.167645009,0.400972779121,-0.00539671997715,0.0798332225324,0.999999929454,0.000242090887582,-0.000283943731171,4.31278793812e-05,1793245295971941888
+30,0.500000000,BASELINE,764,745,714,680,658.408749103,633,878,785,805.408749103,652,630,652,0.400973824714,-0.00539696239153,0.0798340752671,0.999999930104,0.000241154156673,-0.000282455994155,4.3073316974e-05,1793245295988608512
+31,0.516666667,BASELINE,764,745,714,680,658.986210635,633,878,785,805.986210635,652,630,652,0.400975096794,-0.00539796271183,0.0798352498886,0.99999993122,0.000238862475854,-0.000280464539203,4.29531081979e-05,1793245296005275392
+32,0.533333333,BASELINE,764,745,714,680,658.420783995,633,878.579216005,785,806,652,630,652,0.400975403952,-0.00539787149286,0.0798351856693,0.999999931082,0.000239365140218,-0.00028054157204,4.28572722053e-05,1793245296021941760
+33,0.550000000,BASELINE,764,745,714.166828112,680,658,633.166828112,879,785,806,651.833171888,630,652,0.400975205774,-0.00539781494325,0.0798349184802,0.999999930732,0.00024032821551,-0.000280962366732,4.28842395226e-05,1793245296038608384
+34,0.566666667,BASELINE,764,745,714.740364917,680,658,633.740364917,879,785,806,651.259635083,630,652,0.400973833188,-0.00539790801232,0.0798342303566,0.999999929935,0.000242247069661,-0.00028209785223,4.32091343225e-05,1793245296055275264
+35,0.583333333,BASELINE,764,745,714.684254414,680,658,633.684254414,878.684254414,785,806.315745586,651.315745586,630,652,0.400972043163,-0.0053973753389,0.079833479659,0.999999929196,0.000243744706067,-0.000283413789752,4.32717702712e-05,1793245296071942144
+36,0.600000000,BASELINE,764,745,714.107348581,680,658,633.107348581,878.107348581,785,806.892651419,651.892651419,630,652,0.400969907865,-0.00539632509984,0.0798326772051,0.999999928506,0.000244893944054,-0.000284878983308,4.31174860859e-05,1793245296088608768
+37,0.616666667,BASELINE,764,745,714,680,658,633,878,785,807,652,630,652,0.400971875872,-0.00539671289297,0.0798338042638,0.999999929452,0.000243127811474,-0.000283060149342,4.31456222103e-05,1793245296105275136
+38,0.633333333,BASELINE,764,745,714,680,658.070679337,633,878,785,806.929320663,651.929320663,630,652,0.400974275163,-0.00539749959441,0.0798350195951,0.999999930554,0.000240953615242,-0.000281007350091,4.32120223809e-05,1793245296121941760
+39,0.650000000,BASELINE,764,745,714,680,658.64897421,633,878,785,806.35102579,651.35102579,630,652,0.400973034653,-0.00539879011209,0.079833700804,0.999999930162,0.000240635510112,-0.000282666310564,4.3253714778e-05,1793245296138608384
+40,0.666666667,BASELINE,764,745,714,680,659,633.22594924,878.22594924,785,806.22594924,651.22594924,630,652,0.400972228807,-0.00539860685998,0.0798330710411,0.999999929638,0.000241395181646,-0.000283877709862,4.31856071753e-05,1793245296155275264
+41,0.683333333,BASELINE,764,745,714,680,659,633.80088569,878.80088569,785,806.80088569,651.80088569,630,652,0.400972094316,-0.00539614731422,0.0798335055086,0.999999928913,0.000243819520315,-0.00028439783378,4.29479092874e-05,1793245296171941888
+42,0.700000000,BASELINE,764,745,714,680,658.625782631,634,879,785,806.625782631,652,630,652.374217369,0.40097302939,-0.00539602545093,0.0798340227225,0.999999929169,0.0002440116681,-0.000283327859953,4.29716759311e-05,1793245296188608512
+43,0.716666667,BASELINE,764,745,714,680,658.053301192,634,879,785,806.053301192,652,630,652.946698808,0.400974531131,-0.00539714211504,0.0798345837762,0.999999929943,0.000243021178966,-0.000281415436573,4.31339690812e-05,1793245296205275136
+44,0.733333333,BASELINE,764,745,714,680,658.539431373,633.460568627,879,785,806,652,630,652.460568627,0.400971920563,-0.00539672503947,0.0798335284719,0.999999929162,0.000243726707986,-0.000283592513218,4.29971388245e-05,1793245296221942016
+45,0.750000000,BASELINE,764,745,714,680.130605857,658.869394143,633.130605857,878.869394143,785,806,652,630,652,0.400970021156,-0.00539628278769,0.0798327596864,0.99999992854,0.000244596466233,-0.000285044830229,4.29113116872e-05,1793245296238608640
+46,0.766666667,BASELINE,764,745,714,680.709301675,658.290698325,633.709301675,878.290698325,785,806,652,630,652,0.400972010104,-0.00539629438295,0.0798335432285,0.999999929029,0.000245432289627,-0.000282570172342,4.31058279969e-05,1793245296255275264
+47,0.783333333,BASELINE,764,745,714,680.712755888,658,634,878.287244112,785,806.287244112,651.712755888,630.287244112,652,0.400973429404,-0.00539635671486,0.0798341043753,0.999999929579,0.000244923578086,-0.000281061345036,4.31111931648e-05,1793245296271941888
+48,0.800000000,BASELINE,764,745,714,680.135573829,658,634,878.864426171,785,806.864426171,651.135573829,630.864426171,652,0.400974273713,-0.00539647025923,0.079834441041,0.999999930192,0.000243057722381,-0.000280527405776,4.29256333154e-05,1793245296288608768
+49,0.816666667,BASELINE,764.439622691,745,714,680,658.439622691,633.560377309,878.560377309,785.439622691,806.560377309,651.439622691,630.560377309,652.439622691,0.40097426935,-0.00539661785432,0.0798344179827,0.99999993011,0.000242972711536,-0.000280882373192,4.30152321666e-05,1793245296305275392
+50,0.833333333,BASELINE,765,745,714,680,659,633.014550077,878.014550077,786,806,652,630,652.985449923,0.400974013331,-0.00539678420859,0.0798342988702,0.999999929846,0.000243339664672,-0.000281476531524,4.31729427663e-05,1793245296321941760
+51,0.850000000,BASELINE,765,745,714,680,659,633.602904085,878.602904085,786,806,652,630,652.397095915,0.400974107748,-0.00539727810716,0.0798347468999,0.999999930888,0.000239969782778,-0.000280741538236,4.26853925179e-05,1793245296338608640
+52,0.866666667,BASELINE,764.810788278,745,714,680,658.810788278,634,878.810788278,785.810788278,806,652,630,652.189211722,0.400973497161,-0.00539778921781,0.0798346459275,0.999999931322,0.000237795639517,-0.000281086275394,4.24322544677e-05,1793245296355275520
+53,0.883333333,BASELINE,764.228729412,745,714,680,658.228729412,634,878.228729412,785.228729412,806,652,630,652.771270588,0.400971422823,-0.0053983360647,0.0798334051001,0.999999930508,0.000238104125445,-0.000283672781853,4.26658101959e-05,1793245296371942144
+54,0.900000000,BASELINE,764,744.653135763,714,680,658,634,878.346864237,785,806,652,630,652.653135763,0.400972520743,-0.00539825366263,0.0798340800474,0.999999930554,0.000239343733807,-0.000282453926163,4.27324515589e-05,1793245296388608768
+55,0.916666667,BASELINE,764,744.081727425,714,680,658,634,878.918272575,785,806,652,630,652.081727425,0.40097567224,-0.00539776391343,0.0798359951801,0.999999931147,0.000241186108392,-0.000278771652309,4.26910401576e-05,1793245296405275136
+56,0.933333333,BASELINE,764.505461767,744.505461767,714,680,658,633.494538233,878.494538233,785,806,651.494538233,630,652,0.4009746745,-0.00539760425241,0.0798351328099,0.99999993045,0.000241899008523,-0.000280627820681,4.28154716852e-05,1793245296421941760
+57,0.950000000,BASELINE,764.906577152,744.906577152,714,680,658,633.093422848,878,785,806,651,630,652,0.400973284864,-0.00539751816115,0.0798341309652,0.999999929777,0.000242144551415,-0.000282780553389,4.29818585822e-05,1793245296438608640
+58,0.966666667,BASELINE,764.328279871,744.328279871,714,680,658,633.671720129,878,785,806,651,630,652,0.400973455423,-0.00539752797404,0.0798348111769,0.999999930369,0.000240942840023,-0.000281674947013,4.32223408907e-05,1793245296455275264
+59,0.983333333,BASELINE,764,744.248549531,714,680,658,634,878,785,806,651.248549531,630.248549531,652,0.400973057401,-0.00539795788317,0.0798348672605,0.999999930785,0.000239330895952,-0.000281574688389,4.31937406215e-05,1793245296471941888
+60,1.000000000,BASELINE,764,744.823451646,714,680,658,634,878,785,806,651.823451646,630.823451646,652,0.400971912816,-0.0053989393906,0.0798341038464,0.99999993097,0.000237180304571,-0.000282794479731,4.28118273278e-05,1793245296488608512
+61,1.016666667,BASELINE,764,745,714,680,658,634,878.398043679,785.398043679,806,652,630.601956321,652,0.400972179264,-0.00539881907548,0.0798344097312,0.999999930727,0.000238542926622,-0.000282520365199,4.27367194033e-05,1793245296505275136
+62,1.033333333,BASELINE,764,745,714,680,658,634,878.972498251,785.972498251,806,652,630.027501749,652,0.400973071075,-0.00539821043828,0.0798351895239,0.999999930287,0.000241462586765,-0.000281584159261,4.27975860489e-05,1793245296521942016
+63,1.050000000,BASELINE,764,744.43542096,714,680,658,633.43542096,878.43542096,785.43542096,806,651.43542096,630,652,0.400973240047,-0.00539991957765,0.0798349085084,0.999999930627,0.000239721893885,-0.000281795181955,4.32610917115e-05,1793245296538608640
+64,1.066666667,BASELINE,764,744,714,679.84516693,658,633,878.15483307,785,806.15483307,651,630,652,0.40097327258,-0.00540065803623,0.0798346437615,0.999999930851,0.000238556117607,-0.000281948506907,4.35175793399e-05,1793245296555275264
+65,1.083333333,BASELINE,764,744,714,679.262411134,658,633,878.737588866,785,806.737588866,651,630,652,0.40097302848,-0.00539839166316,0.079834571395,0.999999930658,0.00023962691357,-0.000281782941592,4.3145963479e-05,1793245296571941888
+66,1.100000000,BASELINE,764.31410626,744.31410626,714,679.31410626,658,633,879,785,807,651,630,652,0.400972797978,-0.0053973374877,0.0798344930517,0.999999930716,0.000239713627876,-0.000281555279855,4.27982720531e-05,1793245296588608512
+67,1.116666667,BASELINE,764.885513423,744.885513423,714,679.885513423,658,633,879,785,807,651,630,652,0.400972578613,-0.00539727628697,0.0798344098124,0.999999930981,0.000238994229254,-0.000281276751693,4.24701784043e-05,1793245296605275136
+68,1.133333333,BASELINE,764.543335119,744.543335119,714,680,658,633,878.543335119,785,807,651.456664881,630,652,0.400972715028,-0.00539757349615,0.079834504202,0.999999930906,0.000239103615474,-0.00028143527801,4.25613463639e-05,1793245296621942016
+69,1.150000000,BASELINE,764.028965234,744.028965234,714,680,658,633.028965234,878,785,806.971034766,652,630,652,0.400973027216,-0.00539791188582,0.0798346676149,0.999999930755,0.000239516499076,-0.000281593228874,4.2753461191e-05,1793245296638609152
+70,1.166666667,BASELINE,764.625012177,744.625012177,714,680,658,633.625012177,878,785,806.374987823,652,630,652,0.400975035442,-0.00539729833065,0.079835311011,0.999999930759,0.000241805661447,-0.00027959594651,4.28652308889e-05,1793245296655275520
+71,1.183333333,BASELINE,764.786889659,745,714,680,658.213110341,634,878.213110341,785,806,652,630,652,0.400975415044,-0.00539714328929,0.0798354059766,0.999999930702,0.000242446949807,-0.000279243850749,4.28657647942e-05,1793245296671941888
+72,1.200000000,BASELINE,764.212275104,745,714,680,658.787724896,634,878.787724896,785,806,652,630,652,0.400973031974,-0.00539776603588,0.0798345706265,0.999999930546,0.000240292910095,-0.000281682524396,4.26776067588e-05,1793245296688608512
+73,1.216666667,BASELINE,764,745,714.363080534,680,658.636919466,634,878.636919466,785.363080534,806,652,630,652,0.400971482767,-0.00539829424906,0.0798335698798,0.999999930076,0.000239809269308,-0.00028375369055,4.27043145876e-05,1793245296705275136
+74,1.233333333,BASELINE,764,745,714.938870298,680,658.061129702,634,878.061129702,785.938870298,806,652,630,652,0.400970422076,-0.0053987670802,0.0798324722363,0.999999929422,0.000240304224961,-0.000285609553813,4.28569007064e-05,1793245296721941760
+75,1.250000000,BASELINE,764,745,714.471965254,680,658,634,878,785.471965254,806.528034746,652,630,652,0.400971060102,-0.00539885868292,0.0798327219335,0.999999929617,0.000240337691349,-0.000284922804711,4.26836615429e-05,1793245296738608384
+76,1.266666667,BASELINE,764,745.11648191,714,680,658.11648191,633.88351809,878,785,806.88351809,652,630.11648191,652,0.400972173099,-0.00539880910769,0.0798333810044,0.999999929991,0.000240496879706,-0.000283498001518,4.25278763502e-05,1793245296755275008
+77,1.283333333,BASELINE,764,745.69576735,714,680,658.69576735,633.30423265,878,785,806.30423265,652,630.69576735,652,0.400974371578,-0.0053983785171,0.0798350307514,0.999999930667,0.000241373370823,-0.000280340691076,4.25952029569e-05,1793245296771941888
+78,1.300000000,BASELINE,764,745.456322543,714,680,658.728161272,633,878,785,806.271838728,652,630.728161272,652,0.400975378199,-0.00539768058463,0.0798359491335,0.999999931124,0.000241393010378,-0.00027869042448,4.25856868335e-05,1793245296788608768
+79,1.316666667,BASELINE,764,744.311289933,714,680,658.155644967,633,878,785,806.844355033,652,630.155644967,652,0.40097506652,-0.00539668694852,0.0798360585612,0.999999931347,0.000240464896582,-0.000278707081326,4.24911758786e-05,1793245296805275392
+80,1.333333333,BASELINE,764,744.419256325,714,680,658,633.419256325,878,785,806.580743675,652,630,652,0.400974491831,-0.00539681197457,0.0798360597566,0.999999931228,0.00024032890432,-0.000279234460309,4.26018991175e-05,1793245296821942016
+81,1.350000000,BASELINE,764,744.995048133,714,680,658,633.995048133,878,785,806.004951867,652,630,652,0.400973818943,-0.00539735466942,0.0798360205417,0.99999993098,0.000240488662147,-0.000279952524878,4.27892495377e-05,1793245296838608640
+82,1.366666667,BASELINE,764,745,714,680,658.590288265,634,878.590288265,785.590288265,806,652,630,652,0.400973540218,-0.00539782698196,0.0798358555196,0.999999931091,0.000240313068856,-0.000279707575668,4.27933148859e-05,1793245296855275264
+83,1.383333333,BASELINE,764.17970807,745,714,680,659,633.82029193,879,786,806,652,630,652.17970807,0.400973589983,-0.00539804622136,0.0798357794523,0.999999931072,0.000240659051392,-0.000279468500901,4.28461845687e-05,1793245296871941888
+84,1.400000000,BASELINE,764.755914112,745,714,680,659,633.244085888,879,786,806,652,630,652.755914112,0.400974356968,-0.00539770844133,0.0798359020577,0.99999993076,0.000242162228436,-0.000279260818629,4.30102414068e-05,1793245296888608512
+85,1.416666667,BASELINE,764.668925828,745,714,680,659,633.331074172,878.668925828,785.668925828,806,652,630,653,0.400973402598,-0.00539849660213,0.079835172551,0.999999930938,0.000239938727782,-0.000280561398698,4.28721200022e-05,1793245296905275392
+86,1.433333333,BASELINE,764.09453453,745,714,680,659,633.90546547,878.09453453,785.09453453,806,652,630,653,0.400971183149,-0.00540011225333,0.0798338167996,0.999999931453,0.000234976370952,-0.000282970449595,4.25119180142e-05,1793245296921942016
+87,1.450000000,BASELINE,764,745,714,680,658.505754857,633.505754857,878,785,806,651.505754857,630,652.505754857,0.400971413544,-0.00539967800361,0.0798341261627,0.999999930957,0.000237192831492,-0.00028283089296,4.28113759096e-05,1793245296938608640
+88,1.466666667,BASELINE,764,744.916140133,714,680,658.083859867,633.083859867,878,785,806,651.083859867,630,652,0.400972092121,-0.00539888788822,0.0798347000858,0.999999930422,0.000240218793374,-0.000282119288561,4.31317878447e-05,1793245296955275264
+89,1.483333333,BASELINE,764,744.338303709,714,680,658.661696291,633.661696291,878,785,806,651.661696291,630,652,0.400972567758,-0.00539838037861,0.0798349000963,0.999999930881,0.000239682376554,-0.000280995599552,4.28101191706e-05,1793245296971941888
+90,1.500000000,BASELINE,764,744.238510816,714,680,658.761489184,633.761489184,878,785,806,652,630,652,0.40097276719,-0.00539826037371,0.0798348811175,0.999999930947,0.00023998974369,-0.000280493832611,4.28311937163e-05,1793245296988608768
+91,1.516666667,BASELINE,764,744.813882013,714,680,658.186117987,633.186117987,878,785,806,652,630,652,0.400972576526,-0.00539868766053,0.0798345528497,0.999999930458,0.00024148882784,-0.000280870436443,4.33363411458e-05,1793245297005275392
+92,1.533333333,BASELINE,764,745,714.398473439,680,658.398473439,633.398473439,878,785,806,652,630,652,0.400972147035,-0.00539949171177,0.0798342356522,0.999999930629,0.000240328435728,-0.000281255331462,4.33529368519e-05,1793245297021941760
+93,1.550000000,BASELINE,764,745,714.987473489,680,658.987473489,633.987473489,878,785,806,652,630,652,0.400971603351,-0.00540047590967,0.0798339237479,0.999999931111,0.000237896438296,-0.000281644190873,4.31359358437e-05,1793245297038608384
+94,1.566666667,BASELINE,764,745,715,680,658.43322469,634,878,785.56677531,806.56677531,652,630,652,0.40097282267,-0.00539836780021,0.0798345229252,0.99999993081,0.000240487494997,-0.000280574779518,4.27062886129e-05,1793245297055275008
+95,1.583333333,BASELINE,764,745,714.855484108,679.855484108,658.144515892,633.855484108,878.144515892,786,806.855484108,652,630,652,0.400973807974,-0.00539689113114,0.0798349316489,0.999999930646,0.000242100003993,-0.000279822467156,4.23609057904e-05,1793245297071941632
+96,1.600000000,BASELINE,764,745,714.28175439,679.28175439,658.71824561,633.28175439,878.71824561,786,806.28175439,652,630,652,0.400973984471,-0.00539748941486,0.0798347159251,0.999999930961,0.00024048204305,-0.000280106054547,4.22795126575e-05,1793245297088608512
+97,1.616666667,BASELINE,764,745,714,679.293319188,658.706680812,633.293319188,878.706680812,785.706680812,806,652,630,652.293319188,0.400974370922,-0.00539787854947,0.0798353509401,0.999999931179,0.000240467998241,-0.000279305189715,4.24946169964e-05,1793245297105275392
+98,1.633333333,BASELINE,764,745,714,679.86968955,658.13031045,633.86968955,878.13031045,785.13031045,806,652,630,652.86968955,0.400974959976,-0.00539806585647,0.0798368069128,0.999999931302,0.000242001722519,-0.000277457835287,4.29958395367e-05,1793245297121942016
+99,1.650000000,BASELINE,764,745,714,680,658.457950515,634,878.457950515,785,806,652,630,652.542049485,0.400974675397,-0.00539839353451,0.0798364656695,0.999999931171,0.000242054889544,-0.000277876461758,4.30293061299e-05,1793245297138608640
+100,1.666666667,BASELINE,764,745,714,680,659,634,878.951555009,785,806,651.951555009,630,652,0.400974033243,-0.00539870121335,0.0798355487054,0.999999930962,0.000241594629639,-0.000279046474585,4.29111769309e-05,1793245297155275264
+101,1.683333333,BASELINE,764,745,714,680,659,634,878.374590336,785,806,651.374590336,630,652,0.40097227445,-0.0053983433279,0.07983407875,0.999999930696,0.000240251755435,-0.000281191925678,4.26299791614e-05,1793245297171942144
+102,1.700000000,BASELINE,764,745,714,680,659,634,878,785,806,651.201147272,630,652,0.400971568646,-0.00539830590138,0.0798336454994,0.999999930611,0.000239737067582,-0.000281948134897,4.25279087735e-05,1793245297188608768
+103,1.716666667,BASELINE,764,745,714,680,659,634,878,785,806,651.774613548,630,652,0.400972811901,-0.00539886163705,0.0798351311659,0.999999930867,0.000240755333887,-0.000280132888924,4.27573991067e-05,1793245297205275392
+104,1.733333333,BASELINE,764,745,714,680,658.650715522,634,878,785,806,651.650715522,630,652,0.400973041759,-0.00539816991035,0.0798352593158,0.999999930719,0.000241497255594,-0.000280013307615,4.28304190244e-05,1793245297221942016
+105,1.750000000,BASELINE,764,745,714,680,658.075264503,634,878,785,806,651.075264503,630,652,0.400972615429,-0.00539667043454,0.0798345084552,0.999999930309,0.000242060240447,-0.000280991692495,4.28021222024e-05,1793245297238608640
+106,1.766666667,BASELINE,764,745,714.517087469,680,658,634,878,785,806,651,630,652,0.400973363369,-0.0053963921759,0.0798345158537,0.999999930029,0.000243647002471,-0.000280636055621,4.26708352066e-05,1793245297255275264
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,786,807,652,631,652,0.40097336706,-0.00539639520148,0.0798352377557,0.999999930143,0.000244921586014,-0.000279157247165,4.24162598903e-05,1793245297297660160
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.424748751,658.424748751,633.424748751,878,785.424748751,805.849497502,652,630.424748751,652,0.400973776922,-0.00539677434221,0.0798354758174,0.999999930718,0.00024252618052,-0.000279165028149,4.25689712218e-05,1793245297314327040
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.150499913,633,878.150499913,785,805.150499913,652,630,652,0.400973981212,-0.00539720412318,0.0798355306522,0.99999993106,0.000240850342859,-0.000279372637134,4.26767594691e-05,1793245297330993920
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.725741414,633,878.725741414,785,805.725741414,652,630,652,0.400973605335,-0.00539777682135,0.0798350683837,0.99999993076,0.000241205272497,-0.000280144201687,4.26577656046e-05,1793245297347660288
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.308343798,659,633.308343798,879,785,806,651.691656202,630,652,0.400973595173,-0.00539776792405,0.0798347541201,0.999999930622,0.000241510948921,-0.000280372425142,4.26663015572e-05,1793245297364327168
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.897653456,659,633.897653456,879,785,806,651.102346544,630,652,0.400973918253,-0.00539722907127,0.0798345747201,0.999999930632,0.000241771745321,-0.00028010555087,4.26999229471e-05,1793245297380993792
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.520483213,633.520483213,878.520483213,785,806,651.479516787,630,652,0.400973881374,-0.00539761477056,0.0798352900585,0.999999930663,0.000242212583307,-0.000279614929493,4.26876260856e-05,1793245297397660416
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.059178297,785,806,652,630,652,0.400973777898,-0.00539804019341,0.0798360834732,0.999999930663,0.00024266380078,-0.000279226175284,4.26648734486e-05,1793245297414327040
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.633298663,785,806,652,630,652,0.400973753231,-0.00539712042487,0.0798359199482,0.999999930359,0.000242876070524,-0.000280133016982,4.26351161229e-05,1793245297430993664
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.21228481,633.21228481,878.78771519,785,806,652,630,652,0.400977934267,-0.00539700809496,0.0798375811216,0.999999931282,0.000242126758157,-0.000277477441778,4.26329207159e-05,1793245297447660544
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.799873229,633.799873229,878.200126771,785,806,652,630,652,0.400989550673,-0.00539832325605,0.0798424682251,0.999999934314,0.000239677440752,-0.000268523780765,4.2679452713e-05,1793245297464327168
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.616596971,714,680,658.616596971,633.616596971,878.383403029,785,806,652,630,652,0.401014586325,-0.00539812440317,0.0798522746047,0.999999938759,0.000240145135017,-0.000250947186304,4.28686354082e-05,1793245297480993536
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.035163426,714,680,658.035163426,633.035163426,878.964836574,785,806,652,630,652,0.401046553117,-0.00539714355093,0.0798646218276,0.999999943557,0.0002421194872,-0.000228916781644,4.31314982384e-05,1793245297497659904
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.458475008,744.541524992,714,680,658.541524992,633.541524992,878.458475008,785,806.541524992,652,630,652,0.401107316135,-0.00539848331633,0.0798837146579,0.999999951754,0.000241418643346,-0.000190687338691,4.29731905198e-05,1793245297514326784
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.117400755,744.882599245,714,680.117400755,658.882599245,633.882599245,878,785,806.882599245,652,630,652,0.401172005248,-0.00539993786335,0.0799016736999,0.999999957832,0.00024079192336,-0.000156649756052,4.26133480622e-05,1793245297530993664
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.691304443,744.308695557,714,680.691304443,658.308695557,633.308695557,878,785,806.308695557,652,630,652,0.401244753046,-0.00540125788482,0.0799135356994,0.999999959846,0.000241123023466,-0.000142966436015,4.15752728425e-05,1793245297547660032
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744.273803248,714,680.726196752,658,633.273803248,878.273803248,785,806.273803248,652,630,652,0.401324865479,-0.00540335137987,0.0799215817508,0.99999996202,0.000238767564595,-0.00013172782291,3.99720357717e-05,1793245297564326656
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744.866306515,714,680.133693485,658,633.866306515,878.866306515,785,806.866306515,652,630,652,0.401413550157,-0.00540634517842,0.079925186135,0.999999964472,0.000233285019383,-0.000123334787351,3.77109647421e-05,1793245297580993280
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.448536865,633.551463135,879,785,806.551463135,651.551463135,630,652,0.401521761061,-0.00540692472476,0.0799292049567,0.999999965815,0.000231822346158,-0.000115926664403,3.44809876381e-05,1793245297597659904
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.027447909,879,785,806,651.027447909,630,652,0.40163700381,-0.00540688509343,0.0799335260261,0.999999966829,0.000231514955161,-0.000108563593898,3.09398812086e-05,1793245297614326784
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.599888965,879,785,806,651.599888965,630,652,0.4017788939,-0.0054085196029,0.0799414505577,0.999999968339,0.000230888362882,-9.63966080154e-05,2.68269762758e-05,1793245297630993408
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714.177542026,680,658.822457974,633.822457974,879,785,806,652,630,652,0.40192977382,-0.00541011703103,0.0799480166037,0.999999969952,0.000228683382525,-8.54629092898e-05,2.22636611507e-05,1793245297647660288
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+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,785.34572267,806,652,630,652,0.4031844747,-0.0054204910925,0.0799397563041,0.999999977922,0.000183782013865,-9.97819066681e-05,-2.05724942402e-05,1793245297747660032
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.765304417,634,878,785,806,652,630,652,0.40346683886,-0.00542340295654,0.0799375062763,0.999999983607,0.00014611235353,-0.000103286455431,-2.77191391036e-05,1793245297764326656
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.17393393,634,878,785,806,652,630,652,0.403791577425,-0.00542725702562,0.079941555246,0.999999992646,6.70355439583e-05,-9.56541235756e-05,-3.262205827e-05,1793245297780993280
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744.590755807,714,680,658,633.590755807,878,785,806,651.590755807,630,652,0.404145644522,-0.00542793336899,0.0799500228811,0.999999993144,7.8174616319e-05,-8.24152101798e-05,-2.84405538443e-05,1793245297797660160
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.010991223,714,680,658,633.010991223,878,785,806,651.010991223,630,652,0.404511931973,-0.00542728564453,0.0799603316479,0.999999989504,0.000126904077166,-6.68401942174e-05,-2.04738289075e-05,1793245297814327040
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.564858499,714,680,658,633.564858499,878,785,806,651.564858499,630,652,0.404914419356,-0.00543119532865,0.0799583418212,0.999999989801,0.000124836179274,-6.45916042426e-05,-2.53164338665e-05,1793245297830993664
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.856573703,714,680,658.143426297,633.856573703,878,785,806.143426297,651.856573703,630,652,0.405323390347,-0.00543518271076,0.0799553382754,0.999999990523,0.000117924672933,-6.44053198374e-05,-2.99810383879e-05,1793245297847660288
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744.269361735,714,680,658.730638265,633.269361735,878,785,806.730638265,651.269361735,630,652,0.405750258156,-0.00543913800135,0.0799499334794,0.999999992102,9.90635411296e-05,-6.98033358098e-05,-3.3328968034e-05,1793245297864326656
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658.68662396,633.31337604,878,785,806.68662396,651,630,652,0.406209905322,-0.00544055302975,0.0799426148858,0.999999990855,0.000101408514204,-8.29999446886e-05,-3.34341960217e-05,1793245297880993280
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658.107677771,633.892322229,878,785,806.107677771,651,630,652,0.406697331363,-0.00543981531644,0.0799336744462,0.999999986833,0.000121724573336,-0.000102805462354,-3.07914007305e-05,1793245297897659648
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.469982135,744.469982135,714,680,658.469982135,634,878,784.530017865,806,651,630,652,0.407205599142,-0.0054425491886,0.0799307791608,0.999999987322,0.000111441086889,-0.000108603713164,-3.37884679578e-05,1793245297914326528
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,784.047052376,806,651.047052376,630,652,0.407720749677,-0.00544603789044,0.0799282787901,0.999999988315,9.545577261e-05,-0.000113258590256,-3.78360362064e-05,1793245297930993408
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,784.620812175,806,651.620812175,630,652,0.408259640177,-0.00544909701594,0.0799147375715,0.99999998489,9.39075426254e-05,-0.000140940524183,-3.92180424639e-05,1793245297947660800
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.799712671,745,714,680,659,634,878.200287329,785,806,651.799712671,630,652,0.408827155664,-0.00545260142773,0.0799107531517,0.999999983825,9.03432778664e-05,-0.000150176583801,-4.04388095217e-05,1793245297964328192
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.209099292,745,714,680,659,634,878.790900708,785,806,651.209099292,630,652,0.409450456363,-0.00545697362679,0.0799253933136,0.999999988091,8.285010326e-05,-0.000123464759842,-4.13453486585e-05,1793245297980995584
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680.374094979,659,634,879,785,806,651,630,652.374094979,0.410137977317,-0.00546430368875,0.0799556885081,0.999999993951,7.27749816378e-05,-7.15957641934e-05,-4.09387207458e-05,1793245297997661952
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680.953222986,659,634,879,785,806,651,630,652.953222986,0.410860695925,-0.00547325488857,0.0799945638725,0.999999997312,6.12847530419e-05,-5.93869030521e-06,-3.98123753985e-05,1793245298014327808
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680.469979325,659,633.469979325,879.530020675,785,806.530020675,651.530020675,630,653,0.411526221599,-0.00549272998143,0.0799866930624,0.999999998294,3.63083476105e-05,-2.52930011307e-05,-3.8141478336e-05,1793245298030993920
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.108278238,659,633.108278238,879.783443524,785,807,652,630,652.891721762,0.412188137302,-0.00551194275088,0.0799700628766,0.99999999767,1.13549169287e-05,-5.60780032526e-05,-3.72435982908e-05,1793245298047660544
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680.693873762,659,633.693873762,878.612252476,785,807,652,630,652.306126238,0.412856292695,-0.00552592272761,0.0799329261964,0.999999993726,-8.27339507723e-06,-0.000104323394806,-3.9964299853e-05,1793245298064326912
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,878.276606884,784.723393116,807,651.723393116,630,652,0.413576102027,-0.00553016550091,0.0799135852122,0.999999991168,-1.75984323692e-05,-0.000124606342519,-4.27447774949e-05,1793245298080993536
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,878.856204649,784.143795351,807,651.143795351,630,652,0.414352492364,-0.00552374229469,0.0799137373519,0.999999992311,-1.56374251986e-05,-0.000114259670236,-4.55907333556e-05,1793245298097660672
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879,784.435298429,807.435298429,651,630,652,0.41517075875,-0.00553042386219,0.079933972365,0.999999995479,-2.2904119148e-05,-8.05801367261e-05,-4.49895156988e-05,1793245298114327296
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.01407009,633.98592991,879,785,807.98592991,651.01407009,630.01407009,652.01407009,0.416001390005,-0.00554121367201,0.079959807632,0.99999999767,-3.30622665472e-05,-4.11027363106e-05,-4.3320366014e-05,1793245298130994176
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659.586657616,633.413342384,879,785,807.413342384,651.586657616,630.586657616,652.586657616,0.416774371418,-0.00554343930111,0.0799449076468,0.999999995353,-3.71360858343e-05,-7.70836062433e-05,-4.44093054953e-05,1793245298147660288
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680.835911752,660,633.164088248,879,785,807,652,630.835911752,653,0.41756662666,-0.00554683935954,0.0799402579505,0.999999994209,-4.3029373867e-05,-8.75693632995e-05,-4.54071517367e-05,1793245298164326400
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680.245910218,660,633.754089782,879,785,807,652,630.245910218,653,0.418408909691,-0.00555328780834,0.079962214269,0.999999996987,-5.36453394087e-05,-3.18790973452e-05,-4.61685531e-05,1793245298180993024
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,680.33791491,659.66208509,634,879,785,807,651.66208509,630,652.66208509,0.419291389246,-0.00556091126292,0.0799755643331,0.999999996739,-6.54642390021e-05,-1.96702682855e-06,-4.72597131505e-05,1793245298197659904
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,680.91732595,659.08267405,634,879,785,807,651.08267405,630,652.08267405,0.420202595832,-0.00556937445333,0.079982763803,0.999999995721,-7.81428336867e-05,9.52225426826e-06,-4.85865403911e-05,1793245298214326528
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.493921748,633.506078252,879,785,807,651.493921748,630,652.493921748,0.421097434269,-0.00557074666006,0.0799727506194,0.99999999541,-8.17074293467e-05,-7.15373620893e-06,-4.95340528242e-05,1793245298230993408
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879,785,807,652,629.930648993,653,0.421992567033,-0.00556842753707,0.0799648247719,0.999999995303,-8.03996832204e-05,-2.05443830323e-05,-5.00695697615e-05,1793245298247660288
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879,785,807,652,629.360262718,653,0.422909507242,-0.00554796630854,0.0799926760945,0.99999999706,-5.48499828113e-05,2.36670143034e-05,-4.80846697394e-05,1793245298264327168
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.218961149,879,785,807,651.781038851,629.218961149,652.781038851,0.423802978693,-0.00552664330178,0.0800044272336,0.999999997919,-2.59895617222e-05,3.62436638483e-05,-4.66231733505e-05,1793245298280993792
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.813337411,879,785,807,651.186662589,629.813337411,652.186662589,0.424656212443,-0.00550384274839,0.0799885741549,0.999999998888,8.54718809772e-06,-5.41835343122e-06,-4.60590671218e-05,1793245298297660160
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,681.397907547,660,633.602092453,879,785,807.397907547,651,630,652.397907547,0.425531446613,-0.00550605726288,0.0799508235785,0.99999999642,2.54253273358e-06,-6.89402112523e-05,-4.89962907543e-05,1793245298314326784
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,681.977988134,660,633.022011866,879,785,807.977988134,651,630,652.977988134,0.42641675313,-0.0055197243661,0.0799030477251,0.999999988176,-2.20230970981e-05,-0.000142470103595,-5.35365195012e-05,1793245298330993664
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.551975071,745,714,682,660,633.551975071,879,785,808,651,630,653,0.427363707739,-0.00552399053232,0.0799010614895,0.999999989558,-3.18432491077e-05,-0.000129842063044,-5.4864601578e-05,1793245298347660032
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,785.128961458,808,651.128961458,630,653,0.428302608636,-0.00552724301448,0.0799053966778,0.999999991238,-3.79456070219e-05,-0.00011416229046,-5.52431703982e-05,1793245298364326656
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,785.717493251,808,651.717493251,630,653,0.42920414383,-0.00552820450027,0.0799258228728,0.9999999931,-3.28717606686e-05,-9.97176336703e-05,-5.26895283615e-05,1793245298380993536
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,785.698962695,808,652,630,653,0.430138212316,-0.00553260621304,0.0799599423891,0.99999999636,-3.83873288603e-05,-5.65227453145e-05,-5.11121472883e-05,1793245298397660416
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,785.120023102,808,652,630,653,0.431102313829,-0.00554018376785,0.08000670288,0.9999999972,-5.36785047097e-05,1.32128901833e-05,-5.04360005042e-05,1793245298414327552
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,682.45759718,660,634,879,785,808,652.45759718,630,653,0.432017790935,-0.00553899634438,0.0800230823268,0.999999996537,-5.38678315064e-05,3.91077187067e-05,-4.9958065558e-05,1793245298430993920
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.965245469,745,714,683,660.034754531,633.965245469,879.034754531,785,808,652.965245469,630.034754531,652.965245469,0.432915775116,-0.00553517417642,0.0800261897631,0.999999996488,-4.96369274531e-05,4.55794816463e-05,-4.98196511726e-05,1793245298447660288
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.389922376,745,714,683,660.610077624,633.389922376,879.610077624,785,808,652.389922376,630.610077624,652.389922376,0.433739474348,-0.00552602653285,0.079946452767,0.999999995237,-3.80870400725e-05,-7.1713099433e-05,-5.41557994993e-05,1793245298464326656
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,714,683,661,633.184718589,879.815281411,785.184718589,808,651.815281411,630.815281411,652.184718589,0.434582632183,-0.00552230721583,0.0798963985542,0.999999987571,-3.43707100802e-05,-0.000142825242461,-5.72571602058e-05,1793245298480993024
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,683,661,633.757925055,879.242074945,785.757925055,808,651.242074945,630.242074945,652.757925055,0.435466714213,-0.00553000439329,0.0799087711864,0.999999990398,-4.71293968823e-05,-0.000116813776521,-5.77615996442e-05,1793245298497659648
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.343908013,745,714,683,660.656091987,634,879.343908013,786,808,651.343908013,630,653,0.436332672507,-0.00553502554377,0.0799342946941,0.99999999348,-5.51755078043e-05,-8.26087957195e-05,-5.63117976216e-05,1793245298514326784
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.939231236,745,714,683,660.060768764,634,879.939231236,786,808,651.939231236,630,653,0.437185381323,-0.00553809037449,0.0799694321967,0.999999995886,-5.97764720658e-05,-4.24139173836e-05,-5.34333401476e-05,1793245298530993920
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.482803637,745,714,683,660,633.482803637,879.482803637,786,808,652,630,653,0.438015174369,-0.00554195119992,0.0799765472896,0.999999996242,-5.99630677508e-05,-3.27672561469e-05,-5.33553023372e-05,1793245298547661056
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,879.094927715,785.905072285,808,652,630,653,0.438826987991,-0.00554521533721,0.0799720086988,0.999999995823,-6.14903861494e-05,-4.0694025337e-05,-5.40003573906e-05,1793245298564327680
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,879.681671393,785.318328607,808,652,630,653,0.439559147906,-0.00554491923936,0.0799235974712,0.999999988355,-7.25638845694e-05,-0.000121675715072,-5.67423402303e-05,1793245298580993536
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.264930179,745,714,683,660,633,880,785,808.264930179,652,630,653,0.440246209566,-0.00554208009707,0.0798505807289,0.999999967364,-7.49611111159e-05,-0.000236636667433,-6.04662559535e-05,1793245298597659904
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.844055992,745,714,683,660,633,880,785,808.844055992,652,630,653,0.440879786612,-0.00553622501506,0.079748382923,0.999999918824,-6.70686560218e-05,-0.000391895534589,-6.53547003526e-05,1793245298614326528
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.576547566,745,713.576547566,683.423452434,659.576547566,632.576547566,880,784.576547566,809,652,630.423452434,653,0.441538155758,-0.0055346023628,0.079682063439,0.99999987736,-6.31960838679e-05,-0.000486330579994,-6.90574317558e-05,1793245298630993408
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,713.002919207,684,659,632,880,784,809,652,630.997080793,653,0.44220608985,-0.00553459785842,0.0796295602404,0.999999840133,-6.09040879606e-05,-0.000557493786849,-7.22838881977e-05,1793245298647660288
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,713.576628978,684,659,632,880,784,809,652,630.423371022,653,0.442957889055,-0.00554602837734,0.0796933969289,0.99999988845,-7.80154688762e-05,-0.000460883227409,-6.78190379698e-05,1793245298664327168
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.150734319,745.150734319,714,684,658.849265681,631.849265681,880,784,809,652,630,653,0.443688494076,-0.005556024845,0.0797477062567,0.999999921553,-8.91373209798e-05,-0.000380566446116,-6.41659192325e-05,1793245298680993792
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.725953763,745.725953763,714,684,658.274046237,631.274046237,880,784,809,652,630,653,0.444359414017,-0.00556198286253,0.079775185459,0.999999934646,-8.33919789833e-05,-0.00034613480049,-6.27987299597e-05,1793245298697660672
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.689589233,745.689589233,714,684.310410767,658,631,880,783.689589233,809,652,630,653,0.444977288546,-0.00556536276312,0.0797763083417,0.999999932459,-9.37883137193e-05,-0.000349814146358,-6.25815009029e-05,1793245298714327296
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+256,4.266666667,HOLD_POSE2,764,745,713,685.611228203,651.611228203,627,880,779,809.611228203,652,629,653,0.453173898203,-0.005577941426,0.0795792042316,0.999999787367,-0.000132264958974,-0.000635575876807,-6.1761316898e-05,1793245299807870720
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,745,713,685.532594044,653,627,880.532594044,779,809,652,629,653,0.451345151626,-0.00554484832006,0.0794939256481,0.999999684926,-8.58432209723e-05,-0.000788884503769,-2.09933988634e-05,1793245300357425664
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,745,713,684,653,628,880,780.173478857,809.826521143,652,630,653,0.448670746154,-0.00550347886592,0.0795303587297,0.999999734606,2.55047112521e-05,-0.000728028874129,1.05865582839e-05,1793245300490759936
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,745,713,684,653,628,880,780.75034122,809.24965878,652,630,653,0.448208684917,-0.00549872721026,0.0795201886574,0.999999720379,1.49188648033e-05,-0.000747593114033,1.11216826621e-05,1793245300507426048
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32ada5bc39ff94057a33daf466b7085505791c96
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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+400,6.666666667,pose2_to_pose3_retreat,0.575669808684,-0.000122109515714,1.07005109975,0.546241441989,0.00855357632747,1.06971758411
+401,6.683333333,pose2_to_pose3_retreat,0.575669622141,-0.000122146928658,1.07005102777,0.546241256759,0.00855354351133,1.06971751591
+402,6.700000000,pose2_to_pose3_retreat,0.575669607468,-0.000122149871354,1.0700510221,0.546241242189,0.00855354093019,1.06971751054
+403,6.716666667,pose2_to_pose3_retreat,0.575669556241,-0.000122162195036,1.07005099964,0.546241191258,0.00855352965652,1.06971748926
+404,6.733333333,pose2_to_pose3_retreat,0.57566960374,-0.000122161090567,1.0700510069,0.546241238159,0.0085535287179,1.06971749612
+405,6.750000000,pose2_to_pose3_retreat,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce48f523793112cbf47d2a2f09fb14b5ae537747
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc9e2bfdd8d0aee9caf9a487b7296c1f72a9bb201ff2ed53c45123e2743653cd
+size 25840132
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe9cbfd8dabbd4a2848c0a4ef453a3f88c42a0b7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+52,0.866666667,BASELINE,764,745,714,680,658.831607699,633.168392301,879,785.831607699,806.168392301,651.831607699,630,652,0.400972511208,-0.00540096490073,0.0798340486435,0.999999930848,0.000237977218216,-0.000282706429491,4.1814576784e-05,1793245303305549824
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+54,0.900000000,BASELINE,764.325141151,745,713.674858849,680,658,633.674858849,878.674858849,785,806.674858849,651.325141151,630,652,0.400971394619,-0.00540129120105,0.0798331533899,0.999999930791,0.000236531204618,-0.000284111214672,4.18658367956e-05,1793245303338883072
+55,0.916666667,BASELINE,764.91326452,745,713.08673548,680,658,633.08673548,878.08673548,785,806.08673548,651.91326452,630,652,0.400969437902,-0.00540307233996,0.0798316121949,0.999999930563,0.000234498455101,-0.000286572066383,4.19563746436e-05,1793245303355549696
+56,0.933333333,BASELINE,764.50332879,745,713.49667121,680,658.49667121,633,878,785,805.50332879,652,630,652,0.400971237987,-0.00540198654878,0.0798334228282,0.999999930942,0.00023607829484,-0.000283949634179,4.19062943364e-05,1793245303372216576
+57,0.950000000,BASELINE,764,745,714,679.92211622,658.92211622,633,878.07788378,785,805.07788378,652,630,652,0.400973228153,-0.00540074695454,0.0798353106549,0.999999931285,0.0002379423922,-0.000281170090831,4.19073591363e-05,1793245303388882944
+58,0.966666667,BASELINE,764,745,714,679.349655605,658.349655605,633,878.650344395,785,805.650344395,652,630,652,0.40097229843,-0.0054016800748,0.0798340066088,0.999999930827,0.000237643061308,-0.00028297697463,4.23876776126e-05,1793245303405549568
+59,0.983333333,BASELINE,764,745,714,679.224058775,658,633,879,785,806,652,630,652,0.400971922048,-0.00540215052149,0.079833411181,0.999999930822,0.000236657836239,-0.000283805624693,4.24768538688e-05,1793245303422216448
+60,1.000000000,BASELINE,764,745,714,679.799740819,658,633,879,785,806,652,630,652,0.400972414043,-0.00540189487849,0.0798339278126,0.99999993153,0.000234596213409,-0.000283099098627,4.19521970357e-05,1793245303438883328
+61,1.016666667,BASELINE,764,744.615154669,714,680,658,633,878.615154669,785,806,651.615154669,630,652,0.400971703425,-0.00540204302386,0.0798336576822,0.999999931202,0.000235530804452,-0.000283464584155,4.2067948836e-05,1793245303455549952
+62,1.033333333,BASELINE,764,744.02502403,714,680,658,633,878.02502403,785,806,651.02502403,630,652,0.400970351306,-0.00540240655918,0.0798329678751,0.999999930316,0.000238063644667,-0.000284401905243,4.25253092884e-05,1793245303472216320
+63,1.050000000,BASELINE,764,744,714,680,658,633.554657631,878,785,806,651.554657631,630,652,0.400971205465,-0.00540214407834,0.0798331369207,0.999999930551,0.000237514765057,-0.00028401155911,4.26917129327e-05,1793245303488883200
+64,1.066666667,BASELINE,764,744.133009199,714,680,658,633.866990801,878,785,806,652,630,652,0.400971856334,-0.00540178995924,0.0798333185516,0.999999930731,0.000237142667264,-0.000283677525911,4.27521189514e-05,1793245303505549824
+65,1.083333333,BASELINE,764,744.708475343,714,680,658,633.291524657,878,785,806,652,630,652,0.400971505959,-0.00540122321926,0.0798334155349,0.999999930569,0.000237812588075,-0.000283726389933,4.25027816565e-05,1793245303522216448
+66,1.100000000,BASELINE,764,745,714,680,658.289739803,633,878.289739803,785,806,651.710260197,630,652,0.400971652365,-0.00540152250539,0.0798336613102,0.999999930832,0.000237105487202,-0.000283419012833,4.23255186605e-05,1793245303538883072
+67,1.116666667,BASELINE,764,745,714,680,658.876957399,633,878.876957399,785,806,651.123042601,630,652,0.40097230882,-0.00540271094634,0.0798340598513,0.999999931527,0.00023498458892,-0.000282745880589,4.22222548447e-05,1793245303555549696
+68,1.133333333,BASELINE,764,745,714,680,658.541962379,633.458037621,878.541962379,785,806,651.458037621,630,652,0.400972092726,-0.00540286738768,0.0798334348542,0.999999931526,0.000234426227065,-0.000283244282737,4.20040893884e-05,1793245303572216576
+69,1.150000000,BASELINE,764,745,714,680,658,633.962674402,878,785,806,652,630,652,0.400971667591,-0.00540266658044,0.0798326506756,0.999999931349,0.000234338142452,-0.000283977038709,4.17769118229e-05,1793245303588883456
+70,1.166666667,BASELINE,764,745,714,680,658,633.385777495,878,785,806,652,630,652,0.400971564152,-0.00540125599454,0.0798334875121,0.99999993128,0.00023506078448,-0.00028360834547,4.18597505811e-05,1793245303605551104
+71,1.183333333,BASELINE,764,744.813105864,714,680,658.186894136,633,878,785,806,652,630,652,0.400971397926,-0.00540044538879,0.0798339363044,0.999999931073,0.000235979915026,-0.000283562908389,4.195789403e-05,1793245303622218496
+72,1.200000000,BASELINE,764,744.248962913,714,680,658.751037087,633,878,785,806,652,630,652,0.400971104965,-0.00540084585235,0.0798336018237,0.999999930583,0.000237295660934,-0.000284169968984,4.20869302578e-05,1793245303638885376
+73,1.216666667,BASELINE,763.66461834,744.33538166,714,679.66461834,659,633.33538166,878,785,806,652,630,652,0.400971177893,-0.00540177075369,0.0798333653884,0.999999930957,0.000236057020664,-0.000283875451726,4.21606478812e-05,1793245303655551232
+74,1.233333333,BASELINE,763.0643164,744.9356836,714,679.0643164,659,633.9356836,878,785,806,652,630,652,0.40097153984,-0.005403109912,0.0798332063998,0.999999932005,0.000232800653097,-0.000282868771879,4.21906689505e-05,1793245303672216576
+75,1.250000000,BASELINE,763.518062041,745,714,679.518062041,658.481937959,633.481937959,878,785,806.518062041,652,630,652,0.400970929173,-0.00540205638648,0.0798320285359,0.999999931093,0.0002342960997,-0.000284900747328,4.18343518921e-05,1793245303688883200
+76,1.266666667,BASELINE,764,745,714,680,658.097875994,633,878,785,806.902124006,651.902124006,630,652,0.400970282868,-0.0054010426373,0.0798310281696,0.999999930114,0.00023612978668,-0.000286857924383,4.15491012929e-05,1793245303705549824
+77,1.283333333,BASELINE,764,745,714,680,658.675661317,633,878,785,806.324338683,651.324338683,630,652,0.400970034074,-0.0054016317082,0.0798314975933,0.999999929994,0.000236826114545,-0.00028666048871,4.18396168576e-05,1793245303722216448
+78,1.300000000,BASELINE,764,745,714,680,658.748845047,633.251154953,878.251154953,785,806,651.251154953,630,652,0.400969900648,-0.00540159915347,0.0798317593785,0.999999930093,0.000237021777971,-0.00028614568121,4.1898705018e-05,1793245303738883072
+79,1.316666667,BASELINE,764,745,714,680,658.176284155,633.823715845,878.823715845,785,806,651.823715845,630,652,0.400969914858,-0.0054007710971,0.0798317554465,0.999999930471,0.000236576735188,-0.000285224729273,4.16616327914e-05,1793245303755549696
+80,1.333333333,BASELINE,764,744.590917515,714,680,658,633.590917515,878.590917515,785,806,651.590917515,630,652,0.400969984152,-0.00540110803622,0.0798317887613,0.999999930557,0.000235964254458,-0.000285421944254,4.17300353388e-05,1793245303772216320
+81,1.350000000,BASELINE,764,744.000142913,714,680,658,633,878,785,806.000142913,651.000142913,630,652,0.400970078106,-0.00540196254267,0.0798318389035,0.999999930512,0.000235278026383,-0.000286116061753,4.19342505595e-05,1793245303788883200
+82,1.366666667,BASELINE,764,744.579393114,714,680,658,633,878,785,806.579393114,651.579393114,630,652,0.40097080602,-0.00540005225007,0.0798329342939,0.99999993037,0.000237580987782,-0.000284721840424,4.18218151467e-05,1793245303805550080
+83,1.383333333,BASELINE,764,745,714,680,658,633,878,785,807,651.842118623,630,652,0.400971170055,-0.00539938181754,0.0798334563419,0.999999930308,0.000238690517119,-0.000284007699784,4.18302435632e-05,1793245303822216704
+84,1.400000000,BASELINE,764,745,714,680,658,633,878,785,807,651.265650344,630,652,0.400970569347,-0.00540199859426,0.079832458302,0.999999930473,0.000236635930714,-0.000285096639583,4.21591151704e-05,1793245303838883328
+85,1.416666667,BASELINE,763.68395271,745,714,680,658,633,878,785,806.367905419,651.31604729,630,652,0.40097071104,-0.00540307866191,0.0798327276389,0.999999930698,0.000236072050653,-0.000284771148099,4.2185728212e-05,1793245303855549952
+86,1.433333333,BASELINE,763.097785678,745,714,680,658,633,878,785,805.195571355,651.902214322,630,652,0.400971487249,-0.00540284533274,0.0798340801794,0.999999930975,0.000236782249707,-0.000283236768435,4.19540064588e-05,1793245303872216576
+87,1.450000000,BASELINE,763.483163524,745,714,680,658,633,878,785,805.483163524,652,630,652,0.400971225437,-0.00540242123813,0.0798336723795,0.999999930804,0.000236834854393,-0.000283798205042,4.19426013467e-05,1793245303888883200
+88,1.466666667,BASELINE,764,745,714,679.937347668,658.062652332,633.062652332,878,785,806,652,630,652,0.400970783785,-0.00540200742432,0.0798329575046,0.999999930586,0.000236647281399,-0.00028471816425,4.19831951979e-05,1793245303905549568
+89,1.483333333,BASELINE,764,745,714,679.361265123,658.638734877,633.638734877,878,785,806,652,630,652,0.400970571568,-0.00540199087208,0.0798326145751,0.999999930716,0.0002355704665,-0.00028513733126,4.20884164044e-05,1793245303922216448
+90,1.500000000,BASELINE,764,745,714,679.214742637,658.785257363,633.785257363,878,785,806.214742637,652,630,652,0.400970632922,-0.00540171535138,0.0798324114653,0.999999930643,0.000235697841503,-0.000285280003381,4.21454010196e-05,1793245303938883072
+91,1.516666667,BASELINE,764,745,714,679.790624571,658.209375429,633.209375429,878,785,806.790624571,652,630,652,0.400971154349,-0.00540100431549,0.0798324434947,0.999999930226,0.000237850339805,-0.0002849576855,4.21212646651e-05,1793245303955549696
+92,1.533333333,BASELINE,764,744.624779852,714,679.624779852,658,633.375220148,878,785,806.624779852,652,630,652,0.40097118557,-0.00540122378107,0.0798326814326,0.999999930557,0.000237415724945,-0.000284173623909,4.20218671718e-05,1793245303972216320
+93,1.550000000,BASELINE,764,744.035206346,714,679.035206346,658,633.964793654,878,785,806.035206346,652,630,652,0.40097093675,-0.00540197481747,0.0798330370006,0.999999931312,0.000235503160888,-0.000283125780306,4.18794749759e-05,1793245303988882944
+94,1.566666667,BASELINE,764,744.54400056,714.54400056,679.54400056,658.54400056,634,878,785,806,652,630,652,0.400971817681,-0.00540082246166,0.0798337209854,0.999999930956,0.000237670627607,-0.000282589834235,4.17467200464e-05,1793245304005549568
+95,1.583333333,BASELINE,764.121963597,745,714.878036403,680,658.878036403,634,878,785,806,652,630,652,0.400972564773,-0.00540038044503,0.0798342941823,0.999999930895,0.000238510100842,-0.000282109578581,4.16880559472e-05,1793245304022216192
+96,1.600000000,BASELINE,764.697748125,745,714.302251875,680,658.302251875,634,878,785,806,652,630,652,0.400972546886,-0.00540303135357,0.0798343775357,0.999999932192,0.000233444029745,-0.000281715578972,4.19028030189e-05,1793245304038883072
+97,1.616666667,BASELINE,764.720910326,745,714,680,658,634,878,785,806,652,630,652,0.400972878637,-0.00540380963301,0.0798348095628,0.999999932582,0.000232477656051,-0.000281107549361,4.20542825717e-05,1793245304055549696
+98,1.633333333,BASELINE,764.133428339,745,714,680,658,634,878,785,806,652,630,652,0.400973596737,-0.00540251866905,0.079835626872,0.999999931981,0.0002360414222,-0.000280263017991,4.21358519066e-05,1793245304072216576
+99,1.650000000,BASELINE,764,744.551883293,714,680,658,633.551883293,878,785.448116707,806,652,630,652.448116707,0.400972930755,-0.00540145140244,0.0798349930208,0.999999931423,0.000237693213017,-0.000280873249153,4.20281233212e-05,1793245304088883200
+100,1.666666667,BASELINE,764,744.027626928,714,679.972373072,658,633.027626928,878.027626928,785.972373072,806,651.972373072,630,652.972373072,0.400971925382,-0.00540051190187,0.0798340025865,0.999999930925,0.000238669005219,-0.000281839327116,4.18704071225e-05,1793245304105549824
+101,1.683333333,BASELINE,764,744.601400598,714,679.398599402,658,633.601400598,878.601400598,785.398599402,806,651.398599402,630,652.398599402,0.400972251122,-0.005400798655,0.0798343930961,0.999999931359,0.000237388306887,-0.000281388979577,4.18241766911e-05,1793245304122216704
+102,1.700000000,BASELINE,764,745,714,679,658.176751765,633.823248235,878.823248235,785,806,651.176751765,630,652,0.400972362328,-0.00540146283541,0.0798344586189,0.999999931682,0.00023614866801,-0.000281276767165,4.18702319748e-05,1793245304138883328
+103,1.716666667,BASELINE,764,745,714,679,658.755692364,633.244307636,878.244307636,785,806,651.755692364,630,652,0.400971985372,-0.0054029858306,0.0798337846521,0.999999931756,0.000235002457821,-0.000281933962526,4.21262782886e-05,1793245304155549952
+104,1.733333333,BASELINE,764,745,714,679.340244172,658.659755828,633,878.340244172,784.659755828,806,652,630,652,0.400972173109,-0.00540348936505,0.0798341927988,0.999999931974,0.000234558121008,-0.000281527892722,4.21547069611e-05,1793245304172216576
+105,1.750000000,BASELINE,764,745,714,679.928892654,658.071107346,633,878.928892654,784.071107346,806,652,630,652,0.400972773117,-0.00540324861522,0.0798353909711,0.999999932296,0.000234626205406,-0.000280345557966,4.20169573461e-05,1793245304188883200
+106,1.766666667,BASELINE,764,745,714,680,658.510055758,633.510055758,878.489944242,784.510055758,806,652,630,652.510055758,0.400972128747,-0.00540262767415,0.0798347215567,0.999999931695,0.000235410853726,-0.000281840900351,4.19170986136e-05,1793245304205550080
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,806,652,631,652,0.40097132009,-0.00540099169513,0.0798330918489,0.999999930653,0.000237901970528,-0.000283446794939,4.1876632377e-05,1793245304248677376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,680.57364449,658,633,878,785,806,651.42635551,630.42635551,652,0.400971725785,-0.00540095808929,0.0798342434012,0.999999931358,0.000236806868308,-0.00028190533629,4.16563408362e-05,1793245304265343744
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+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679.504317493,658,633,878,785,806.747841254,651.747841254,630,652,0.400973609113,-0.00540101256449,0.0798355239208,0.999999932095,0.000236692087265,-0.0002793430246,4.18870077542e-05,1793245304298676992
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.332313147,658,633,878,785,806.667686853,651.667686853,630,652,0.400973128829,-0.00540105946695,0.0798349347688,0.99999993162,0.000237892721021,-0.000280003664908,4.20110710369e-05,1793245304315343616
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.48361336,633.48361336,878,785,806,651.48361336,630,652,0.400970382072,-0.00540135722384,0.0798326555615,0.999999930292,0.000239138110352,-0.000283674009615,4.19381507896e-05,1793245304348676864
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+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.367898254,634,878,785,806,652,630,652,0.400973899641,-0.00540254972442,0.0798347532202,0.999999931809,0.000236042868848,-0.00028091688482,4.18619850756e-05,1793245304382010112
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744.78563069,714,680,658.21436931,634,878,785,806,652,630,652,0.400982110012,-0.00540268398896,0.0798390342195,0.999999933765,0.000235503177901,-0.000274311788933,4.19655567008e-05,1793245304398676736
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.189092471,714,680,658.810907529,634,878,785,806,652,630,652,0.400998032215,-0.00540157125534,0.0798461527796,0.999999936299,0.000237815535124,-0.00026278910414,4.22820194041e-05,1793245304415343360
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.39344857,714,679.60655143,658.60655143,634,878.39344857,785,806,652,630,652,0.401032895539,-0.00540238483845,0.079859856044,0.999999942655,0.000237099461661,-0.000238068206688,4.23874737903e-05,1793245304432009984
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.969493677,714,679.030506323,658.030506323,634,878.969493677,785,806,652,630,652,0.401076549297,-0.00540409241065,0.079876615221,0.999999950024,0.000234977916199,-0.000207222116314,4.23950007912e-05,1793245304448676864
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.541740338,658,634,878.458259662,785.541740338,806,652,630,652,0.401143801213,-0.00540601900141,0.079894620044,0.999999957515,0.000232805914925,-0.000170304415551,4.20547500144e-05,1793245304465343488
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.118039023,634,878,786,806,652,630,652,0.40121307431,-0.00540752891117,0.0799106092996,0.999999962711,0.000231134344151,-0.000139407754381,4.14676926008e-05,1793245304482010368
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.711514106,634,878,786,806,652,630,652,0.401285173245,-0.00540731118908,0.0799181997245,0.999999963412,0.000231489765664,-0.000134130071822,3.99648814756e-05,1793245304498676992
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.297297096,745,714,680.297297096,659,633.702702904,878,785.702702904,806,652,630,652,0.40136932706,-0.00540822560311,0.0799233255076,0.999999964411,0.000230868176939,-0.000128264581385,3.77664610691e-05,1793245304515343360
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.875804184,745,714,680.875804184,659,633.124195816,878,785.124195816,806,652,630,652,0.401464883447,-0.00541021089203,0.0799261200131,0.999999965673,0.000229322445142,-0.000121843090371,3.49100717236e-05,1793245304532010240
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.548277407,745,714,681,658.548277407,633,878,785.451722593,806,652,630,652,0.401581840759,-0.00541035691251,0.0799324396701,0.999999966919,0.000229603245609,-0.000111557039497,3.16066961097e-05,1793245304548676864
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,681,658.027542767,633,878,785.972457233,806.027542767,652,630,652,0.401705737148,-0.0054101639091,0.0799396542024,0.999999968117,0.000230058563546,-0.000100235656718,2.81344699459e-05,1793245304565343488
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,681,658.615769283,633,878,785.384230717,806.615769283,652,630,652,0.401851795476,-0.00541330494781,0.0799454681649,0.999999970662,0.00022390188536,-8.9344393778e-05,2.37124500157e-05,1793245304582010112
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.799056813,714,680.598113627,658.799056813,633,878,785,806.799056813,652,630,652,0.402009682547,-0.00541620646298,0.0799509583496,0.999999973028,0.000217422537492,-7.94682079259e-05,1.88501746581e-05,1793245304598676992
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.21963264,714,679.439265281,658.21963264,633,878,785,806.21963264,652,630,652,0.402189849302,-0.00541865682987,0.079955838691,0.999999975237,0.000210335434794,-7.15039437171e-05,1.31586688608e-05,1793245304615343616
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744.356559329,714,679.356559329,658,633.356559329,878,785,806.356559329,652,630,652,0.402386403995,-0.00541921872646,0.0799569871941,0.999999976699,0.000204380286145,-6.9211115717e-05,6.33498350172e-06,1793245304632010496
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744.930778275,714,679.930778275,658,633.930778275,878,785,806.930778275,652,630,652,0.402592962629,-0.00541862781734,0.0799558576183,0.999999977699,0.000199116131725,-7.03803829518e-05,-1.17983498678e-06,1793245304648677120
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.506661658,634,878.506661658,785,807,652,630.506661658,652,0.402820727616,-0.00542094191196,0.0799515375541,0.999999978463,0.000191634392406,-7.919010943e-05,-8.90884374359e-06,1793245304665343744
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,806.915468394,652,630.915468394,652.084531606,0.403056896929,-0.00542363595643,0.0799471110629,0.999999979127,0.000183628878166,-8.80275543066e-05,-1.66753121309e-05,1793245304682010368
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,806.327117833,652,630.327117833,652.672882167,0.403325832113,-0.00542622123507,0.0799446568002,0.999999980386,0.00017431330838,-9.0788143693e-05,-2.44900597418e-05,1793245304698676992
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.743593407,634,878.743593407,785,806,651.743593407,630,652.743593407,0.403623416067,-0.00542972786043,0.0799460015655,0.999999985815,0.000140952775578,-8.80527015206e-05,-2.7381566736e-05,1793245304715343616
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.166112343,634,878.166112343,785,806,651.166112343,630,652.166112343,0.403956874232,-0.00543438820368,0.0799521035056,0.999999993632,7.74829397698e-05,-7.84350823961e-05,-2.41081502431e-05,1793245304732010240
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.587551654,658.412448346,634,878,784.587551654,806,651.412448346,630,652,0.404322227237,-0.00543234858366,0.0799550274708,0.999999993028,8.98368297068e-05,-7.30809854004e-05,-2.30785036603e-05,1793245304748676864
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.008555022,658.991444978,634,878,784.008555022,806,651.991444978,630,652,0.404700459499,-0.00542760349168,0.0799566681569,0.999999988506,0.000132808643556,-6.94485158184e-05,-2.29549003711e-05,1793245304765343488
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,679.564129513,658.435870487,634,878.564129513,784.564129513,806.564129513,652,630,652,0.40511659272,-0.00543423101767,0.07995794058,0.999999989757,0.000126428285586,-6.16004589667e-05,-2.65785659643e-05,1793245304782010112
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.142053296,745,714,680,658,634,878.857946704,785,807,652,630,652,0.405537875718,-0.00544009950101,0.079957155613,0.99999999114,0.000115588159472,-5.87484327846e-05,-3.01398623209e-05,1793245304798676992
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.736981828,745,714,680,658,634,878.263018172,785,807,652,630,652,0.405973764339,-0.00544300435723,0.0799498291587,0.999999992537,9.28896286991e-05,-7.20256378062e-05,-3.33231561906e-05,1793245304815343872
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.678818695,745,714,680,658.321181305,634,878.321181305,785,806.678818695,652,630,652,0.406434900456,-0.00544481963205,0.0799406687697,0.999999991232,9.14344350351e-05,-8.94103845888e-05,-3.437134576e-05,1793245304832010496
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.10312126,745,714,680,658.89687874,634,878.89687874,785,806.10312126,652,630,652,0.406916043684,-0.00544577148196,0.0799300551012,0.999999987671,0.000106813257201,-0.000110050103167,-3.37275988197e-05,1793245304848677120
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680.470672506,659,634,878.529327494,785,806,652,630,652,0.407440917482,-0.00544956942585,0.0799269261305,0.999999987671,9.7809745106e-05,-0.000117592219657,-3.55481910519e-05,1793245304865343744
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680.954744863,659,634,878.045255137,785,806.045255137,652,630,652,0.407976449005,-0.00545398041071,0.0799247209861,0.999999988096,8.46043984194e-05,-0.000123373744241,-3.77985542523e-05,1793245304882010368
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680.365690959,659,634,878.634309041,785,806.634309041,652,630,652,0.408525382001,-0.00545829517656,0.079913991292,0.999999985519,8.48411316657e-05,-0.000142342515302,-3.87514650296e-05,1793245304898676992
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.779967963,785,807,651.779967963,630,652,0.409115174544,-0.00546334973347,0.0799168709127,0.999999986406,8.07029617149e-05,-0.000138225690827,-3.95949850844e-05,1793245304915343616
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.199698381,785,807,651.199698381,630,652,0.409771862509,-0.0054696154797,0.0799420317717,0.999999992143,6.94021784149e-05,-9.63130132915e-05,-4.0259410015e-05,1793245304932010240
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.381678548,744.618321452,714,680,659,634,878.381678548,785,807,651,630,652,0.410456648,-0.00547956285937,0.0799709034027,0.999999996495,5.56877611437e-05,-4.88030134901e-05,-3.90732991173e-05,1793245304948677120
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.96363652,744.03636348,714,680,659,634,878.96363652,785,807,651,630,652,0.411156177175,-0.00549144211429,0.0800017221984,0.999999998489,4.07068301522e-05,1.64408614156e-06,-3.6916150463e-05,1793245304965343744
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.46670112,744.53329888,714,680,659.53329888,633.46670112,878.46670112,785,807,651,630,652,0.411839905926,-0.00551259293903,0.0799833355567,0.999999998793,1.17772525378e-05,-3.07247864041e-05,-3.64876348425e-05,1793245304982010368
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.105960067,660,633.105960067,878,785,807,651.105960067,630,652,0.412524723894,-0.00553042176316,0.0799592917085,0.999999996791,-1.39125345239e-05,-6.96181925281e-05,-3.71109542599e-05,1793245304998676992
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680.696067569,660,633.696067569,878,785,807,651.696067569,630,652,0.413219330178,-0.00553024838568,0.0799243838008,0.99999999251,-2.05514347487e-05,-0.00011310316608,-4.20138444979e-05,1793245305015343616
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.718728217,659.718728217,634,878.281271783,785,807.281271783,652,630,652.281271783,0.413957547602,-0.00553101185211,0.0799126855247,0.999999991215,-2.42576581364e-05,-0.000122516397268,-4.43950777768e-05,1793245305032010240
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.138731472,659.138731472,634,878.861268528,785,807.861268528,652,630,652.861268528,0.414742082366,-0.0055327702945,0.0799256370554,0.999999994136,-2.48492301545e-05,-9.57437077063e-05,-4.40981835445e-05,1793245305048676864
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713.562751353,680.437248647,659,633.562751353,879,785,807.562751353,651.562751353,630,653,0.415542194317,-0.00554024108961,0.079943262456,0.999999995976,-3.33653044486e-05,-7.09072570151e-05,-4.36705450639e-05,1793245305065343744
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.012213681,681,659,633,878.987786319,785,807,651.012213681,630,652.987786319,0.416347111947,-0.00554933094329,0.0799616353518,0.999999996951,-4.41712461496e-05,-4.77143095646e-05,-4.32471591783e-05,1793245305082010368
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.598830614,681,659,633,878.401169386,785,807,651.598830614,630,652.401169386,0.417147718983,-0.00555010248336,0.079946055603,0.999999995276,-4.54982250974e-05,-7.31855322516e-05,-4.49569318665e-05,1793245305098676992
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659.183759616,633.183759616,878.183759616,785,807,652,630,652.183759616,0.417986291225,-0.00555427362095,0.0799462590843,0.999999995281,-5.20420001217e-05,-6.79971748649e-05,-4.58954667364e-05,1793245305115343872
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.765037165,633.765037165,878.765037165,785,807,652,630,652.765037165,0.418906991641,-0.0055657989368,0.0799806056342,0.999999996533,-6.9871007469e-05,3.51551147808e-06,-4.51656214188e-05,1793245305132010752
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.656915269,879.343084731,785,807,652,630,652.656915269,0.419784563509,-0.00557121629129,0.0799892747684,0.999999995651,-7.81026567356e-05,2.1922469312e-05,-4.60133304881e-05,1793245305148677888
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.081059162,879.918940838,785,807,652,630,652.081059162,0.42063287408,-0.00557248960029,0.0799805226438,0.999999995656,-7.98228228727e-05,4.29898517513e-06,-4.7931356942e-05,1793245305165345792
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879.506646565,785.493353435,807.493353435,652,630,652.493353435,0.421516041278,-0.00557322341767,0.0799751176553,0.999999995322,-8.35480612741e-05,-4.5264312865e-06,-4.85396760457e-05,1793245305182012160
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879.069760241,785.930239759,808,652,630,653,0.422411032418,-0.0055702582851,0.0799741514589,0.999999995393,-8.24948420995e-05,-6.19283273362e-06,-4.86838712713e-05,1793245305198678272
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879.662902692,785.337097308,808,652,630,653,0.423351891063,-0.00554020454955,0.0800023737314,0.999999997354,-4.31264039507e-05,3.50382186678e-05,-4.69556940104e-05,1793245305215344384
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,681.249177762,660,633,879.750822238,785,808,652,630,652.750822238,0.424253767529,-0.00551686141804,0.0800029597156,0.999999998564,-1.33908575322e-05,2.28805487408e-05,-4.65770675007e-05,1793245305232011008
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,681.826411636,660,633,879.173588364,785,808,652,630,652.173588364,0.425104321959,-0.00550235315847,0.0799671610231,0.999999997068,3.66246708579e-06,-5.95662784368e-05,-4.79751978275e-05,1793245305248677632
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633,879,785,807.597823027,651.597823027,630,652,0.425996270583,-0.00550736049438,0.0799348016926,0.999999993908,-6.70574841154e-06,-9.77670765166e-05,-5.07912890256e-05,1793245305265344512
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633,879,785,807.022689269,651.022689269,630,652,0.426906020788,-0.00552076054097,0.0799039214668,0.999999991276,-2.88666375497e-05,-0.000116939801513,-5.42171763047e-05,1793245305282011904
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,682,660.566184219,633,879,785,807.566184219,651,630,652,0.427833774565,-0.00552425851991,0.079901953631,0.999999990432,-3.24794073555e-05,-0.000123046933793,-5.42246574378e-05,1793245305298678528
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.152980053,745,713.847019947,682,660.847019947,633,879,785,808.152980053,651.152980053,630,652,0.428766548882,-0.00552776064645,0.0799095242417,0.999999990995,-3.52018123555e-05,-0.000117844865289,-5.36966559974e-05,1793245305315344896
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.732411081,745,713.267588919,682,660.267588919,633,879,785,808.732411081,651.732411081,630,652,0.429711257308,-0.00553240801883,0.0799403742921,0.999999994526,-3.75657816461e-05,-8.26128639407e-05,-5.20673021453e-05,1793245305332011264
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.690320703,745,713,682,660,633,879.309679297,785,808.690320703,652,630,652.309679297,0.430667417368,-0.005537958743,0.0799797302694,0.999999997344,-4.5332877666e-05,-2.63801577693e-05,-5.06069939404e-05,1793245305348677632
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.114908406,745,713,682,660,633,879.885091594,785,808.114908406,652,630,652.885091594,0.431633403923,-0.00554428462491,0.0800263851039,0.999999995973,-5.77363475303e-05,4.7873061366e-05,-4.92917421773e-05,1793245305365344000
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,713.461182173,682,660.461182173,633,880,785,808,652,630,652.538817827,0.432503810678,-0.00553860599415,0.0800144647638,0.999999997262,-5.02989925376e-05,2.24654142123e-05,-4.94077769349e-05,1793245305382010880
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713.66927543,684,657.66927543,631,880,783,809,652,630,653,0.445459790505,-0.00556082636586,0.0797645433627,0.999999926467,-9.73242690759e-05,-0.00036557888633,-6.28227965095e-05,1793245305665344768
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+235,3.916666667,POSE1_TO_POSE2_PRESS,764,745.28035926,713.28035926,685,651,627,880,779,809,652,629,653,0.453650059856,-0.00557953697629,0.0795708931634,0.999999777869,-0.000130884015018,-0.00065069820072,-6.10144752377e-05,1793245306382010880
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745,713,685.988270946,651.988270946,627,879.011729054,779,809,652,629,653.988270946,0.45365136911,-0.0055782361444,0.0795701784962,0.999999777559,-0.000126111322392,-0.000652183257371,-6.02832313843e-05,1793245306432010752
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713,685.401010769,651.401010769,627,879.598989231,779,809,652,629,653.401010769,0.453650845017,-0.00557842722726,0.0795688451972,0.999999776742,-0.000127065515649,-0.000653237225541,-6.04203512041e-05,1793245306448677376
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713,685,651,627,880,778.231900847,809,652,629,653,0.453651224495,-0.00557863747781,0.0795693085968,0.999999776303,-0.000130357046234,-0.000653254711154,-6.04855998529e-05,1793245306482010368
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,745,714,680,658,634,878,784.781418237,806,651.781418237,630,652,0.406530817175,-0.00540184605857,0.0797617822032,0.999999896654,0.000226483135966,-0.000391534034906,4.58041662358e-05,1793245308390832128
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.964506658,745,714,679.035493342,657.035493342,633.035493342,878,784,806,651,630,652,0.405246146553,-0.00540168507633,0.0798066115153,0.999999930522,0.000218644031742,-0.000298452271259,4.55758433222e-05,1793245308440832256
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,744.114592818,714,680,658,633,879,784.885407182,806,651.114592818,630,652.885407182,0.404452554998,-0.00540297536345,0.0798294542502,0.999999934752,0.000225292376107,-0.000278140799439,4.87503775594e-05,1793245308474165504
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.374403938,745,714,679.374403938,658,633.625596062,878.374403938,785,806,652,630,652.625596062,0.400980576789,-0.00540368744535,0.0798230562777,0.999999926646,0.000231183914202,-0.000302452070558,4.22351412133e-05,1793245308890832128
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,744.794091406,714,679,658,633.794091406,878,784.794091406,806,652,630,652.794091406,0.400975391157,-0.00540367773255,0.0798241170145,0.999999927137,0.000230934404095,-0.000301023149558,4.21864180781e-05,1793245308907499008
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763,744.205454685,714,679,658,633.205454685,878,784.205454685,806,652,630,652.205454685,0.400973677234,-0.00540452466868,0.0798248745367,0.999999927522,0.000232013553138,-0.000298844920226,4.26249101864e-05,1793245308924165888
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.377536467,744.377536467,714,679.377536467,658,633,878.377536467,784.377536467,806,652,630,652,0.40097174204,-0.00540469574839,0.0798249249308,0.999999927922,0.00023096489425,-0.000298348206988,4.24286708807e-05,1793245308940832512
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.317027307,658.682972693,633,878.682972693,785,806.682972693,652,629.317027307,652,0.400972184322,-0.00540461599079,0.079828656503,0.99999992944,0.00023252563304,-0.000291944710341,4.2672858223e-05,1793245309007499776
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.143488835,745,714,679.856511165,658.143488835,633,878.143488835,785,806.143488835,652,629.856511165,652,0.400971165838,-0.00540681050899,0.079829878635,0.999999930729,0.000228141170525,-0.0002909800693,4.27094728342e-05,1793245309040832512
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.436797279,745,714,680,658,633.436797279,878.873594559,784.563202721,806,652,630,652,0.400971310859,-0.00540505716149,0.0798295006249,0.999999930018,0.000230916789202,-0.000291299908806,4.22640425262e-05,1793245309057499392
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.986315713,745,714,680,658,633.986315713,879.972631426,784.013684287,806,652,630,652,0.400971797077,-0.0054023451752,0.0798289213275,0.999999928873,0.000235476240836,-0.000291657291871,4.17143420203e-05,1793245309074166528
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.411204049,745,714,680,658,633.411204049,878.822408098,784.588795951,806,652,630,652,0.400971145532,-0.00540399873618,0.0798288183305,0.999999929836,0.000232253715129,-0.000290967868081,4.15206134986e-05,1793245309090833152
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.168033307,744.831966693,714,680,658,633,878.168033307,785,806,651.831966693,630,652.168033307,0.40097093988,-0.00540492331266,0.0798291114693,0.999999930553,0.000230294697658,-0.000290072448779,4.14382082901e-05,1793245309107499520
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633,879,785,806,652,630,652,0.400971169984,-0.00540582513118,0.0798296394053,0.99999993065,0.000230455103611,-0.000289517950449,4.20705821654e-05,1793245309174166016
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.025427362,745,714,680.974572638,658,633.974572638,879,785,807,652,630,652,0.400970598482,-0.0054051126657,0.0798303532288,0.999999930945,0.000230513026057,-0.000288565958892,4.12700431583e-05,1793245309274165760
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32a17758f900017216bc355b72a969487f53d116
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
+1,0.016666667,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
+2,0.033333333,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
+3,0.050000000,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
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+382,6.366666667,pose2_to_pose3_retreat,0.575684693494,-0.000122158991907,1.07005092999,0.54625632725,0.00855352857687,1.06971741968
+383,6.383333333,pose2_to_pose3_retreat,0.575679345284,-0.000122220716485,1.07005077602,0.546250979036,0.00855346674822,1.06971726338
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+385,6.416666667,pose2_to_pose3_retreat,0.575673057484,-0.000122139408478,1.07005107696,0.546244690121,0.00855354436897,1.06971756649
+386,6.433333333,pose2_to_pose3_retreat,0.575671745675,-0.000122195538194,1.07005099819,0.546243379233,0.00855349148231,1.06971749082
+387,6.450000000,pose2_to_pose3_retreat,0.575671235518,-0.00012221467754,1.07005097212,0.546242869396,0.0085534734534,1.06971746543
+388,6.466666667,pose2_to_pose3_retreat,0.575671075965,-0.000122210415095,1.07005098137,0.546242709796,0.00855347748854,1.06971747288
+389,6.483333333,pose2_to_pose3_retreat,0.575671030144,-0.000122209191013,1.07005098403,0.546242663963,0.00855347864734,1.06971747502
+390,6.500000000,pose2_to_pose3_retreat,0.575670872224,-0.00012220497219,1.07005099318,0.546242505996,0.00855348264119,1.0697174824
+391,6.516666667,pose2_to_pose3_retreat,0.575670779502,-0.000122202495124,1.07005099856,0.546242413247,0.00855348498616,1.06971748673
+392,6.533333333,pose2_to_pose3_retreat,0.575670735689,-0.000122201324675,1.0700510011,0.546242369421,0.00855348609419,1.06971748877
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+394,6.566666667,pose2_to_pose3_retreat,0.57567049312,-0.000122194844457,1.07005101516,0.546242126781,0.00855349222884,1.06971750011
+395,6.583333333,pose2_to_pose3_retreat,0.575670419695,-0.000122192882928,1.07005101942,0.546242053335,0.00855349408577,1.06971750353
+396,6.600000000,pose2_to_pose3_retreat,0.575670384756,-0.000122191949529,1.07005102144,0.546242018385,0.00855349496939,1.06971750517
+397,6.616666667,pose2_to_pose3_retreat,0.575670260584,-0.000122188632303,1.07005102864,0.546241894178,0.00855349810972,1.06971751097
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3fb6b8434473963acda32852feb54269461e485
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bff50e93d1f6b02d78b193c40b52c3a813bc30f3a20d1bc3e1fd9ace0f7d76b
+size 25910911
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6af53beaa3869006516a8418e58d0b625996ebeb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+35,0.583333333,BASELINE,764,745,714,679.680353665,658,633.319646335,878,784.319646335,807,651.680353665,630,652,0.400973146345,-0.00540571882871,0.0798343197944,0.999999933057,0.000229703846004,-0.000281866462463,4.09029847351e-05,1793245309973227776
+36,0.600000000,BASELINE,764,745,714,679.099672691,658,633.900327309,878,784.900327309,807,651.099672691,630,652,0.400973897913,-0.00540458910728,0.0798345345417,0.99999993255,0.000233368030549,-0.000280701735714,4.05782905467e-05,1793245309989894400
+37,0.616666667,BASELINE,764,745.476791718,714,679.476791718,658,634,878,785,806.523208282,651.476791718,630,652,0.400972647388,-0.00540514083481,0.079833778173,0.999999932325,0.000232556481976,-0.000282162043368,4.06511043686e-05,1793245310006561024
+38,0.633333333,BASELINE,764,745.947788078,714,679.947788078,658,634,878,785,806,651.947788078,630,652,0.400971212007,-0.00540595459433,0.079832951976,0.99999993221,0.00023085206595,-0.000283939792067,4.08012974065e-05,1793245310023227648
+39,0.650000000,BASELINE,764,745.374070151,714,679.374070151,658,634,878,785,806,651.374070151,630,652,0.400972074029,-0.00540590545513,0.0798334382619,0.999999932657,0.000229493010621,-0.000283455117223,4.09016404754e-05,1793245310039894272
+40,0.666666667,BASELINE,764,745,714,679.205284749,658,634,878,785,806,651,630,652,0.400972260247,-0.00540576020855,0.0798336628323,0.999999932822,0.000229131594116,-0.000283162041094,4.09157254776e-05,1793245310056561152
+41,0.683333333,BASELINE,764,745,714,679.79520133,658,634,878,785,806,651,630,652,0.400971180247,-0.00540543489034,0.079833397039,0.999999932463,0.000230639403979,-0.000283227953984,4.07681930205e-05,1793245310073228032
+42,0.700000000,BASELINE,764,745,714,680,658.378733539,633.621266461,878.378733539,785,806,651.378733539,630,652,0.400970616112,-0.00540592563488,0.0798331794353,0.99999993243,0.000230221350469,-0.000283664858309,4.088986006e-05,1793245310089895168
+43,0.716666667,BASELINE,764,745,714,680,658.958870636,633.041129364,878.958870636,785,806,651.958870636,630,652,0.400970326304,-0.00540685034666,0.0798329874579,0.99999993257,0.00022877915805,-0.00028429904908,4.11546824649e-05,1793245310106562048
+44,0.733333333,BASELINE,764,745,714,680,658.465840741,633,878.465840741,785,806,652,630,652,0.400970518461,-0.00540639594297,0.0798328253303,0.99999993233,0.000229792843025,-0.000284343285152,4.10456619428e-05,1793245310123228160
+45,0.750000000,BASELINE,764,745,714,680,658.112084972,633.112084972,878.224169944,785,806,652,630,652,0.400970787285,-0.00540601421914,0.0798326914804,0.99999993214,0.000230622002474,-0.000284357024542,4.09278172685e-05,1793245310139894272
+46,0.766666667,BASELINE,764,745,714,680,658.702852802,633.702852802,879.405705605,785,806,652,630,652,0.400971226466,-0.00540639231629,0.0798326686694,0.999999932294,0.000229862784923,-0.000284432775671,4.08941150725e-05,1793245310156560896
+47,0.783333333,BASELINE,763.712303267,744.712303267,714,680,659,634,879.424606535,785,806,652,630,652,0.400971675502,-0.00540664472534,0.0798330674875,0.999999932778,0.000228842945208,-0.000283554632413,4.08775851082e-05,1793245310173227520
+48,0.800000000,BASELINE,763.133454317,744.133454317,714,680,659,634,878.266908635,785,806,652,630,652,0.400972134513,-0.00540676993673,0.0798338929989,0.999999933592,0.000227559352939,-0.000281711137685,4.08784336248e-05,1793245310189894144
+49,0.816666667,BASELINE,763.441987558,744,714,680,658.558012442,633.558012442,878.441987558,785,806,651.558012442,630.441987558,652,0.400972030096,-0.00540699146494,0.0798338396641,0.9999999336,0.000226613687858,-0.000282467503359,4.07148015559e-05,1793245310206561280
+50,0.833333333,BASELINE,764.016410112,744.016410112,714,680,658.016410112,633.016410112,878.983589888,785,806,651,630.983589888,652,0.400971731023,-0.00540724653229,0.0798335107003,0.999999933365,0.000225790350414,-0.000283985021307,4.05097982371e-05,1793245310223228416
+51,0.850000000,BASELINE,764.590886459,744.590886459,714,680,658.590886459,633.590886459,878.409113541,785,806,651,630.409113541,652,0.400970553379,-0.00540766074046,0.0798327634788,0.999999933128,0.000225683683281,-0.000284895573137,4.05738729019e-05,1793245310239894784
+52,0.866666667,BASELINE,764.829279388,745,714,680,658.829279388,634,878,785,806,651.170720612,630,652.170720612,0.400969926554,-0.00540727822881,0.0798324291395,0.999999932721,0.000226900503699,-0.000285344863351,4.06511509966e-05,1793245310256561664
+53,0.883333333,BASELINE,764.236189868,745,714,680,658.236189868,634,878,785,806,651.763810132,630,652.763810132,0.400970662477,-0.00540492460379,0.0798331162857,0.999999931885,0.000231391679731,-0.000284652975748,4.07610948454e-05,1793245310273228544
+54,0.900000000,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652.65294891,0.400970944285,-0.0054054348305,0.0798330555041,0.999999931964,0.000231625525248,-0.000284163101223,4.08911224436e-05,1793245310289894912
+55,0.916666667,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652.076225579,0.400970925567,-0.00540784030347,0.0798324997571,0.999999932655,0.000229041944936,-0.00028380691539,4.10344411061e-05,1793245310306561024
+56,0.933333333,BASELINE,764,745,714,680,658,634,878,785,806,651.500517377,630,652,0.400971753886,-0.00540690499491,0.0798333233528,0.999999932672,0.000229990401486,-0.000282965767366,4.11190125265e-05,1793245310323227392
+57,0.950000000,BASELINE,764,745,714,680,658.075075407,634,878,784.924924593,806,651,630,652,0.400972522316,-0.00540578507441,0.0798341680156,0.999999932642,0.000231068297328,-0.000282182704466,4.11765732152e-05,1793245310339894272
+58,0.966666667,BASELINE,764,745,714,680,658.650929306,634,878,784.349070694,806,651,630,652,0.400972030768,-0.00540682759583,0.0798337519418,0.999999932997,0.000229421436586,-0.000282279757628,4.11136438251e-05,1793245310356561152
+59,0.983333333,BASELINE,764,744.766629429,714,679.766629429,658.766629429,633.533258858,878,784.233370571,806,651.233370571,630,652.233370571,0.400971561952,-0.00540766345895,0.0798332109387,0.999999933092,0.000228543287537,-0.000282662990961,4.10547543143e-05,1793245310373228288
+60,1.000000000,BASELINE,764,744.174048623,714,679.174048623,658.174048623,632.348097247,878,784.825951377,806,651.825951377,630,652.825951377,0.400971128126,-0.00540818122824,0.0798324776409,0.999999932791,0.000228848359868,-0.000283486720495,4.10020830848e-05,1793245310389894912
+61,1.016666667,BASELINE,763.593097152,744,714,679.406902848,658,632.813805696,878.406902848,785,806,652,630,652.593097152,0.400971049206,-0.0054079097455,0.0798328496994,0.999999933009,0.00022776199035,-0.000283617809767,4.08306963577e-05,1793245310406561280
+62,1.033333333,BASELINE,763.016981829,744,714,679.983018171,658,633.966036341,878.983018171,785,806,652,630,652.016981829,0.400971117876,-0.00540731004854,0.0798336814256,0.99999993344,0.000226096983136,-0.000283460861259,4.06099412324e-05,1793245310423227648
+63,1.050000000,BASELINE,764.113858961,744.55692948,714,680,658,633.44307052,878.44307052,785,806,652,630,652,0.400971803254,-0.00540809670326,0.0798341893058,0.999999933991,0.000225235094253,-0.000282157900807,4.09257233497e-05,1793245310439894272
+64,1.066666667,BASELINE,764.869837786,745,713.869837786,680,658.130162214,633,878.130162214,785,806,652,630,652,0.400972410357,-0.00540845318928,0.0798345824215,0.999999934211,0.000225409172114,-0.000281194688732,4.12045010864e-05,1793245310456560896
+65,1.083333333,BASELINE,764.29867735,745,713.29867735,680,658.70132265,633,878.70132265,785,806,652,630,652,0.400972688797,-0.00540720957775,0.0798346200315,0.999999933303,0.000229010532207,-0.000281500492912,4.13026951253e-05,1793245310473227520
+66,1.100000000,BASELINE,764.285857183,745,713.285857183,680,658.714142817,633.285857183,878.714142817,785,806,652,630,652,0.400972531647,-0.00540695249455,0.0798343085196,0.99999993301,0.000229911629234,-0.000281818206103,4.12215552336e-05,1793245310489894400
+67,1.116666667,BASELINE,764.885051449,745,713.885051449,680,658.114948551,633.885051449,878.114948551,785,806,652,630,652,0.400971897033,-0.00540777677629,0.0798336143243,0.999999933399,0.000227852882438,-0.000282148973119,4.09438417532e-05,1793245310506561280
+68,1.133333333,BASELINE,764.538144549,745,714,680,658,633.538144549,878,785,806,652,630.461855451,652,0.400972189842,-0.00540757051835,0.0798334194199,0.999999933411,0.000228143701666,-0.000281875814409,4.09128004579e-05,1793245310523228160
+69,1.150000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630.966239808,652,0.400972674783,-0.00540703582797,0.0798333590587,0.999999933313,0.000229044382477,-0.000281490458952,4.09293103807e-05,1793245310539895296
+70,1.166666667,BASELINE,764,745,714,680,658,633,878,785,806,652,630.387627425,652,0.400972707569,-0.00540514859295,0.0798335572944,0.999999932886,0.000230786380172,-0.000281608008518,4.07682446418e-05,1793245310556561408
+71,1.183333333,BASELINE,764.195203569,745,714,680,658,633,878.195203569,785,806.195203569,651.804796431,630,652,0.400972917432,-0.00540424877849,0.0798338363096,0.999999932779,0.000231385210099,-0.000281522154718,4.06013003256e-05,1793245310573227776
+72,1.200000000,BASELINE,764.786596859,745,714,680,658,633,878.786596859,785,806.786596859,651.213403141,630,652,0.400973486691,-0.00540535305551,0.0798342792767,0.999999933323,0.000229663840343,-0.000281023468719,4.04224246826e-05,1793245310589894656
+73,1.216666667,BASELINE,764.630472494,744.630472494,714,680,658.369527506,633.369527506,878.630472494,785,807,651.369527506,630,652,0.400973071344,-0.00540596869485,0.0798339215978,0.999999933424,0.00022913574106,-0.000281094060788,4.04440537345e-05,1793245310606561280
+74,1.233333333,BASELINE,764.052319665,744.052319665,714,680,658.947680335,633.947680335,878.052319665,785,807,651.947680335,630,652,0.400972100116,-0.00540630846239,0.0798331118956,0.999999933275,0.000229281330402,-0.000281486052022,4.05788823731e-05,1793245310623227904
+75,1.250000000,BASELINE,764,744.522837327,714,680,658.477162673,634,878.522837327,785,806.477162673,652,630,652,0.400972077151,-0.00540680063351,0.0798335600403,0.999999933226,0.000229550033412,-0.000281390595352,4.09123628634e-05,1793245310639894528
+76,1.266666667,BASELINE,764,745,714,680,658.100069033,634,878.899930967,785,806,652,630,652,0.400972075443,-0.00540720594225,0.0798339732903,0.999999933154,0.000229786672211,-0.000281410832648,4.12035994242e-05,1793245310656561408
+77,1.283333333,BASELINE,764,745,714,680,658.6888898,634,878.3111102,785,806,652,630,652,0.40097171673,-0.00540711293956,0.0798336048384,0.999999932918,0.000229806875702,-0.000282233019079,4.11919724925e-05,1793245310673228288
+78,1.300000000,BASELINE,764,744.726642941,714,680.273357059,658.726642941,633.726642941,878,785,806,652,630,652,0.400971775178,-0.00540664141682,0.07983364937,0.999999932811,0.000230353960436,-0.000282187597025,4.10623702416e-05,1793245310689894912
+79,1.316666667,BASELINE,764,744.147052816,714,680.852947184,658.147052816,633.147052816,878,785,806,652,630,652,0.400972300959,-0.00540574585033,0.0798341565535,0.999999932845,0.000231491293174,-0.000281170221203,4.08006040591e-05,1793245310706561024
+80,1.333333333,BASELINE,764,744.429157572,714,680.141684856,658,633.429157572,878,785,806,652,630,652,0.400972739355,-0.0054059053581,0.0798344822978,0.999999933126,0.000230870209838,-0.000280697341273,4.06886874007e-05,1793245310723227648
+81,1.350000000,BASELINE,764.00421348,745,714,679.00421348,658.00421348,633.99578652,878,785,806.00421348,652,630,652,0.400973148712,-0.00540642330766,0.079834748148,0.999999933488,0.000229665047643,-0.000280404790224,4.06314914262e-05,1793245310739894272
+82,1.366666667,BASELINE,764.578526195,745,714,679.578526195,658.578526195,633.421473805,878,785,806.578526195,652,630,652,0.400973648632,-0.00540690615602,0.0798352563303,0.999999933582,0.00023031930649,-0.000279464503449,4.10851032997e-05,1793245310756560896
+83,1.383333333,BASELINE,764.842470175,745,714,680,658.842470175,633,878,785,806.842470175,651.842470175,630,652,0.400973446271,-0.00540711717805,0.079835188645,0.999999933517,0.000230509950138,-0.000279512610109,4.12825192698e-05,1793245310773227776
+84,1.400000000,BASELINE,764.250530588,745,714,680,658.250530588,633,878,785,806.250530588,651.250530588,630,652,0.400971307276,-0.00540657860238,0.0798335329271,0.999999933009,0.000229422112424,-0.000282286344913,4.07734405456e-05,1793245310789894400
+85,1.416666667,BASELINE,764,745,714,680,658,633.334045948,878.334045948,785,806.334045948,651,630,652,0.400971206839,-0.00540616787318,0.079833227772,0.999999932977,0.000229166962183,-0.000282645580049,4.04860831541e-05,1793245310806561280
+86,1.433333333,BASELINE,764,745,714,680,658,633.913219343,878.913219343,785,806.913219343,651,630,652,0.400972602326,-0.00540585095947,0.0798339136784,0.999999933299,0.000229522849365,-0.000281233022424,4.03614279131e-05,1793245310823228160
+87,1.450000000,BASELINE,764,745,714,680,658,633.510617266,878.510617266,785,806.510617266,651,630,652,0.400972418955,-0.00540591286541,0.0798338244897,0.999999933472,0.000228571371035,-0.0002813690895,4.05299552488e-05,1793245310839895040
+88,1.466666667,BASELINE,764,745,714,680,658,633.0646451,878,785,806,651.0646451,630,652,0.400972001033,-0.00540596862043,0.0798336590581,0.999999933573,0.00022758588487,-0.000281784688402,4.07035041862e-05,1793245310856561664
+89,1.483333333,BASELINE,764,745,714,680,658,633.636997399,878,785,806,651.636997399,630,652,0.400971926409,-0.00540545171733,0.0798339676951,0.999999933322,0.000228142923612,-0.000282252105851,4.05106774592e-05,1793245310873228288
+90,1.500000000,BASELINE,764,745,714,680,658,633.782903969,878,785,806,652,630,652.217096031,0.400972255622,-0.00540544146305,0.0798342207935,0.999999933329,0.000228359380468,-0.000282057871688,4.04645309356e-05,1793245310889894656
+91,1.516666667,BASELINE,764,745,714,680,658,633.189373618,878,785,806,652,630,652.810626382,0.400973285069,-0.00540630971409,0.0798343775904,0.999999933783,0.000227985284276,-0.000280716364664,4.06727210141e-05,1793245310906561024
+92,1.533333333,BASELINE,764.393481293,745,714,680,658.393481293,633,877.606518707,785,806,652,630,652.606518707,0.400973033505,-0.00540691309042,0.0798343604495,0.999999933877,0.000227469573613,-0.000280799297468,4.06835490404e-05,1793245310923227904
+93,1.550000000,BASELINE,764.97133412,745,714,680,658.97133412,633,877.02866588,785,806,652,630,652.02866588,0.400972181705,-0.00540739235584,0.0798342618074,0.999999933802,0.000226887507344,-0.000281549672697,4.06019001495e-05,1793245310939894784
+94,1.566666667,BASELINE,765,745,714,680,659,633,877.546155262,785,806,652,630,652,0.400973270931,-0.00540807464298,0.0798350594111,0.999999934229,0.000226994358361,-0.000279901770251,4.08686528635e-05,1793245310956561920
+95,1.583333333,BASELINE,764.87625566,745,714,679.87625566,658.87625566,633.12374434,878,785,806,651.87625566,630,652,0.400973739352,-0.00540836042052,0.079835308703,0.999999934316,0.000227475495883,-0.000279171151018,4.10533505774e-05,1793245310973229056
+96,1.600000000,BASELINE,764.287674428,745,714,679.287674428,658.287674428,633.712325572,878,785,806,651.287674428,630,652,0.400971495176,-0.00540711693058,0.07983332257,0.99999993303,0.000229227535461,-0.000282356481247,4.08615020033e-05,1793245310989894912
+97,1.616666667,BASELINE,764,745,714,679,658,634,878.29756061,785,806,651,630.29756061,652,0.400971033882,-0.00540677834917,0.0798329718144,0.999999932666,0.000230072485038,-0.000282960471375,4.08376437004e-05,1793245311006561280
+98,1.633333333,BASELINE,764,745,714,679,658,634,878.879596568,785,806,651,630.879596568,652,0.400972277066,-0.00540730488291,0.0798341845203,0.999999933191,0.0002300502339,-0.000281096635948,4.09743882884e-05,1793245311023227904
+99,1.650000000,BASELINE,764,745,714,679.454632737,658,634,878.545367263,785,806,651.454632737,630.545367263,652.454632737,0.400971759798,-0.00540736878229,0.0798338035579,0.999999933137,0.000229489409632,-0.000281766572043,4.08366130797e-05,1793245311039894528
+100,1.666666667,BASELINE,764,745,714,680,658,633.972149875,878,785,806,652,630,652.972149875,0.400970944629,-0.00540729305898,0.0798331284137,0.999999932992,0.000228811995618,-0.000282861764814,4.06297467964e-05,1793245311056561152
+101,1.683333333,BASELINE,764,745,714,680,658,633.39879697,878,785,806,652,630,652.39879697,0.400973288116,-0.00540684600428,0.0798348327153,0.999999934035,0.000228602348611,-0.000279342162171,4.04720330512e-05,1793245311073228032
+102,1.700000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400974580729,-0.00540660288125,0.0798356825651,0.999999934494,0.000228740737313,-0.0002775959735,4.03667666335e-05,1793245311089894912
+103,1.716666667,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400973472478,-0.00540682566808,0.0798345803027,0.999999933637,0.000229674261195,-0.00027990139195,4.03813233272e-05,1793245311106561280
+104,1.733333333,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.40097299838,-0.00540706184301,0.0798344850419,0.999999933463,0.000229700172254,-0.000280482976385,4.05047649639e-05,1793245311123227904
+105,1.750000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400972927561,-0.00540730653194,0.0798350301702,0.999999933726,0.000229148899325,-0.000279968312158,4.06974505063e-05,1793245311139894784
+106,1.766666667,BASELINE,764,745,714,680.51041571,658,633.51041571,878.51041571,785,806.51041571,651.48958429,629.48958429,652,0.40097396677,-0.0054059015284,0.079835625795,0.999999933784,0.000230004703961,-0.000279086686202,4.05072293281e-05,1793245311156561152
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,878,786,806,651,630,652,0.400972710583,-0.0054045090503,0.0798350977009,0.99999993347,0.000229662074688,-0.000280533761138,4.01955892831e-05,1793245311200197376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.601192164,658,633,878,785.398807836,806,651,630,652,0.400971872781,-0.00540554785106,0.0798348942246,0.99999993341,0.000229598737416,-0.000280760982157,4.04677711112e-05,1793245311216864768
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714.194327246,680,658,633.194327246,878.194327246,785,806,651.194327246,630,652,0.40097155553,-0.00540636085251,0.0798347091364,0.999999933382,0.000229570653049,-0.00028086402687,4.06063412319e-05,1793245311233532160
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714.77158557,680,658,633.77158557,878.77158557,785,806,651.77158557,630,652,0.400972264048,-0.00540672890588,0.0798345602827,0.999999933417,0.000229612036193,-0.000280722376306,4.04816231776e-05,1793245311250198784
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714.652499931,680,658.347500069,634,878.652499931,785,806,652,630,652,0.400972172958,-0.0054068256651,0.0798342542059,0.999999933575,0.000228439022591,-0.000281144555165,4.02929294085e-05,1793245311266865152
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714.07746537,680,658.92253463,634,878.07746537,785,806,652,630,652,0.400971558303,-0.00540674478756,0.0798338451835,0.999999933809,0.000226470851888,-0.000281935915657,4.00623459234e-05,1793245311283531008
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.486970466,714,680,659,634,878,785,806.513029534,652,630,652,0.400972088308,-0.00540617354598,0.0798337937998,0.999999933839,0.0002268180063,-0.000281532566973,4.01786705762e-05,1793245311300197376
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,680,658.896818762,634,878.103181238,785,806.896818762,652,630,652,0.400972815235,-0.00540610799123,0.0798340236286,0.999999933987,0.000226985240083,-0.000280844111684,4.03855148104e-05,1793245311316863744
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658.319309763,634,878.680690237,785,806.319309763,652,630,652,0.400973628178,-0.00540871805085,0.0798352902382,0.999999934815,0.000224668290793,-0.000279700066518,4.07601980499e-05,1793245311333530368
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679.74293902,658,633.74293902,879,785,806,652,630,652,0.400977851279,-0.00540933197908,0.0798375037331,0.999999935514,0.000225204640169,-0.000276732129461,4.0907951445e-05,1793245311350197248
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744,714,679.167975978,658,633.167975978,879,785,806,652,630,652,0.400986291652,-0.00540747733223,0.0798408882217,0.999999936028,0.000229269605871,-0.000271508622646,4.07750653095e-05,1793245311366864128
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679.416765281,658.416765281,633,879,785,806.416765281,651.583234719,630,652.416765281,0.401012186525,-0.00540736823363,0.0798517568252,0.999999941059,0.000229554420683,-0.000252017807851,4.09125588527e-05,1793245311383531008
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658.99454325,633,878.99454325,785,806.99454325,651.00545675,630,652.99454325,0.401045531358,-0.00540798733603,0.0798657516597,0.999999947436,0.000228289664614,-0.000226532024235,4.11602246898e-05,1793245311400197888
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744,714,680,658.414860596,633,878.414860596,785,806.414860596,651.585139404,630,652.414860596,0.401104758366,-0.00540942303163,0.0798836724104,0.999999955103,0.000228141733027,-0.000189848139096,4.12582873469e-05,1793245311416864256
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.162470924,714,679.837529076,658.162470924,633,878.162470924,785,806,652,630,652,0.401166918769,-0.0054108881739,0.0798999229625,0.999999960655,0.000227237534347,-0.00015927345982,4.10477397186e-05,1793245311433530624
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.733884709,714,679.266115291,658.733884709,633,878.733884709,785,806,652,630,652,0.401236462606,-0.00541242743439,0.079911969592,0.999999963634,0.000224429795486,-0.000144075777809,4.00604134014e-05,1793245311450196992
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679.309040792,658.690959208,633.309040792,878.690959208,785,806,652,630,652,0.401317043189,-0.00541336951963,0.0799214312811,0.999999965794,0.000223752161464,-0.000129862454488,3.84939888901e-05,1793245311466863616
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679.887458839,658.112541161,633.887458839,878.112541161,785,806,652,630,652,0.401407244015,-0.0054137910734,0.0799286397907,0.999999967253,0.000224931246226,-0.00011650715422,3.64227900362e-05,1793245311483530496
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.476442946,633.523557054,878,785,806,651.523557054,630,652,0.401512961983,-0.00541466260144,0.0799325959587,0.999999968504,0.000223104462587,-0.000110098281103,3.30728985172e-05,1793245311500196864
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.933707598,714,680,659,633.066292402,878,785,806,651.066292402,630,652,0.40162554459,-0.00541576805018,0.0799359792049,0.999999969774,0.000220334283936,-0.000105097147797,2.93319896982e-05,1793245311516864000
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.356851459,714,680,659,633.643148541,878,785,806,651.643148541,630,652,0.401762127119,-0.00541783791356,0.0799410009207,0.999999971581,0.000215890742785,-9.80142628771e-05,2.49585754206e-05,1793245311533531136
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.21971358,714,680,659,633.78028642,878,785,806,652,630,652.21971358,0.401909497349,-0.00541950577315,0.0799460878481,0.999999973284,0.000211970169476,-8.98957077606e-05,2.04796805668e-05,1793245311550198016
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.795806395,714,680,659,633.204193605,878,785,806,652,630,652.795806395,0.402074365404,-0.00542052157542,0.0799512805494,0.999999974848,0.000208897859506,-8.00972783288e-05,1.58296948171e-05,1793245311566864384
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878,785,806,652,630,652.619950373,0.40226200735,-0.00542218306615,0.0799562468528,0.999999976646,0.000203866936416,-7.10535770576e-05,9.89752264684e-06,1793245311583531008
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878,785,806,652,630,652.031232048,0.402462153464,-0.00542419907639,0.0799610888514,0.999999978492,0.000197760623862,-6.24242632334e-05,3.2613573218e-06,1793245311600197632
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.452449557,633.547550443,878,785,806,652,630,652,0.402676753754,-0.00542687612812,0.0799571141621,0.999999979803,0.00018783994867,-7.13356438074e-05,-4.54503986995e-06,1793245311616863744
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.125464233,634,878,785,806,652,630,652,0.402901514079,-0.00542957765429,0.0799529105075,0.999999980897,0.000177882395579,-8.00567060621e-05,-1.24117100741e-05,1793245311633530368
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.702255605,634,878,785,806,652,630,652,0.403159909789,-0.00543223400301,0.0799496600239,0.999999982013,0.000168560885644,-8.45581865226e-05,-2.02593642e-05,1793245311650196992
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.721932897,745,714,679.721932897,658.721932897,634,878,785,806.278067103,652,630,652,0.403441093784,-0.0054350290971,0.0799479440289,0.99999998645,0.000137649646361,-8.59590987955e-05,-2.76346427344e-05,1793245311666863872
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.147166961,745,714,679.147166961,658.147166961,634,878,785,806.852833039,652,630,652,0.403746592963,-0.00543797223298,0.0799478653402,0.999999992369,8.3702070431e-05,-8.40516906231e-05,-3.4505893895e-05,1793245311683530752
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.438997765,745,714,679.438997765,658.438997765,634,878,785,806.561002235,651.561002235,630,652,0.40409026716,-0.00543717705604,0.0799510887782,0.999999992522,8.82066438701e-05,-8.00289565256e-05,-2.77624708273e-05,1793245311700197376
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.028565575,745,714,680,659,634,878,785,806,651.028565575,630,652,0.404449342248,-0.0054352798543,0.07995541447,0.999999990789,0.000111850128172,-7.49334009958e-05,-1.72269720238e-05,1793245311716864000
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.608103005,745,714,680,659,634,878,785,806,651.608103005,630,652,0.40485205022,-0.00543694306127,0.0799590797276,0.999999990917,0.000116618498005,-6.3187572668e-05,-2.392900497e-05,1793245311733530368
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.813265291,745,714,680,659,634,878.186734709,785,806,651.813265291,630,652,0.405266104084,-0.00544038998977,0.0799610759011,0.9999999916,0.000113519017448,-5.52755810645e-05,-2.92801620742e-05,1793245311750196992
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.236525316,745,714,680,659,634,878.763474684,785,806,651.236525316,630,652,0.40570385439,-0.00544756231433,0.0799595861041,0.999999993544,9.39871166611e-05,-5.5370760723e-05,-3.18099430442e-05,1793245311766863616
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.663156587,634,879,785,806,651.336843413,630,652,0.406152093981,-0.00545062425467,0.0799513509947,0.99999999281,9.11675205996e-05,-7.08028890311e-05,-3.24831899769e-05,1793245311783530496
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.092131572,634,879,785,806,651.907868428,630,652,0.406607626018,-0.00545082855824,0.0799384263825,0.999999989801,9.99667167487e-05,-9.68976310923e-05,-3.18657302567e-05,1793245311800197120
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.49808564,745,714,680,658.49808564,633.50191436,878.50191436,785,806,652,630,652,0.407115999326,-0.00545488715216,0.0799339849516,0.999999989886,9.11232230741e-05,-0.000103846168805,-3.37837159901e-05,1793245311816864256
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.910563835,745,714,680,659,633,878.089436165,784.910563835,806,652,630,652,0.407637460674,-0.00545962640005,0.0799300538989,0.999999990069,8.05347229511e-05,-0.000109914587503,-3.59845039514e-05,1793245311833531648
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.333174482,745,714,680,659,633,878.666825518,784.333174482,806,652,630,652,0.40817486545,-0.00546403365431,0.0799200032405,0.99999998758,7.89438943868e-05,-0.00013127753569,-3.70669590239e-05,1793245311850199296
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680.243747272,659,633.243747272,879.243747272,784.243747272,806.243747272,651.756252728,630,652,0.408746907413,-0.0054707733409,0.0799178514267,0.999999987349,7.14627792924e-05,-0.000137088806993,-3.74525039231e-05,1793245311866866432
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680.820031061,659,633.820031061,879.820031061,784.820031061,806.820031061,651.179968939,630,652,0.409366203736,-0.00548069508922,0.0799264757519,0.999999990351,5.59457369502e-05,-0.000121683427375,-3.68872767597e-05,1793245311883533056
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680.60525229,659,634,879.21050458,784.60525229,807,651.39474771,630,652,0.410031901312,-0.00549973390281,0.0799534389265,0.999999995949,3.18655692984e-05,-7.65606329627e-05,-3.50018151635e-05,1793245311900198656
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680.031247304,659,634,878.062494608,784.031247304,807,651.968752696,630,652,0.410718669956,-0.00552291282954,0.0799887298812,0.999999999303,3.89683596475e-06,-1.79429843849e-05,-3.25168271761e-05,1793245311916864000
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680.561289443,659,633.438710557,878.561289443,784.561289443,807,652,630,652.561289443,0.411405571176,-0.00552726584701,0.0799880013709,0.999999999181,-3.68774499388e-06,-2.22776972709e-05,-3.35835211925e-05,1793245311933530368
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.849637308,659,633.150362692,878.849637308,785,807,652,630,653,0.412091119199,-0.00552879055207,0.0799767239794,0.999999998502,-7.11085210094e-06,-4.11579750125e-05,-3.53754765787e-05,1793245311950197248
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680.273395805,659,633.726604195,878.273395805,785,807,652,630,653,0.412772812762,-0.00552537429254,0.0799414419344,0.999999995113,-2.07111282519e-06,-9.09711572102e-05,-3.86424770633e-05,1793245311966864640
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.302626252,634,878,785,807,651.697373748,630,653,0.413496054993,-0.00552940711115,0.0799214238314,0.999999992644,-1.19054919644e-05,-0.000113164383068,-4.19927158108e-05,1793245311983531520
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659.878450267,634,878,785,807,651.121549733,630,653,0.414256805623,-0.0055401646318,0.0799151853446,0.999999992254,-3.51675750632e-05,-0.000110423524347,-4.54180988483e-05,1793245312000197632
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680.465272392,659.534727608,634,878.465272392,784.534727608,807.465272392,651.465272392,630,653,0.415046159995,-0.00554407044465,0.0799364769686,0.999999995438,-4.03734314155e-05,-7.4045762669e-05,-4.48453576216e-05,1793245312016864000
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879,784.054033018,807.945966982,652,630,653,0.415843545132,-0.00554634111087,0.0799613567615,0.999999997569,-4.09565502953e-05,-3.61078714957e-05,-4.33710609874e-05,1793245312033530368
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879,784.633036971,807.366963029,652,630,653,0.416644596426,-0.00555053703305,0.0799495301424,0.999999995622,-4.3565886003e-05,-7.04557069545e-05,-4.35311352388e-05,1793245312050196992
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.210462303,745,714,681,659.210462303,634,879.210462303,784.789537697,807.210462303,652,629.789537697,652.789537697,0.417473828088,-0.00555566511011,0.0799473875004,0.999999994863,-5.02885054092e-05,-7.59780865611e-05,-4.4407865548e-05,1793245312066863616
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.785155603,745,714,681,659.785155603,634,879.785155603,784.214844397,807.785155603,652,629.214844397,652.214844397,0.418351829309,-0.00556240639598,0.0799620041768,0.999999996362,-6.41296698524e-05,-3.16144545072e-05,-4.65248576284e-05,1793245312083530240
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.642206641,784.715586718,807.642206641,652,629.357793359,652,0.419228232886,-0.00556702215874,0.0799762256374,0.999999996103,-7.41687176492e-05,-4.14572762336e-07,-4.78783729134e-05,1793245312100197120
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.070796147,785.858407705,807.070796147,652,629.929203853,652,0.420103682573,-0.00557036889784,0.0799902111376,0.999999995191,-8.19377472598e-05,2.29260149954e-05,-4.8776061555e-05,1793245312116864000
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.477400566,745,714,680.477400566,659.477400566,633.477400566,878.477400566,784.954801132,807.522599434,651.477400566,630,652.522599434,0.420965067953,-0.00556720866134,0.0799742109592,0.999999995692,-7.89387504608e-05,-2.31228367887e-06,-4.8782703519e-05,1793245312133530880
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.114912592,745,714,680.114912592,659.114912592,633,878.114912592,784.114912592,807.885087408,651.114912592,630,653,0.421842180542,-0.0055577852692,0.0799628920238,0.999999996363,-6.69768760104e-05,-2.08754517185e-05,-4.8501572232e-05,1793245312150197248
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.690424872,745,714,680.690424872,659.690424872,633,878.690424872,784.690424872,807.309575128,651.690424872,630,653,0.422790303894,-0.00552694594409,0.0799873338929,0.999999998441,-2.51932221847e-05,1.48536304502e-05,-4.75720537516e-05,1793245312166863872
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.26593574,681,660,633.26593574,879,785,807.26593574,651.73406426,630,652.73406426,0.423710557467,-0.00550917322196,0.0799998300998,0.999999998549,-2.47933426396e-07,2.73534992372e-05,-4.64159731229e-05,1793245312183530496
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.841445039,681,660,633.841445039,879,785,807.841445039,651.158554961,630,652.158554961,0.424598368188,-0.00550661121852,0.0799984204648,0.999999998893,5.09596150558e-06,1.28124407193e-05,-4.49961534013e-05,1793245312200197120
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.572890025,681.427109975,660,634,879,785,808,651,630,652.427109975,0.425455726418,-0.00551328513342,0.0799589948285,0.999999997194,-6.71852919955e-06,-5.73406143597e-05,-4.77287333643e-05,1793245312216863744
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.983635373,745,714,682,660,634,879,785,808,651.016364627,630,653,0.426304523892,-0.00552326805867,0.0799065018607,0.999999987748,-2.4710387961e-05,-0.000145574594318,-5.19723316944e-05,1793245312233530112
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.403751413,745,714,682,660,634,879,785,808,651.596248587,630,653,0.427257296624,-0.00552625630331,0.0799018389148,0.999999989858,-3.07381065458e-05,-0.000128209299264,-5.38739430155e-05,1793245312250196992
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633.825252241,879.174747759,785,808,651.825252241,630,653,0.428207072989,-0.00552958810954,0.0799033687246,0.999999991264,-3.55283963174e-05,-0.000114934191752,-5.47738520521e-05,1793245312266864128
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633.249927475,879.750072525,785,808,651.249927475,630,653,0.42914998068,-0.00553370746719,0.079919094285,0.999999991709,-3.74821084278e-05,-0.000111035085903,-5.33775432789e-05,1793245312283531008
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.326022888,745,714,682,660.326022888,633.326022888,880,785,808,651,630.326022888,652.673977112,0.430114490074,-0.00553863715725,0.079955081423,0.999999995608,-4.42018233488e-05,-6.48170023365e-05,-5.12801660783e-05,1793245312300197632
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.902453724,745,714,682,660.902453724,633.902453724,880,785,808,651,630.902453724,652.097546276,0.431095591017,-0.00554418923801,0.0800066308421,0.999999997231,-5.45821551615e-05,1.39049601552e-05,-4.86443200292e-05,1793245312316864000
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.509576609,682.490423391,660.509576609,633.509576609,879.509576609,785,808,651.490423391,630.509576609,652.490423391,0.432002539809,-0.00553796007294,0.08002175295,0.999999996739,-5.05005196962e-05,3.92804174076e-05,-4.92811246301e-05,1793245312333530368
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.920833001,745,713.079166999,683,660,633,879.079166999,785,808,652,630,652.920833001,0.432885628188,-0.00552960406451,0.0800183438246,0.999999997092,-4.3605101093e-05,3.64340676314e-05,-5.08670710547e-05,1793245312350196992
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.342038769,745,713.657961231,683,660,633,879.657961231,785,808,652,630,652.342038769,0.43371345651,-0.00552297056559,0.0799448114301,0.999999994941,-3.75430208596e-05,-7.59431841935e-05,-5.42360156709e-05,1793245312366863616
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633.234633836,880,785,808.234633836,652,630.234633836,652.234633836,0.434580503797,-0.00552276995031,0.0799040381521,0.999999988601,-3.87887178374e-05,-0.00013443571749,-5.67461188011e-05,1793245312383530496
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633.808241426,880,785,808.808241426,652,630.808241426,652.808241426,0.435504210555,-0.0055318628731,0.0799105917147,0.999999990415,-5.05919057288e-05,-0.000115081417232,-5.80154613066e-05,1793245312400197376
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,714,683,660,634,879.607864742,785,809,652,630.607864742,653,0.43638776163,-0.00553591094487,0.0799375628415,0.99999999353,-5.54704747921e-05,-8.22551680544e-05,-5.56540957316e-05,1793245312416863744
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660,634,879.018805356,785,809,652,630.018805356,653,0.437251147101,-0.00553742557166,0.0799747873459,0.999999996148,-5.68716089799e-05,-4.2663520177e-05,-5.14694458168e-05,1793245312433530368
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.438727875,745,714,683,659.438727875,633.438727875,879.561272125,785,808.438727875,652,630,653,0.438097892556,-0.00554360602875,0.0799798697186,0.999999996354,-5.90779809349e-05,-3.13697060578e-05,-5.30862710109e-05,1793245312450196736
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.140345521,745,713.859654479,683,659.140345521,633,880,785,808.140345521,652,630,653,0.438922549173,-0.00554807267526,0.0799713605812,0.999999995557,-6.32599493464e-05,-4.31764346808e-05,-5.49586995824e-05,1793245312466863360
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.717217094,745,713.282782906,683,659.717217094,633,880,785,808.717217094,652,630,653,0.439680208141,-0.00554673016275,0.0799238737136,0.999999987993,-7.35041529653e-05,-0.000123931786585,-5.70310846953e-05,1793245312483529984
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.2911858,745,713.2911858,683.2911858,659.7088142,633,879.7088142,785,809,652,630,653,0.440383808676,-0.00554202084327,0.0798422917481,0.999999963728,-7.20033858143e-05,-0.000252352294465,-6.06484076628e-05,1793245312500196608
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.862363201,745,713.862363201,683.862363201,659.137636799,633,879.137636799,785,809,652,630,653,0.441035428929,-0.00553407414871,0.079727925422,0.999999905089,-5.92091635522e-05,-0.000426605534732,-6.5751274471e-05,1793245312516863232
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,684,659,632.549440092,879.450559908,784.549440092,809.450559908,652,630,653,0.441718390939,-0.00552937765671,0.0796666900413,0.999999865711,-5.22236942296e-05,-0.000510917209716,-6.93875772814e-05,1793245312533530112
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.957067186,745,713.957067186,684,659,632,880,784,809.957067186,652,630,653,0.442417264917,-0.00552657719727,0.0796304881989,0.999999842115,-4.87467682134e-05,-0.00055515900413,-7.20522536636e-05,1793245312550196736
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.379960633,745,713.379960633,684,659,632,880,784,809.379960633,652,630,653,0.443190316079,-0.00553452901475,0.0796958881694,0.999999891461,-6.59788204409e-05,-0.000456117734102,-6.84208040288e-05,1793245312566863360
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.197130704,745,713.197130704,684,658.802869296,631.802869296,880.197130704,783.802869296,809,651.802869296,630,653,0.443933293823,-0.00554224942592,0.0797481591916,0.999999922823,-7.76557263645e-05,-0.000379544737221,-6.53454805548e-05,1793245312583529984
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.774192818,745,713.774192818,684,658.225807182,631.225807182,880.774192818,783.225807182,809,651.225807182,630,653,0.444618310991,-0.00554952384742,0.0797751267097,0.99999993495,-7.8626163318e-05,-0.000346274992731,-6.3341983406e-05,1793245312600196608
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.650735946,745,713.650735946,684,657.650735946,631,880.301471892,783,809,651.349264054,630,653,0.445264122096,-0.00555446587715,0.0797723966769,0.999999930928,-8.75027533323e-05,-0.000355684299329,-6.30476928191e-05,1793245312616864256
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.076944597,745,713.076944597,684,657.076944597,631,879.153889193,783,809,651.923055403,630,653,0.445884729218,-0.00555790850903,0.0797505753256,0.999999915774,-0.000101461879317,-0.000392530189778,-6.38521799256e-05,1793245312633532160
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713,684,656.486271018,630.486271018,879.513728982,783,809,652,630,653,0.446461933279,-0.00556462240508,0.079732906011,0.999999908064,-0.000102643032906,-0.000411248468457,-6.48911607721e-05,1793245312650198272
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,684.103907641,656,630,879.896092359,782.896092359,809,652,630,652.896092359,0.44702464176,-0.00557132188657,0.0797151138641,0.999999900571,-0.0001044298898,-0.000428474602086,-6.60486725355e-05,1793245312666864384
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,684.679957591,656,630,879.320042409,782.320042409,809,652,630,652.320042409,0.447552026547,-0.0055756539157,0.0796938418388,0.999999888753,-0.00011796070663,-0.000451676840644,-6.7579761983e-05,1793245312683531008
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713,685,655.743568505,630,879,782,809,652,630,652.256431495,0.448055485414,-0.00557717629036,0.0796738603334,0.999999874518,-0.000123102268496,-0.00048074078039,-6.85412677082e-05,1793245312700197632
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713,685,655.166564647,630,879,782,809,652,630,652.833435353,0.448529033764,-0.00557518623509,0.0796554921453,0.999999856988,-0.000117756181226,-0.000517132598923,-6.87907203629e-05,1793245312716864256
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.418936149,745,713.418936149,684.581063851,655,629.581063851,879.418936149,782,809,652,630,653,0.448989922023,-0.00557270274758,0.0796418390565,0.999999847524,-0.000114747194232,-0.000535795451157,-6.86226274938e-05,1793245312733530624
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745,713,685,651.562347245,627,880,779,809,652,629,653,0.453766639357,-0.00557477932724,0.0795766196322,0.999999785438,-0.000116552467813,-0.000641472107321,-6.36580952858e-05,1793245313050197248
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745.188426985,713,685.811573015,651.811573015,627,881,778.811573015,809.811573015,652,629,653,0.453950013171,-0.00557692349066,0.0795652009311,0.999999773672,-0.000120878198448,-0.000658730010637,-6.41886110095e-05,1793245313100196864
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eda20ee22254e94e01ec7d4dcb3ba5022d751877
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..709b74a856ef53bc60589cdff74486b39d94f2de
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:962282e0a3cef15911f9c3fb5236cd530ca5ad011f67d67b582ca269c6be316c
+size 25622072
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d80ee2e3f225d788840931626605da4b260b4d8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/franka_data.csv
@@ -0,0 +1,404 @@
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+13,0.216666667,BASELINE,765,744.45418182,713.45418182,680,658,634,878,785.45418182,806.54581818,652,630,652,0.40091814262,-0.0154357649819,0.0599247223452,0.999999971247,-9.85880954722e-05,-0.000214409270002,-4.25979744256e-05,1793245318079627264
+14,0.233333333,BASELINE,764.877698834,744,713.122301166,679.877698834,658,634,878.122301166,785,806.877698834,652,630,652,0.400917997445,-0.015435875216,0.05992497343,0.999999971234,-9.81633070307e-05,-0.000214688643189,-4.24736428887e-05,1793245318096293632
+15,0.250000000,BASELINE,764.289564736,744,713.710435264,679.289564736,658,634,878.710435264,785,806.289564736,652,630,652,0.4009203115,-0.0154351333999,0.0599262094174,0.999999971765,-9.93385632058e-05,-0.00021162459053,-4.26308372005e-05,1793245318112960512
+16,0.266666667,BASELINE,764.294426303,744,714,679.294426303,658,634,879,785.294426303,806.294426303,652,630,652,0.400921092702,-0.0154351986295,0.0599267132675,0.999999971972,-9.99945808632e-05,-0.000210325370691,-4.2657728164e-05,1793245318129627136
+17,0.283333333,BASELINE,764.874399197,744,714,679.874399197,658,634,879,785.874399197,806.874399197,652,630,652,0.400920387279,-0.015436046565,0.059926507061,0.999999971874,-0.000100147019836,-0.000210737757621,-4.25582456363e-05,1793245318146293760
+18,0.300000000,BASELINE,765,744,713.546878425,680,658,634,878.546878425,785.546878425,806.546878425,652,630,652,0.400918550335,-0.0154359660623,0.0599255465853,0.999999971441,-9.92312068902e-05,-0.000213210933594,-4.25771170939e-05,1793245318162960384
+19,0.316666667,BASELINE,765,744,713,680,658,634,878,785,806,652,630,652,0.400916534456,-0.0154356507244,0.0599244167268,0.999999970923,-9.81671728242e-05,-0.000216101389052,-4.262970078e-05,1793245318179627264
+20,0.333333333,BASELINE,765,744,713,680,658,634,878,785,806,652,630,652,0.400916842495,-0.0154357140632,0.0599239660367,0.99999997072,-9.96566413909e-05,-0.000216346220626,-4.26995766576e-05,1793245318196293888
+21,0.350000000,BASELINE,764.814642689,744,713,680,658,634,878,785,806,652,630,652,0.400917528953,-0.0154358058256,0.059923978302,0.999999970774,-0.00010034923498,-0.000215765595162,-4.2750726699e-05,1793245318212960768
+22,0.366666667,BASELINE,764.226651178,744,713,680,658,634,878,785,806,652,630,652,0.400919037417,-0.0154359593298,0.0599249962018,0.999999971386,-9.93108520426e-05,-0.000213391907221,-4.27612003636e-05,1793245318229627392
+23,0.383333333,BASELINE,764.357409972,744,713.357409972,680.357409972,658,634,878,785,806.357409972,652,630,652,0.400920058608,-0.0154361155925,0.0599257508519,0.99999997172,-9.92471069596e-05,-0.000211883431014,-4.26019084689e-05,1793245318246294016
+24,0.400000000,BASELINE,764.939005854,744,713.939005854,680.939005854,658,634,878,785,806.939005854,652,630,652,0.400920774155,-0.0154362735855,0.0599263403784,0.999999971881,-9.97947047497e-05,-0.000210917659859,-4.23361308878e-05,1793245318262960640
+25,0.416666667,BASELINE,765,744,714,680.487234789,658.512765211,634,878.512765211,785,806.487234789,652,630,652,0.400918689601,-0.0154366012103,0.0599249097874,0.999999971281,-9.93914502472e-05,-0.000213924678099,-4.23650880205e-05,1793245318279627264
+26,0.433333333,BASELINE,764.913910799,744.086089201,714,680,658.913910799,634,878.913910799,785,806.086089201,652,630,652,0.400916681438,-0.0154369260174,0.0599235079099,0.999999970715,-9.9070252097e-05,-0.000216690653998,-4.24409974364e-05,1793245318296293888
+27,0.450000000,BASELINE,764.337838872,744.662161128,714,680,658.337838872,634,878.337838872,785,806.662161128,652,630,652,0.400916975253,-0.0154371216724,0.0599236165299,0.999999970902,-9.98501393409e-05,-0.000215435549788,-4.25876013699e-05,1793245318312960512
+28,0.466666667,BASELINE,764,744.755948779,714,679.755948779,658,634,878,785,806.755948779,652,630,652,0.40091806118,-0.0154364862927,0.05992408415,0.999999971245,-9.9525130824e-05,-0.000213970951563,-4.26849387596e-05,1793245318329627136
+29,0.483333333,BASELINE,764,744.165807965,714,679.165807965,658,634,878,785,806.165807965,652,630,652,0.400920270403,-0.0154346724206,0.059925060869,0.999999971805,-9.76332670599e-05,-0.000212209269471,-4.27124111422e-05,1793245318346293760
+30,0.500000000,BASELINE,764,744,714,679.416960432,658,634,878.416960432,785,806.416960432,652,629.583039568,652,0.400919962758,-0.0154353362157,0.0599251367817,0.999999971768,-9.72727111022e-05,-0.000212620427843,-4.23700326922e-05,1793245318362960384
+31,0.516666667,BASELINE,764,744,714,679.996848044,658,634,878.996848044,785,806.996848044,652,629.003151956,652,0.400918671647,-0.0154369681584,0.0599248607045,0.999999971496,-9.75105133157e-05,-0.000213880623101,-4.18831351248e-05,1793245318379627264
+32,0.533333333,BASELINE,764.56948983,744,714,679.43051017,658,634,878.43051017,785,806.43051017,652,629.56948983,652,0.4009188059,-0.0154362673454,0.0599249368044,0.999999971703,-9.67834851788e-05,-0.00021321490265,-4.20376664401e-05,1793245318396293888
+33,0.550000000,BASELINE,764.853761567,744,714,679.146238433,658,634,878,785,806,652,630,652,0.400919536232,-0.0154358384238,0.0599251908528,0.999999971893,-9.69272832044e-05,-0.00021223086988,-4.21595996158e-05,1793245318412960512
+34,0.566666667,BASELINE,764.264450269,744,714,679.735549731,658,634,878,785,806,652,630,652,0.40092204896,-0.0154362719054,0.0599259782178,0.999999972022,-9.97254844568e-05,-0.000210314305274,-4.21721459931e-05,1793245318429627392
+35,0.583333333,BASELINE,764,744,714,680,658,634,878,785,806.31959049,652,630,652,0.400922711488,-0.0154361125988,0.0599259854901,0.999999972096,-9.98033444211e-05,-0.000209916297713,-4.22138505126e-05,1793245318446294016
+36,0.600000000,BASELINE,764,744,714,680,658,634,878,785,806.899340876,652,630,652,0.400921867875,-0.015435470738,0.0599253577349,0.999999972128,-9.7666734204e-05,-0.000210754458279,-4.22792909691e-05,1793245318462960640
+37,0.616666667,BASELINE,764,744,714,680,658,634,878,785,806.527108147,652,630,652,0.400920251737,-0.0154353714381,0.0599250647125,0.999999971866,-9.73661475286e-05,-0.000212096493705,-4.24527050145e-05,1793245318479627520
+38,0.633333333,BASELINE,764,744.045398346,714,679.954601654,658.045398346,634,878,785,806,652,629.954601654,652,0.400918667762,-0.0154355058017,0.0599248873243,0.999999971561,-9.75629954112e-05,-0.000213413251111,-4.25961886568e-05,1793245318496294144
+39,0.650000000,BASELINE,764,744.620918416,714,679.379081584,658.620918416,634,878,785,806,652,629.379081584,652,0.400919354656,-0.0154370375564,0.0599252389719,0.999999971479,-9.90639220793e-05,-0.000213198622694,-4.21252679898e-05,1793245318512961024
+40,0.666666667,BASELINE,764.202645852,744.797354148,714,679.202645852,658.797354148,634,878,785,806.202645852,652,629.202645852,652,0.400920035426,-0.0154377830106,0.0599255686464,0.999999971509,-0.00010000400767,-0.000212655375647,-4.19348432233e-05,1793245318529627648
+41,0.683333333,BASELINE,764.796352055,744.203647945,714,679.796352055,658.203647945,634,878,785,806.796352055,652,629.796352055,652,0.400920704374,-0.0154370110838,0.0599258559176,0.999999971758,-9.98617975959e-05,-0.000211477969484,-4.2285711705e-05,1793245318546294272
+42,0.700000000,BASELINE,764.619794406,744.380205594,714,680,658.380205594,634,878,785,806.619794406,652,630,652,0.400920655175,-0.0154369428888,0.0599255406784,0.999999971801,-9.94559794446e-05,-0.000211448151042,-4.23733700965e-05,1793245318562960896
+43,0.716666667,BASELINE,764.041084923,744.958915077,714,680,658.958915077,634,878,785,806.041084923,652,630,652,0.400920231034,-0.0154372421095,0.0599249108708,0.999999971737,-9.89125325284e-05,-0.000212017483798,-4.2323607495e-05,1793245318579627520
+44,0.733333333,BASELINE,764,744.464689712,714,679.464689712,658.464689712,634,878,785,806,652,630,652,0.400919376565,-0.0154368629058,0.0599245967917,0.999999971614,-9.80704762183e-05,-0.000213025059363,-4.21165771136e-05,1793245318596294144
+45,0.750000000,BASELINE,764,744,714,679.113390691,658,634,878,785,806.113390691,652,630,652,0.400918533067,-0.0154366094652,0.0599241296497,0.999999971469,-9.73559439054e-05,-0.000214053695467,-4.20072229224e-05,1793245318612960768
+46,0.766666667,BASELINE,764,744,714,679.699229249,658,634,878,785,806.699229249,652,630,652,0.400917872308,-0.0154370960364,0.0599229242343,0.999999971253,-9.72678255277e-05,-0.000215030542359,-4.23549162661e-05,1793245318629627392
+47,0.783333333,BASELINE,764.283673745,744,714,680,658,634,878,785.283673745,806.716326255,652,630,652,0.400918127867,-0.0154369828132,0.0599227860692,0.999999971209,-9.78159309557e-05,-0.000214959289965,-4.25141769776e-05,1793245318646294272
+48,0.800000000,BASELINE,764.866647459,744,714,680,658,634,878,785.866647459,806.133352541,652,630,652,0.400919350222,-0.0154362367561,0.0599237739439,0.999999971343,-9.90353066949e-05,-0.000213782203646,-4.24746252503e-05,1793245318662960896
+49,0.816666667,BASELINE,765,744,714,680,658,634,878,785.556684229,806,652,630,652,0.400920055456,-0.0154367562213,0.0599245520112,0.999999971578,-9.89494356731e-05,-0.000212731061315,-4.24111024948e-05,1793245318679627520
+50,0.833333333,BASELINE,764.98192473,744,713.98192473,680,658,634,878.01807527,785,806,652,630,652,0.400920603204,-0.0154376336072,0.0599252378641,0.999999971834,-9.85202820982e-05,-0.000211739278804,-4.23398799324e-05,1793245318696294144
+51,0.850000000,BASELINE,764.408353521,744,713.408353521,680,658,634,878.591646479,785,806,652,630,652,0.400921024499,-0.0154379756709,0.0599250021173,0.999999971813,-9.94383990027e-05,-0.000211423798978,-4.22505167777e-05,1793245318712960768
+52,0.866666667,BASELINE,764.170018997,744,713.170018997,679.829981003,658,634,878.829981003,785,806,652,630,652,0.400920984914,-0.0154382957686,0.0599244993895,0.999999971689,-9.98559134697e-05,-0.000211829475625,-4.21867666007e-05,1793245318729627392
+53,0.883333333,BASELINE,764.760258436,744,713.760258436,679.239741564,658,634,878.239741564,785,806,652,630,652,0.400919806213,-0.0154385615749,0.0599233367895,0.999999971304,-9.90361345083e-05,-0.000214017568953,-4.21863216896e-05,1793245318746294272
+54,0.900000000,BASELINE,765,744,713.656029246,679.343970754,658,634,878,785.343970754,806,652,630,652,0.40091935303,-0.0154390447206,0.0599231556909,0.99999997112,-9.99837028375e-05,-0.000214453018824,-4.20992170531e-05,1793245318762960640
+55,0.916666667,BASELINE,765,744,713.07678152,679.92321848,658,634,878,785.92321848,806,652,630,652,0.400919396104,-0.0154396765272,0.0599236459421,0.999999971072,-0.000102140141758,-0.000213689655508,-4.19528369188e-05,1793245318779627264
+56,0.933333333,BASELINE,764.501210349,744,713,680,658,634,878,785.501210349,806,652,630,652,0.400919774419,-0.0154380155797,0.0599237538441,0.99999997128,-0.000100390239088,-0.000213520877219,-4.20858303248e-05,1793245318796293888
+57,0.950000000,BASELINE,764,744,713.073584707,680,658,634,878,785,806,652,630,652,0.400919994472,-0.0154362898078,0.0599237307966,0.999999971511,-9.80689908113e-05,-0.000213488611202,-4.22328429448e-05,1793245318812960768
+58,0.966666667,BASELINE,764,744,713.646924037,680,658,634,878,785,806,652,630,652,0.40091879177,-0.0154365032275,0.0599232152066,0.999999971662,-9.59214703183e-05,-0.000213766407846,-4.21851302642e-05,1793245318829627392
+59,0.983333333,BASELINE,764,744,714,679.772097554,658,634,878.227902446,785,806.227902446,652,630,652,0.400917991103,-0.0154366219893,0.0599229690607,0.999999971615,-9.56686162522e-05,-0.000214087696388,-4.22326120466e-05,1793245318846294016
+60,1.000000000,BASELINE,764,744,714,679.178873823,658,634,878.821126177,785,806.821126177,652,630,652,0.400917834886,-0.0154365890172,0.0599231548263,0.999999971253,-9.84528594581e-05,-0.000214478701282,-4.24326878992e-05,1793245318862960640
+61,1.016666667,BASELINE,764,744,714,679.40391577,658,634,878.59608423,785,807,652,630,652,0.400918302972,-0.0154356582523,0.0599237021136,0.999999971346,-9.80339761807e-05,-0.000214209872441,-4.25513453025e-05,1793245318879627264
+62,1.033333333,BASELINE,764,744,714,679.982200937,658,634,878.017799063,785,807,652,630,652,0.400919040569,-0.0154343399126,0.059924405469,0.999999971636,-9.6232311293e-05,-0.000213656195054,-4.26348545593e-05,1793245318896294144
+63,1.050000000,BASELINE,764,744,714,680,658,634,878.556735182,785,806.443264818,652,630,652,0.400919375109,-0.0154359248079,0.059924716363,0.999999971755,-9.67138143058e-05,-0.000212932981982,-4.23782114808e-05,1793245318912960512
+64,1.066666667,BASELINE,764.134477893,744,714,680,658,634,878.865522107,785,806,652,630,652,0.400920037703,-0.015437302291,0.0599250960418,0.99999997188,-9.75532716145e-05,-0.000212007195387,-4.2152808957e-05,1793245318929627392
+65,1.083333333,BASELINE,764.723467208,744,714,680,658,634,878.276532792,785,806,652,630,652,0.400921852315,-0.01543766715,0.0599257503246,0.999999972042,-9.93574956457e-05,-0.000210414942737,-4.20695029567e-05,1793245318946294016
+66,1.100000000,BASELINE,764.692578496,744,714,680,658,634,878,785,806,652,630,652,0.400921790933,-0.0154374065579,0.059925411387,0.999999971947,-9.94899810056e-05,-0.000210767525154,-4.22431511297e-05,1793245318962960640
+67,1.116666667,BASELINE,764.113080365,744,714,680,658,634,878,785,806,652,630,652,0.400920069244,-0.0154365924241,0.0599241934217,0.999999971624,-9.81429308001e-05,-0.000212841341074,-4.26442109356e-05,1793245318979627520
+68,1.133333333,BASELINE,764,744.464911242,713.535088758,680,658,634,878,785,806,652,630,652,0.400920161024,-0.0154369423457,0.059924158978,0.999999971507,-9.91406859334e-05,-0.000212947719846,-4.25465285199e-05,1793245318996293888
+69,1.150000000,BASELINE,764,744.957754985,713.042245015,679.957754985,658.042245015,634,878,785,806,652,630,652,0.400920630122,-0.015437520777,0.0599244083356,0.999999971464,-0.000100409612971,-0.000212602892034,-4.23102670474e-05,1793245319012960512
+70,1.166666667,BASELINE,764,744.384102243,713.615897757,679.384102243,658.615897757,634,878,785,806,652,630,652,0.400920314936,-0.0154374235928,0.0599246182343,0.999999971733,-9.79385845824e-05,-0.000212582450122,-4.18518346768e-05,1793245319029627392
+71,1.183333333,BASELINE,764,744,714,679.19506932,658.80493068,634,878,785,806.19506932,652.19506932,630,652.19506932,0.400919744205,-0.0154370630756,0.0599245066141,0.99999997183,-9.66058316855e-05,-0.000212762686463,-4.17117628354e-05,1793245319046294016
+72,1.200000000,BASELINE,764,744,714,679.785424244,658.214575756,634,878,785,806.785424244,652.785424244,630,652.785424244,0.400918655642,-0.0154361689442,0.059923743473,0.999999971589,-9.7579663061e-05,-0.000213349574264,-4.22168120069e-05,1793245319062960640
+73,1.216666667,BASELINE,764.368126125,744,714,680,658,634,878,785,807,652.631873875,630,652.631873875,0.400918699415,-0.0154366533566,0.0599236120447,0.999999971448,-9.84467352612e-05,-0.000213607060362,-4.22476704261e-05,1793245319079627264
+74,1.233333333,BASELINE,764.946457967,744,714,680,658,634,878,785,807,652.053542033,630,652.053542033,0.400919389769,-0.015437924939,0.0599238413342,0.999999971363,-9.92528462612e-05,-0.000213676452954,-4.20077585549e-05,1793245319096293888
+75,1.250000000,BASELINE,765,744,713.47875346,680,658,634,878.52124654,785,806.47875346,652,630,652.52124654,0.400919560242,-0.0154389288296,0.0599236697397,0.999999971342,-9.94618392119e-05,-0.000213718446518,-4.18075961383e-05,1793245319112960512
+76,1.266666667,BASELINE,765,744,713.097948346,680,658,634,878.902051654,785,806,652,630,652.902051654,0.400919818815,-0.0154395433702,0.0599236086894,0.999999971393,-9.93485144002e-05,-0.000213564274711,-4.16514162479e-05,1793245319129627136
+77,1.283333333,BASELINE,765,744,713.686032977,680,658,634,878.313967023,785,806,652,630,652.313967023,0.400920783672,-0.01543834626,0.0599243054726,0.99999997177,-9.79271546644e-05,-0.000212442474129,-4.16950325062e-05,1793245319146294016
+78,1.300000000,BASELINE,765,744,713.728213316,679.728213316,658,634,878.271786684,785,806,652,630,652,0.400921333916,-0.0154380636888,0.0599246989207,0.999999971915,-9.79864167524e-05,-0.000211701632249,-4.18443253467e-05,1793245319162960384
+79,1.316666667,BASELINE,765,744,713.145129426,679.145129426,658,634,878.854870574,785,806,652,630,652,0.400921409274,-0.0154388286062,0.0599247449368,0.999999971795,-9.97415436124e-05,-0.000211397130364,-4.21146573179e-05,1793245319179627008
+80,1.333333333,BASELINE,764.569060217,744.430939783,713.430939783,679.430939783,658,634,878.569060217,785,806,652,630,652,0.400920776151,-0.015438355068,0.0599244463795,0.999999971716,-9.87085067458e-05,-0.000212275688761,-4.19859565915e-05,1793245319196293888
+81,1.350000000,BASELINE,764,744.995297737,714,680,658,634,878,785,806.004702263,652,630,652,0.400919904953,-0.0154374899523,0.0599240270115,0.999999971643,-9.67922569875e-05,-0.000213548692602,-4.1729469703e-05,1793245319212960768
+82,1.366666667,BASELINE,764,744.41937873,714,680,658,634,878,785,806.58062127,652,630,652,0.400918633051,-0.0154389112941,0.0599228027581,0.999999970998,-9.98236964807e-05,-0.000215113559904,-4.20129944974e-05,1793245319229627136
+83,1.383333333,BASELINE,764.160014595,744.160014595,714,680,658,634,878,785,807,652,630,652,0.400918005238,-0.0154392967902,0.0599221500001,0.999999970687,-0.000101177093247,-0.000215887880218,-4.22032707789e-05,1793245319246293760
+84,1.400000000,BASELINE,764.74871591,744.74871591,714,680,658,634,878,785,807,652,630,652,0.400919102972,-0.0154369072063,0.0599230283053,0.999999971292,-9.80349343132e-05,-0.000214544287853,-4.21437299174e-05,1793245319262960640
+85,1.416666667,BASELINE,764.66768535,744.66768535,714,680,658,634,878,785,806.66768535,652,630,652,0.400919519233,-0.0154363830939,0.0599233855659,0.999999971495,-9.74885276735e-05,-0.000213840389228,-4.21596325821e-05,1793245319279627520
+86,1.433333333,BASELINE,764.087886675,744.087886675,714,680,658,634,878,785,806.087886675,652,630,652,0.400919427981,-0.0154372482505,0.0599233547898,0.999999971405,-9.88752506341e-05,-0.000213612888527,-4.22317201567e-05,1793245319296294144
+87,1.450000000,BASELINE,764.487207753,744.487207753,714,680,658.487207753,634,878,785,806.487207753,652,630,652.487207753,0.400918656507,-0.0154373742786,0.0599232454427,0.999999971288,-9.8522050561e-05,-0.000214318618505,-4.22564886379e-05,1793245319312960768
+88,1.466666667,BASELINE,764.937092287,744.937092287,713.937092287,680,658.937092287,634,878,785,806.937092287,652,630,652.937092287,0.400917990807,-0.0154374269349,0.0599232666562,0.999999971229,-9.78827122697e-05,-0.000214891024759,-4.22146648461e-05,1793245319329627392
+89,1.483333333,BASELINE,764.34932785,744.34932785,713.34932785,680,658.34932785,634,878,785,806.34932785,652,630,652.34932785,0.400919221572,-0.0154379692032,0.0599244942945,0.999999971707,-9.74496395832e-05,-0.000212959963673,-4.16877786986e-05,1793245319346294016
+90,1.500000000,BASELINE,764.234988054,744,713.234988054,680,658.469976108,634,878,785.234988054,806.234988054,652,630,652,0.400919846703,-0.0154376787787,0.0599247453359,0.999999971993,-9.6873677122e-05,-0.000211892675511,-4.1593702257e-05,1793245319362960896
+91,1.516666667,BASELINE,764.814251543,744,713.814251543,680,659.628503086,634,878,785.814251543,806.814251543,652,630,652,0.400919584532,-0.0154361683955,0.0599235655883,0.999999972005,-9.60883702729e-05,-0.000212090880781,-4.21337251161e-05,1793245319379627520
+92,1.533333333,BASELINE,765,744,714,680,659.212314198,634,878,785.606157099,807,652,630,652,0.400919427234,-0.0154360436789,0.0599230357114,0.999999971869,-9.59155017556e-05,-0.000212784231502,-4.22404941728e-05,1793245319396294144
+93,1.550000000,BASELINE,765,744,714,680,658.052821855,634,878,785.026410928,807,652,630,652,0.400919319437,-0.0154365730298,0.0599228125888,0.999999971665,-9.60317187117e-05,-0.000213711302737,-4.21427571188e-05,1793245319412960768
+94,1.566666667,BASELINE,764.451428977,744.548571023,714,680,658.548571023,634,878,785,807,652,630,652.548571023,0.400919285882,-0.0154378747009,0.0599233124741,0.999999971426,-9.9244415613e-05,-0.000213409155097,-4.19037051852e-05,1793245319429627392
+95,1.583333333,BASELINE,764.12611098,744.87388902,714,680,658.87388902,634,878.12611098,785,807,652,630,652.87388902,0.400919395041,-0.0154385299406,0.0599237937731,0.99999997133,-0.000101016743228,-0.000213053675363,-4.17580567855e-05,1793245319446293760
+96,1.600000000,BASELINE,764.713846973,744.286153027,714,680,658.286153027,634,878.713846973,785,807,652,630,652.286153027,0.40092001363,-0.0154366840042,0.0599240807178,0.999999971792,-9.69756448627e-05,-0.000212717738947,-4.19789987408e-05,1793245319462960384
+97,1.616666667,BASELINE,765,744,714,680,658,634,878.70267069,785,806.70267069,652,630,652,0.400920173327,-0.015436753959,0.0599245047276,0.999999971964,-9.62266319496e-05,-0.000212256476158,-4.1950618852e-05,1793245319479627264
+98,1.633333333,BASELINE,765,744,714,680,658,634,878.123224413,785,806.123224413,652,630,652,0.400919897613,-0.0154386417816,0.0599250587898,0.999999971867,-9.86012708423e-05,-0.000211676299122,-4.16856732291e-05,1793245319496293888
+99,1.650000000,BASELINE,764.547594056,744.452405944,714,680,658,634,878,785,806.452405944,652,630,652,0.40091995882,-0.0154384446039,0.0599241372578,0.999999971679,-9.83149731793e-05,-0.000212673203857,-4.17785413337e-05,1793245319512960512
+100,1.666666667,BASELINE,764.027617552,744.972382448,714,680,658,634,878,785,807,652,630,652,0.400920126176,-0.0154377436969,0.0599229460808,0.999999971489,-9.73918168217e-05,-0.000213956352996,-4.19445464638e-05,1793245319529627392
+101,1.683333333,BASELINE,764.615237259,744.384762741,714,680,658,634,878,785,807,652,630,652,0.400920600661,-0.0154382477385,0.0599243688059,0.99999997176,-9.81284124302e-05,-0.000212406363548,-4.16338873459e-05,1793245319546294016
+102,1.700000000,BASELINE,764.799908788,744,714,680,658,633.799908788,878,785.200091212,807,652,630,652,0.400921070965,-0.015438240039,0.0599250770148,0.999999971944,-9.81721576729e-05,-0.000211536195431,-4.1560367587e-05,1793245319562960640
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+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,785,806,652,630,652,0.400919933534,-0.0154368136687,0.059923284252,0.999999971636,-9.75637281815e-05,-0.000213156116943,-4.21062683771e-05,1793245319643802112
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.410853145,745,714,680,658,634,878,785,806,652,630,652,0.400920084673,-0.0154371869661,0.0599235314962,0.999999971613,-9.76791379603e-05,-0.000213211090869,-4.2106405569e-05,1793245319660468480
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744.824685304,714,679.824685304,658,634,878.175314696,785,806.175314696,652,630,652,0.400920443999,-0.0154373322279,0.0599237604726,0.999999971657,-9.74288173941e-05,-0.000213116705706,-4.21263772261e-05,1793245319677135104
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744.24538207,714,679.24538207,658,634,878.75461793,785,806.75461793,652,630,652,0.400921283065,-0.0154369520132,0.0599239473538,0.999999971854,-9.63357217139e-05,-0.000212678143133,-4.2192054672e-05,1793245319693801984
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.903933392,744,714,679.903933392,658,634,878.096066608,785.903933392,807,652,630,652,0.400920308291,-0.0154406739186,0.0599226089404,0.999999971119,-0.000100890348011,-0.000214072079271,-4.19098754722e-05,1793245319727134976
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+114,1.900000000,POSE1_TO_POSE2_PRESS,764.344385383,744.655614617,714,680.344385383,658,634,878,785,806,652,630,652.344385383,0.400935597856,-0.0154380456509,0.0599284339342,0.999999974154,-9.60855690213e-05,-0.000201873493541,-4.13052133259e-05,1793245319777135360
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679.189427126,658,634,878.810572874,785.810572874,806,652,630,652,0.400975878977,-0.0154409719005,0.0599379460053,0.999999979001,-9.70079219454e-05,-0.000175984135436,-4.02223550813e-05,1793245319810468608
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.386728791,745,714,679.386728791,658,634,879,786,806,652,630,652,0.401009182779,-0.0154425889786,0.0599429546333,0.999999981862,-9.88728454184e-05,-0.000157738105406,-4.02353638674e-05,1793245319827134976
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.962341884,745,714,679.962341884,658,634,879,786,806,652,630,652,0.401047246517,-0.0154436577265,0.0599479058342,0.999999984632,-0.000100672465163,-0.000137667584832,-4.06085594616e-05,1793245319843801600
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.449937453,744.449937453,714,680,658.550062547,634,878.449937453,785.449937453,806,652,630,652.550062547,0.401092846309,-0.0154469795249,0.0599501715336,0.999999986272,-0.000101271074417,-0.000124595333344,-4.09419936959e-05,1793245319860468224
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.136564886,744,714,680,658.863435114,633.863435114,878,785,806.136564886,652,630,652.863435114,0.401142451682,-0.0154498426782,0.0599521760309,0.999999987413,-0.000101542311722,-0.000114699230359,-4.13202691854e-05,1793245319877135104
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.716362385,744,714,680,658.283637615,633.283637615,878,785,806.716362385,652,630,652.283637615,0.401203345326,-0.0154507053724,0.0599539429173,0.999999987578,-0.0001010239042,-0.000113521580732,-4.18531144898e-05,1793245319893801728
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+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.869987758,633.869987758,878,785,806.130012242,652,630,652,0.401368746754,-0.015460337052,0.0599612577926,0.999999988902,-0.000106067790126,-9.57032789548e-05,-4.22736845644e-05,1793245319927134976
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+126,2.100000000,POSE1_TO_POSE2_PRESS,764.388501811,744,714,680,658,633.611498189,878.611498189,785,807,652,630,652,0.401707169507,-0.0154762483826,0.0599660233559,0.999999989523,-0.00011423814894,-7.70571767434e-05,-4.43309606845e-05,1793245319977135104
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.199433535,744,714,680,658,634,878.800566465,785,806.800566465,652,630,652,0.401844067156,-0.0154831512006,0.0599635375529,0.999999989108,-0.000117970540701,-7.62647347095e-05,-4.52923877616e-05,1793245319993801728
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+136,2.266666667,POSE1_TO_POSE2_PRESS,764.592323018,744,714,680.592323018,658,634,878.592323018,785,806.592323018,652,630,652,0.404024182103,-0.0155570666818,0.0599397339134,0.999999978781,-0.000183350681212,-7.8047176093e-05,-5.22361152761e-05,1793245320143801344
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.019644831,744,714,680.019644831,658,634,878.019644831,785,806.019644831,652,630,652,0.40435673175,-0.0155518784114,0.0599265895597,0.999999979924,-0.000164842771615,-0.000100537521585,-5.35884421319e-05,1793245320160468224
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.573869746,744,714,680,658,633.426130254,878,785,806.573869746,652,630,652,0.404726621239,-0.0155442935252,0.0599168382443,0.999999979114,-0.00015951673595,-0.000115517165645,-5.46158827591e-05,1793245320177135104
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,633.163893746,878.163893746,785,807,652,630,652,0.405119838569,-0.0155411482048,0.0599134562165,0.999999978682,-0.000158280474807,-0.000120680467402,-5.49565232336e-05,1793245320193801472
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,633.743194402,878.743194402,785,807,652,630,652,0.405568820977,-0.0155494712362,0.0599259123669,0.999999979584,-0.000166223380783,-0.000101639377721,-5.3585643178e-05,1793245320210468096
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.679355222,744,714,680,658,634,878.679355222,785,807,652,630,652,0.40605485264,-0.0155559426989,0.0599473591829,0.999999982485,-0.000167597903263,-6.5260090534e-05,-5.17809671072e-05,1793245320227134720
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.103378178,744,714,680,658,634,878.103378178,785,807,652,630,652,0.406570387,-0.0155609397421,0.0599759653464,0.999999985249,-0.000163741964578,-1.50742415286e-05,-4.96308552043e-05,1793245320243801600
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658.481027758,634,878.481027758,785,807,652,630,652,0.407105552678,-0.0155619086436,0.0599979248658,0.999999986003,-0.000159323013744,1.67248231179e-05,-4.82659963417e-05,1793245320260468224
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744.066505968,714,680.066505968,659,633.933494032,878.933494032,785,807,652,630,652,0.407644308087,-0.0155618257443,0.0600146950132,0.999999985931,-0.000156519664752,3.745412695e-05,-4.73026354788e-05,1793245320277134592
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,744.646033236,714,680.646033236,659,633.353966764,878.353966764,785,807,652,630,652,0.408177629296,-0.0155604263206,0.0600026501689,0.999999984869,-0.000167128938094,3.81762063001e-06,-4.81113805996e-05,1793245320293801216
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744.774939559,714,681,658.774939559,633.225060441,878.225060441,785,807,652,630,652,0.408729706601,-0.0155593844416,0.0599902322579,0.999999984445,-0.000167252071723,-2.66915329241e-05,-4.92396600897e-05,1793245320310468096
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.196697128,714,681,658.196697128,633.803302872,878.803302872,785,807,652,630,652,0.409311217369,-0.0155589036491,0.0599772289029,0.999999985951,-0.000150919555456,-5.22930042054e-05,-5.08693772541e-05,1793245320327134720
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714,680.620677732,658.379322268,634,879,785,807,652,630,652,0.409951423453,-0.0155604432271,0.0599796064911,0.999999986334,-0.000150978683843,-4.32601564429e-05,-5.16251803549e-05,1793245320343801600
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714,680.045804389,658.954195611,634,879,785,807,652,630,652,0.41062188857,-0.0155630243617,0.0599899133795,0.999999985799,-0.000159488156831,-1.63723627881e-05,-5.19304566255e-05,1793245320360468224
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.541451778,744,714,680,659,634,879,785,807,652,630,652,0.411316249556,-0.0155645298942,0.0599950710682,0.99999998637,-0.000156844108913,-2.13174937802e-06,-5.15264697326e-05,1793245320377134848
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.872216985,744.127783015,713.872216985,679.872216985,659,634,878.872216985,785,807,652,630,652,0.412005594543,-0.0155648416608,0.0599919169482,0.999999987046,-0.000152361346309,-5.80543264328e-06,-5.15827702627e-05,1793245320393801472
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.292941759,744.707058241,713.292941759,679.292941759,659,634,878.292941759,785,807,652,630,652,0.412669906857,-0.0155612645481,0.0599609700552,0.999999985713,-0.000144793707132,-6.89065053283e-05,-5.34823515327e-05,1793245320410468352
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713.284606589,679.569213177,659.284606589,634,878.284606589,785,807,651.715393411,630.284606589,652,0.413359634966,-0.0155578103481,0.059934020046,0.999999981408,-0.000139859661718,-0.000120450991422,-5.58183530075e-05,1793245320427134976
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713.860388272,680.720776544,659.860388272,634,878.860388272,785,807,651.139611728,630.860388272,652,0.41407536553,-0.0155544818971,0.0599111591619,0.999999975986,-0.000137619990788,-0.000160172181391,-5.86008472698e-05,1793245320443801600
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.43435504,744.56564496,714,680.56564496,659.56564496,634,879,785,807,651.43435504,630.56564496,652,0.414901563973,-0.0155611065713,0.0599465036346,0.999999983768,-0.000142023056433,-9.58527675956e-05,-5.57371058738e-05,1793245320460468224
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680.007996934,659,633.992003066,879,785.007996934,807.007996934,652,630,652.007996934,0.415762746535,-0.0155708344157,0.0600000365448,0.999999987663,-0.000148534405842,8.56140376962e-07,-5.10992446387e-05,1793245320477134848
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,680.600351901,659,633.399648099,879,785.600351901,807.600351901,652,630,652.600351901,0.416596526185,-0.0155745205021,0.0600212525467,0.999999986511,-0.000153733433508,3.08933748028e-05,-4.88844127774e-05,1793245320493801472
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659,633.188427709,879,786,808,652,630.188427709,652.811572291,0.417428682767,-0.0155752202086,0.0600293777513,0.999999986172,-0.000153057282009,4.35065540082e-05,-4.83354893648e-05,1793245320510468096
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659,633.76762908,879,786,808,652,630.76762908,652.23237092,0.418257473276,-0.0155697265658,0.0600103544062,0.99999998866,-0.000140196800948,1.99845902405e-05,-5.12414356458e-05,1793245320527134720
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659,634,879,785.656425496,808,652,630.656425496,652,0.419082263875,-0.015568287278,0.0599871232947,0.999999988686,-0.000139200719469,-1.75051716095e-05,-5.42662214436e-05,1793245320543801856
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659,634,879,785.08266153,808,652,630.08266153,652,0.419904374565,-0.0155695643439,0.0599610730472,0.999999985603,-0.000146153597661,-6.43531354452e-05,-5.73706276351e-05,1793245320560469248
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659.492055702,634,879,785,808,652,630,652.492055702,0.420720101562,-0.0155690159293,0.0599265899156,0.999999979846,-0.00014757628966,-0.000122003324277,-6.0362216107e-05,1793245320577135616
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659.930919957,634,879,785.069080043,808,652,630.069080043,653,0.421544429906,-0.0155682710809,0.0598943992066,0.999999971708,-0.000147792711477,-0.00017537330465,-6.31251049443e-05,1793245320593801984
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659.337605376,634,879,785.662394624,808,652,630.662394624,653,0.422442185821,-0.0155683672848,0.0598903768574,0.99999997064,-0.000145918888078,-0.000182463569018,-6.42965438971e-05,1793245320610468864
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659.249035944,634,879.249035944,786,808.249035944,652,631,652.750964056,0.423379968726,-0.0155710965416,0.0599181509744,0.999999978124,-0.000145307309697,-0.000136897367188,-6.24256298583e-05,1793245320627135488
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659.826866834,634,879.826866834,786,808.826866834,652,631,652.173133166,0.424370598232,-0.0155773021416,0.0599879050446,0.999999987453,-0.000146362235231,-2.18103571841e-05,-5.6537984819e-05,1793245320643802624
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659.598976121,633.598976121,879.598976121,786,809,652,631,652.401023879,0.425307306822,-0.0155813757126,0.060022994253,0.999999986861,-0.000148519042973,3.7019523749e-05,-5.33868244413e-05,1793245320660469248
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659.026390813,633.026390813,879.026390813,786,809,652,631,652.973609187,0.426220947525,-0.0155845371831,0.0600432535342,0.99999998468,-0.000151147245629,7.1782119068e-05,-5.14063559971e-05,1793245320677135360
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659,633.564157808,879,785.435842192,809,652,630.435842192,652.435842192,0.427143057169,-0.015587920813,0.0600228506793,0.999999984466,-0.000159112748767,5.30319064099e-05,-5.42091124679e-05,1793245320693801984
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,713.847630384,681,659.152369616,633.847630384,879.152369616,785.152369616,809,652,630,652.152369616,0.428048805809,-0.0155896608742,0.0599988431268,0.99999998439,-0.000165268575804,2.52479616372e-05,-5.71685990646e-05,1793245320710468608
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744,713.268396745,681,659.731603255,633.268396745,879.731603255,785.731603255,809,652,630,652.731603255,0.428907572617,-0.0155867663995,0.0599702411086,0.999999984276,-0.00016563212088,-2.06004163158e-05,-5.99196988083e-05,1793245320727135232
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.308866872,713,681,660,633,880,786,808.691133128,652,630,653,0.429761221455,-0.0155824657488,0.0599411202385,0.999999982807,-0.000158979800701,-7.25095606921e-05,-6.20842641806e-05,1793245320743802112
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.884429415,713,681,660,633,880,786,808.115570585,652,630,653,0.430610451062,-0.0155769509149,0.0599115513596,0.999999978866,-0.000146269527647,-0.000129651961009,-6.3742377548e-05,1793245320760468992
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.468800616,681.468800616,660,633,880,786,808.468800616,651.531199384,630.468800616,652.531199384,0.431540629296,-0.0155822491954,0.0599445519621,0.99999998425,-0.000153392867629,-6.44413963783e-05,-6.17830876938e-05,1793245320777135360
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+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.787118295,714,681.212881705,660.787118295,633.787118295,879,785.787118295,809,652,630.212881705,652,0.434276618748,-0.0155910049021,0.0600056383816,0.999999984899,-0.000160438482924,3.32006174613e-05,-5.7966259874e-05,1793245320827134720
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.209749084,714,681.790250916,660.209749084,633.209749084,879,785.209749084,809,652,630.790250916,652,0.435110296708,-0.0155941205076,0.059976073665,0.999999984495,-0.000164494422124,-1.58636536286e-05,-6.08240361834e-05,1793245320843801344
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.237253128,745,714,683,658,632,879.237253128,784,809.237253128,652,630,653,0.447055821458,-0.015663621473,0.0597441535467,0.999999872674,-0.000281346868732,-0.000411645768302,-7.77443616208e-05,1793245321143802112
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.813389197,745,714,683,658,632,879.813389197,784,809.813389197,652,630,653,0.447557379258,-0.0156715747416,0.0597609041923,0.999999882343,-0.000287544291022,-0.000383260346292,-7.57843852116e-05,1793245321160468992
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682.614930844,658,631.614930844,880,783.614930844,809.614930844,652,630,653,0.448002308172,-0.0156778094899,0.0597679264879,0.999999884626,-0.00029375719843,-0.000372678321239,-7.46082844217e-05,1793245321177135872
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682.045385633,658,631.045385633,880,783.045385633,809.045385633,652,630,653,0.448420107786,-0.015683220943,0.0597702881997,0.999999883601,-0.000299977524948,-0.000370625412165,-7.38077167508e-05,1793245321193802496
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.451573307,745,714,682.548426693,658,631,880,783,809.548426693,652,630,653,0.448754762843,-0.0156872842003,0.0597401285047,0.999999861708,-0.000306214575139,-0.000420806147195,-7.57555295421e-05,1793245321210469120
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+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745,714,683,658,630,880,782,809.44333712,652,629.55666288,652,0.450284369072,-0.0157036864569,0.0596683039051,0.99999980967,-0.000323184608999,-0.000519594087426,-7.8958899561e-05,1793245321293801728
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.017447065,745,714,683,657.982552935,630,880,781.982552935,810,652,629,652.017447065,0.450556937216,-0.0157094625301,0.059680036439,0.999999818579,-0.000330503281079,-0.000497535779266,-7.78891288965e-05,1793245321310468096
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.612546032,745,714,683,657.387453968,630,880,781.387453968,810,652,629,652.612546032,0.450784509171,-0.0157129063713,0.0596895772977,0.999999823318,-0.000334575578559,-0.000485465578837,-7.58029641723e-05,1793245321327134720
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657.20039743,630,880,781,809.79960257,652,629,653,0.450995597436,-0.0157161260687,0.059693187699,0.999999823855,-0.000339706443263,-0.000480945202561,-7.47054826221e-05,1793245321343801600
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657.774725207,630,880,781,809.225274793,652,629,653,0.451175928034,-0.0157189275258,0.0596857321989,0.999999816713,-0.000346812534537,-0.000490512375424,-7.5452828574e-05,1793245321360468480
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657.071348644,630,880,781,809.928651356,652,629,653,0.451507482472,-0.0157270578377,0.0596810711582,0.999999812387,-0.000354705938752,-0.000493788550488,-7.47125798379e-05,1793245321393801728
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657,630,880,781,810,652,629,653,0.451645373184,-0.015727487446,0.0596875262463,0.999999817641,-0.000356098180849,-0.000482082188169,-7.42265615894e-05,1793245321410468608
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,630,880,781,810,652,629,653,0.451877077244,-0.0157302316893,0.0596943174912,0.999999822775,-0.000358000729606,-0.000470016318671,-7.32873472391e-05,1793245321443801856
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714.164384208,683,657,629,880,780,809.164384208,652,629,652.164384208,0.45224110429,-0.0157330345093,0.0596867504622,0.999999817525,-0.000360094620544,-0.000479627476038,-7.23887164814e-05,1793245321543801856
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+256,4.266666667,HOLD_POSE2,765,745,714,682.564516844,656.435483156,629,880,779.435483156,810,652,628.564516844,653,0.452348120496,-0.0157248941864,0.0596805739027,0.999999818363,-0.000346353374927,-0.000488516223675,-6.83051335577e-05,1793245322158720000
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+258,4.300000000,HOLD_POSE2,765,745,714.728247469,682.271752531,656.728247469,629,880,779.728247469,810,652,629,652.271752531,0.452346059001,-0.0157264782117,0.0596796111408,0.999999817035,-0.000346196157,-0.000491416385246,-6.77401125729e-05,1793245322192052992
+259,4.316666667,HOLD_POSE2,764.69501955,745,714.69501955,682.609960901,657,629,880.30498045,780,810,652,629,652.30498045,0.452346323727,-0.0157269076144,0.0596794828705,0.999999816873,-0.000346742648314,-0.000491369696157,-6.76656774788e-05,1793245322208719872
+260,4.333333333,HOLD_POSE2,764.118210846,745,714.118210846,683.763578308,657,629,880.881789154,780,810,652,629,652.881789154,0.452347911275,-0.0157263442782,0.0596797257246,0.999999817262,-0.000348143167531,-0.000489532001407,-6.80526834122e-05,1793245322225386496
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,657,629,880,780,809,652,628,653,0.452345993917,-0.0157244233787,0.0596769700849,0.999999816129,-0.000344879110576,-0.000494073656338,-6.84948358131e-05,1793245322257180160
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.420243019,745,714.420243019,683,657,629,880,780,809.579756981,652,628.579756981,652.420243019,0.452347418785,-0.015725326905,0.0596779875606,0.999999815994,-0.000347195468965,-0.00049276683596,-6.81767203136e-05,1793245322273846528
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.158724327,745,714.158724327,683,657,629,880,780,810,652,628.841275673,652.158724327,0.452347941549,-0.0157253983427,0.0596786416461,0.999999816,-0.000348270621005,-0.000492003416612,-6.81192287037e-05,1793245322290512640
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.112705075,682.112705075,657,629,880,780,810,652,628.887294925,653,0.452347159931,-0.0157231760883,0.0596778888528,0.999999818096,-0.000342676373483,-0.00049166727513,-6.81547946245e-05,1793245322340512000
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.062427675,657,629.062427675,880,779,810,652,628,653,0.452349414947,-0.015726947483,0.0596805142566,0.999999817665,-0.000348760634937,-0.00048830872295,-6.77501596675e-05,1793245322373845504
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.640683027,657,629.640683027,880,779,810,652,628,653,0.452346662144,-0.0157246682805,0.0596786719355,0.999999817265,-0.000346913911396,-0.000490353085334,-6.83724778058e-05,1793245322390512640
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.207772804,745,714,682.207772804,657,629.207772804,880,779.792227196,810,652,628.792227196,653,0.45232626806,-0.0157223472899,0.0596685215962,0.999999811542,-0.000342575058421,-0.000504812782316,-6.87219093242e-05,1793245322423845888
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,880,779.455121446,810,651.544878554,628.455121446,653,0.452207344203,-0.0157149968894,0.0596275176903,0.999999778038,-0.000342894561634,-0.000566628784067,-7.26566498896e-05,1793245322473845248
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.509335319,657,629,880.509335319,779.509335319,810,652,629,653,0.450586643226,-0.0156259296289,0.0595718958068,0.999999736412,-0.000295790988591,-0.000659629827905,-6.76172975574e-05,1793245322673846784
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.911713727,745,714,683,657,629,880.823427455,780,810,652,629,653,0.450338680869,-0.0156115058634,0.0595653727513,0.999999731691,-0.000287265628741,-0.000670535588711,-6.69213972853e-05,1793245322690513664
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.334593026,745,714,683,657,629,879.669186052,780,810,652,629,653,0.450059812184,-0.015595969121,0.0595640745693,0.999999733197,-0.000275814009875,-0.000673189890955,-6.59325382709e-05,1793245322707179776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,745,714,683,657,629.241677164,879.241677164,780.241677164,810,652,629,653,0.449760571905,-0.0155814765415,0.0595607703086,0.999999732963,-0.000265539572431,-0.000677758067671,-6.48609640434e-05,1793245322723845888
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.399131248,745,714,683,657,630,880,781,809.600868752,652,629,653,0.449093697555,-0.0155594715754,0.0595530299844,0.999999731583,-0.000253128329201,-0.000684741657206,-6.23554963044e-05,1793245322757179136
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.984883309,745,714,683,657,630,880,781,809.015116691,652,629,653,0.448748471336,-0.0155524352696,0.0595534204093,0.999999734568,-0.000251653661898,-0.000681040985594,-6.09730209903e-05,1793245322773845504
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.298604567,745,714,682.701395433,657,630,880,782,809.701395433,652,629,653,0.447113617895,-0.0155446066523,0.0596193107003,0.999999817218,-0.000162694290334,-0.000580646672504,-4.4091789578e-05,1793245322840512512
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.105640535,659,633,879.211281069,785,809,651.105640535,631,652,0.433326951721,-0.0153901267374,0.0597686399365,0.999999935328,0.000133471360926,-0.000333891032884,6.76895949128e-06,1793245323173845248
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,744.347611069,714,681,659,633,879.347611069,785,808.347611069,651.652388931,630,652,0.430701813889,-0.0153848116265,0.0598226715769,0.999999951938,0.00016455240202,-0.000262189433534,1.73914689446e-05,1793245323223844864
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744,714,680.137619911,658,633.862380089,879.862380089,785,808,651.137619911,630,652.137619911,0.422591503832,-0.0153736360947,0.0598476692154,0.99999995028,0.000196839736303,-0.000245338621481,2.2444460165e-05,1793245323373844992
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.449204464,714,680.449204464,658,633.550795536,879.550795536,785,808,651.449204464,630,652,0.421686478894,-0.0153701774659,0.0598397970635,0.999999946444,0.000202761953091,-0.000255961541588,2.19756422746e-05,1793245323390511616
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.381514642,714,681,658,633,879,785,808,652,629.381514642,652,0.419821991881,-0.0153613810859,0.0597626482355,0.999999900442,0.000209184159099,-0.000393852272982,1.54340164081e-05,1793245323423844864
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744,714,681,657.804012771,633,879,784.804012771,808,652,629.195987229,652,0.418921899952,-0.0153593976305,0.0597253702212,0.999999876078,0.000205944937957,-0.000453092193239,1.1714177598e-05,1793245323440511488
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744,714,680.647709513,657.352290487,633,879,784.352290487,808,652,629.647709513,652,0.417324186354,-0.0153620442458,0.0597659322808,0.999999914622,0.000200369608853,-0.000361122599495,1.41075864157e-05,1793245323473844736
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744,714,680.058883691,657.941116309,633,879,784.941116309,808,652,629.058883691,652,0.416557990715,-0.0153598968581,0.0598130854399,0.999999932419,0.00020942883603,-0.000301536906372,1.94328636867e-05,1793245323490511616
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633,878.478666738,785,807.478666738,652,629.521333262,652,0.415752891616,-0.0153613045244,0.0598333840579,0.999999937022,0.000211506648995,-0.000284078907708,2.28237461372e-05,1793245323507178240
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633.100163913,878.100163913,785,807,652,630,652,0.414952796605,-0.0153627003898,0.0598475042747,0.999999939849,0.000212605695357,-0.000272879569996,2.5257304362e-05,1793245323523844864
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633.676949661,878.676949661,785,807,652,630,652,0.414197082363,-0.0153621604584,0.0598464237186,0.999999940848,0.000212738603348,-0.00026918762789,2.4158274482e-05,1793245323540511488
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.097499866,744,713.097499866,680,657.097499866,634,878,785,807,652,629.902500134,652.902500134,0.40819918148,-0.0153591583333,0.0598630728954,0.999999944532,0.000227604899003,-0.000241769384297,2.60636523057e-05,1793245323690511872
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5684ee084faf98672862b742415ee7d28c9849c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,404 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ca874f853874ee24289152910379c066c7f1aea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f3802d724b06b6acd4b86ed76ba9b49c9b6f7511af23be8d07c900758e5f535
+size 25681380
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..686fe8bd24f6a101d74646150ddea62b24657c7c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/franka_data.csv
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+3,0.050000000,BASELINE,764.266259793,744,714,680,658.266259793,634.733740207,878.733740207,785,806.266259793,652,630,652,0.400980117049,-0.0153696940486,0.0598463818436,0.999999941907,0.000223601720464,-0.000256722639192,1.67704828861e-05,1793245324806138880
+4,0.066666667,BASELINE,764.309371844,744,714,680,658,634.690628156,878.690628156,785,806,652,630,652,0.40097976952,-0.0153703461507,0.0598461185125,0.99999994181,0.000223720723599,-0.000256989953822,1.69084038572e-05,1793245324822804992
+5,0.083333333,BASELINE,764.88463515,744,714,680,658,634.11536485,878.11536485,785,806,652,630,652,0.400979541433,-0.0153704819724,0.0598456529288,0.999999941531,0.000224183200848,-0.000257665845112,1.69858836135e-05,1793245324839471616
+6,0.100000000,BASELINE,765,744.472726366,714,680,658,634,878,785,806.472726366,652,630,652,0.400980460378,-0.0153697747214,0.0598461926058,0.999999941622,0.000225201527452,-0.00025642669424,1.69187337787e-05,1793245324856138496
+7,0.116666667,BASELINE,764.937306957,744.937306957,714,679.937306957,658,634,878.062693043,785.062693043,806.937306957,652,630,652,0.400981430385,-0.015368947623,0.0598467465767,0.999999941767,0.000226075187904,-0.000255095542782,1.67966100565e-05,1793245324872805120
+8,0.133333333,BASELINE,764.358393702,744.358393702,714,679.358393702,658,634,878.641606298,785.641606298,806.358393702,652,630,652,0.400980451628,-0.0153688750639,0.0598453418695,0.999999941624,0.000224609542044,-0.000256962387889,1.65205601453e-05,1793245324889472000
+9,0.150000000,BASELINE,764.218276673,744,714,679.218276673,658,634,878.781723327,785.781723327,806.218276673,652,630,652,0.400979789027,-0.0153691132904,0.059844870602,0.999999941745,0.00022321270286,-0.000257709462798,1.64605199978e-05,1793245324906138624
+10,0.166666667,BASELINE,764.791301809,744,714,679.791301809,658,634,878.208698191,785.208698191,806.791301809,652,630,652,0.400979640249,-0.0153698566132,0.059845916383,0.999999942303,0.00022192769008,-0.000256636660251,1.67515441049e-05,1793245324922805248
+11,0.183333333,BASELINE,765,744,714,680,658,634,878,785,807,652,630,652,0.400979118971,-0.0153706758648,0.0598461061262,0.999999942207,0.000222469406199,-0.00025652711868,1.69487498836e-05,1793245324939471872
+12,0.200000000,BASELINE,765,744,714,680,658,634,878,785,807,652,630,652,0.400978384314,-0.0153715386109,0.0598458055033,0.999999941736,0.000224057531536,-0.000256969364016,1.70922135202e-05,1793245324956138496
+13,0.216666667,BASELINE,765,744.545800454,714,679.454199546,658,634,878,785,807,652,629.454199546,652,0.400979230531,-0.015370450775,0.059845618289,0.999999941836,0.000223901213676,-0.000256748023457,1.66426979891e-05,1793245324972805376
+14,0.233333333,BASELINE,765,745,714,679.124621862,658,634,878,785.124621862,807,652.124621862,629.124621862,652,0.400980061365,-0.0153695462753,0.0598455868872,0.999999941931,0.000223935709631,-0.000256368204491,1.63124860863e-05,1793245324989472000
+15,0.250000000,BASELINE,765,745,714,679.701128626,658,634,878,785.701128626,807,652.701128626,629.701128626,652,0.40098048291,-0.0153697427449,0.059846095109,0.999999941883,0.000225052193171,-0.000255562124319,1.65474751283e-05,1793245325006138880
+16,0.266666667,BASELINE,765,745,714,680,658,634,878.282084142,786,807,652.717915858,629.717915858,652,0.400981163717,-0.0153700932821,0.0598465736995,0.999999942154,0.000224534686194,-0.00025494431223,1.67500682044e-05,1793245325022805504
+17,0.283333333,BASELINE,765,745,714,680,658,634,878.867828655,786,807,652.132171345,629.132171345,652,0.400982123618,-0.0153706096716,0.0598470203921,0.999999942765,0.000222258206944,-0.000254529168639,1.69177873776e-05,1793245325039472128
+18,0.300000000,BASELINE,764.551243837,744.551243837,714,680,658,634,878.551243837,785.551243837,807,652,629.448756163,652,0.400981643106,-0.0153706771553,0.0598469371877,0.999999942694,0.000222383500679,-0.00025469625999,1.69331855919e-05,1793245325056139008
+19,0.316666667,BASELINE,764,744,714,680,658,634,878.028153531,785,807,652,629.971846469,652,0.400980796592,-0.0153705916661,0.0598466779824,0.999999942433,0.000223153858417,-0.000255050357468,1.68976883413e-05,1793245325072805376
+20,0.333333333,BASELINE,764,744,714,680,658,634,878.605085969,785,807,652,629.394914031,652,0.400980997481,-0.0153700741946,0.0598459979632,0.999999942326,0.000222855775559,-0.00025574250543,1.67353134086e-05,1793245325089472000
+21,0.350000000,BASELINE,764,744,714,680,658,634,878.818056463,785,806.818056463,652,629.181943537,652,0.40098072005,-0.0153697196682,0.0598454290553,0.999999942049,0.000222948133097,-0.000256748066565,1.66364920985e-05,1793245325106138880
+22,0.366666667,BASELINE,764,744,714,680,658,634,878.241361408,785,806.241361408,652,629.758638592,652,0.400979404834,-0.0153697186735,0.059845101219,0.999999941404,0.000223887604786,-0.000258433620574,1.66755591306e-05,1793245325122805504
+23,0.383333333,BASELINE,764,744,714,680,658,634,878,785,806.342058444,652,630,652,0.400979491236,-0.0153695770662,0.059845791104,0.999999941522,0.000224495086651,-0.000257449402398,1.66850390178e-05,1793245325139472640
+24,0.400000000,BASELINE,764,744,714,680,658,634,878,785,806.930318629,652,630,652,0.400980586474,-0.0153693342508,0.0598472135094,0.999999942183,0.000224863613911,-0.000254543575454,1.66732231137e-05,1793245325156140288
+25,0.416666667,BASELINE,764.510627185,744,714,680,658,634,878,785,807,652,630,652,0.400981743587,-0.0153691315912,0.0598478824214,0.999999942247,0.000225719914506,-0.000253528582816,1.67127218964e-05,1793245325172806912
+26,0.433333333,BASELINE,764.910820599,744,714,680,658,634,878,785,807,652,630,652,0.400982619759,-0.0153689314709,0.0598483096731,0.999999942185,0.000226629362221,-0.000252959692684,1.67198335352e-05,1793245325189473280
+27,0.450000000,BASELINE,764.336014013,744,714,680,658,634,878,785,807,652,630,652,0.400981920795,-0.0153687157958,0.0598479723022,0.999999941877,0.000227471313633,-0.000253436510541,1.65130331375e-05,1793245325206139648
+28,0.466666667,BASELINE,764,744,714,680,658,634,878,785,806.760364408,652.239635592,630,652,0.400981506075,-0.0153692891252,0.0598476353582,0.999999941996,0.000226724911082,-0.000253637678477,1.64573908821e-05,1793245325222806272
+29,0.483333333,BASELINE,764,744,714,680,658,634,878,785,806.183528593,652.816471407,630,652,0.400981491324,-0.0153709726925,0.0598472990151,0.999999942713,0.000223743476098,-0.000253450969049,1.66144489251e-05,1793245325239472384
+30,0.500000000,BASELINE,764,744,714,680,658,634,878,785,806,652.597269581,630,652,0.400981885869,-0.0153713267637,0.0598475262847,0.999999943115,0.000222519598339,-0.000252935474664,1.66901421877e-05,1793245325256139008
+31,0.516666667,BASELINE,764,744,714,680,658,634,878,785,806,652.006613447,630,652,0.400982471403,-0.0153710604534,0.0598480165524,0.999999943373,0.000222115847934,-0.000252266559673,1.67278682752e-05,1793245325272805632
+32,0.533333333,BASELINE,764,744,714,679.429303482,658,634,878,785,806,652,630,652,0.400981275069,-0.0153710516102,0.0598471383385,0.99999994283,0.000222333692151,-0.000254222650189,1.67076245966e-05,1793245325289472256
+33,0.550000000,BASELINE,764,744,714,679.146964649,658,634,878,785,806.146964649,652,630,652,0.400980314034,-0.0153708644308,0.0598465786055,0.999999942318,0.000223070726382,-0.000255584559286,1.6714715872e-05,1793245325306139136
+34,0.566666667,BASELINE,764,744,714,679.720646477,658,634,878,785,806.720646477,652,630,652,0.400980094783,-0.0153701509808,0.059846988587,0.999999941933,0.000225294810551,-0.000255134934824,1.68030811322e-05,1793245325322806272
+35,0.583333333,BASELINE,764.303175403,744,714,680,658,634,878,785,807,652.303175403,630,652,0.400980410464,-0.0153702162815,0.0598474251194,0.999999941998,0.000225548443014,-0.000254661856063,1.67389623042e-05,1793245325339473152
+36,0.600000000,BASELINE,764.894101376,744,714,680,658,634,878,785,807,652.894101376,630,652,0.400981233863,-0.0153710207121,0.0598478868519,0.99999994249,0.000223931875864,-0.000254166516248,1.65301174213e-05,1793245325356139520
+37,0.616666667,BASELINE,764.524489811,744.475510189,714,680,658,634,878.475510189,785.475510189,806.524489811,652.524489811,630,652,0.400981235841,-0.0153713374577,0.059847589135,0.999999942651,0.00022312134189,-0.000254248611119,1.64852167559e-05,1793245325372806144
+38,0.633333333,BASELINE,764.054444545,744.945555455,714,679.945555455,658,634,878.945555455,785.945555455,806.054444545,652,630,652,0.400981104157,-0.0153715322776,0.0598472227238,0.999999942736,0.000222582188858,-0.00025438913434,1.65000730186e-05,1793245325389472256
+39,0.650000000,BASELINE,764.629586971,744.370413029,714,679.370413029,658,634,878.370413029,785.370413029,806.629586971,652,630,652,0.400981409397,-0.015371579368,0.0598477851551,0.999999942777,0.000222955379876,-0.000253882702844,1.67440985767e-05,1793245325406139136
+40,0.666666667,BASELINE,764.796849667,744,714,679.203150333,658,634,878,785,807,652,630,652,0.400982074453,-0.0153719119094,0.0598483634312,0.999999943143,0.000222216772064,-0.000253080690881,1.68756484121e-05,1793245325422805504
+41,0.683333333,BASELINE,764.226143306,744,714,679.773856694,658,634,878,785,807,652,630,652,0.400983390515,-0.0153727609122,0.0598489703752,0.999999944089,0.000219466607794,-0.000251743890844,1.68036980508e-05,1793245325439472128
+42,0.700000000,BASELINE,764.359687128,744.359687128,714,680,658,634,878,785,806.640312872,652,629.640312872,651.640312872,0.400983116954,-0.0153727694667,0.059848670109,0.99999994416,0.000219236328857,-0.000251663838993,1.67449628474e-05,1793245325456139264
+43,0.716666667,BASELINE,764.955443756,744.955443756,714,680,658,634,878,785,806.044556244,652,629.044556244,651.044556244,0.400981800093,-0.0153722264191,0.0598477744236,0.99999994366,0.000220659898684,-0.000252408614925,1.66949010059e-05,1793245325472806656
+44,0.733333333,BASELINE,764.464720412,744.464720412,714,679.464720412,658,634,878,785,806,652,629,651.535279588,0.400981798914,-0.0153719153504,0.0598478798391,0.999999943375,0.000221110518746,-0.000253150497453,1.65773424699e-05,1793245325489473280
+45,0.750000000,BASELINE,764.113057475,744,714,679.113057475,658,634,878.113057475,785.113057475,806,652,629.113057475,652,0.400981416386,-0.0153715443091,0.0598477868058,0.999999943031,0.000221604607963,-0.000254082400381,1.64585117032e-05,1793245325506139648
+46,0.766666667,BASELINE,764.687687542,744,714,679.687687542,658,634,878.687687542,785.687687542,806,652,629.687687542,652,0.400979042748,-0.0153708518637,0.0598465531959,0.999999942377,0.000222597258379,-0.000255791042238,1.63567621489e-05,1793245325522805760
+47,0.783333333,BASELINE,765,744,714,680,658,634,878.731271674,785.731271674,806.268728326,652,630.268728326,652,0.400979128845,-0.0153702726825,0.0598466388745,0.999999942351,0.00022303868344,-0.000255509715165,1.63454185279e-05,1793245325539472128
+48,0.800000000,BASELINE,765,744,714,680,658,634,878.142598285,785.142598285,806.857401715,652,630.857401715,652,0.400982143475,-0.0153698283523,0.0598482952839,0.999999943071,0.000222823825635,-0.000252859152636,1.64417112286e-05,1793245325556138752
+49,0.816666667,BASELINE,765,744,714,680.43871472,658,634,878,785,807,652,630.56128528,652,0.400981312833,-0.0153709609388,0.0598475438241,0.999999942935,0.000222282321453,-0.000253878057751,1.62976126242e-05,1793245325572805632
+50,0.833333333,BASELINE,765,744,713.982394725,680.96478945,658,634,878,785,806.982394725,652,630,652,0.400979369432,-0.0153725473728,0.0598461118978,0.999999942542,0.000221697776826,-0.000255943180191,1.61054214083e-05,1793245325589472512
+51,0.850000000,BASELINE,765,744,713.405711064,679.811422129,658,634,878,785,806.405711064,652,630,652,0.400981124698,-0.0153725380362,0.0598475146905,0.999999942727,0.000223062422011,-0.000253981183641,1.68263523357e-05,1793245325606139648
+52,0.866666667,BASELINE,765,744.170487665,713.170487665,679.170487665,658,634,878,785,806.170487665,652,630,652,0.400981895232,-0.0153724563468,0.0598482889112,0.999999942799,0.000223711195087,-0.000253102162427,1.71677604797e-05,1793245325622806528
+53,0.883333333,BASELINE,765,744.745535638,713.745535638,679.745535638,658,634,878,785,806.745535638,652,630,652,0.400980329033,-0.0153722029671,0.0598475715561,0.999999942613,0.00022266123263,-0.000254792997836,1.6608576423e-05,1793245325639472896
+54,0.900000000,BASELINE,765,744.670999412,714,680,658,634,878,785,807,652,630,652,0.400980323729,-0.0153723799036,0.059847822147,0.999999942789,0.00022207945644,-0.000254613408748,1.65982157921e-05,1793245325656139520
+55,0.916666667,BASELINE,765,744.080853484,714,680,658,634,878,785,807,652,630,652,0.40098155739,-0.015372898405,0.0598488410484,0.99999994325,0.000221869304747,-0.000252949163751,1.70234856545e-05,1793245325672805888
+56,0.933333333,BASELINE,764.500255862,744,714,680,658,634,878,785,807,652,630,652,0.400982098616,-0.0153721509522,0.0598494349588,0.999999943668,0.00022101307523,-0.000252059049879,1.68173274934e-05,1793245325689472256
+57,0.950000000,BASELINE,764.078291713,744,714,680,658.078291713,634,878,785,807,652,630,652,0.400982201704,-0.0153714266462,0.0598495846459,0.999999943896,0.000220284557297,-0.000251812199639,1.65430482624e-05,1793245325706138624
+58,0.966666667,BASELINE,764.653448865,744,714,680,658.653448865,634,878,785,807,652,630,652,0.400980221866,-0.0153721247152,0.0598473433302,0.999999942961,0.00022101747785,-0.000254867762181,1.64726276061e-05,1793245325722805504
+59,0.983333333,BASELINE,765,744,714,680,659,633.771784205,878.228215795,785,806.771784205,652,630,652,0.400979497367,-0.0153721247005,0.0598463917407,0.999999942464,0.000221849425343,-0.000256098764135,1.63767860947e-05,1793245325739472128
+60,1.000000000,BASELINE,765,744,714,680,659,633.197608741,878.802391259,785,806.197608741,652,630,652,0.400980675874,-0.0153710664384,0.0598473952884,0.99999994264,0.000222831491073,-0.000254563856421,1.62424082799e-05,1793245325756139008
+61,1.016666667,BASELINE,765,744.388735107,714,680,659,633.388735107,878.611264893,785.388735107,806,652,630,652,0.400980698121,-0.0153719125254,0.0598481733783,0.999999943169,0.00022123741601,-0.000253858518459,1.6483555111e-05,1793245325772805632
+62,1.033333333,BASELINE,765,744.981464452,714,680,659,633.981464452,878.018535548,785.981464452,806,652,630,652,0.400980113603,-0.0153737579465,0.0598488331561,0.999999943878,0.000218291474625,-0.00025358850903,1.6921763811e-05,1793245325789472000
+63,1.050000000,BASELINE,765,744.439595422,714,680,658.439595422,634,878,785.439595422,806,652,630,652,0.400979163214,-0.0153720386034,0.059847659981,0.999999942785,0.000221258688897,-0.000255338784369,1.66430721461e-05,1793245325806138880
+64,1.066666667,BASELINE,765,744,714,680,658,633.86204162,878,785,806,652,630,652,0.400978920036,-0.0153710894115,0.0598469997496,0.999999942188,0.000223036101455,-0.00025614186731,1.6457441257e-05,1793245325822805504
+65,1.083333333,BASELINE,765,744,714,680,658,633.28746658,878,785,806,652,630,652,0.40098095245,-0.0153729418194,0.059848150167,0.999999943372,0.000220443864418,-0.000253740833638,1.66395747849e-05,1793245325839471872
+66,1.100000000,BASELINE,764.712365946,744,714,680,658,633.287634054,878,785.287634054,806.287634054,652,630,652,0.400981756036,-0.0153733349005,0.0598486185904,0.999999943657,0.000220120511619,-0.000252892340359,1.66808497355e-05,1793245325856138752
+67,1.116666667,BASELINE,764.136739096,744,714,680,658,633.863260904,878,785.863260904,806.863260904,652,630,652,0.40098132926,-0.0153722668348,0.0598484041691,0.999999943049,0.000222068873008,-0.000253598323977,1.65810904171e-05,1793245325872805376
+68,1.133333333,BASELINE,764,744,714,680,658,634,878,786,807,652,630,652,0.400980830376,-0.0153721333381,0.0598479252399,0.999999942958,0.000222281354503,-0.000253781034348,1.64260899157e-05,1793245325889472256
+69,1.150000000,BASELINE,764.043149441,744,714,680,658,634,878,785.956850559,807,652.043149441,629.956850559,652,0.400980357172,-0.0153722586545,0.0598474352728,0.999999943008,0.000222054024424,-0.000253793033731,1.62704484503e-05,1793245325906138624
+70,1.166666667,BASELINE,764.618564639,744,714,680,658,634,878,785.381435361,807,652.618564639,629.381435361,652,0.400980477891,-0.0153719848006,0.059847825705,0.999999942802,0.000223072769136,-0.000253710286139,1.63192033236e-05,1793245325922805248
+71,1.183333333,BASELINE,765,744.193974497,714,680,658,634,878,785,807,652.806025503,629.193974497,652,0.400980980134,-0.0153718701576,0.0598482773052,0.999999942775,0.00022366800087,-0.000253279109273,1.64957827817e-05,1793245325939471872
+72,1.200000000,BASELINE,765,744.769373961,714,680,658,634,878,785,807,652.230626039,629.769373961,652,0.400982232593,-0.0153720685812,0.0598488491841,0.999999943103,0.000223430451024,-0.00025216279272,1.69237122382e-05,1793245325956138752
+73,1.216666667,BASELINE,764.646089701,744.646089701,714,680,658,634,878,785,807,652,630,652,0.400982692211,-0.0153710870109,0.0598489763734,0.999999943059,0.000223962324258,-0.000251877119526,1.67497568867e-05,1793245325972805376
+74,1.233333333,BASELINE,764.055441557,744.055441557,714,680,658,634,878,785,807,652,630,652,0.400982621481,-0.0153693161185,0.0598488061008,0.999999942766,0.000225008880361,-0.000252147080749,1.61731884364e-05,1793245325989472000
+75,1.250000000,BASELINE,764,744,714,680,658,634,878,785,807,652,629.475006307,652,0.400981857187,-0.0153702327351,0.0598488109685,0.999999943169,0.000222979093982,-0.000252351953933,1.61494431449e-05,1793245326006138624
+76,1.266666667,BASELINE,764.103133126,744,714,679.896866874,658,633.896866874,878.103133126,785.103133126,807,652,629.103133126,652,0.400981214292,-0.0153715448393,0.0598488527255,0.999999943607,0.000220889840363,-0.000252444042355,1.62746842324e-05,1793245326022805248
+77,1.283333333,BASELINE,764.675638816,744,714,679.324361184,658,633.324361184,878.675638816,785.675638816,807,652,629.675638816,652,0.400981450879,-0.0153733898404,0.0598489798009,0.999999943897,0.000219980277976,-0.000252053517934,1.68173549503e-05,1793245326039471872
+78,1.300000000,BASELINE,765,744,714,679.255831202,658.255831202,633.255831202,878.744168798,785.744168798,806.744168798,652,630,652,0.400982633713,-0.0153743859293,0.0598499188626,0.999999944242,0.000219939669591,-0.000250692926276,1.71860968651e-05,1793245326056138752
+79,1.316666667,BASELINE,765,744,714,679.846071178,658.846071178,633.846071178,878.153928822,785.153928822,806.153928822,652,630,652,0.400985053431,-0.015374272366,0.0598519193091,0.999999944654,0.000221034911162,-0.000248064314983,1.73274883697e-05,1793245326072805376
+80,1.333333333,BASELINE,764.571965841,744,714,679.571965841,658.571965841,634,878,785,806.428034159,652,630,652,0.400983723625,-0.0153739259938,0.0598506910397,0.99999994429,0.000221124956441,-0.000249455574934,1.72138769355e-05,1793245326089472000
+81,1.350000000,BASELINE,764.007033694,744,714,679.007033694,658,634,878,785,807,652,629.992966306,652,0.400981089583,-0.0153735018084,0.0598483511143,0.99999994365,0.000220873749776,-0.000252242490256,1.70098831001e-05,1793245326106138624
+82,1.366666667,BASELINE,764.582525366,744,714,679.582525366,658,634,878,785,807,652,629.417474634,652,0.400979957217,-0.0153734268249,0.0598482274212,0.999999943226,0.00022170368608,-0.000253207797568,1.67720766829e-05,1793245326122805248
+83,1.383333333,BASELINE,764.842239019,744,714,679.842239019,658,634,878,785,806.842239019,652,629.157760981,652,0.400979912149,-0.0153734780358,0.059848545382,0.999999943236,0.000221759826421,-0.000253131584254,1.65851324145e-05,1793245326139471872
+84,1.400000000,BASELINE,764.267679771,744,714,679.267679771,658,634,878,785,806.267679771,652,629.732320229,652,0.400982739683,-0.0153738626473,0.059850030175,0.999999944388,0.000219771628651,-0.000250303714889,1.65325638772e-05,1793245326156138496
+85,1.416666667,BASELINE,764,744.31597654,714,679.31597654,658.31597654,634,878.31597654,785,806,652,629.68402346,652,0.400983251867,-0.0153742673095,0.0598503711927,0.999999944381,0.000220284301194,-0.00024986746705,1.6700579979e-05,1793245326172805376
+86,1.433333333,BASELINE,764,744.907567853,714,679.907567853,658.907567853,634,878.907567853,785,806,652,629.092432147,652,0.400981744456,-0.0153746894613,0.059849714537,0.999999943364,0.000222978391502,-0.000251517343308,1.70610039915e-05,1793245326189472000
+87,1.450000000,BASELINE,764,744.51154592,714,680,658.51154592,634,878.51154592,785,806,652,629.48845408,652,0.400980786809,-0.0153743595191,0.0598491527201,0.999999943129,0.000222923884509,-0.000252502166514,1.70060823136e-05,1793245326206138624
+88,1.466666667,BASELINE,764.066908176,744,714,680,658,634,878,785,806.066908176,652,630,652,0.400980332073,-0.0153737571501,0.059848765446,0.999999943071,0.000222628726383,-0.00025300476956,1.6845663476e-05,1793245326222805248
+89,1.483333333,BASELINE,764.641946228,744,714,680,658,634,878,785,806.641946228,652,630,652,0.40098292353,-0.0153721435273,0.0598495703534,0.999999943248,0.000224371324783,-0.000250780449814,1.64681559181e-05,1793245326239472128
+90,1.500000000,BASELINE,764.778205435,744.221794565,714,680,658,634,878.221794565,785,807,652,630,652,0.400984075475,-0.0153713243384,0.0598498211925,0.999999943394,0.000224730042883,-0.000249884216356,1.63391673574e-05,1793245326256138752
+91,1.516666667,BASELINE,764.19041953,744.80958047,714,680,658,634,878.80958047,785,807,652,630,652,0.400982852029,-0.0153718160739,0.0598491577427,0.999999943495,0.000222805169207,-0.000251179506982,1.662026914e-05,1793245326272805376
+92,1.533333333,BASELINE,764.391577606,745,714,680,658.391577606,634,878.608422394,785,806.608422394,652,630,652,0.400982308031,-0.0153728038422,0.0598493086155,0.999999943835,0.000221288963834,-0.00025114689565,1.69449149609e-05,1793245326289472000
+93,1.550000000,BASELINE,764.970800792,745,714,680,658.970800792,634,878.029199208,785,806.029199208,652,630,652,0.400982089627,-0.0153740293116,0.0598498497149,0.999999944288,0.000219968593802,-0.000250477948418,1.72904272868e-05,1793245326306138624
+94,1.566666667,BASELINE,765,744.450953305,714,679.450953305,658.450953305,634,878,785,806.549046695,652,630,652,0.400983201714,-0.0153728882965,0.0598507044449,0.999999944417,0.000221051321273,-0.000249024599438,1.70127704179e-05,1793245326322805504
+95,1.583333333,BASELINE,764.873932412,744,714,679.126067588,658,634,878,785,806.873932412,652,630,652,0.400983832624,-0.0153720438289,0.0598510988219,0.999999944354,0.000222251561819,-0.000248221654936,1.67773662017e-05,1793245326339472128
+96,1.600000000,BASELINE,764.301069039,744,714,679.698930961,658,634,878,785,806.301069039,652,630,652,0.400982507871,-0.015372695599,0.0598498026554,0.999999943683,0.000223416147188,-0.000249871388793,1.68089562218e-05,1793245326356138752
+97,1.616666667,BASELINE,764,744.271662339,714,679.728337661,658,634,878,785,806.543324679,652,630,652,0.400982159206,-0.0153733036491,0.0598493048122,0.999999943592,0.00022321691931,-0.000250405070016,1.69324637753e-05,1793245326372805376
+98,1.633333333,BASELINE,764,744.844247471,714,679.155752529,658,634,878,785,807.688494941,652,630,652,0.400982891763,-0.0153738632701,0.0598496912787,0.999999944144,0.000221506983287,-0.000249702489699,1.71577891969e-05,1793245326389472000
+99,1.650000000,BASELINE,764.435324061,744.564675939,714,679,658,634,878,785,807.564675939,652,630,652,0.400982200189,-0.0153737974126,0.0598491522216,0.999999943903,0.000221425899532,-0.000250749923438,1.70206273952e-05,1793245326406138624
+100,1.666666667,BASELINE,765,744.03197665,714,679.03197665,658,634,878,785,807,652,630,652,0.400981106028,-0.0153734593243,0.0598483764247,0.999999943415,0.000221963728575,-0.00025223269526,1.67530202521e-05,1793245326422805248
+101,1.683333333,BASELINE,765,744.606024325,714,679.606024325,658,634,878,785,807,652,630,652,0.400982207966,-0.0153724683077,0.0598494499109,0.999999943818,0.000222675830668,-0.000250010293846,1.65701843607e-05,1793245326439471872
+102,1.700000000,BASELINE,765,744.819628204,714,680,658,634,878.180371796,785,807,652,630,652,0.400983050905,-0.0153718392851,0.059850274971,0.999999944073,0.000223088050377,-0.000248621045544,1.65305884924e-05,1793245326456138240
+103,1.716666667,BASELINE,765,744.244624895,714,680,658,634,878.755375105,785,807,652,630,652,0.400983327187,-0.0153720022615,0.0598505565051,0.999999944015,0.000222844163869,-0.000249054635045,1.68043843677e-05,1793245326472805120
+104,1.733333333,BASELINE,765,744,714,680,658,634,878.661489774,785,806.661489774,652,630,652,0.400982386763,-0.0153728362658,0.059850016257,0.999999944113,0.000221232923146,-0.00025009805708,1.67574760055e-05,1793245326489471744
+105,1.750000000,BASELINE,765,744,714,680,658,634,878.072333485,785,806.072333485,652,630,652,0.400980545444,-0.0153741671252,0.0598488675294,0.99999994432,0.000218609240455,-0.000251593022754,1.64731058516e-05,1793245326506138368
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878,785,806,652,630,652,0.400983382875,-0.0153718897965,0.0598504785117,0.999999943378,0.000225452252685,-0.000249287887504,1.64577211005e-05,1793245326536976384
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744.57478258,714,680,658,634,878.57478258,785.57478258,806.57478258,652,630,652,0.400982414418,-0.0153722485466,0.0598494423041,0.999999943622,0.000222963902735,-0.000250547359748,1.63762191167e-05,1793245326553643776
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.149302955,744.850697045,714,680,658,634,878.850697045,785.850697045,806.850697045,652,630,652,0.400981986138,-0.0153729996862,0.0598488397469,0.999999943964,0.000220696454991,-0.000251188024435,1.6394531393e-05,1793245326570311168
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.723078002,744.276921998,714,680,658,634,878.276921998,785.276921998,806.276921998,652,630,652,0.400983093598,-0.0153748663993,0.059849470069,0.9999999446,0.00021905703726,-0.000250069403814,1.66966181277e-05,1793245326586977280
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,713.693055002,680,658,634,877.693055002,785,806,652,630,652,0.400983468083,-0.0153751359253,0.0598503009847,0.999999944758,0.000219500879178,-0.000249038031882,1.68188282951e-05,1793245326603643904
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,713.099773679,680,658,634,877.099773679,785,806,652,630,652,0.400983158805,-0.0153739155013,0.059851319026,0.999999944468,0.000221888108182,-0.000248088050721,1.67732390152e-05,1793245326620310528
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.519903927,744,713.480096073,679.519903927,658,634,877.480096073,785,806.480096073,652,630,652,0.4009824912,-0.0153728745727,0.0598506200347,0.999999944114,0.000222151850232,-0.000249288846254,1.6630995333e-05,1793245326636977152
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679.057180884,658,634,878,785,806.942819116,652,630,651.942819116,0.400981859898,-0.0153720943879,0.0598496997979,0.999999943803,0.000221897147065,-0.000250766621575,1.64806007614e-05,1793245326653643264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679.633598389,658,634,878,785,806.366401611,652,630,651.366401611,0.400982216085,-0.0153733523855,0.0598499227288,0.999999944028,0.000220833049039,-0.000250811041549,1.64336339536e-05,1793245326670310400
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.214482543,744,714,680,658,634,878,785,806.214482543,652,630,651.214482543,0.400983862892,-0.0153741375759,0.0598505459771,0.99999994424,0.000220591331276,-0.000250171722828,1.65590273384e-05,1793245326686977024
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.803159322,744,714,680,658,634,878,785,806.803159322,652,630,651.803159322,0.400987761365,-0.0153740978893,0.0598518676342,0.999999944425,0.000221784368871,-0.000248339528099,1.69851267408e-05,1793245326703643392
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785.387483825,807,652,629.612516175,652,0.401006114692,-0.015375279813,0.0598594790463,0.999999947334,0.000222855711739,-0.000235263625858,1.78331055722e-05,1793245326720310016
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785.969621993,807,652,629.030378007,652,0.401031729483,-0.0153770754185,0.0598702501469,0.999999951319,0.000223865920723,-0.000216539393386,1.88930175765e-05,1793245326736976640
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785.45636603,807,652,629.54363397,652,0.401084392771,-0.0153801647025,0.0598885583865,0.999999958598,0.000219841573146,-0.000184503306611,2.0789742446e-05,1793245326753643008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.11653569,785,807,652,630,652,0.401141853046,-0.0153836301283,0.0599063390631,0.999999964368,0.000216223028025,-0.000154926923924,2.25622179684e-05,1793245326770309632
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.686856443,785,807,652,630,652,0.401212193732,-0.0153882828863,0.0599204495662,0.999999967059,0.000215264007826,-0.000137782416096,2.36714699035e-05,1793245326786976768
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.729814549,785,807,652,630,652,0.401291148111,-0.0153923974938,0.059932352357,0.999999969428,0.000214756190895,-0.000120130854825,2.43461440563e-05,1793245326803643648
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.130646491,785,807,652,630,652,0.401380590672,-0.0153958568394,0.0599415669971,0.999999971443,0.000214797767147,-0.000101861897308,2.44916685143e-05,1793245326820310272
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806.548953039,652,630,652,0.401480437143,-0.015400116455,0.059945380304,0.999999972405,0.000214280089797,-9.33299353522e-05,2.37523512913e-05,1793245326836976896
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806,652,630,652,0.401583948518,-0.0154046904528,0.0599473518347,0.999999973079,0.00021347883398,-8.80421143098e-05,2.27286163971e-05,1793245326853643264
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806,652,630,652,0.401702505521,-0.0154110615176,0.0599427120678,0.999999973355,0.000210163418121,-9.31747492135e-05,2.09626192358e-05,1793245326870310144
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806.179120714,652,630,652,0.401832983313,-0.0154182601741,0.059939720863,0.999999974011,0.00020614605117,-9.5422514595e-05,1.94022699905e-05,1793245326886976768
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806.767325177,652,630,652,0.40199068631,-0.0154273489195,0.0599404947174,0.999999975579,0.000200525537963,-9.10816876098e-05,1.83115887275e-05,1793245326903643136
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.649574764,744.350425236,714,680,658,634,878,785,807,652,630,652,0.402172229034,-0.0154354757092,0.0599419536114,0.999999977108,0.000195891572775,-8.44489955916e-05,1.67185340084e-05,1793245326920310016
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.069815202,744.930184798,714,680,658,634,878,785,807,652,630,652,0.402369373582,-0.015442972952,0.0599438608266,0.999999978565,0.000191903249232,-7.63164016816e-05,1.47967029791e-05,1793245326936976896
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.507514246,745,714,680,658,634,878,785,807,652,629.492485754,652,0.402593777796,-0.0154539410489,0.0599457628952,0.999999981046,0.000181788599089,-6.85295930095e-05,1.28077601106e-05,1793245326953643520
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.916160793,714,680,658.083839207,634,878.083839207,785,807,652,629.083839207,652,0.402827154234,-0.0154654938055,0.0599475812873,0.999999983394,0.000171363330898,-6.10664227434e-05,1.08052093683e-05,1793245326970310144
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.343750412,714,680,658.656249588,634,878.656249588,785,807,652,629.656249588,652,0.403091067754,-0.015477684523,0.0599489161631,0.999999984987,0.00016401567762,-5.52133689539e-05,8.77690175985e-06,1793245326986976512
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.763645219,634,878.763645219,785,807,652,630,652,0.403364368945,-0.015488026685,0.0599449307528,0.999999986224,0.000154839870121,-5.95110854489e-05,5.95582245783e-06,1793245327003643136
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.171972252,634,878.171972252,785,807,652,630,652,0.403651782846,-0.0154955898655,0.0599329472202,0.99999998666,0.000142915752041,-7.90687147847e-05,1.94294931926e-06,1793245327020309760
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.412148936,784.587851064,807,652,630,652,0.403967313172,-0.0154958847581,0.0599217364536,0.999999989253,0.000108761637762,-9.82964824604e-05,-1.70557067537e-06,1793245327036976384
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.99317577,784.00682423,807,652,630,652,0.404294364186,-0.0154932014719,0.059910842328,0.999999990951,6.54987895868e-05,-0.000117389088767,-5.20479698117e-06,1793245327053643264
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.566181034,714,680,658,634,878.433818966,784.566181034,807,652,630,652,0.404657731387,-0.0154808750586,0.059901282988,0.99999998729,8.56080283206e-05,-0.000134033487014,-1.12191256556e-05,1793245327070310144
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.859986056,714,680,658,634,878,785,807,652,629.859986056,652,0.405041839088,-0.0154744036322,0.0598969970362,0.99999998518,9.63107072281e-05,-0.000141783169359,-1.61664378139e-05,1793245327086977024
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.283274519,714,680,658,634,878,785,807,652,629.283274519,652,0.405489289301,-0.0154865511164,0.0599091090845,0.999999989579,7.53256480722e-05,-0.000121881354337,-1.76925396942e-05,1793245327103644416
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679.699602527,658.300397473,634,878,785.300397473,807,652,629.300397473,652,0.405971792105,-0.015497546832,0.0599313709147,0.999999994818,5.39722933944e-05,-8.42226628281e-05,-1.89231929361e-05,1793245327120311040
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,679.10921107,658.89078893,634,878,785.89078893,807,652,629.89078893,652,0.406488133598,-0.0155074306688,0.0599634310167,0.999999998849,3.22633955721e-05,-2.94220557353e-05,-1.98686297795e-05,1793245327136977152
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,679.472581585,658.527418415,634,878.472581585,785.527418415,807,652.472581585,630,652,0.40702260167,-0.0155109237906,0.0599855854586,0.999999999536,2.11443838287e-05,4.15584043844e-06,-2.15355113419e-05,1793245327153643776
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.051827707,714,680,658,634,879,785,807,652.948172293,630,652.051827707,0.407559201427,-0.0155125761068,0.0600025515268,0.999999999293,1.10685679068e-05,2.70537620202e-05,-2.36751756851e-05,1793245327170310144
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.625088904,714,680,658,634,879,785,807,652.374911096,630,652.625088904,0.408075856678,-0.0155103012778,0.0599899371837,0.99999999946,-1.2693469976e-05,-9.03701313015e-06,-2.89240638733e-05,1793245327186977280
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.203610304,634,878.796389696,785.203610304,807,652,630,653,0.408617405648,-0.0155096695539,0.0599780023162,0.999999998232,-2.74088576402e-05,-4.04430455324e-05,-3.39021873084e-05,1793245327203644160
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.792074231,634,878.207925769,785.792074231,807,652,630,653,0.409206007403,-0.0155121435418,0.0599673517587,0.999999996967,-2.50247354737e-05,-6.29942183364e-05,-3.83685250287e-05,1793245327220311296
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.625380703,714,680.374619297,659,634,878,785.625380703,807,652,630,652.625380703,0.409846017491,-0.0155148929,0.0599711456597,0.999999997334,-3.06623521781e-05,-5.32296867181e-05,-3.94689172953e-05,1793245327236978176
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.046069717,714,680.953930283,659,634,878,785.046069717,807,652,630,652.046069717,0.410514117033,-0.0155177927201,0.059982832002,0.999999998089,-4.06830407472e-05,-2.58078788845e-05,-3.87301594503e-05,1793245327253644800
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659,634,878.531641403,785.531641403,807,652,630,652,0.411203365839,-0.015517518333,0.0599876314588,0.999999999397,-7.99235981323e-06,-1.20806480269e-05,-3.15500888017e-05,1793245327270310912
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.107787772,714,680.892212228,659,634,878.892212228,785.892212228,807,652,630,652.107787772,0.411886818214,-0.0155164695172,0.0599854848872,0.999999999375,1.95253493866e-05,-1.28369488568e-05,-2.65301736055e-05,1793245327286977024
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.677816404,714,680.322183596,659,634,878.322183596,785.322183596,807,652,630,652.677816404,0.41253757693,-0.0155132756651,0.0599561023279,0.999999996915,9.034444673e-06,-7.06310692593e-05,-3.31604667117e-05,1793245327303643392
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.741412744,714,680.258587256,659,634,878.258587256,785,807.258587256,652,630,652.741412744,0.413222017649,-0.0155113418553,0.0599283979666,0.999999991588,-5.48886110587e-07,-0.00012371241266,-3.89853435434e-05,1793245327320309760
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.14667757,714,680.85332243,659,634,878.85332243,785,807.85332243,652,630,652.14667757,0.413950243042,-0.0155110460245,0.0599028751583,0.999999984439,-8.95242666541e-06,-0.000170667436812,-4.37632285187e-05,1793245327336976384
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,680.564577924,659.435422076,634,879,785,808,652,630.435422076,652,0.414774705308,-0.0155166449151,0.059933133344,0.9999999924,-1.47907905568e-05,-0.000115013194937,-4.18803782667e-05,1793245327353643008
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.013303971,714,680,659.986696029,634,878.986696029,785,808,652,630.986696029,652,0.415630005912,-0.0155241139296,0.0599810989473,0.999999998723,-1.98380754225e-05,-2.69656512857e-05,-3.78558015214e-05,1793245327370309888
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.58775632,714,680,659.41224368,634,878.41224368,785,808,652,630.41224368,652,0.416457214475,-0.0155290694824,0.0600057301061,0.999999998952,-2.6938036349e-05,1.0585557866e-05,-3.5465792939e-05,1793245327386976512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.833627396,714,680,659,634,878.166372604,785,808,652,630,652,0.417279895058,-0.0155317208608,0.0600194023718,0.999999998415,-3.03528564587e-05,3.22738943869e-05,-3.47317785435e-05,1793245327403643136
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.244428758,714,680,659,634,878.755571242,785,808,652,630,652,0.418091067999,-0.0155285163172,0.060005223264,0.999999998879,-2.44021109442e-05,1.364768536e-05,-3.8206374712e-05,1793245327420309760
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.659507004,879,785.340492996,807.659507004,652,630.340492996,652.340492996,0.418934057256,-0.0155286414435,0.0599856877437,0.999999998545,-2.86566247764e-05,-1.84056221849e-05,-4.18344676608e-05,1793245327436976640
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.077617423,879,785.922382577,807.077617423,652,630.922382577,652.922382577,0.419799603035,-0.0155311271793,0.0599623547313,0.999999996357,-4.0146279604e-05,-5.99782311428e-05,-4.5571383788e-05,1793245327453643264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,713.502527142,680,659,633.497472858,879.497472858,786,807.497472858,652,630.502527142,652.502527142,0.420614884812,-0.0155306206297,0.0599262088851,0.999999991063,-4.1734646063e-05,-0.000117016728631,-4.93850870934e-05,1793245327470309632
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.928894534,744,713.071105466,680.071105466,659,634,879.928894534,785.928894534,808,652,630.071105466,652,0.421429713559,-0.0155298119515,0.0598913419027,0.999999982933,-4.14708366785e-05,-0.000172095034307,-5.29000436632e-05,1793245327486976512
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.358151084,744,713.641848916,680.641848916,659,634,879.358151084,785.358151084,808,652,630.641848916,652,0.422295721649,-0.0155301166086,0.0598793188765,0.999999978433,-3.89010533556e-05,-0.00019667246534,-5.42327414371e-05,1793245327503643136
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.221551819,744,714,681,659.221551819,634,879,785.221551819,808,652,630.778448181,652.221551819,0.423206157252,-0.0155331653373,0.0598981053625,0.999999983725,-4.07545091241e-05,-0.000167472304069,-5.33154562197e-05,1793245327520309760
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.816348672,744,714,681,659.816348672,634,879,785.816348672,808,652,630.183651328,652.816348672,0.424191439361,-0.0155408369624,0.059968796171,0.999999996429,-5.00597288488e-05,-4.76738397978e-05,-4.86076580401e-05,1793245327536976640
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660,634,879.400790887,786,808,652,630,652.599209113,0.425162963925,-0.0155443091456,0.0600109089559,0.999999997234,-5.43921559848e-05,2.18253290698e-05,-4.57941177768e-05,1793245327553643264
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,634,879.980607836,786,808,652,630,652.019392164,0.426128343182,-0.0155459055133,0.0600402564487,0.999999995073,-5.65033258985e-05,6.88567023547e-05,-4.38267087648e-05,1793245327570309888
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,634,880,786,808,652,630,652.555617006,0.427042731346,-0.0155509441901,0.0600255593061,0.999999994851,-6.77390362918e-05,5.9362441668e-05,-4.67568706902e-05,1793245327586976512
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.133171609,714,681.133171609,659.866828391,634,880,786,808.133171609,652,630.133171609,653,0.427938482569,-0.0155539948786,0.0600061197659,0.999999995087,-7.62364808921e-05,3.92215586109e-05,-4.97561292258e-05,1793245327603642880
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.719963317,714,681.719963317,659.280036683,634,880,786,808.719963317,652,630.719963317,653,0.428776761186,-0.0155498681857,0.0599757176588,0.999999995808,-7.43311427362e-05,-1.05222592551e-05,-5.24134916357e-05,1793245327620309504
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.697237566,714,681.697237566,659.302762434,634,880,786,809,652,631,653,0.429625021727,-0.0155453500927,0.059944633199,0.999999993809,-7.02583241509e-05,-6.66552162472e-05,-5.48073777284e-05,1793245327636976384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.118083317,714,681.118083317,659.881916683,634,880,786,809,652,631,653,0.43048239472,-0.015540474691,0.0599129258211,0.999999988045,-6.42068127726e-05,-0.000128620815282,-5.69607360828e-05,1793245327653643008
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744,714,681.460202037,660,633.539797963,880,786,808.539797963,652,631,653,0.431454258433,-0.0155454486212,0.0599428928667,0.999999993338,-7.40019753797e-05,-6.84748116642e-05,-5.62083942425e-05,1793245327670309632
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744,714,681.962106312,660,633,880,786,808,652,630.962106312,653,0.432447827153,-0.0155524966234,0.0599868878201,0.999999994585,-8.65677317707e-05,1.84672203691e-05,-5.47303485782e-05,1793245327686976512
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744,714,681.38965138,660,633,880,786,808,652,630.38965138,653,0.433333945297,-0.0155532189967,0.0600059513697,0.999999994398,-8.09660312101e-05,4.22447848761e-05,-5.35127963908e-05,1793245327703643136
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.188783362,744,714,681.188783362,660,633,880,786,808.188783362,652,630.188783362,653,0.434200692036,-0.0155541118494,0.0600098083124,0.999999994474,-7.95942005146e-05,4.28449573602e-05,-5.3681108122e-05,1793245327720309760
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.779964363,744,714,681.779964363,660,633,880,786,808.779964363,652,630.779964363,653,0.435026148188,-0.0155553680845,0.0599812519009,0.999999994564,-8.72384685822e-05,-5.95820141696e-06,-5.68034318647e-05,1793245327736977664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.636080335,744,714,682,660,633.363919665,880,786,809,652,631,653,0.435847650174,-0.0155543541643,0.0599531899608,0.999999992623,-8.98390021592e-05,-5.55785253742e-05,-5.99469485249e-05,1793245327753644288
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.056408865,744,714,682,660,633.943591135,880,786,809,652,631,653,0.43666680786,-0.0155519943697,0.0599254211726,0.999999988424,-8.9449329027e-05,-0.00010568330726,-6.31030292722e-05,1793245327770309888
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.519626204,714,682,660,634,880,786,809,652,631,653,0.437457855299,-0.0155464801772,0.059905030844,0.999999983433,-8.40442128337e-05,-0.000147866697002,-6.48547236792e-05,1793245327786976768
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.904865684,714,682,660,633.904865684,880,786,809,652,631,653,0.438251852326,-0.0155420152083,0.0598920906048,0.999999978974,-8.0414361639e-05,-0.000176684287304,-6.60968895627e-05,1793245327803643648
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.330038019,714,682,660,633.330038019,880,786,809,652,631,653,0.439076001802,-0.0155445553438,0.0599127050658,0.999999983799,-8.84621209321e-05,-0.000142413663635,-6.55332530026e-05,1793245327820309760
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633,880,786,809,652,631,653,0.439892846569,-0.0155492323374,0.0599475190772,0.99999998933,-9.78696283385e-05,-8.79760540057e-05,-6.34242388158e-05,1793245327836976128
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633,880,786,809,652,631,653,0.440699842686,-0.0155567903524,0.0600014776499,0.999999992273,-0.000109110416982,-6.34828072627e-06,-5.9231666974e-05,1793245327853642752
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.425535334,714,682,660,633,880,786,809,652,630.574464666,653,0.441414735687,-0.0155636184324,0.0599911330237,0.999999990976,-0.000117619935181,-2.56572189576e-05,-5.96329466084e-05,1793245327870309376
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.995479199,633,880,785.995479199,809,652,630,653,0.442096043716,-0.0155701813745,0.0599573589935,0.999999986928,-0.000125182902399,-8.16328537445e-05,-6.17168048645e-05,1793245327886976256
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.421251727,633,880,785.421251727,809,652,630,653,0.442731477344,-0.0155765104678,0.0598938881824,0.999999973783,-0.00013761021833,-0.000170307020489,-6.70275060481e-05,1793245327903643904
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880.156664883,784.843335117,809.156664883,652,630.156664883,653,0.443359528414,-0.0155832047617,0.0598426364508,0.999999956588,-0.000150063299678,-0.000243420145283,-7.10680446395e-05,1793245327920311040
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+251,4.183333333,HOLD_POSE2,764.943643368,745,714.943643368,683,656.943643368,629,880,779,810,652,628,653,0.452822319065,-0.0157258493526,0.0596751838773,0.99999981779,-0.000335947967731,-0.000497577755121,-6.30490857691e-05,1793245328980563200
+252,4.200000000,HOLD_POSE2,764.348177105,745,714.348177105,683,656.348177105,629,880,779,810,652,628,653,0.452821949921,-0.0157258101991,0.059675618191,0.999999817184,-0.000336419518161,-0.000498455463078,-6.32117241652e-05,1793245328997229824
+253,4.216666667,HOLD_POSE2,764,745,714,683,656.237708697,629,880,779,810,652,628,652.762291303,0.452822612282,-0.0157250272385,0.0596760358761,0.999999817437,-0.000335779587349,-0.000498357877905,-6.33904295457e-05,1793245329013896448
+254,4.233333333,HOLD_POSE2,764,745,714,683,656.810105396,629,880,779,810,652,628,652.189894604,0.452824726975,-0.0157231970159,0.0596764301483,0.999999818894,-0.000333574718235,-0.000496887103907,-6.35917568313e-05,1793245329030562816
+255,4.250000000,HOLD_POSE2,764.387409505,745,714,683,657,628.612590495,880,779,810,652,628.387409505,652.387409505,0.452824687784,-0.015723482627,0.059676192109,0.999999818841,-0.000333349961576,-0.000497155785773,-6.34897628371e-05,1793245329047229440
+256,4.266666667,HOLD_POSE2,764.96714997,745,714,683,657,628.03285003,880,779,810,652,628.96714997,652.96714997,0.45282357929,-0.0157248186519,0.0596756401561,0.999999818041,-0.000334108239266,-0.000498288027151,-6.32371838291e-05,1793245329063896064
+257,4.283333333,HOLD_POSE2,765,745,714,683,657,628.55324872,880,779,810,652,628.44675128,653,0.4528230148,-0.0157239941129,0.0596753297274,0.999999818086,-0.000333312058313,-0.000498697645573,-6.34894113647e-05,1793245329080562432
+258,4.300000000,HOLD_POSE2,765,745,714,682.861912161,657,629,880,779,810,652.138087839,628,653,0.452822817354,-0.0157234249601,0.0596751393292,0.999999818105,-0.000332958971118,-0.000498878527805,-6.36245618585e-05,1793245329097229312
+259,4.316666667,HOLD_POSE2,765,745,714,682.28232137,657,629,880,779,810,652.71767863,628,653,0.452823688966,-0.0157240872792,0.059675286315,0.999999817877,-0.000334321103683,-0.000498466860204,-6.32884385452e-05,1793245329113896704
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,881,779,810,652,628,653,0.452824303892,-0.0157243196998,0.05967600604,0.999999818097,-0.000334256878704,-0.000498031344755,-6.35778646699e-05,1793245329151457280
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,744.174348853,714,682,656.174348853,629,879.174348853,779,810,652,628,653,0.452822057722,-0.0157240581325,0.0596739363442,0.99999981744,-0.000332956759237,-0.000500277272854,-6.31120417793e-05,1793245329184792064
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,744.764112229,714,682,656.764112229,629,879.764112229,779,810,652,628,653,0.452823228184,-0.015724860172,0.0596745150032,0.999999817434,-0.00033442474977,-0.000499355570374,-6.2741880787e-05,1793245329201457408
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656.074231547,629,880,779,810,652,628,653,0.452825292539,-0.0157220072624,0.0596774267065,0.999999819799,-0.00033179579048,-0.000496319114369,-6.30893813027e-05,1793245329234790144
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,744.497913883,714,682.502086117,656,628.497913883,880,779,809.497913883,652,628,653,0.452824705661,-0.0157248472816,0.0596763601157,0.999999818002,-0.000335737501055,-0.000497301643565,-6.29827915952e-05,1793245329251456768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,744.07955986,714,683,656.07955986,628.07955986,880,779,809.07955986,652,628.07955986,653,0.452823958772,-0.0157275764638,0.0596751760479,0.999999816227,-0.000339401448905,-0.000498399207172,-6.28590532963e-05,1793245329268123392
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,744.666544198,714,683,656.666544198,628.666544198,880,779,809.666544198,652,628.666544198,653,0.452823678689,-0.0157250709186,0.0596758163516,0.999999817791,-0.000335707006503,-0.000497743034321,-6.30167250154e-05,1793245329284790272
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.749887845,629,880,779,810,652,628.749887845,653,0.452817730447,-0.0157232956931,0.0596729095885,0.999999816097,-0.00033335525261,-0.000502675626038,-6.32190237658e-05,1793245329301457152
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.407003264,628.592996736,879.592996736,779,810,652,628,653,0.452779817924,-0.0157211608664,0.0596548950715,0.99999980098,-0.000332037082664,-0.000532609515493,-6.41815471847e-05,1793245329334790400
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.984293661,628.015706339,879.015706339,779,810,652,628,653,0.452750662141,-0.0157196292097,0.05964325169,0.999999790391,-0.000331243333938,-0.000552505802021,-6.50673917832e-05,1793245329351456768
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628.559432016,879.559432016,779,810,652,628,653,0.452698795227,-0.0157161867925,0.0596260947116,0.999999775726,-0.000331828607237,-0.000577905764985,-6.68103630889e-05,1793245329368123392
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,880,779,810,652,628,653,0.452643192735,-0.0157123969043,0.0596094826888,0.999999761964,-0.000331501872687,-0.000601245720958,-6.84214561716e-05,1793245329384790016
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,880,779,810,652,628,653,0.452577435345,-0.0157076439599,0.0595951606543,0.99999975322,-0.000328061667548,-0.000617334274342,-6.95220853787e-05,1793245329401456640
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628.710698433,880,779,809.710698433,652,628,653,0.452507464997,-0.0157042121751,0.0595866441397,0.999999748425,-0.000326219650481,-0.000625973994727,-6.99110060319e-05,1793245329418123264
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628.115107006,880,779,809.115107006,652,628,653,0.452433034301,-0.0157021791309,0.0595842740561,0.999999748027,-0.000326069670156,-0.000626727472803,-6.95464253113e-05,1793245329434790144
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,879.802379434,779,809.802379434,652,628,653,0.451981425041,-0.015674213104,0.0595889069585,0.999999756784,-0.00030918095535,-0.000621620372463,-6.65408150136e-05,1793245329501456640
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,879.210077284,779,809.210077284,652,628,653,0.451825970282,-0.0156687588926,0.0595854999712,0.999999751819,-0.00030839469208,-0.000630067850159,-6.53377150483e-05,1793245329518123264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,879.371747392,779,809.371747392,652,628,653,0.451649518188,-0.0156589809745,0.0595835830148,0.999999750874,-0.000303534036181,-0.000633993654654,-6.45872887798e-05,1793245329534790656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,879.947813525,779,809.947813525,652,628,653,0.451461525583,-0.0156468266725,0.0595824850046,0.999999752122,-0.000296434024167,-0.000635434270813,-6.4085659623e-05,1793245329551458304
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.901132127,745,714,683,656.098867873,629,880,780,809.098867873,652,629,653,0.45100443429,-0.0156239619806,0.0595824197643,0.999999751435,-0.000281895995245,-0.000643374490733,-6.11013669996e-05,1793245329584790784
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.255257185,745,714,683,657,629.255257185,880,780,809.744742815,652,629,653,0.450444033816,-0.0155967256682,0.0595669835736,0.999999739691,-0.000262089639899,-0.000669617061955,-5.94918231623e-05,1793245329618123776
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744,714,681.395195942,659,633,880,785,809,651.604804058,630.395195942,652.395195942,0.437782136378,-0.0153789046495,0.0598256851608,0.999999941596,0.000193294120327,-0.000280828610119,2.41011832241e-05,1793245330001457408
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.817207465,744.182792535,714,681.182792535,659,633,880,785,809,652,630,652,0.436949223377,-0.0153762539136,0.0598169928684,0.99999993341,0.000204428177202,-0.000301007713877,2.80042396251e-05,1793245330018124032
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764.225116568,744.774883432,714,681.774883432,659,633,880,785,809,652,630,652,0.436036244678,-0.0153760023248,0.0597623666656,0.999999898431,0.000218763595039,-0.000393064007253,2.79378637742e-05,1793245330034790400
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764.359253039,744.640746961,714,681.640746961,659,633,879.640746961,785,809,652,630,652,0.43517276214,-0.015377233784,0.0597438886048,0.999999893676,0.000219920011674,-0.000404470861271,2.62179305507e-05,1793245330051457024
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.938886079,744.061113921,714,681.061113921,659,633,879.061113921,785,809,652,630,652,0.434339642536,-0.0153793750032,0.0597475852437,0.999999909915,0.000212991908523,-0.000366404161804,2.34836400046e-05,1793245330068123392
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.995836733,744,713.995836733,680.004163267,658,633,879,785,808,652.991673467,630,652.004163267,0.428046935894,-0.0153721335967,0.0597796636445,0.99999991874,0.000165985716151,-0.000367173125987,1.23479075818e-05,1793245330184791040
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.42894596,744,714,680.57105404,658,633,879,785,808,651.85789192,630,652,0.427144392006,-0.0153743638971,0.0597579383228,0.999999915918,0.000169230322632,-0.000373389669989,1.02216424621e-05,1793245330201457152
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.477937421,713.522062579,681,658,633.522062579,879.477937421,785,808,652,630,652,0.422682597115,-0.0153771582903,0.0598443342941,0.999999948714,0.000192305285985,-0.000255128977265,2.23554287564e-05,1793245330284790016
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.82669755,714,680,658,633.17330245,878.82669755,785.82669755,807.17330245,652,630,652,0.410596735556,-0.0153535188086,0.0597423290286,0.999999886472,0.000217351020759,-0.000423838679777,1.32470750773e-05,1793245330534789888
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.347899728,714,680,658,634,878,785,807.652100272,652,630,652,0.409419591091,-0.0153618036152,0.059815855942,0.999999929183,0.000216888551597,-0.000306849386452,2.08865898611e-05,1793245330568123392
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878.407399601,785,807.592600399,652,630,652,0.40569849388,-0.0153628440747,0.0598259510606,0.999999938088,0.000211661154508,-0.000280349674083,2.0658432388e-05,1793245330684791040
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ae47e2bb2ce979ef9c6dc24fff5556506f550c6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74ca11894448453777b5abec77d1edcaa37caa32
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+27,0.450000000,BASELINE,764.670422782,744,714,680,658.329577218,634,878,785,806,652,630,652,0.400978880871,-0.0153715619645,0.0598429975814,0.999999942372,0.000218125405294,-0.00025972182828,1.48712124743e-05,1793245332099901952
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+30,0.500000000,BASELINE,764.591411627,744.408588373,714,680,658,634,879,785,807,652,629.408588373,652,0.400979603508,-0.0153716980717,0.0598439620732,0.999999943008,0.000217485221423,-0.000257821477243,1.45599952795e-05,1793245332149901824
+31,0.516666667,BASELINE,764.01594523,744.98405477,714,680,658,634,879,785,807,652,629.98405477,652,0.40097972658,-0.0153719502694,0.0598443503148,0.999999942599,0.000218974757637,-0.000258125438875,1.49591854425e-05,1793245332166568448
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+34,0.566666667,BASELINE,764.260419726,744,714,680,658,634,877.739580274,785,806,652,629.260419726,652,0.40097985986,-0.015371536544,0.0598444802298,0.999999942547,0.000219989566491,-0.000257456653049,1.50622447974e-05,1793245332216568320
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+40,0.666666667,BASELINE,764.222116746,744,714,679.222116746,658,634,878,785,806.777883254,652,630,651.777883254,0.400978950985,-0.0153709262322,0.0598430813548,0.999999942167,0.000220505493724,-0.000258488670542,1.50513087453e-05,1793245332316568576
+41,0.683333333,BASELINE,764.80176092,744,714,679.80176092,658,634,878,785,806.19823908,652,630,651.19823908,0.400976504151,-0.0153726111859,0.0598416242728,0.999999942169,0.000217468046562,-0.000261043266172,1.50541986554e-05,1793245332333235200
+42,0.700000000,BASELINE,765,744,714,680,658,634,878,785,806,652,630,651.378098412,0.400977463722,-0.0153725660837,0.0598421688052,0.999999942463,0.000217643356414,-0.000259781290623,1.48251738942e-05,1793245332349901568
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+49,0.816666667,BASELINE,765,744.436723811,714,680,658,634,878.563276189,785,806,652,629.436723811,652,0.400980156056,-0.0153710688551,0.0598439970177,0.999999942537,0.000220315757483,-0.000257246880256,1.4559744554e-05,1793245332466568192
+50,0.833333333,BASELINE,765,744.987148439,714,680,658,634,878,785,806,652,630,652,0.400981377611,-0.0153716616874,0.0598453941942,0.999999943887,0.000216580509903,-0.000255150248407,1.47420905307e-05,1793245332483235072
+51,0.850000000,BASELINE,765,744.398305815,714,680,658,634,878,785,806,652,630,652,0.400980765555,-0.0153727846503,0.0598448574178,0.999999943767,0.000216230821362,-0.000255920929453,1.46196072166e-05,1793245332499901696
+52,0.866666667,BASELINE,764.812431622,744,714,680,658.187568378,634,878,785,806,652,630,652,0.400980467718,-0.0153733915688,0.0598446308191,0.999999943737,0.00021602540214,-0.000256213011256,1.45993242412e-05,1793245332516568320
+53,0.883333333,BASELINE,764.232762793,744,714,680,658.767237207,634,878,785,806,652,630,652,0.400980826738,-0.0153729197277,0.0598450526283,0.999999943895,0.000216121569304,-0.000255504609981,1.47926849552e-05,1793245332533234944
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+55,0.916666667,BASELINE,764,744,714,680,658.080730547,634,878,785,806.919269453,652,630,652,0.400980700981,-0.0153719410188,0.0598445583383,0.999999943262,0.000219029386829,-0.000255515238976,1.4615110732e-05,1793245332566568192
+56,0.933333333,BASELINE,764,744,714,680,658,634,878,785,806.506149532,652,630,652,0.400980012101,-0.0153715856104,0.059844481848,0.999999943075,0.000219209614068,-0.000256096195442,1.45257625358e-05,1793245332583235072
+57,0.950000000,BASELINE,764.070453893,744,714,680,658,634,878,785,806,652,630,652,0.400979441625,-0.0153712941909,0.0598444794518,0.999999942999,0.000219007633932,-0.00025656875304,1.44810405747e-05,1793245332599901440
+58,0.966666667,BASELINE,764.66265999,744,714,680,658,634,878,785,806,652,630,652,0.400980376876,-0.0153713093407,0.0598446161632,0.99999994344,0.000217927967995,-0.000255759231991,1.46817655582e-05,1793245332616568320
+59,0.983333333,BASELINE,764.752161551,744,714,680,658,634,878,785,806.247838449,652,629.752161551,652,0.400981035649,-0.0153716769311,0.059844873768,0.999999943749,0.000217352262738,-0.000255035346913,1.47594296049e-05,1793245332633235200
+60,1.000000000,BASELINE,764.17628477,744,714,680,658,634,878,785,806.82371523,652,629.17628477,652,0.40098132848,-0.0153725110111,0.0598452913869,0.999999943885,0.000217443598385,-0.000254424809276,1.4674210542e-05,1793245332649903104
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+62,1.033333333,BASELINE,764.977845103,744,714,680,658,634,878,785,807,652,629.977845103,652,0.400979393096,-0.0153745023394,0.0598447552443,0.999999943448,0.000216075248849,-0.000257276606227,1.49885225373e-05,1793245332683236352
+63,1.050000000,BASELINE,764.448281284,744,714,680,658,634,878,785,807,652,630,652,0.400981412481,-0.0153732515355,0.0598452600902,0.999999944048,0.00021584949988,-0.000255127758652,1.49229336913e-05,1793245332699902464
+64,1.066666667,BASELINE,764.129909492,744,714,680,658,634,878,785,806.870090508,652,629.870090508,652,0.400982760592,-0.0153723479925,0.0598456009757,0.999999944429,0.000215773288333,-0.000253697968851,1.48514318174e-05,1793245332716568832
+65,1.083333333,BASELINE,764.724012063,744,714,680,658,634,878,785,806.275987937,652,629.275987937,652,0.400981251648,-0.0153730098068,0.059845228104,0.999999943916,0.000216146044333,-0.000255399780136,1.47968125298e-05,1793245332733235200
+66,1.100000000,BASELINE,765,744,714,680,657.691314655,634,878,785.308685345,806,652,629,652,0.400980557859,-0.015373175106,0.0598450549323,0.999999943626,0.000216783110549,-0.000255997499942,1.47502152775e-05,1793245332749901824
+67,1.116666667,BASELINE,765,744,714,680,657.11482201,634,878,785.88517799,806,652,629,652,0.400980571278,-0.0153729096418,0.059845055015,0.999999943531,0.000217649485353,-0.000255637338882,1.47105777353e-05,1793245332766568704
+68,1.133333333,BASELINE,765,744,714,680,657.459048115,634,878,785.540951885,806,652,629.459048115,652,0.400980492496,-0.0153733622538,0.0598451420459,0.99999994382,0.00021685710087,-0.000255174339726,1.4819740551e-05,1793245332783235584
+69,1.150000000,BASELINE,765,744,714,679.966836054,658,634,878,785,806,652,630,652,0.400980512762,-0.0153738849242,0.0598452868919,0.999999944166,0.000215876905444,-0.000254638300372,1.49574781352e-05,1793245332799902208
+70,1.166666667,BASELINE,765,744,714,679.377666415,658,634,878,785,806,652,630,652,0.400982578038,-0.0153725879805,0.0598460384804,0.999999943899,0.000218664538786,-0.000253306521067,1.49538275364e-05,1793245332816568832
+71,1.183333333,BASELINE,764.791406425,744,714,679.208593575,658,634,878,785,806,652,630,652,0.40098317681,-0.0153715165739,0.0598463075354,0.999999943732,0.000219740603831,-0.000253042439017,1.48222446567e-05,1793245332833235456
+72,1.200000000,BASELINE,764.210341893,744,714,679.789658107,658,634,878,785,806,652,630,652,0.40098115695,-0.0153708478931,0.0598457149644,0.999999943753,0.000217760441543,-0.000254684869059,1.44622220503e-05,1793245332849901824
+73,1.216666667,BASELINE,764.367958899,744.367958899,714,680,658,634,878,785,806.367958899,652,630,652,0.40097989632,-0.0153711659491,0.0598447629926,0.999999943535,0.000217322708238,-0.000255913684288,1.44298025293e-05,1793245332866568448
+74,1.233333333,BASELINE,764.944691555,744.944691555,714,680,658,634,878,785,806.944691555,652,630,652,0.400979066465,-0.0153720438632,0.0598436071027,0.999999943183,0.0002177601236,-0.000256907821253,1.45832595709e-05,1793245332883235072
+75,1.250000000,BASELINE,765,744.482812058,714,680,658,634,878,785,806.482812058,652,630,652,0.400980114188,-0.0153726586189,0.0598444399561,0.999999943313,0.00021837919049,-0.00025586836255,1.47213823016e-05,1793245332899901952
+76,1.266666667,BASELINE,764.907768378,744,714,679.907768378,658.092231622,634,878,785,806,652,630,652,0.40098088581,-0.0153729754963,0.0598450990401,0.999999943401,0.000218812449638,-0.00025514669536,1.47921569412e-05,1793245332916568832
+77,1.283333333,BASELINE,764.316511178,744,714,679.316511178,658.683488822,634,878,785,806,652,630,652,0.400979086011,-0.0153718317113,0.0598436765747,0.999999942998,0.000218136131629,-0.000257311560538,1.45073405667e-05,1793245332933235456
+78,1.300000000,BASELINE,764.269327176,744,714,679.269327176,658.730672824,634,878.269327176,785,806.269327176,652,630,652,0.400979044095,-0.015371682285,0.0598436246199,0.999999942933,0.000218442196558,-0.00025730511394,1.45523693714e-05,1793245332949902080
+79,1.316666667,BASELINE,764.848922905,744,714,679.848922905,658.151077095,634,878.848922905,785,806.848922905,652,630,652,0.400981027284,-0.0153726783734,0.0598451515118,0.999999943253,0.000219879979983,-0.000254797286623,1.49773843089e-05,1793245332966568704
+80,1.333333333,BASELINE,765,744.424552541,714,680,658,634,879,785,807,652,630,652,0.400982609194,-0.0153734566228,0.0598460313976,0.999999944129,0.000217731223877,-0.000253197567954,1.50569724195e-05,1793245332983235328
+81,1.350000000,BASELINE,765,744.99878395,714,680,658,634,879,785,807,652,630,652,0.40098404963,-0.0153741580717,0.0598466831773,0.99999994519,0.000214318009118,-0.000251918008926,1.50147780007e-05,1793245332999901952
+82,1.366666667,BASELINE,765,744.413115846,714,680,658,634,878.413115846,785,806.413115846,652,630,652,0.400982495269,-0.01537391325,0.0598462971108,0.999999944826,0.000214788759813,-0.000252986899134,1.45711346312e-05,1793245333016568320
+83,1.383333333,BASELINE,764.827426877,744,714,680,658,634,878.172573123,785,806.172573123,652,629.827426877,652,0.400981288283,-0.0153738623911,0.0598458005922,0.999999944437,0.000215410465093,-0.000254002135667,1.43658571471e-05,1793245333033235200
+84,1.400000000,BASELINE,764.24749893,744,714,680,658,634,878.75250107,785,806.75250107,652,629.24749893,652,0.400980916271,-0.0153742741174,0.0598450485531,0.999999944002,0.000216369038947,-0.000254878959872,1.47252476925e-05,1793245333049902080
+85,1.416666667,BASELINE,764,744,714,679.669831015,658,634,878.669831015,785,806.669831015,652,629.330168985,652,0.400980901177,-0.0153731748175,0.0598451016732,0.999999943708,0.000217968126783,-0.000254663949527,1.48163439571e-05,1793245333066568960
+86,1.433333333,BASELINE,764,744,714,679.093845764,658,634,878.093845764,785,806.093845764,652,629.906154236,652,0.400981151815,-0.0153709505335,0.0598457542477,0.999999943517,0.000220044087804,-0.000253636050267,1.47076906752e-05,1793245333083235840
+87,1.450000000,BASELINE,764,744,714,679.490893672,657.509106328,634,878,785,806,652,630,652,0.400981227577,-0.0153711629715,0.0598455267189,0.999999943483,0.000219745832798,-0.000254032820859,1.45709105847e-05,1793245333099902208
+88,1.466666667,BASELINE,764,744,714,679.923608105,657.076391895,634,878,785,806,652,630,652,0.400981309313,-0.0153719241051,0.0598452444554,0.99999994352,0.000219022236396,-0.000254517512775,1.44766283149e-05,1793245333116568832
+89,1.483333333,BASELINE,764,744,714,679.344331866,657.655668134,634,878,785,806,652,630,652,0.400981654442,-0.0153731750184,0.059845729583,0.999999943816,0.000218540803986,-0.000253755506915,1.46981471246e-05,1793245333133235968
+90,1.500000000,BASELINE,764.234846523,744,714,679,658,634,878,785,806,652,630,652,0.400981965071,-0.0153739463343,0.0598459830936,0.999999944137,0.000217542179715,-0.00025334254809,1.48236570263e-05,1793245333149902592
+91,1.516666667,BASELINE,764.813881454,744,714,679,658,634,878,785,806,652,630,652,0.400982225138,-0.0153740147575,0.0598458971488,0.999999944492,0.000215785564944,-0.000253441148721,1.48084573387e-05,1793245333166568960
+92,1.533333333,BASELINE,765,744,713.611049124,679.388950876,658,633.611049124,878,785,806.388950876,652,630,652,0.400982278261,-0.0153732088543,0.0598456764764,0.999999944371,0.000216251715774,-0.000253541741227,1.45038627345e-05,1793245333183235328
+93,1.550000000,BASELINE,765,744,713.037858054,679.962141946,658,633.037858054,878,785,806.962141946,652,630,652,0.400982233357,-0.0153719887957,0.0598453919854,0.999999944022,0.000217770757167,-0.000253643277265,1.40621860986e-05,1793245333199901952
+94,1.566666667,BASELINE,764.449903865,744,713.550096135,680,658,633.550096135,878.550096135,785,806.449903865,652,630,652,0.40098257924,-0.0153725287211,0.0598462514012,0.999999943917,0.000218956162287,-0.00025300836833,1.44958824685e-05,1793245333216568832
+95,1.583333333,BASELINE,764.13663909,744,714,680,658,634,878.86336091,785,806,652,630,652,0.400982572119,-0.0153730175979,0.0598467707108,0.999999943841,0.000219600242465,-0.000252732624157,1.48439957844e-05,1793245333233235712
+96,1.600000000,BASELINE,764.715240585,744,714,680,658,634,878.284759415,785,806,652,630,652,0.40098133381,-0.0153729387757,0.0598459282802,0.999999943801,0.000218569710861,-0.000253787062236,1.47150548085e-05,1793245333249902336
+97,1.616666667,BASELINE,764.706303681,744,714,680,658,634,878,785,806,652,630,652,0.40098032007,-0.0153730610163,0.0598452362112,0.999999943623,0.000218270862834,-0.000254750827571,1.4652916748e-05,1793245333266568960
+98,1.633333333,BASELINE,764.127989238,744,714,680,658,634,878,785,806,652,630,652,0.400979523956,-0.0153733781048,0.0598446898564,0.999999943309,0.000218681082001,-0.000255626722807,1.4655516723e-05,1793245333283235328
+99,1.650000000,BASELINE,764.446007004,744,714,680,658,634,878,785,806,651.553992996,630,652,0.400979779073,-0.0153729428338,0.0598449054852,0.999999943385,0.000218452396674,-0.000255528070156,1.46000405456e-05,1793245333299901952
+100,1.666666667,BASELINE,765,744,714,680,658,634,878,785,806,651.019424359,629.980575641,652,0.400980292745,-0.0153723327766,0.0598453100089,0.999999943573,0.000217993419618,-0.000255188110735,1.45352717138e-05,1793245333316568576
+101,1.683333333,BASELINE,765,744,714,680,658,634,878,785,806,651.611973654,629.388026346,652,0.40097961971,-0.0153728747818,0.0598448980475,0.999999943801,0.000216097366378,-0.000255900743747,1.46833396204e-05,1793245333333235456
+102,1.700000000,BASELINE,765,744,714,679.800102509,658,634,878.199897491,785,806,652,629.199897491,652,0.400979961081,-0.015372989225,0.0598451103661,0.999999944032,0.000215604924157,-0.000255407443828,1.47707972471e-05,1793245333349902080
+103,1.716666667,BASELINE,765,744,714,679.220954278,658,634,878.779045722,785,806,652,629.779045722,652,0.400982227007,-0.015372292486,0.0598465070854,0.999999944268,0.000217775449643,-0.000252626216369,1.47432634505e-05,1793245333366568960
+104,1.733333333,BASELINE,765,744,714,679.355133342,658,634,879,785,806,652,630,652,0.400982515711,-0.0153727446737,0.0598466034859,0.999999944365,0.000217478492136,-0.000252498921901,1.47393246244e-05,1793245333383235584
+105,1.750000000,BASELINE,765,744,714,679.929333059,658,634,879,785,806,652,630,652,0.400981584753,-0.0153739055844,0.0598458977761,0.999999944377,0.000215659451473,-0.00025400872346,1.47499405109e-05,1793245333399902208
+106,1.766666667,BASELINE,764.483715019,744,714,680,658,634,878.483715019,785,806.516284981,652,630,652,0.400982446965,-0.015373084936,0.0598465126878,0.999999944187,0.000217965749323,-0.000252783898289,1.47204853227e-05,1793245333416568576
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878,785,806,652,630,652,0.400980866723,-0.0153732845255,0.0598450487241,0.999999943523,0.000217979375066,-0.000255420885622,1.41429322103e-05,1793245333459031808
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.575339637,744,713.424660363,680,658,634,878,785,806.575339637,652,630,652,0.400980183773,-0.0153727397971,0.0598453114963,0.999999943783,0.000217180402221,-0.00025507549012,1.42415374936e-05,1793245333475698944
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.84942273,744,713.15057727,679.84942273,658,634,878,785,806.84942273,652,629.84942273,652,0.40097971144,-0.0153726756276,0.0598453347751,0.999999943931,0.000216633090364,-0.000254956425735,1.43626995457e-05,1793245333492366080
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.274472442,744,713.725527558,679.274472442,658,634,878,785,806.274472442,652,629.274472442,652,0.400979832691,-0.0153739658207,0.0598446830879,0.99999994376,0.00021679503632,-0.00025547523191,1.45474335258e-05,1793245333509032704
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.307645109,744.307645109,714,679,658,634,878,785,806,652,629.307645109,652,0.400980465918,-0.0153741022911,0.0598450030082,0.999999943812,0.000217338690148,-0.00025480446875,1.46179486131e-05,1793245333525699072
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.896309586,744.896309586,714,679,658,634,878,785,806,652,629.896309586,652,0.400981566811,-0.0153731848901,0.0598462104462,0.999999944065,0.00021823101619,-0.000253047089808,1.45841300919e-05,1793245333542365184
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.520004869,714,679.479995131,658,634,878.479995131,785.479995131,806,652,630,652.479995131,0.400981930493,-0.0153727814595,0.0598460932433,0.999999943807,0.000218876362273,-0.000253508745762,1.45929389021e-05,1793245333559031552
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.938216496,744,714,680,658,634,878.938216496,785.938216496,806,652,629.938216496,652.938216496,0.400981983789,-0.0153726613047,0.0598457799702,0.999999943533,0.000219106360013,-0.000254387296035,1.46225216737e-05,1793245333575697920
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.36334293,744,714,680,658,634,878.36334293,785.36334293,806,652,629.36334293,652.36334293,0.400980768424,-0.0153739810563,0.0598461904157,0.999999944034,0.000216325570906,-0.000254787923317,1.47489364189e-05,1793245333592364544
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.211151881,744,714,680,658,634,878,785,806.211151881,652,629.211151881,652,0.400983441219,-0.01537481524,0.0598475940452,0.999999944764,0.000215045392789,-0.000252987679016,1.49782684095e-05,1793245333609031424
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.784996053,744,714,680,658,634,878,785,806.784996053,652,629.784996053,652,0.400992792644,-0.0153748153713,0.0598507036513,0.999999945874,0.000216342791037,-0.000247407031896,1.53843797331e-05,1793245333625698304
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+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,680,657.118590037,633.118590037,878,785.881409963,806.881409963,652,630,652,0.401174903614,-0.0153840784313,0.0599134334209,0.999999966412,0.00021408512093,-0.000144581654748,2.09656213833e-05,1793245333692365824
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+126,2.100000000,POSE1_TO_POSE2_PRESS,764.022010472,744.977989528,714,679.022010472,658,634,878.977989528,785.977989528,806.022010472,652,630,652,0.401642232381,-0.0154076172941,0.0599478909564,0.99999997376,0.000210476207672,-8.8104880736e-05,2.04140397429e-05,1793245333775697664
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.5976553,744.4023447,714,679.5976553,658,634,878.4023447,785.4023447,806.5976553,652,630,652,0.401768100998,-0.0154138619371,0.0599418255247,0.999999973937,0.000207097337977,-9.4254408405e-05,1.87653527099e-05,1793245333792364800
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.173548727,714,680,658,634,878,785,806.826451273,652,630,652,0.401907041329,-0.0154203409523,0.0599381978815,0.999999974522,0.000203551902738,-9.60716310252e-05,1.70842516476e-05,1793245333809031680
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.75001924,714,680,658,634,878,785,806.24998076,652,630,652,0.402076329769,-0.0154273640999,0.0599402299643,0.999999976101,0.000199619758796,-8.78306972893e-05,1.53278963398e-05,1793245333825698560
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.665702317,744.665702317,714,680,658.334297683,634,878,785,806,652,630,652,0.402271011133,-0.0154379579355,0.0599436710703,0.999999978665,0.000191320164391,-7.6638679159e-05,1.39062246599e-05,1793245333842365184
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.075445576,744.075445576,714,680,658.924554424,634,878,785,806,652,630,652,0.402485134914,-0.0154512857121,0.0599481910121,0.999999981781,0.000179676578346,-6.31871267378e-05,1.27408073525e-05,1793245333859031552
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.505347525,744,714,680,658.494652475,634,878.505347525,785,806,652,630,652,0.402719766613,-0.0154613750742,0.0599499722524,0.999999983116,0.000174364311889,-5.70051291545e-05,1.07355515342e-05,1793245333875697920
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.916107708,785,806,652,630,652,0.402961530956,-0.0154710310219,0.0599506075484,0.999999984137,0.000169780202435,-5.31805959817e-05,8.46059569178e-06,1793245333892364544
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.342590362,785,806,652,630,652,0.403227383252,-0.0154809272863,0.0599468971693,0.999999984914,0.000164030583779,-5.68972778658e-05,5.32990299221e-06,1793245333909031168
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,679.762906709,658,634,878,785,806.237093291,652,629.762906709,652,0.403504611013,-0.0154891977011,0.0599405280685,0.999999985026,0.000160057364416,-6.57682770439e-05,2.15208745396e-06,1793245333925697792
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,679.174075105,658,634,878,785,806.825924895,652,629.174075105,652,0.403798714759,-0.0154950560959,0.0599302146372,0.999999984018,0.000158719511777,-8.22859321664e-05,-1.0956366984e-06,1793245333942364672
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.591871396,744,714,679.408128604,658,634,878,785,807,652,629.408128604,652,0.404126490981,-0.0154889293061,0.0599183965486,0.999999988134,0.000114625001144,-0.000102762326165,-5.68261559305e-06,1793245333959031808
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.012449459,744,714,679.987550541,658,634,878,785,807,652,629.987550541,652,0.404468399679,-0.0154777722827,0.0599059469492,0.999999990759,5.25853365476e-05,-0.000124900219136,-1.08316853709e-05,1793245333975698432
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.563279635,744.563279635,714,680,658,634,878.563279635,785,807,652,630,652,0.40485655489,-0.015472057513,0.0599028681058,0.999999988641,7.07969765708e-05,-0.000132175892035,-1.53502617283e-05,1793245333992364544
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.860906256,714,680,658,633.860906256,878.860906256,784.860906256,806.860906256,652,630,652,0.405263190008,-0.015471195562,0.0599047031834,0.999999987874,8.19893747646e-05,-0.000131018007158,-1.90898789627e-05,1793245334009031168
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.284570122,714,680,658,633.284570122,878.284570122,784.284570122,806.284570122,652,630,652,0.405724724653,-0.0154852128405,0.0599213384033,0.999999992194,6.55774164547e-05,-0.000104375016031,-2.04243500539e-05,1793245334025697792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,633.298388748,878,784.298388748,806.298388748,652,630,652,0.406212603054,-0.0154958038947,0.0599446779687,0.999999996453,4.99755928635e-05,-6.43176432072e-05,-2.14306595547e-05,1793245334042364416
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,633.887807086,878,784.887807086,806.887807086,652,630,652,0.40672617555,-0.0155030532272,0.0599745565322,0.999999999075,3.51639216241e-05,-1.11767241992e-05,-2.21169010354e-05,1793245334059031040
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.532409873,744,714,680,658,634,878,785,807,652,630,652,0.407266611886,-0.0155032307144,0.0599910173873,0.99999999957,1.28330945987e-05,9.30663927849e-06,-2.4686314487e-05,1793245334075698432
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.045021919,744,714,680,658,633.954978081,878,785,807,652,630,652,0.407812580054,-0.015501732553,0.0600022105565,0.999999999396,-9.69685820371e-06,1.82924312302e-05,-2.79252823393e-05,1793245334092365824
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.621438541,744,714,680,658,633.378561459,878,785,807,652,630,652,0.408349298603,-0.0155000797848,0.0599884608711,0.999999999175,-1.37127990763e-05,-1.78089658556e-05,-3.38415516083e-05,1793245334109031424
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.201693548,633.201693548,878.201693548,785.201693548,807,652,630,652,0.40890187236,-0.0154995580617,0.0599770277252,0.999999997942,-1.84592435512e-05,-4.71813567693e-05,-3.93574813612e-05,1793245334125697792
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.7892926,633.7892926,878.7892926,785.7892926,807,652,630,652,0.409484782263,-0.0155012003967,0.0599700268752,0.999999996697,-2.46033793355e-05,-6.36789631913e-05,-4.41074308254e-05,1793245334142364416
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,680.371856913,658.628143087,634,878.628143087,786,807,652,630,652,0.410135558012,-0.0155045994697,0.0599759708371,0.999999996846,-4.34891880252e-05,-4.58644204529e-05,-4.80874395953e-05,1793245334159031040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,680.951606452,658.048393548,634,878.048393548,786,807,652,630,652,0.410824275241,-0.0155089806753,0.059989151806,0.999999996212,-6.94984349418e-05,-8.86711465531e-06,-5.16370003222e-05,1793245334175697664
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,680.471242178,658,634,878.528757822,785.471242178,807,651.471242178,630,652,0.411522768361,-0.0155121695297,0.0599868334336,0.999999998799,-2.51025812116e-05,-1.50393571317e-05,-3.93203401729e-05,1793245334192365312
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.894632091,785.105367909,807.105367909,651.105367909,630,652.105367909,0.412214550918,-0.0155122136557,0.0599770645014,0.999999998721,2.08846474506e-05,-3.62737017907e-05,-2.83842272984e-05,1793245334209032704
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.319380762,785.680619238,807.680619238,651.680619238,630,652.680619238,0.412872437364,-0.0154987182772,0.0599403651531,0.999999992779,4.53736792101e-05,-0.000107143607777,-3.00486306322e-05,1793245334225699072
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.254823939,634,878.254823939,785.745176061,807.745176061,652,630,652.745176061,0.413574273254,-0.0154915911361,0.0599180976096,0.999999987192,4.9464734243e-05,-0.000148389718212,-3.39117500413e-05,1793245334242365440
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.827722304,634,878.827722304,785.172277696,807.172277696,652,630,652.172277696,0.414330967478,-0.0154924129067,0.0599138440203,0.999999987132,2.80947832549e-05,-0.000152659046827,-4.0519334723e-05,1793245334259032064
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,785.417146498,807,652,630,652,0.415161734166,-0.0155037895083,0.0599512107126,0.999999995732,9.49456941395e-06,-8.27922693493e-05,-3.98963253656e-05,1793245334275698432
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,878.986811546,785.986811546,807.013188454,652,630,652.013188454,0.416023801806,-0.0155193606468,0.0600054433437,0.999999999173,-7.59703248176e-06,1.68184800521e-05,-3.62395503765e-05,1793245334292365056
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,878.4115978,785.4115978,807.5884022,652,630,652.5884022,0.416862339516,-0.0155202584291,0.0600157015406,0.999999998975,-1.11562894714e-05,2.53803356932e-05,-3.5803826337e-05,1793245334309031424
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714,680.163556224,659,633.836443776,878.163556224,785,808,652,630,653,0.417698404338,-0.0155203616297,0.0600180375105,0.999999998928,-1.28420240708e-05,2.5500292433e-05,-3.64486100692e-05,1793245334325697792
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,680.738559975,659,633.261440025,878.738559975,785,808,652,630,653,0.418528248228,-0.0155184659539,0.0600004440597,0.99999999915,-9.81466264295e-06,4.38352441561e-06,-3.98115554426e-05,1793245334342364416
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659,633,879,785,808,652,630,652.677372126,0.419351236499,-0.0155175769927,0.0599775250711,0.999999998512,-1.25824706073e-05,-3.02223197278e-05,-4.3645137434e-05,1793245334359031040
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659,633,879,785,808,652,630,652.085746842,0.42016850872,-0.0155175273999,0.0599501658102,0.999999995757,-2.01821165049e-05,-7.60749484138e-05,-4.78711218421e-05,1793245334375697920
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.507080053,744.492919947,714,681,659.492919947,633.492919947,879.492919947,785.492919947,808,652,630,652.492919947,0.420989225967,-0.0155173654337,0.0599152505721,0.999999988574,-2.01450995956e-05,-0.000140911799733,-5.09012474214e-05,1793245334392365312
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.06937299,744.93062701,714,681,660,633.93062701,879.93062701,786,808,652,630.06937299,652.93062701,0.421826330072,-0.0155173987521,0.0598853403526,0.999999979105,-1.93308147879e-05,-0.000196377852512,-5.34073531353e-05,1793245334409032192
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.645699538,744.354300462,714,681,660,633.354300462,879.354300462,786,808,652,630.645699538,652.354300462,0.422778915995,-0.0155189983344,0.0599013643134,0.999999985541,-2.22957058576e-05,-0.000159850486667,-5.35653591496e-05,1793245334425698560
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.22116664,879,785.77883336,808,652,630.77883336,652.22116664,0.423739382103,-0.0155230642781,0.0599367434119,0.999999993452,-2.66059837242e-05,-9.8620507423e-05,-5.16036770614e-05,1793245334442364672
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.79526236,879,785.20473764,808,652,630.20473764,652.79526236,0.424712423254,-0.0155310659452,0.0600030086854,0.999999998381,-3.3063177586e-05,2.02894314703e-06,-4.62594792866e-05,1793245334459031296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659.6174865,633.6174865,879.765027001,785,808.3825135,651.6174865,630,653,0.425649394854,-0.015534027953,0.0600314254845,0.999999997064,-3.74411933047e-05,4.96280766253e-05,-4.48071476649e-05,1793245334475697920
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659.022943258,633.022943258,880.954113484,785,808.977056742,651.022943258,630,653,0.426566372807,-0.0155341964441,0.060038862622,0.999999995838,-4.06667066856e-05,6.78210656348e-05,-4.55121034455e-05,1793245334492364544
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.445568558,744,714,680.445568558,659.554431442,633,880.445568558,785.554431442,808.445568558,651.554431442,630.554431442,653,0.427482189065,-0.0155380656318,0.0600184638946,0.99999999649,-4.94968536484e-05,4.63511232856e-05,-4.92161003463e-05,1793245334509031680
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.130592538,744,714,680.130592538,660,633.130592538,880,785.869407462,808.130592538,652,631,653,0.428385220708,-0.0155396993047,0.0599928750812,0.999999996997,-5.52025954068e-05,1.33313141353e-05,-5.27389556004e-05,1793245334525698560
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.704971286,744,714,680.704971286,660,633.704971286,880,785.295028714,808.704971286,652,631,653,0.429244965428,-0.015533231358,0.0599534459016,0.999999995815,-4.95263448349e-05,-5.352776606e-05,-5.52371729048e-05,1793245334542365440
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.28773537,714,681,659.71226463,633.71226463,880,785,809,652,631,652.71226463,0.430114773579,-0.0155289489701,0.0599267231792,0.999999992501,-4.51454499661e-05,-9.82125241697e-05,-5.75671908334e-05,1793245334559031808
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.879355382,714,681,659.120644618,633.120644618,880,785,809,652,631,652.120644618,0.430995209921,-0.0155269748068,0.0599134200721,0.999999990192,-4.21326137248e-05,-0.000119478412631,-5.97195691454e-05,1793245334575697920
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.458316282,633,880,785.458316282,809,652,631,652.458316282,0.431923121221,-0.0155333536465,0.0599536621088,0.99999999578,-5.39895309423e-05,-4.61307657795e-05,-5.82805455325e-05,1793245334592364544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.965912362,714,681.034087638,660,633,879.965912362,785.965912362,809,652,631,652.965912362,0.432861776677,-0.0155413862506,0.0600045948423,0.999999995059,-6.84501485815e-05,4.53453162914e-05,-5.60327046233e-05,1793245334609031424
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.389294941,714,681.610705059,660,633,879.389294941,785.389294941,809,652,631,652.389294941,0.433777878661,-0.0155416848647,0.0600073764109,0.999999995642,-6.37271739432e-05,3.96130677538e-05,-5.55539538923e-05,1793245334625698048
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,713.813798594,681.813798594,660,633,879,785.186201406,809,652,631,652.186201406,0.434676494932,-0.0155426104084,0.0599996070985,0.999999996291,-6.24392883962e-05,1.94137237458e-05,-5.60595378046e-05,1793245334642364416
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,713.240631967,681.240631967,660,633,879,785.759368033,809,652,631,652.759368033,0.435538772429,-0.0155448388423,0.059969910863,0.999999995475,-6.82902309628e-05,-3.08512526194e-05,-5.86107735131e-05,1793245334659031296
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.344037808,744.344037808,713.344037808,681.344037808,660.344037808,633,879.344037808,786,809,651.655962192,631,653,0.436362674738,-0.0155410320542,0.0599452380444,0.99999999315,-6.79475710553e-05,-7.2733973745e-05,-6.15813451291e-05,1793245334675698176
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.937031568,744.937031568,713.937031568,681.937031568,660.937031568,633,879.937031568,786,809,651.062968432,631,653,0.437158807574,-0.0155328580006,0.059924200321,0.999999990013,-6.31230365573e-05,-0.000108551043595,-6.48553604939e-05,1793245334692365056
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.483707936,745,713.483707936,681.483707936,660.483707936,633.516292064,880,786,809,651.516292064,631,653,0.437935687156,-0.0155282134165,0.0599042596524,0.999999984106,-6.23350522836e-05,-0.000153132846606,-6.6722295674e-05,1793245334709031424
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.093456724,681.093456724,660,634,880,786,809.093456724,652,631,653,0.438725140172,-0.0155261139629,0.0598948371793,0.999999979734,-6.39713864282e-05,-0.000178458279002,-6.7762880158e-05,1793245334725697792
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.668230212,681.668230212,660,634,880,786,809.668230212,652,631,653,0.439591128481,-0.0155349628155,0.0599389138237,0.999999990076,-7.56235672721e-05,-9.92476639114e-05,-6.54085549036e-05,1793245334742364416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.249381471,744.750618529,714,682,660,633.750618529,880,785.750618529,809.750618529,652,630.750618529,653,0.440421819797,-0.0155436541005,0.0599770386788,0.999999993586,-8.62362107533e-05,-3.90240023814e-05,-6.21951702252e-05,1793245334759031040
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.839240172,744.160759828,714,682,660,633.160759828,880,785.160759828,809.160759828,652,630.160759828,653,0.441204320526,-0.01555213026,0.0600070376311,0.999999993765,-9.54295871039e-05,-4.72298488991e-06,-5.78089236428e-05,1793245334775697920
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.57875581,744.42124419,714,682,659.57875581,633,880,785.42124419,809,652,630.42124419,653,0.441898102307,-0.0155577819931,0.0599733965729,0.99999999119,-0.000102760400632,-5.82582613144e-05,-6.05436789475e-05,1793245334792364544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.000303488,745,714,682.000303488,659.000303488,633,880,785.999696512,809.000303488,652,631,653,0.442558627967,-0.0155623757635,0.0599159173762,0.999999981373,-0.000109399925465,-0.000144693590681,-6.59458080715e-05,1793245334809030912
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.57548442,745,714,682.57548442,659.57548442,633,880,785.42451558,809.57548442,652,631,653,0.443184964409,-0.0155673385281,0.0598665643151,0.999999965709,-0.000128373919936,-0.000217114341321,-7.04475482831e-05,1793245334825698048
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.849125024,745,714,682.849125024,659.849125024,632.849125024,880.150874976,785,809.849125024,652,631,653,0.443812913512,-0.0155728530283,0.0598286617615,0.999999949329,-0.000144859222501,-0.000273619089181,-7.4098178338e-05,1793245334842365184
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.273143701,745,714,682.273143701,659.273143701,632.273143701,880.726856299,785,809.273143701,652,631,653,0.444445406599,-0.015579922104,0.0598230222241,0.99999994456,-0.000154332376071,-0.000285278819861,-7.53507166689e-05,1793245334859032064
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,744.63705637,714,682.63705637,658,632,880.36294363,783.36294363,809.63705637,651.63705637,630.36294363,653,0.447234275671,-0.0156391865038,0.0597519393611,0.999999886492,-0.000246438398895,-0.000399972325815,-7.94100233907e-05,1793245334942365184
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682.788556466,658,632,880.211443534,783,810,652,630,653,0.447752274179,-0.0156636835815,0.0597620267887,0.999999887627,-0.00027079869794,-0.00038167304706,-7.57571589635e-05,1793245334959032320
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682.215389445,658,632,880.784610555,783,810,652,630,653,0.448247804902,-0.0156855200483,0.0597719294829,0.999999886024,-0.000298025051195,-0.000365566945053,-7.41177347197e-05,1793245334975698688
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682.370773537,658,631.629226463,880.629226463,782.629226463,810,652,630,653,0.448679007478,-0.0156940289099,0.059754313172,0.999999867384,-0.000321007962872,-0.00039540334727,-7.64288235822e-05,1793245334992365312
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682.964760411,658,631.035239589,880.035239589,782.035239589,810,652,630,653,0.449071483228,-0.0156945142795,0.0597201298519,0.999999835862,-0.000341436236738,-0.000452898084526,-8.11182026723e-05,1793245335009031936
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+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,682.693339847,657.693339847,630.306660153,880,782,809.693339847,652,629.306660153,653,0.450138378984,-0.0156978038484,0.0596535472041,0.999999821187,-0.000251499337306,-0.00053898960024,-6.21582715018e-05,1793245335059031040
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764.492230345,745,714,682.507769655,656,628.492230345,880.507769655,779.492230345,810,652.507769655,628,653,0.453285360283,-0.0157401193947,0.0596615980015,0.999999802252,-0.000344475745649,-0.000522824853435,-5.90558539602e-05,1793245335742364928
+245,4.083333333,HOLD_POSE2,765,745,714,683,658,629,880,779,810,652,628,653,0.453288200177,-0.0157376656516,0.0596627653209,0.999999803868,-0.000342306116511,-0.000521112317475,-5.94259145997e-05,1793245335785937664
+246,4.100000000,HOLD_POSE2,765,745,714,683,657.411468088,628.411468088,880,779,809.411468088,652,628,653,0.45328804277,-0.0157375772332,0.0596629375848,0.999999804207,-0.000341478574937,-0.000521007050481,-5.94174083974e-05,1793245335802604032
+247,4.116666667,HOLD_POSE2,764.825963593,745,714,683,657,628.174036407,880,779,809.174036407,652,628,652.825963593,0.45328752854,-0.0157376540296,0.0596625438187,0.999999804164,-0.000340876636461,-0.000521497213222,-5.92978914596e-05,1793245335819270400
+248,4.133333333,HOLD_POSE2,764.247494218,745,714,683,657,628.752505782,880,779,809.752505782,652,628,652.247494218,0.453286185111,-0.0157381147588,0.0596608346886,0.999999803234,-0.000340798963584,-0.000523371060071,-5.89204032019e-05,1793245335835937280
+249,4.150000000,HOLD_POSE2,764,745,714,682.6707728,656.6707728,628.6707728,880,778.6707728,810,652,628,652.3292272,0.453286105516,-0.0157380131473,0.0596607740386,0.999999803474,-0.00034031841111,-0.000523229443024,-5.88801751268e-05,1793245335852604416
+250,4.166666667,HOLD_POSE2,764,745,714,682.095358492,656.095358492,628.095358492,880,778.095358492,810,652,628,652.904641508,0.453286970982,-0.0157374910327,0.0596619460772,0.999999804588,-0.00033953659628,-0.000521580717006,-5.90921410286e-05,1793245335869271552
+251,4.183333333,HOLD_POSE2,764.48061328,745,714,682.48061328,656.48061328,628,880.48061328,778.48061328,810,652,628.48061328,653,0.453288649661,-0.0157364060896,0.0596627064281,0.99999980551,-0.00033864023444,-0.000520402101983,-5.90360203791e-05,1793245335885937664
+252,4.200000000,HOLD_POSE2,765,745,714,683,657,628.058118785,880.941881215,779,810,652,628.941881215,653,0.453290268155,-0.015735365701,0.0596632699253,0.999999806187,-0.000337989508612,-0.000519533899072,-5.89308039997e-05,1793245335902603776
+253,4.216666667,HOLD_POSE2,765,745,714,683,657,628.648660322,880.351339678,779,810,652,628.351339678,653,0.453289855476,-0.0157357576702,0.0596627792184,0.999999804996,-0.000339797484686,-0.000520653886508,-5.88636705313e-05,1793245335919270144
+254,4.233333333,HOLD_POSE2,765,745,714,682.767546603,656.767546603,628.767546603,880,779,810,652,628,653,0.453289714382,-0.0157371711097,0.0596625441718,0.999999804032,-0.000342079644164,-0.000521040688991,-5.8600629943e-05,1793245335935936768
+255,4.250000000,HOLD_POSE2,765,745,714,682.193665719,656.193665719,628.193665719,880,779,810,652,628,653,0.453289972195,-0.0157400848845,0.0596626846392,0.9999998034,-0.000345058283939,-0.000520350589512,-5.80498410359e-05,1793245335952603648
+256,4.266666667,HOLD_POSE2,765,745,714,682.384745323,656.384745323,628,880,779,810,652,628,653,0.45329070778,-0.0157395281375,0.0596630500291,0.999999804278,-0.00034359538052,-0.000519624061918,-5.81072686443e-05,1793245335969270016
+257,4.283333333,HOLD_POSE2,765,745,714,682.965463889,656.965463889,628,880,779,810,652,628,653,0.453291686721,-0.0157372036516,0.0596635299852,0.999999805917,-0.000339870140239,-0.000518878979293,-5.84744963653e-05,1793245335985936640
+258,4.300000000,HOLD_POSE2,765,745,714,683,656.447485884,628.552514116,880,779,809.447485884,652,628,653,0.453290132796,-0.0157370850536,0.0596634067219,0.999999804931,-0.000340677361984,-0.000520259871669,-5.8365964449e-05,1793245336002603520
+259,4.316666667,HOLD_POSE2,765,745,714,683,656.138008739,629,880.138008739,779,809.138008739,652,628,653,0.453288816424,-0.0157370255837,0.0596630204739,0.999999803966,-0.000341369895794,-0.00052166530371,-5.83055944832e-05,1793245336019270400
+260,4.333333333,HOLD_POSE2,765,745,714,683,656.717250023,629,880.717250023,779,809.717250023,652,628,653,0.453288771584,-0.0157367092106,0.0596619153756,0.999999803606,-0.000340779471617,-0.000522719404269,-5.84953846091e-05,1793245336035937024
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,628,880,779,810,652,628,652,0.453289224062,-0.0157369570471,0.059661055338,0.999999802856,-0.000341690044166,-0.000523504661225,-5.89879945227e-05,1793245336073037824
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.57674762,656.42325238,628.57674762,880,779,810,652,628.57674762,652.57674762,0.453289317187,-0.0157384231696,0.059661849168,0.999999803587,-0.000340969875065,-0.000522662227701,-5.82273357637e-05,1793245336089705216
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.155893854,745,714,683,656,629,880,779,810,652.155893854,629,653,0.453289906217,-0.0157388396668,0.0596627397686,0.999999804435,-0.000340187878861,-0.000521603172134,-5.77346943272e-05,1793245336106372352
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.741654233,745,714,683,656,629,880,779,810,652.741654233,629,653,0.453291862671,-0.015736361895,0.0596638972074,0.999999805606,-0.000339235398528,-0.000519946796075,-5.79810919561e-05,1793245336123038720
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.674370096,745,714,683,656.325629904,629,880,779,810,652.674370096,628.674370096,653,0.453291697748,-0.0157355135521,0.0596635605696,0.999999805424,-0.00033895561913,-0.000520459324938,-5.81602416416e-05,1793245336139705088
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.091802678,745,714,683,656.908197322,629,880,779,810,652.091802678,628.091802678,653,0.453289858958,-0.0157359509066,0.059662045034,0.999999804172,-0.000339206632883,-0.000522683223246,-5.82863294801e-05,1793245336156371968
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.483764334,683,656.516235666,628.516235666,880,779,810,652,628,653,0.453288972598,-0.0157345012171,0.05966126128,0.999999804049,-0.000338198239982,-0.00052350239052,-5.88956370703e-05,1793245336173038592
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.941690922,683,656.058309078,628.058309078,880,779,810,652,628,652.941690922,0.453288243919,-0.0157329567813,0.0596606106617,0.999999804043,-0.000337246262987,-0.000524058338406,-5.95132599735e-05,1793245336189704960
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.364590578,683,656.635409422,628.635409422,880,779,810,652,628,652.364590578,0.453287332998,-0.0157337100202,0.0596599266622,0.999999803204,-0.000338892296783,-0.000524610284752,-5.94006310925e-05,1793245336206371584
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.783818721,628.783818721,880,779,809.783818721,652,628,652.216181279,0.453283754513,-0.0157348079836,0.0596583411226,0.999999801561,-0.000340124097287,-0.000526966299135,-5.91552666503e-05,1793245336223038208
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.196747921,628.196747921,880,779,809.196747921,652,628,652.803252079,0.453275599443,-0.0157364973706,0.0596552088637,0.999999798524,-0.000340645221895,-0.000532417446985,-5.86821756149e-05,1793245336239704832
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.386708199,628,880,779,809,652,628.386708199,653,0.453253477859,-0.0157345136998,0.0596454743432,0.99999979055,-0.000339148537849,-0.000548026196347,-5.95512437356e-05,1793245336256371200
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.968342341,628,880,779,809,652,628.968342341,653,0.453224316248,-0.0157306785704,0.0596324118556,0.999999779731,-0.000336634747668,-0.000568755034108,-6.10968468106e-05,1793245336273037824
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.457747227,628,880,779,809.542252773,652,628.457747227,653,0.453174045081,-0.0157301010807,0.0596163592906,0.999999764822,-0.000337759300462,-0.00059367451226,-6.18520557008e-05,1793245336289704960
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.116085109,628.116085109,880,779,810,652,628,653,0.453119239941,-0.0157288286807,0.0596003807189,0.999999750215,-0.000338888415302,-0.000617076829438,-6.27724372835e-05,1793245336306371840
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.691367353,628.691367353,880,779,810,652,628,653,0.45305130636,-0.0157240656735,0.0595853756688,0.999999739711,-0.000339207137418,-0.00063352353482,-6.45261621795e-05,1793245336323038208
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.273906259,683,656.726093741,629,880,779,810,652,628,653,0.452979357703,-0.015718832807,0.0595765628834,0.999999734214,-0.000337308331965,-0.000643052599899,-6.54151254401e-05,1793245336339704576
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.864844327,683,656.135155673,629,880,779,810,652,628,653,0.452902761815,-0.0157130561036,0.0595749173131,0.999999734737,-0.000332842857296,-0.000644574866353,-6.53031733787e-05,1793245336356371200
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,656,629,880,779,810,652.446592415,628,653,0.452813320145,-0.0157094696591,0.0595785866031,0.999999738888,-0.000330063551373,-0.000639678919271,-6.39830372878e-05,1793245336373037824
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.974659871,683,656,629,880,779,810,652.974659871,628,653,0.452718850625,-0.0157063306151,0.0595836991831,0.999999744002,-0.000327727796013,-0.000633011281687,-6.23406345e-05,1793245336389704448
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.40185792,683,656,629,880,779,810,652.40185792,628,653,0.452598053353,-0.0156988255277,0.0595859436552,0.999999747629,-0.000324172283046,-0.000629185456834,-6.14760549515e-05,1793245336406371072
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.175954045,629,880,779,810,652,628,653,0.452466830948,-0.0156908319302,0.0595870667422,0.999999750501,-0.000319833883364,-0.000626915002452,-6.06785637699e-05,1793245336423037952
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.765543548,629,880,779,810,652,628,653,0.452311100999,-0.0156816899371,0.0595855536594,0.999999751627,-0.000313655062147,-0.000628300937286,-6.00387850701e-05,1793245336439705088
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.651028677,629,880.348971323,779,810,652,628,653,0.452136469739,-0.0156711943708,0.0595829268787,0.999999750931,-0.000308450150337,-0.000632013016505,-5.96265506634e-05,1793245336456371712
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.071668777,629,880.928331223,779,810,652,628,653,0.451949359941,-0.0156598051836,0.0595795648418,0.999999749013,-0.000303888206505,-0.00063726080111,-5.93645394413e-05,1793245336473038336
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,629,881,779,810,652,628,653,0.451728006797,-0.0156483832282,0.0595765976492,0.999999746822,-0.000296525513572,-0.000644227698946,-5.82986269334e-05,1793245336489704960
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.917128672,745,714,683,656,629,880.917128672,779.082871328,810,652,628.082871328,653,0.451497819001,-0.0156369054171,0.0595747394207,0.999999745651,-0.000288773467644,-0.000649660334937,-5.70015731976e-05,1793245336506371072
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.344102354,745,714,683,656,629,880.344102354,779.655897646,810,652,628.655897646,653,0.451243968652,-0.015625124593,0.0595791106514,0.999999751247,-0.000281057012044,-0.000644582980216,-5.50086152462e-05,1793245336523037952
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,745,714,682.764315959,656.471368082,629,880,780,810,652,629,653,0.450968342084,-0.015612823555,0.0595805332234,0.999999753419,-0.000272939518817,-0.000644844060377,-5.33141487306e-05,1793245336539704576
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.409288693,745,714,682.409288693,657.590711307,629,880,780,810,652,629,653,0.450322264314,-0.0155886155129,0.0595693411266,0.999999744221,-0.000257590800709,-0.000665235177087,-5.16453939036e-05,1793245336573037824
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.990306291,745,714,682.990306291,657.009693709,629,880,780,810,652,629,653,0.44997222686,-0.0155783119632,0.0595589882721,0.999999736476,-0.000251840099989,-0.000678943747162,-5.15676786977e-05,1793245336589704704
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.138314486,745,714,683,657,630,880.861685514,781,810,652,629.138314486,652.138314486,0.449191330795,-0.0155757765064,0.0595431789201,0.999999722798,-0.000246787048499,-0.000700889934566,-4.74754699082e-05,1793245336623038720
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.728023335,745,714,683,657,630,880.271976665,781,810,652,629.728023335,652.728023335,0.448777632263,-0.0155718540416,0.0595423040108,0.999999729911,-0.000221102111369,-0.000699443910553,-4.55055173903e-05,1793245336639705344
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.686293577,745,714,682.686293577,657,630,880,781.313706423,810,652,629.686293577,653,0.448335954103,-0.0155643685981,0.0595493330582,0.999999743385,-0.000189404487465,-0.000689614796228,-4.22792688751e-05,1793245336656371968
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.681968141,632,880,784,809.681968141,652,630,652,0.44206311195,-0.0154763626433,0.0597437705421,0.999999924427,2.68973125884e-05,-0.000387678782001,1.12606081481e-05,1793245336839704064
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.646737129,744,714,681,658.353262871,633,879.646737129,785,808,652,630,652.353262871,0.432221081288,-0.0153873326656,0.0597867601792,0.999999943002,0.000117153539062,-0.000316654351823,1.18230834671e-06,1793245337039704320
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744,714,681,658,633,880,785,808.22607274,652,630,652.22607274,0.431349867766,-0.0153880444956,0.059804534582,0.999999947285,0.000135854005599,-0.000294793915488,8.40815133392e-06,1793245337056371200
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744,714,681,658,633,879.603076729,785,808.603076729,652,630,652.603076729,0.429576459493,-0.0153849327969,0.0598239096577,0.999999951357,0.00016060419385,-0.000266878221777,1.63951029378e-05,1793245337089704448
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.876573971,681.123426029,658,633,879,785,808,652,630,652,0.424070302105,-0.0153768758239,0.0598283098643,0.999999941252,0.00019243053418,-0.000282915279168,2.06198668039e-05,1793245337189704448
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.426576219,744,714,680.573423781,658,634,879.573423781,785,808,652,630,652,0.413157265641,-0.0153677440288,0.0598293041242,0.999999934674,0.000211104759489,-0.000292436697055,2.38090759005e-05,1793245337406370816
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878,785,807,652,630,652,0.40969771008,-0.0153615428719,0.0597933557254,0.999999918841,0.000212999749784,-0.000341458018788,1.88488822297e-05,1793245337489704448
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.805026111,714,680,658,634,878.194973889,785,807,652,630,652,0.406373746585,-0.0153620544089,0.0598203715615,0.999999931943,0.000222787301688,-0.000293337197599,2.08180262557e-05,1793245337589704192
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a7e6c84cb253f1e634685bcd75cf1afda71255f5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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+399,6.650000000,pose2_to_pose3_retreat,0.575669610541,-0.0101220694371,1.05005099996,0.546241242409,-0.00144638806322,1.04971749489
+400,6.666666667,pose2_to_pose3_retreat,0.575669630232,-0.0101221912729,1.05005111,0.546241264635,-0.00144650145902,1.04971760087
+401,6.683333333,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496243,1.04971762284
+402,6.700000000,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496243,1.04971762284
+403,6.716666667,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496246,1.04971762284
+404,6.733333333,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496249,1.04971762284
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e116486b761d2b99c09c5736238ec454c45f2266
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c4843d3c7d8dd575e537e6f3665e600ad9d308b655f18a42ce267d168165f5
+size 25870946
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b7ca81685356cbabb8ea25b22dcfa3a974611d08
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+54,0.900000000,BASELINE,765,744.342742539,714,680,658,634,878,785.657257461,807,652,630,652,0.400978166152,-0.0153747006465,0.0598445790109,0.999999944895,0.000210019746569,-0.000256765357056,1.31830748926e-05,1793245339501009664
+55,0.916666667,BASELINE,765,744.915280635,714,680,658,634,878,785.084719365,807,652,630,652,0.400978539188,-0.0153736317819,0.0598449807178,0.999999944837,0.000211148537585,-0.000256076032032,1.29201787099e-05,1793245339517676544
+56,0.933333333,BASELINE,764.494588181,745,714,679.494588181,658,634,878,785,807,652,630,652,0.400979026674,-0.0153740875078,0.0598454455467,0.999999945318,0.000209718239845,-0.000255386363829,1.26337466326e-05,1793245339534343168
+57,0.950000000,BASELINE,764,744.9037106,714,679.0962894,658,633.9037106,878,785.0962894,806.9037106,652,630,652,0.400979620351,-0.0153747307751,0.0598459654922,0.999999945818,0.00020830066239,-0.000254594485989,1.24740090298e-05,1793245339551009536
+58,0.966666667,BASELINE,764,744.324415561,714,679.675584439,658,633.324415561,878,785.675584439,806.324415561,652,630,652,0.400980647002,-0.0153749866227,0.0598467069236,0.999999945961,0.000209176268772,-0.000253290204704,1.29702982407e-05,1793245339567676160
+59,0.983333333,BASELINE,764.253640395,744.253640395,714,680,658,633.253640395,878.253640395,785.746359605,806.253640395,652,630,652,0.400980928428,-0.0153750658792,0.0598468579284,0.999999946064,0.000209091332849,-0.000252942188163,1.31671869903e-05,1793245339584342784
+60,1.000000000,BASELINE,764.830119302,744.830119302,714,680,658,633.830119302,878.830119302,785.169880698,806.830119302,652,630,652,0.400980261316,-0.0153749203672,0.0598462574269,0.999999946119,0.000207783799798,-0.000253811324128,1.29829929783e-05,1793245339601009408
+61,1.016666667,BASELINE,765,745,714,680,658,634,878.586999204,785,807,652.413000796,630,652,0.400979372725,-0.0153742007253,0.0598459351577,0.999999946005,0.0002074790087,-0.00025452151305,1.26956859083e-05,1793245339617676032
+62,1.033333333,BASELINE,765,745,714,680,658,634,878.001442683,785,807,652.998557317,630,652,0.400978391598,-0.0153732412065,0.0598457291367,0.999999945821,0.000207593172963,-0.000255165292309,1.23652972169e-05,1793245339634342656
+63,1.050000000,BASELINE,764.422194394,744.422194394,714,680,658,634,878,785,807,652.422194394,630,652,0.400978117837,-0.0153741117962,0.059846002696,0.999999945725,0.000207663105363,-0.000255474009676,1.26180205928e-05,1793245339651010048
+64,1.066666667,BASELINE,764.15665599,744,714,680,658,634,878.15665599,785,806.84334401,652,630,652,0.400977806356,-0.0153748258509,0.0598459915751,0.99999994548,0.000208202866667,-0.000255984806827,1.27982446755e-05,1793245339667677184
+65,1.083333333,BASELINE,764.734478471,744,714,680,658,634,878.734478471,785,806.265521529,652,630,652,0.40097738877,-0.0153751069122,0.0598452119129,0.999999944832,0.000210006047276,-0.000257041116277,1.27796838746e-05,1793245339684343552
+66,1.100000000,BASELINE,764.689427859,744,714,680,657.689427859,634,878.689427859,785,806.310572141,652,630,652,0.400978685861,-0.0153755780312,0.0598456644584,0.999999945295,0.000209529704086,-0.000255617336063,1.29618756036e-05,1793245339701009920
+67,1.116666667,BASELINE,764.114804073,744,714,680,657.114804073,634,878.114804073,785,806.885195927,652,630,652,0.400981440789,-0.0153762107391,0.0598471646397,0.99999994669,0.000207115286097,-0.000252084957911,1.33147492104e-05,1793245339717676032
+68,1.133333333,BASELINE,764.471806861,744.471806861,714,680,657.471806861,633.528193139,878.471806861,785,807.471806861,652,630,652,0.40098132059,-0.015374749729,0.0598471524417,0.999999946248,0.000208949820896,-0.000252341938506,1.29429381913e-05,1793245339734342400
+69,1.150000000,BASELINE,765,744.939671621,714,680,658,633.060328379,878.939671621,785,807.879343243,652,630,652,0.400980572239,-0.0153730591336,0.0598467747487,0.99999994547,0.000211427239429,-0.000253383406236,1.25033691179e-05,1793245339751009024
+70,1.166666667,BASELINE,765,744.360459084,714,680,658,633.639540916,878.360459084,785,806.720918168,652,630,652,0.400980595285,-0.0153738899852,0.0598465011586,0.999999945787,0.000210309779552,-0.000253034871791,1.30372211631e-05,1793245339767675648
+71,1.183333333,BASELINE,765,744.217001028,714,680,658,634,878,785,806.217001028,652,630,652,0.40098056841,-0.0153748947704,0.0598465971692,0.999999946077,0.000209311120824,-0.000252697429539,1.34018800742e-05,1793245339784342528
+72,1.200000000,BASELINE,765,744.791573606,714,680,658,634,878,785,806.791573606,652,630,652,0.400980459274,-0.0153761861614,0.0598473022031,0.999999946324,0.000208508220951,-0.000252378264809,1.34877447623e-05,1793245339801009920
+73,1.216666667,BASELINE,764.632830891,744.632830891,714,679.632830891,658,634,878.367169109,785,806.632830891,652,630,652,0.400979512099,-0.015375694393,0.0598466735444,0.999999945939,0.000208883307539,-0.000253604661227,1.32134191171e-05,1793245339817676800
+74,1.233333333,BASELINE,764.05665313,744.05665313,714,679.05665313,658,634,878.94334687,785,806.05665313,652,630,652,0.400978087877,-0.0153741875724,0.0598452856897,0.99999994519,0.00020992895539,-0.000255710858401,1.27340574369e-05,1793245339834343168
+75,1.250000000,BASELINE,764.532840381,744,714,679,658,634,878.467159619,785,806,652,630,652,0.400978982266,-0.0153745162862,0.0598454795989,0.999999945228,0.000210314368724,-0.00025522549336,1.3087022893e-05,1793245339851009280
+76,1.266666667,BASELINE,765,744,714,679.121229066,658,634,878,785,806.121229066,652,630,652,0.400979751877,-0.0153748275858,0.0598456697795,0.999999945431,0.00021006189057,-0.000254627671222,1.33022461872e-05,1793245339867675648
+77,1.283333333,BASELINE,765,744,714,679.699968234,658,634,878,785,806.699968234,652,630,652,0.400979096389,-0.0153743177704,0.0598451949302,0.999999945927,0.000207673766767,-0.000254671974446,1.26551044522e-05,1793245339884342272
+78,1.300000000,BASELINE,765,744,714,680,658,634,878,785,807,652,630,652,0.400978271482,-0.0153744307693,0.0598446763535,0.999999946032,0.000206086255153,-0.000255560834608,1.23389083097e-05,1793245339901009152
+79,1.316666667,BASELINE,765,744,714,680,658,634,878,785,807,652,630,652,0.400977264196,-0.0153752142347,0.0598441107039,0.99999994572,0.000205360611936,-0.000257358870036,1.23789789506e-05,1793245339917675776
+80,1.333333333,BASELINE,765,744,714,680,658,634,878.426261606,785,807,652,630,652,0.400977495794,-0.0153747006651,0.0598447158959,0.99999994546,0.000207168284746,-0.000256921378836,1.23913998093e-05,1793245339934342656
+81,1.350000000,BASELINE,765,744,714,680,658,634,878.999588787,785,807,652,630,652,0.400978154822,-0.0153737396021,0.0598457250427,0.99999994521,0.000209849983141,-0.000255712603192,1.23942811511e-05,1793245339951009792
+82,1.366666667,BASELINE,764.406728784,744,714,680,658.593271216,634,878.406728784,785,807,652,630,652,0.400978371367,-0.0153736362369,0.0598461780549,0.999999945466,0.000209012078492,-0.000255392791606,1.25054947472e-05,1793245339967676672
+83,1.383333333,BASELINE,764,744,714,680,658.819758902,634,878,785,806.819758902,652,630,652,0.400978767161,-0.0153740508609,0.0598464088087,0.999999945741,0.000208281525946,-0.000254900408649,1.27199629184e-05,1793245339984343040
+84,1.400000000,BASELINE,764,744,714,680,658.247423098,634,878,785,806.247423098,652,630,652,0.40097955358,-0.0153755909742,0.0598461569325,0.999999946059,0.000207790001441,-0.000254031227547,1.31588809449e-05,1793245340001009408
+85,1.416666667,BASELINE,764.328786971,744.328786971,714,680,658,634,878,785,806,652,630,652,0.400980131588,-0.015375437219,0.0598464119825,0.999999946144,0.000207967142817,-0.000253550168727,1.31905010351e-05,1793245340017675776
+86,1.433333333,BASELINE,764.907947283,744.907947283,714,680,658,634,878,785,806,652,630,652,0.400980550888,-0.0153739935722,0.0598470530599,0.999999946052,0.000208653477485,-0.000253364667512,1.29119611654e-05,1793245340034342400
+87,1.450000000,BASELINE,764.503543234,744.503543234,713.503543234,680,658,634,878,785,806,652,630,652,0.400979297617,-0.0153752282743,0.0598459510149,0.999999945862,0.000207967461184,-0.000254668728349,1.29945979822e-05,1793245340051009024
+88,1.466666667,BASELINE,764.085135118,744,713.085135118,680,658,634.085135118,878,785,806,652.085135118,630,652,0.400978021975,-0.0153766417899,0.0598447973687,0.999999945683,0.000207191723157,-0.000255996048824,1.31353411907e-05,1793245340067675648
+89,1.483333333,BASELINE,764.664536474,744,713.664536474,680,658,634.664536474,878,785,806,652.664536474,630,652,0.400978451507,-0.015376154901,0.0598452566004,0.999999945682,0.000207400758162,-0.00025582414193,1.32171677354e-05,1793245340084342528
+90,1.500000000,BASELINE,765,744,714,680,658.241212782,634.758787218,878,785,806,652.758787218,630,652,0.400978764386,-0.0153758411005,0.05984566007,0.999999945814,0.000207519819373,-0.000255212128811,1.3171931927e-05,1793245340101009408
+91,1.516666667,BASELINE,765,744,714,680,658.814141555,634.185858445,878,785,806,652.185858445,630,652,0.400978916842,-0.0153757653312,0.0598459868556,0.999999946128,0.000207515148539,-0.000253994881313,1.29519598732e-05,1793245340117676544
+92,1.533333333,BASELINE,764.601781467,744.398218533,714,680,658.601781467,634,878,785,806.398218533,652,630,652,0.40097917144,-0.0153761954483,0.0598458549623,0.999999946157,0.000207141391772,-0.000254184646886,1.30172293827e-05,1793245340134342912
+93,1.550000000,BASELINE,764.012351435,744.987648565,714,680,658.012351435,634,878,785,806.987648565,652,630,652,0.400979475085,-0.0153768684754,0.0598455028264,0.999999946048,0.000206590412028,-0.000255050013954,1.32194625308e-05,1793245340151009280
+94,1.566666667,BASELINE,764.567318995,745,714,679.432681005,658,634,878.567318995,785,807,652,630,652,0.400979820212,-0.0153764785186,0.0598460128811,0.999999946194,0.00020662243701,-0.000254450785688,1.31981084318e-05,1793245340167675648
+95,1.583333333,BASELINE,765,744.853807721,714,679.146192279,658,634,879,785,807,652,630,651.853807721,0.40097982582,-0.0153760941581,0.0598463238643,0.999999946209,0.000206935116011,-0.000254138967797,1.31718822163e-05,1793245340184342272
+96,1.600000000,BASELINE,765,744.276668374,714,679.723331626,658,634,879,785,807,652,630,651.276668374,0.400978827974,-0.0153757933616,0.0598459936244,0.999999945821,0.000208038326173,-0.000254766786827,1.31454007364e-05,1793245340201008896
+97,1.616666667,BASELINE,765,744,714,680,658,634,878.701211141,785,806.701211141,652,630,651.298788859,0.400978847574,-0.0153760611122,0.0598462316637,0.999999945808,0.000208471275639,-0.000254463481568,1.31512270887e-05,1793245340217675776
+98,1.633333333,BASELINE,765,744,714,680,658,634,878.127302803,785,806.127302803,652,630,651.872697197,0.40097980402,-0.0153768523709,0.0598469929642,0.99999994614,0.000208287060887,-0.000253302813553,1.31868019206e-05,1793245340234342912
+99,1.650000000,BASELINE,765,744.459741636,714,679.540258364,658,634,878,785,806.459741636,652,630,652,0.400979207262,-0.0153757900167,0.0598465253769,0.999999946051,0.000207713887621,-0.000254140099795,1.29040442441e-05,1793245340251009536
+100,1.666666667,BASELINE,765,744.950443401,714,679.049556599,658,634,877.950443401,785,807,652,629.950443401,652,0.400978166927,-0.0153743124715,0.0598458169211,0.999999945847,0.0002071261038,-0.000255436674522,1.25549229405e-05,1793245340267676160
+101,1.683333333,BASELINE,765,744.371040635,714,679.628959365,658,634,877.371040635,785,807,652,629.371040635,652,0.40097711758,-0.0153740449367,0.0598462783583,0.999999945726,0.000207567509136,-0.000255554817194,1.24664186295e-05,1793245340284342784
+102,1.700000000,BASELINE,765,744,714,680,658.206772066,634,877.413544131,785,806.793227934,652,629.206772066,652,0.400977352749,-0.0153740738861,0.059846692063,0.999999945745,0.000208056475705,-0.000255079132876,1.25603075282e-05,1793245340301009152
+103,1.716666667,BASELINE,765,744,714,680,658.781753197,634,878.563506394,785,806.218246803,652,629.781753197,652,0.400979875318,-0.0153746307993,0.0598470207678,0.99999994601,0.000208630136826,-0.000253545991965,1.29789928889e-05,1793245340317676032
+104,1.733333333,BASELINE,765,744,714,680,658.635963989,634,878.635963989,785,806.364036011,652,630,652,0.40098084685,-0.0153746367012,0.0598472706803,0.999999946342,0.000208508200122,-0.000252342897033,1.27997530579e-05,1793245340334342400
+105,1.750000000,BASELINE,765,744,714,680,658.049214017,634,878.049214017,785,806.950785983,652,630,652,0.400980869471,-0.0153743054996,0.0598474723884,0.999999946715,0.000207960702974,-0.000251341721117,1.22547080053e-05,1793245340351009024
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,879,785,807,652,630,652,0.400980742312,-0.0153758106168,0.0598469036574,0.999999946091,0.000209311135942,-0.000252625705258,1.36566171852e-05,1793245340382260992
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.398860008,785,806.398860008,652,630,652,0.40097944728,-0.0153753753207,0.0598463583467,0.999999946112,0.000207647540523,-0.000253943305508,1.30727831768e-05,1793245340398928896
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.806819819,744.193180181,714,680,658,634,878,785,806.193180181,652,630,652,0.4009787987,-0.0153754413383,0.0598459881553,0.999999946183,0.00020661612043,-0.000254524982514,1.26632116909e-05,1793245340415596288
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.232722714,744.767277286,714,680,658,634,878,785,806.767277286,652,630,652,0.400979424808,-0.0153764958573,0.0598459632677,0.999999946361,0.00020683123723,-0.000253655550147,1.25972547695e-05,1793245340432262400
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744.649537642,713.649537642,680,658,634,878,785,807,652,630,652,0.400978189162,-0.015376701651,0.0598450863179,0.999999946059,0.000206541782921,-0.000255075821548,1.25746628637e-05,1793245340448928256
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744.060157128,713.060157128,680,658,634,878,785,807,652,630,652,0.400975684316,-0.0153763288493,0.059843628498,0.999999945425,0.000205908351006,-0.000258057036095,1.25816338785e-05,1793245340465594368
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.520070631,744,713.520070631,680,658,634,878,785,807,652,630,652,0.400977027179,-0.0153756927351,0.0598446995083,0.999999945242,0.000208628982622,-0.000256559485866,1.29400386378e-05,1793245340482260992
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.098528293,714,680,658,634,878,785,806.901471707,652,630,652,0.400978633596,-0.0153752632776,0.0598458716202,0.99999994523,0.000210653937405,-0.000254929616908,1.32273610723e-05,1793245340498927616
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.673457722,714,680,658,634,878,785,806.326542278,652,630,652,0.400979399576,-0.0153759777617,0.0598461426881,0.99999994585,0.000207471726509,-0.000255121568147,1.29778344641e-05,1793245340515594496
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.74781242,714,680,658,634,878,785,806,652,630,652,0.400981828727,-0.0153764061324,0.0598474626331,0.999999946507,0.000206063120154,-0.00025368841606,1.29253712427e-05,1793245340532261376
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.16408637,714,680,658,634,878,785,806,652,630,652,0.400986444368,-0.0153764583638,0.0598501614847,0.999999947212,0.000206986183726,-0.000250118821441,1.31319774743e-05,1793245340548928256
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+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806,652,629.00414076,652,0.401030215727,-0.0153759936618,0.059868285097,0.999999954074,0.000209630179112,-0.000218376502998,1.47681819746e-05,1793245340582260992
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.423060941,744,714,679.423060941,658,634,878,785,806,652,629.576939059,652,0.401084322555,-0.0153813628977,0.0598867973445,0.999999961137,0.000207469162566,-0.000185472541209,1.68019096474e-05,1793245340598927360
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.156737465,744.156737465,714,679.156737465,658,634,878.156737465,785,806.156737465,652,630.156737465,652,0.401143005832,-0.015386545499,0.0599047002493,0.9999999666,0.000204957999315,-0.000156347816312,1.86555618898e-05,1793245340615593984
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.733072403,744.733072403,714,679.733072403,658,634,878.733072403,785,806.733072403,652,630.733072403,652,0.401213374093,-0.0153911196215,0.0599208098357,0.999999970012,0.000201577847038,-0.000137629846569,2.00056403897e-05,1793245340632260608
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.691761281,714,679.691761281,658.308238719,634,878.691761281,785,806.691761281,652,630.691761281,652,0.401294594557,-0.0153947023488,0.0599342562902,0.999999972885,0.000200430460158,-0.000116727585012,2.08003650525e-05,1793245340648927488
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.117603178,714,679.117603178,658.882396822,634,878.117603178,785,806.117603178,652,630.117603178,652,0.401385177276,-0.0153974297932,0.0599454052438,0.999999975122,0.00020120929349,-9.39409229682e-05,2.11159825585e-05,1793245340665594368
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.529041767,744,714,679,658.529041767,634,877.529041767,785,806.470958233,652,630,652,0.40148141543,-0.0154010992197,0.0599477015991,0.999999975312,0.000202661664767,-8.8760253183e-05,2.0620402105e-05,1793245340682261760
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744.061625629,714,679.061625629,658,634,877.061625629,785,807,652,630,652,0.4015816288,-0.0154054217385,0.0599472324429,0.999999975163,0.000203502862341,-8.87082719042e-05,1.98006960388e-05,1793245340698928896
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.638871283,714,679.638871283,658,634,877.638871283,785,807,652,630,652,0.401702913928,-0.0154131784715,0.0599427037455,0.999999975897,0.000197778753553,-9.36228592232e-05,1.8017360838e-05,1793245340715595776
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.215676166,744.784323834,714,680,658,634,878,785,807,652,630,652,0.401836889637,-0.0154207761184,0.0599397540174,0.999999976768,0.000192753791358,-9.51042124939e-05,1.63067571656e-05,1793245340732262144
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.791744469,744.208255531,714,680,658,634,878,785,807,652,630,652,0.401992071135,-0.0154281079334,0.0599394427278,0.999999977924,0.000188897094833,-9.08486747535e-05,1.47176871343e-05,1793245340748928256
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,679.624130223,658,634,878,785,807,652,630,652,0.402169374445,-0.0154366190774,0.0599417108007,0.99999997961,0.000183440515734,-8.34055110939e-05,1.31742522698e-05,1793245340765594368
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,714,679.035442986,658,634,878,785,807,652,630,652,0.40235920314,-0.0154457979582,0.0599454393086,0.999999981504,0.000177078082771,-7.41575132857e-05,1.16566558854e-05,1793245340782260992
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.544429316,714,679.544429316,658,634,878,785,806.455570684,652,629.455570684,652,0.402584265454,-0.0154562184815,0.0599458530332,0.999999982998,0.000170748138962,-6.89781508551e-05,9.59074193626e-06,1793245340798927616
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.876839703,744.876839703,714,680,658,634,878.123160297,785,806.123160297,652,629.123160297,652,0.402820977815,-0.015466645426,0.059946599773,0.9999999844,0.000164811823128,-6.30982774049e-05,7.49390359499e-06,1793245340815594240
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.300231478,744.300231478,714,680,658,634,878.699768522,785,806.699768522,652,629.699768522,652,0.403092272534,-0.0154768031504,0.0599493544513,0.999999985694,0.000160317090173,-5.36796186546e-05,5.41253903865e-06,1793245340832261632
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.273149127,744.273149127,714,679.726850873,658,634,878.726850873,785,807,652,630,652,0.403367875506,-0.0154855027159,0.0599458990813,0.999999986111,0.000156662004304,-5.68265824642e-05,2.59645475512e-06,1793245340848928512
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.843023495,744.843023495,714,679.156976505,658,634,878.156976505,785,807,652,630,652,0.403648158571,-0.0154926182649,0.0599356976599,0.999999985444,0.000153919037593,-7.36237364611e-05,-1.01776443876e-06,1793245340865595392
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.568427019,714,679,658,634,878,785,807,652,630,652,0.403952767797,-0.0154887570534,0.0599228510563,0.999999984694,0.000147380233242,-9.41624170302e-05,-5.03653465729e-06,1793245340882261504
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.026348073,714,679.026348073,658,634,878,785.026348073,806.973651927,652,630,652,0.404269018567,-0.0154806625245,0.0599092070776,0.999999983777,0.000137566215191,-0.000115907840607,-9.28232201983e-06,1793245340898927616
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.602866329,714,679.602866329,658,634,878,785.602866329,806.397133671,652,630,652,0.404635240786,-0.0154713120891,0.0598999120863,0.999999987018,8.94963254901e-05,-0.000133148865363,-1.50568809271e-05,1793245340915594240
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.820932001,744.820932001,714,680,658,634,878,785.820932001,806,652,630,652,0.405027577731,-0.0154687391529,0.0598969196905,0.999999988396,5.67425043802e-05,-0.000139999664651,-1.96938535186e-05,1793245340932260864
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.245431287,744.245431287,714,680,658,634,878,785.245431287,806,652,630,652,0.405477729152,-0.015481170699,0.0599078804035,0.999999990417,5.78964273195e-05,-0.000123847886072,-2.18123607284e-05,1793245340948927744
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744,714,679.661766687,658.338233313,634,878.338233313,785,806.338233313,652,629.661766687,652,0.405952803258,-0.0154912570892,0.0599295088076,0.99999999449,5.02129725584e-05,-8.9227910528e-05,-2.31884771477e-05,1793245340965594624
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,679.072031567,658.927968433,634,878.927968433,785,806.927968433,652,629.072031567,652,0.406446409294,-0.0154995996816,0.0599590694404,0.99999999823,3.59582654249e-05,-4.08754450796e-05,-2.40125705745e-05,1793245340982261248
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.508383078,744,714,679.508383078,658.491616922,634,878.491616922,785,807,652,629.508383078,652,0.406975811741,-0.0155019773528,0.0599808560747,0.999999999342,2.47347737511e-05,-6.91973064165e-06,-2.56022149682e-05,1793245340998928384
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.912998759,744,714,680,658.087001241,633.912998759,878,785,807,652,630,652,0.407509332174,-0.0155028854469,0.0599972389026,0.999999999415,1.16984734207e-05,1.61738685835e-05,-2.77883000134e-05,1793245341015595520
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.337187674,744,714,680,658.662812326,633.337187674,878,785,807,652,630,652,0.408038006317,-0.0155001997858,0.0599893380248,0.999999999313,-1.38925473571e-05,-1.05061285491e-05,-3.27269887937e-05,1793245341032261632
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.238832243,744,714,680,658.761167757,633,878,785,807,652,629.761167757,652,0.408593248362,-0.0154993022174,0.0599803415357,0.999999998263,-2.72963699804e-05,-3.57815209719e-05,-3.80590623988e-05,1793245341048928000
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.815147218,744,714,680,658.184852782,633,878,785,807,652,629.184852782,652,0.409186032242,-0.0155009313196,0.0599697968896,0.999999997014,-2.34790283096e-05,-5.90721302301e-05,-4.3947009541e-05,1793245341065594880
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,713.599239142,680,658.400760858,633.400760858,878,785,807,652,629.400760858,652,0.409817177909,-0.0155028696752,0.0599735579084,0.99999999658,-4.53510951805e-05,-4.94834664313e-05,-4.83164439461e-05,1793245341082261760
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,713.009234586,680,658.990765414,633.990765414,878,785,807,652,629.990765414,652,0.410466438418,-0.0155049540638,0.0599840742203,0.999999995204,-7.93539841881e-05,-2.43688464825e-05,-5.19688196548e-05,1793245341098928896
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,713.567715542,680,658.432284458,634,879.135431085,785,807,652,630,652,0.411147170842,-0.0155106350964,0.0599874635847,0.999999994665,-8.52544980502e-05,-1.50902952872e-05,-5.63380570436e-05,1793245341115595520
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.13836973,634,879.86163027,785,807,652,630,652,0.411825981301,-0.0155130756594,0.0599840763666,0.999999996306,-6.457804322e-05,-1.87998175977e-05,-5.35182716017e-05,1793245341132262144
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.690804647,634,879.309195353,785,807,652,630,652,0.412497542754,-0.0155056481271,0.0599607496428,0.99999999715,3.42916340824e-05,-6.06220581111e-05,-2.91515481344e-05,1793245341148928768
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,713.729574549,679.729574549,659,633.729574549,878.729574549,785,807,652,630,652.270425451,0.413184790985,-0.0154977368465,0.0599350962786,0.999999990051,8.55496261965e-05,-0.000110400794273,-1.97855765802e-05,1793245341165595136
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,713.115396168,679.115396168,659,633.115396168,878.115396168,785,807,652,630,652.884603832,0.413891979649,-0.0154892106456,0.0599064853883,0.999999982156,7.62857535334e-05,-0.000170293483805,-2.94878975519e-05,1793245341182261248
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,713.471624873,679.471624873,659,633,878.471624873,785,807.471624873,652,630,653,0.414720085487,-0.0154969440395,0.0599344245237,0.999999991535,4.95628859402e-05,-0.000115693546117,-3.30070346578e-05,1793245341198928128
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680.051952689,659,633.051952689,879,785,807.948047311,652,630,652.948047311,0.415573683925,-0.0155080725338,0.0599745118416,0.999999998489,1.94771179014e-05,-3.77112683412e-05,-3.49235071769e-05,1793245341215594752
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,680.62814154,659,633.62814154,879,785,807.37185846,652,630,652.37185846,0.416402235,-0.0155155012872,0.0600051644831,0.999999999337,-3.78396424893e-06,8.92753866713e-06,-3.5102888382e-05,1793245341232261120
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.203773155,744.203773155,714,680.796226845,659,634,879,785,807.203773155,652,630,652.203773155,0.417231588741,-0.0155191820767,0.0600203805105,0.999999998709,-1.44394306323e-05,3.28262885419e-05,-3.59859915735e-05,1793245341248927744
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.778390626,744.778390626,714,680.221609374,659,634,879,785,807.778390626,652,630,652.778390626,0.418062403193,-0.0155160419914,0.0600075036273,0.999999999152,-2.15408684604e-06,1.53406786982e-05,-3.81497900799e-05,1793245341265594624
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.638925223,744.638925223,714,680.361074777,659.361074777,634,879,785.361074777,808,652,630.361074777,652.638925223,0.418900889385,-0.0155171375622,0.0599893984649,0.999999999028,-5.70835356468e-06,-1.48473503079e-05,-4.11116794405e-05,1793245341282261248
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.051177043,744.051177043,714,680.948822957,659.948822957,634,879,785.948822957,808,652,630.948822957,652.051177043,0.419744191667,-0.0155208921684,0.0599680111245,0.999999997417,-1.92063184428e-05,-5.30096287758e-05,-4.45745894646e-05,1793245341298927872
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659.469766443,634,879,785.469766443,808,652,631,652.530233557,0.420575435347,-0.0155199263226,0.0599330909832,0.999999993181,-1.83563172499e-05,-0.000104899160929,-4.79318215247e-05,1793245341315594496
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659.109347448,634,879,785.109347448,808,652.109347448,631,652.890652552,0.42141054498,-0.0155182372442,0.059900813151,0.999999986586,-1.60649736914e-05,-0.000154763509068,-5.11731811553e-05,1793245341332261120
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659.681301941,634,879,785.681301941,808,652.681301941,631,652.318698059,0.422266875474,-0.0155153931842,0.0598851745086,0.999999980304,-1.34653751724e-05,-0.000190521019656,-5.39669703974e-05,1793245341348927744
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.256461748,714,681,659.743538252,633.743538252,879.256461748,786,808,652.743538252,630.743538252,652.256461748,0.423189596716,-0.0155175573925,0.0599065650767,0.999999985896,-1.63860011568e-05,-0.000158412555404,-5.33410877582e-05,1793245341365594368
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.835655204,714,681,659.164344796,633.164344796,879.835655204,786,808,652.164344796,630.164344796,652.835655204,0.424195864253,-0.0155260240103,0.0599745532363,0.999999997647,-2.62532824087e-05,-4.09014873495e-05,-4.84118866846e-05,1793245341382260992
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.575659315,714,681,659,633,880,786,808,652,630.424340685,653,0.425164771033,-0.015530228211,0.0600157324286,0.999999998173,-2.82428315966e-05,2.8375369128e-05,-4.52889021998e-05,1793245341398927872
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,680.98365658,659.01634342,633,880,786,808,652,631,652.98365658,0.426118119695,-0.0155327124047,0.0600449348867,0.999999995751,-2.74840081764e-05,7.67332306949e-05,-4.30557623288e-05,1793245341415595008
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,680.406846803,659.593153197,633,880,786,808,652,631,652.406846803,0.427045495803,-0.0155341189451,0.0600276291181,0.999999996141,-3.94972442155e-05,6.29959705294e-05,-4.67999356981e-05,1793245341432261632
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.170003652,714,680.170003652,660,633,880,786,808,652,630.829996348,652,0.427954666307,-0.0155342054944,0.0600061195023,0.999999996897,-4.70511146836e-05,3.81930008161e-05,-5.03398990329e-05,1793245341448928256
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.746951448,714,680.746951448,660,633,880,786,808,652,630.253048552,652,0.428820257319,-0.0155311323314,0.0599745469802,0.999999997524,-4.39304330786e-05,-1.30983737881e-05,-5.33910368421e-05,1793245341465594368
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.669781757,714,681.330218243,659.669781757,633,879.669781757,786,808.330218243,652,630,652,0.429686929616,-0.0155275186431,0.0599419402092,0.999999994951,-4.18214251197e-05,-7.18293444608e-05,-5.64751880326e-05,1793245341482261248
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.081578228,714,681.918421772,659.081578228,633,879.081578228,786,808.918421772,652,630,652,0.430554446635,-0.0155234826658,0.0599085254256,0.999999988106,-4.05027942676e-05,-0.000136372548453,-5.95851309102e-05,1793245341498927872
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.498081635,744,714,681.501918365,659.498081635,633,879.498081635,786,809,652,630.498081635,652.498081635,0.431528105419,-0.0155306026701,0.0599443537493,0.99999999487,-5.12171057217e-05,-6.52817292041e-05,-5.81012441485e-05,1793245341515594496
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.92393252,744.07606748,714,681.07606748,660,633.07606748,880,786.07606748,808.92393252,652,631,653,0.432507791019,-0.0155383631161,0.0599876212043,0.999999996362,-6.17250422728e-05,1.8197885432e-05,-5.59815124768e-05,1793245341532261120
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.347907481,744.652092519,714,681.652092519,660,633.652092519,880,786.652092519,808.347907481,652,631,653,0.433414754617,-0.0155385261753,0.0600065005991,0.99999999604,-5.81417300667e-05,3.95577848866e-05,-5.45444522204e-05,1793245341548928000
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.772282333,714,682.227717667,660,633.772282333,880.227717667,786.772282333,808.227717667,652,631,653,0.434300891226,-0.0155396681549,0.0600077046067,0.999999996179,-5.80027823587e-05,3.59787066388e-05,-5.4615923523e-05,1793245341565595136
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.197266982,714,682.802733018,660,633.197266982,880.802733018,786.197266982,808.802733018,652,631,653,0.435155264231,-0.0155423031096,0.0599819514593,0.999999996368,-6.31169171153e-05,-5.63540243818e-06,-5.69880922948e-05,1793245341582261760
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,682.611210525,660.388789475,633.388789475,881,786,809,652,631,653,0.436001088424,-0.0155411304007,0.0599561900486,0.999999994822,-6.36229599124e-05,-5.20904772029e-05,-5.99594695809e-05,1793245341598928384
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,682.019388241,660.980611759,633.980611759,881,786,809,652,631,653,0.436842448224,-0.0155379692616,0.0599304243242,0.999999990987,-6.1722574363e-05,-0.000101073588158,-6.32437640327e-05,1793245341615594752
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,682,660.442136732,633.442136732,880.442136732,786,809,652,631,652.442136732,0.4376272032,-0.0155304515455,0.0599072827248,0.999999985145,-5.93362653945e-05,-0.00014807006911,-6.5299451771e-05,1793245341632261120
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.134248247,744,714,682,660,633,880,786,809.134248247,652,631,652.134248247,0.43842700128,-0.0155256026889,0.0598958905677,0.999999980946,-5.92017425997e-05,-0.00017367235116,-6.66359491151e-05,1793245341648927744
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.709408084,744,714,682,660,633,880,786,809.709408084,652,631,652.709408084,0.439282502037,-0.0155300037895,0.0599227952077,0.999999987276,-6.65168162568e-05,-0.000129230642479,-6.57470778632e-05,1793245341665594368
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.709818654,744.290181346,714,682,659.709818654,633,880,786,809.709818654,652,631,653,0.440116458863,-0.0155382368709,0.0599598382004,0.99999999241,-7.7697926995e-05,-7.23862865811e-05,-6.24768815682e-05,1793245341682261504
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.123313174,744.876686826,714,682,659.123313174,633,880,786,809.123313174,652,631,653,0.440928415645,-0.0155503830514,0.0600072341608,0.999999994076,-9.2826913523e-05,-2.8767369881e-06,-5.67749503705e-05,1793245341698928896
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.957834726,632.957834726,881.915669452,785,809,652,630.957834726,653,0.442373094668,-0.0155569832687,0.0599353474075,0.999999987212,-9.53213296598e-05,-0.00011151959477,-6.36638598895e-05,1793245341732261888
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.061727492,745,714,682.061727492,658.061727492,632,880,784.061727492,810,652,631,653,0.445500291617,-0.0155886157292,0.0597933207142,0.999999922186,-0.000166317154934,-0.000348579553645,-8.0365609382e-05,1793245341815594496
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.518385859,658.518385859,632,880,784,809.481614141,652,630.481614141,653,0.446073031078,-0.0155960370471,0.0597647244555,0.999999902215,-0.000191571856081,-0.000389777363743,-8.33296354166e-05,1793245341832261376
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682.75029355,658.24970645,631,881.5005871,783,810,652,630,653,0.447744440977,-0.0156425031457,0.0597546421416,0.999999890185,-0.000247298039798,-0.000389688029162,-8.1338760383e-05,1793245341882262016
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682.175196115,658.824803885,631,880.35039223,783,810,652,630,653,0.448266101919,-0.0156745344252,0.0597666629617,0.999999888825,-0.000280641850464,-0.000371455106609,-7.49096408373e-05,1793245341898928384
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682.410240376,658.589759624,631,880,782.589759624,810,652,629.589759624,653,0.448705332198,-0.0156907117351,0.0597505117734,0.999999868505,-0.000311525968122,-0.00040031482289,-7.54343045438e-05,1793245341915594752
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,744.999796715,714,683,658,631,880.000203285,782,809.999796715,652,629.000203285,653,0.44910844845,-0.0156999400917,0.0597220146657,0.999999837465,-0.000341320955059,-0.000449807930621,-7.90054760024e-05,1793245341932261376
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+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714.049666496,682.950333504,657,629,880,779,810,652,628,653,0.453779030544,-0.0157479257233,0.0596688492586,0.999999805971,-0.000349689466561,-0.000512254912364,-5.80607905184e-05,1793245342565594112
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714.622771788,682.377228212,657,629,880,779,810,652,628,653,0.453779192268,-0.0157492775309,0.0596683895294,0.999999805525,-0.000350925091378,-0.000512335187263,-5.75664934714e-05,1793245342582260736
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,744.802235436,714.802235436,682.197764564,657,629,880,779,810,652,628,653,0.453778789476,-0.0157494107536,0.05966771258,0.999999805092,-0.000350769186953,-0.000513304714022,-5.74115644939e-05,1793245342598927360
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,744.2236077,714.2236077,682.7763923,657,629,880,779,810,652,628,653,0.453777299513,-0.0157471971749,0.0596666172992,0.999999804673,-0.000347933417926,-0.000515986798758,-5.79102045994e-05,1793245342615594240
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,744.363091777,714,683,656.636908223,629,880.363091777,779,810,652,628,653,0.453778363623,-0.0157460032969,0.0596671149506,0.999999805473,-0.000346490303253,-0.000515404947924,-5.79338043493e-05,1793245342632260864
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,744.954875179,714,683,656.045124821,629,880.954875179,779,810,652,628,653,0.453781036403,-0.0157454516727,0.0596686159029,0.999999807041,-0.0003459243454,-0.000512767322721,-5.76582021751e-05,1793245342648927488
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628.466836243,880.466836243,779,809.466836243,652,628,652.466836243,0.453779718914,-0.0157458821861,0.0596682882741,0.999999806021,-0.000346433653837,-0.000514406089901,-5.7691707016e-05,1793245342665594112
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682.890793857,656.109206143,628.109206143,880,779,809.109206143,652,628,652.109206143,0.453778657656,-0.0157461089392,0.0596680336194,0.999999805277,-0.000346455860171,-0.000515837391819,-5.76749292798e-05,1793245342682260992
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682.319542082,656.680457918,628.680457918,880,779,809.680457918,652,628,652.680457918,0.4537800741,-0.01574513058,0.059668726348,0.999999806614,-0.000344041624761,-0.000514897385744,-5.73374527019e-05,1793245342698927616
+246,4.100000000,HOLD_POSE2,765,745,714,683,656,628,880,779,810,652,628,653,0.453778573747,-0.0157440463918,0.0596669738733,0.999999805255,-0.000346483469273,-0.000515883677787,-5.74688359053e-05,1793245342736350208
+247,4.116666667,HOLD_POSE2,765,745,714,683,656,628,880,779,810,652.57912189,628,653,0.453779747036,-0.0157434745798,0.0596668498141,0.999999805816,-0.000345669744063,-0.000515340526203,-5.74870368557e-05,1793245342753016832
+248,4.133333333,HOLD_POSE2,765.157458776,745,714,683,656.157458776,628,880,779,810,652.842541224,628,653,0.45378073432,-0.0157433524423,0.0596668276924,0.999999806235,-0.000345344923456,-0.00051474326798,-5.75002750051e-05,1793245342769683200
+249,4.150000000,HOLD_POSE2,765.73370793,745,714,683,656.73370793,628,880,779,810,652.26629207,628,653,0.45378122689,-0.0157444262957,0.059667076692,0.999999806279,-0.000346320433771,-0.000514002103147,-5.75003136825e-05,1793245342786349568
+250,4.166666667,HOLD_POSE2,765.692843169,745,714,683,656.692843169,628,880,779,809.692843169,652.307156831,628,653,0.453781827263,-0.0157454759506,0.0596676076337,0.999999806184,-0.000347351931895,-0.000513506758011,-5.73544940499e-05,1793245342803015936
+251,4.183333333,HOLD_POSE2,765.121800071,745,714,683,656.121800071,628,880,779,809.121800071,652.878199929,628,653,0.453782520252,-0.0157465048158,0.059668380799,0.99999980597,-0.000348431530515,-0.000513222602889,-5.70833638232e-05,1793245342819682560
+252,4.200000000,HOLD_POSE2,765,745,714.46781893,683,656.46781893,628,880.46781893,779,809.46781893,652.53218107,628,653,0.453783055245,-0.0157454127327,0.059668799136,0.999999807177,-0.000346180652809,-0.000512396300083,-5.70463419554e-05,1793245342836349440
+253,4.216666667,HOLD_POSE2,765,745,714.939205621,683,657,628,880.939205621,779,810,652,628,653,0.453783467515,-0.0157441244381,0.0596690169756,0.999999808515,-0.000343463079915,-0.000511617872977,-5.7017647617e-05,1793245342853015808
+254,4.233333333,HOLD_POSE2,765,745,714.360540236,683,657,628,880.360540236,779,810,652,628,653,0.453783199273,-0.0157460631366,0.0596683463851,0.999999807748,-0.000344461857641,-0.000512499378847,-5.65192093132e-05,1793245342869682432
+255,4.250000000,HOLD_POSE2,765,745,714,682.78326357,657,628,880,778.78326357,810,652,628,653,0.453783216285,-0.015746107413,0.0596678388115,0.999999807177,-0.000344899993881,-0.000513313313119,-5.65566940942e-05,1793245342886349312
+256,4.266666667,HOLD_POSE2,765,745,714,682.208282379,657,628,880,778.208282379,810,652,628,653,0.453783704794,-0.0157430203889,0.0596676006893,0.999999806932,-0.000344411442825,-0.000514015557861,-5.74800089491e-05,1793245342903016192
+257,4.283333333,HOLD_POSE2,765,745,714,682.374360652,656.625639348,628,880.374360652,778.374360652,810,652,628,653,0.453783344744,-0.0157415314803,0.0596672259569,0.99999980687,-0.000343612462827,-0.000514670109476,-5.7495657561e-05,1793245342919682816
+258,4.300000000,HOLD_POSE2,765,745,714,682.96135561,656.03864439,628,880.96135561,778.96135561,810,652,628,653,0.453782502718,-0.0157409502902,0.0596667736309,0.99999980691,-0.000342637161256,-0.000515297571786,-5.69957580048e-05,1793245342936349440
+259,4.316666667,HOLD_POSE2,765,745,714,683,656.541349021,628,880.458650979,778.458650979,810,652,628,653,0.453782944222,-0.0157418500768,0.0596669952476,0.999999807268,-0.000342655065121,-0.000514611021582,-5.68074295446e-05,1793245342953015808
+260,4.333333333,HOLD_POSE2,765,745,714,683,656.879291986,628,880,778.120708014,810,652,628,653,0.453783257936,-0.0157422375433,0.0596673706021,0.999999807738,-0.00034219904939,-0.000514002513966,-5.67861776591e-05,1793245342969682688
+261,4.350000000,HOLD_POSE2,765,745,714,683,656.300467924,628,880,778.699532076,810,652,628,653,0.453782743354,-0.0157402845218,0.0596681491717,0.999999808547,-0.000339678746366,-0.000514041649422,-5.73156871775e-05,1793245342986349312
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628,880,779,810,652,628,653,0.453780100784,-0.0157410483171,0.059664767424,0.999999806095,-0.000340328672144,-0.000518370687662,-5.72582239945e-05,1793245343024110336
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628,880,779,810,652.589621311,628,653,0.453781885466,-0.0157403427515,0.0596659872639,0.999999807099,-0.000339996324371,-0.000516657809659,-5.71721018329e-05,1793245343040776960
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.823871068,628.176128932,880.176128932,779,810,652.823871068,628,653,0.453783441794,-0.0157399400671,0.0596669283744,0.999999807796,-0.00034012496841,-0.000515234296614,-5.70582856958e-05,1793245343057443584
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.244492175,628.755507825,880.755507825,779,810,652.244492175,628,653,0.453784475303,-0.0157402308335,0.0596672313299,0.999999807795,-0.00034130906039,-0.000514473288856,-5.68810637492e-05,1793245343074110208
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.333460184,628.666539816,881,778.666539816,810,652,628,653,0.453784297331,-0.0157398187947,0.0596670855065,0.999999807736,-0.000341010917261,-0.000514773620608,-5.69867575832e-05,1793245343090776576
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.910371034,628.089628966,881,778.089628966,810,652,628,653,0.453783234886,-0.015738893656,0.0596666120411,0.999999807634,-0.000339630632498,-0.000515848808957,-5.72990009297e-05,1793245343107443200
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.484241753,656.515758247,628,880.515758247,778.484241753,810,652,628,653,0.453784049178,-0.0157399257117,0.0596672196293,0.999999808032,-0.000340028665754,-0.000514848743336,-5.69849441077e-05,1793245343124110080
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.94066056,656,628.05933944,880,779,810,652,628,653,0.453784826548,-0.0157410379619,0.0596677983839,0.999999808368,-0.000340737886126,-0.000513765781077,-5.66278605955e-05,1793245343140776704
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.349556354,656,628.650443646,880,779,810,652,628,653,0.45378217956,-0.0157396427632,0.059666336816,0.999999807337,-0.000341304524961,-0.000515360652355,-5.69175469807e-05,1793245343157443328
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628.76328262,880.23671738,778.76328262,810,652,628,653,0.45377550022,-0.0157386587404,0.0596629175711,0.999999804576,-0.000342081938724,-0.000520125662909,-5.74219070452e-05,1793245343174109952
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628.18399936,880.81600064,778.18399936,810,652,628,653,0.453762985458,-0.0157382697517,0.0596566652711,0.99999979925,-0.000343164375646,-0.000529478344684,-5.82369323899e-05,1793245343190776832
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880.608993182,778,810.391006818,652,628,653,0.453733343266,-0.0157363098462,0.0596438605564,0.99999978816,-0.000341817814852,-0.000550762000686,-5.91791675551e-05,1793245343207443456
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880.035977877,778,810.964022123,652,628,653,0.453695728481,-0.0157336186996,0.059628005779,0.999999773803,-0.000339340587742,-0.000577599367403,-6.0180617241e-05,1793245343224110080
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880,778,810.459902747,652.540097253,628,653,0.453641203177,-0.0157313627039,0.0596105923124,0.999999759951,-0.000339444331315,-0.000600906275755,-6.15419408286e-05,1793245343240776704
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.119626517,628,880,778.119626517,810,652.880373483,628,652.880373483,0.453582271319,-0.0157290553258,0.0595938275989,0.999999746393,-0.000339293390958,-0.000623015645487,-6.28200196144e-05,1793245343257443328
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.711996012,628,880,778.711996012,810,652.288003988,628,652.288003988,0.453510402499,-0.0157264296884,0.0595800392942,0.999999735385,-0.000337452684658,-0.000641327233776,-6.36738550755e-05,1793245343274109952
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628.296572153,880.296572153,779,810,652,628,652.296572153,0.453431440055,-0.0157218817715,0.0595719185587,0.999999729416,-0.00033422393616,-0.00065220901915,-6.3915478838e-05,1793245343290776576
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628.873773846,880.873773846,779,810,652,628,652.873773846,0.453345765318,-0.0157155149097,0.0595691607259,0.999999728426,-0.00032968176161,-0.000656060399111,-6.35778010794e-05,1793245343307443200
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.552079952,656.552079952,628.552079952,880.552079952,779,810,652.447920048,628,652.552079952,0.453245639074,-0.0157087604829,0.0595684222089,0.999999728614,-0.000326547516721,-0.000657349198142,-6.34830614792e-05,1793245343324109824
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.021856442,656.021856442,628.021856442,880,779,810,652.978143558,628,652.021856442,0.453140743325,-0.0157018896645,0.059568384826,0.999999729326,-0.000323711526372,-0.000657676110959,-6.34167462306e-05,1793245343340776704
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.612591823,656.612591823,628.612591823,880,779,810,652.387408177,628,652.612591823,0.453016987948,-0.015694812862,0.0595718855843,0.99999973506,-0.000318381559294,-0.000651635784536,-6.23204254848e-05,1793245343357443328
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.221246348,628.221246348,880,779,810,652,628,653,0.452721900653,-0.0156802455435,0.0595751302224,0.999999739357,-0.000313005043773,-0.000647907002685,-5.94099716924e-05,1793245343390776576
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.071972595,745,714.928027405,683,656,628.928027405,880,779,810,652,628,653,0.452351750059,-0.0156595380223,0.0595765632448,0.999999746388,-0.000303110856465,-0.000641877313232,-5.77971237e-05,1793245343424110080
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.512581098,745,714.487418902,683,656.512581098,629,880,779,810,652,628,653,0.452134907553,-0.0156469607949,0.0595763569979,0.999999747982,-0.000293533412741,-0.000643948424257,-5.66125867581e-05,1793245343440776960
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.097992099,683,657,629,880,779,810,652,628,653,0.451906185768,-0.0156349912302,0.059575662397,0.999999748356,-0.000284799577216,-0.000647389019343,-5.53516768498e-05,1793245343457443584
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633.882583068,878,785,807,652,629.117416932,652,0.404688637027,-0.0153600406544,0.0598204363828,0.999999931342,0.000235256789258,-0.000285343866468,2.34222626179e-05,1793245344607443712
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633.288568504,878,785,807,652,629.711431496,652,0.404292628515,-0.0153588833322,0.0597988556339,0.999999916575,0.000250470257106,-0.000321932435851,2.17739580268e-05,1793245344624110080
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633.296154565,878,785,807,652,629.703845435,652,0.403921422896,-0.015357166599,0.0597813795839,0.999999904925,0.000258601877663,-0.000350477198152,2.09990107879e-05,1793245344640776448
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633.872099509,878,785,807,652,629.127900491,652,0.403573649696,-0.0153549213657,0.0597677814264,0.99999989699,0.000260042961642,-0.000371422616485,2.10491631674e-05,1793245344657443072
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.977697264,658.977697264,634,878.977697264,785,806.022302736,652,629.022302736,652,0.403042764425,-0.0153602435792,0.0597978280635,0.999999917106,0.000259838120762,-0.000312394339018,2.6106554634e-05,1793245344690777344
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.823298223,744,714,679.176701777,658,634,878,785,807,652,630,652,0.402603278852,-0.0153577029647,0.0598307000912,0.999999928957,0.000270525174883,-0.000260578840998,3.16442477235e-05,1793245344724110592
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.226064438,744,714,679.773935562,658,634,878,785,807,652,630,652,0.402400456528,-0.0153540131677,0.0598400882595,0.999999931305,0.000274322203143,-0.000247077971424,3.30015366802e-05,1793245344740777216
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.503852077,680,658,634,878.496147923,785,807,652,629,652,0.401845212776,-0.015348370917,0.0598296793715,0.999999925434,0.000270358099668,-0.000273711854696,3.34665648544e-05,1793245344790776832
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.919808741,744.919808741,714,679.919808741,658,634,878.080191259,785,807,652,629.080191259,652,0.401690065373,-0.0153489942024,0.0598247707029,0.999999924281,0.000260732042761,-0.000287222198068,3.09917145808e-05,1793245344807443712
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.327884816,744.327884816,714,679.327884816,658,634,878.672115184,785,807,652,629.672115184,652,0.401575468675,-0.0153531500377,0.0598276746587,0.99999993712,0.000215057575294,-0.000281590578838,1.47314976041e-05,1793245344824110336
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.258351935,744,714,679.258351935,658,634,878.741648065,785,807,652,629.741648065,652,0.401472048458,-0.0153633315439,0.0598309292751,0.999999944041,0.000188559949402,-0.000276279904504,5.67966761897e-06,1793245344840776960
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.264257483,714,680,658,634,878,785,806.735742517,652,630,652,0.401097745517,-0.0153729059283,0.059841173767,0.999999947801,0.000189532976922,-0.000261578498994,7.27355017401e-06,1793245344940776704
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878,785,806.104337499,652,630,652,0.401034548642,-0.0153717687409,0.0598363578699,0.999999945345,0.000189845551663,-0.000270581056549,7.37010281223e-06,1793245344974110208
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.639216751,658,634,878,785,806,652,630,652,0.400995208246,-0.0153728400615,0.059836650749,0.999999945466,0.000191205839004,-0.00026914824247,8.27752800665e-06,1793245345024109824
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.225835978,714,679.774164022,658,634,878.225835978,785,806.225835978,652,630,652,0.400989301317,-0.0153730869099,0.0598376542976,0.999999945925,0.000190977248986,-0.000267599276982,8.27986479049e-06,1793245345040776704
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.800333717,714,679.199666283,658,634,878.800333717,785,806.800333717,652,630,652,0.400985069277,-0.0153715132244,0.059837836478,0.999999945583,0.000193116613544,-0.000267348487499,8.08333501524e-06,1793245345057443328
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.376135154,658,634,878.623864846,785.376135154,807,652.376135154,630,652,0.400984364557,-0.0153715475967,0.0598397627499,0.999999946341,0.000193187557122,-0.000264434228692,8.3730627788e-06,1793245345074109952
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.95263103,658,634,878.04736897,785.95263103,807,652.95263103,630,652,0.400985538779,-0.0153724385536,0.0598426180695,0.999999947672,0.000192156688371,-0.000260101185622,8.92181157055e-06,1793245345090776832
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.458189304,714,680,658,634,878,785.458189304,807,652.458189304,629.458189304,652,0.400984734834,-0.0153736997185,0.0598424421563,0.999999947761,0.000191353377078,-0.000260350601508,8.85721989347e-06,1793245345107443200
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878.129593756,785,806.870406244,652,629.129593756,652,0.40098361411,-0.0153745511092,0.0598420080256,0.999999947586,0.000191214917316,-0.000261127241135,8.76914269887e-06,1793245345124109824
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878.708595818,785,806.291404182,652,629.708595818,652,0.400982008971,-0.0153738665439,0.0598416194875,0.999999946874,0.000193311400547,-0.000262309577045,8.79003320402e-06,1793245345140776704
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.285713852,744,713.714286148,680,658,634,879,785,806.571427704,652,630,652.285713852,0.40098098878,-0.0153734410909,0.0598415111613,0.999999946659,0.000194303401305,-0.000262396029984,8.7481727132e-06,1793245345157443584
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.860922992,744,713.139077008,680,658,634,879,785,807.721845984,652,630,652.860922992,0.400980561279,-0.0153732781796,0.0598416867555,0.999999946953,0.000194176301969,-0.000261372096032,8.6427307166e-06,1793245345174110208
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.129428088,744,713.435285956,680,658,634,878.564714044,785.435285956,807.564714044,652,630,652.564714044,0.400980712067,-0.0153733026277,0.0598418578167,0.999999946906,0.000194963953529,-0.000260967077167,8.60440900028e-06,1793245345190776832
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,744,714,680,658,634,878,786,806.990335109,652,630,652,0.400981042607,-0.0153733793464,0.0598420307557,0.99999994675,0.000196044002735,-0.000260754201031,8.59552457419e-06,1793245345207443456
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,744,714,680,658,634,878,786,806.398745651,652,630,652,0.400981092724,-0.015373005937,0.0598424037904,0.999999946663,0.000197165912823,-0.000260226940071,9.07033734774e-06,1793245345224110336
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.178300105,744,714,680,658,634,878,785.821699895,806,652,630,652,0.400981129854,-0.0153727873626,0.0598427734078,0.999999946754,0.000197650142436,-0.000259502678204,9.25050408181e-06,1793245345240776960
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.725273624,744,714,680,658,634,878,785.274726376,806,652,630,652,0.40098114013,-0.0153728889423,0.0598431359593,0.999999947215,0.000196815831883,-0.000258371075066,8.82142739118e-06,1793245345257443584
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878,785,806.305147106,652,630,652,0.400980988517,-0.0153734791043,0.0598434549357,0.99999994762,0.000195322343743,-0.000257939769715,8.77887169551e-06,1793245345274109952
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878,785,806.91822012,652,630,652,0.400980673541,-0.0153745622979,0.0598437299403,0.999999947965,0.000193163675304,-0.000258215139436,9.12635684928e-06,1793245345290776832
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.49184473,714,680,658,633.50815527,878,785,806.50815527,652,630,652,0.400981238368,-0.0153750751441,0.0598436565647,0.999999947892,0.000193551916465,-0.000258201378824,9.25769343414e-06,1793245345307443200
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.062570662,878.062570662,785,806,652,630,652,0.400981718427,-0.0153752616742,0.0598434649872,0.999999947708,0.000194414171377,-0.000258263681326,9.298009328e-06,1793245345324110080
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.660445847,878.660445847,785,806,652,630,652,0.400980314691,-0.0153734075774,0.0598427209393,0.999999947124,0.00019597776307,-0.000259357465657,8.84426420937e-06,1793245345340776704
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.751129116,658,634,878.751129116,785.248870884,806.248870884,652,630,652,0.400979505747,-0.0153728039319,0.0598427181008,0.999999946957,0.000196726189324,-0.000259441651882,8.70732383273e-06,1793245345357443584
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.175125896,658,634,878.175125896,785.824874104,806.824874104,652,630,652,0.400979478636,-0.0153738439617,0.0598436895568,0.999999947339,0.000196403108471,-0.000258198755792,8.98681248165e-06,1793245345374110464
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.602282203,744.602282203,714,679.397717797,658.397717797,633.602282203,878,785.602282203,806.602282203,652,630,652,0.40097965811,-0.0153752620629,0.0598439053846,0.999999948033,0.00019335366328,-0.000257814838766,8.91424307793e-06,1793245345390776832
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.030818805,744.030818805,714,679.969181195,658.969181195,633.030818805,878,785.030818805,806.030818805,652,630,652,0.400979927831,-0.0153768453268,0.0598437911111,0.999999948848,0.000189113188143,-0.000257806172391,8.68787481173e-06,1793245345407443456
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.561532064,744,713.438467936,680,658.438467936,633.561532064,878,785,806.561532064,652,630,652,0.400980651022,-0.0153753428322,0.0598437992023,0.99999994861,0.000191798570798,-0.000256740813839,8.75910396563e-06,1793245345424110080
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7268ab0c8018fd65571a5b1b5823a69ad257c6c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+2,0.033333333,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+3,0.050000000,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+4,0.066666667,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+5,0.083333333,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+6,0.100000000,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
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+10,0.166666667,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+11,0.183333333,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+12,0.200000000,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+13,0.216666667,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
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+15,0.250000000,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
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+378,6.300000000,pose2_to_pose3_retreat,0.5757391419,-0.010122229293,1.05005087064,0.546310776128,-0.00144653953239,1.04971737537
+379,6.316666667,pose2_to_pose3_retreat,0.575717895546,-0.0101222273828,1.05005097329,0.546289529599,-0.00144653852573,1.04971746997
+380,6.333333333,pose2_to_pose3_retreat,0.575701449778,-0.0101221566249,1.05005090416,0.54627308297,-0.00144647092245,1.04971739481
+381,6.350000000,pose2_to_pose3_retreat,0.575689674944,-0.0101220706653,1.05005110142,0.546261308855,-0.00144638235508,1.04971759642
+382,6.366666667,pose2_to_pose3_retreat,0.575682198377,-0.0101221630826,1.05005114813,0.546253831208,-0.00144647872243,1.0497176358
+383,6.383333333,pose2_to_pose3_retreat,0.575677433135,-0.0101221865547,1.05005109083,0.546249065952,-0.00144650225823,1.04971757809
+384,6.400000000,pose2_to_pose3_retreat,0.575675020326,-0.0101221761244,1.0500510258,0.546246653508,-0.00144649051045,1.0497175152
+385,6.416666667,pose2_to_pose3_retreat,0.575673576437,-0.0101221483054,1.05005101016,0.546245209366,-0.00144646347718,1.04971750144
+386,6.433333333,pose2_to_pose3_retreat,0.575672811611,-0.0101221275858,1.05005100833,0.546244444275,-0.00144644361028,1.04971750077
+387,6.450000000,pose2_to_pose3_retreat,0.575672400056,-0.0101221164366,1.05005100734,0.546244032577,-0.00144643291983,1.04971750041
+388,6.466666667,pose2_to_pose3_retreat,0.575671946076,-0.0101221041379,1.05005100626,0.546243578439,-0.00144642112736,1.04971750001
+389,6.483333333,pose2_to_pose3_retreat,0.575671318713,-0.0101221103412,1.05005101952,0.54624295116,-0.00144642702279,1.04971751393
+390,6.500000000,pose2_to_pose3_retreat,0.575670872914,-0.0101221508163,1.0500510519,0.546242505886,-0.00144646571321,1.04971754631
+391,6.516666667,pose2_to_pose3_retreat,0.575670587942,-0.0101221766896,1.0500510726,0.546242221251,-0.00144649044558,1.04971756701
+392,6.533333333,pose2_to_pose3_retreat,0.575670486404,-0.0101221859084,1.05005107998,0.546242119833,-0.00144649925792,1.04971757439
+393,6.550000000,pose2_to_pose3_retreat,0.57567047077,-0.0101221873278,1.05005108111,0.546242104218,-0.00144650061475,1.04971757552
+394,6.566666667,pose2_to_pose3_retreat,0.575670406622,-0.010122193152,1.05005108577,0.546242040145,-0.00144650618206,1.04971758018
+395,6.583333333,pose2_to_pose3_retreat,0.575670375986,-0.0101221959335,1.050051088,0.546242009546,-0.00144650884091,1.04971758241
+396,6.600000000,pose2_to_pose3_retreat,0.575670335087,-0.0101221996468,1.05005109097,0.546241968694,-0.00144651239054,1.04971758538
+397,6.616666667,pose2_to_pose3_retreat,0.575670318947,-0.0101222011122,1.05005109214,0.546241952573,-0.00144651379133,1.04971758655
+398,6.633333333,pose2_to_pose3_retreat,0.575670253721,-0.0101222070342,1.05005109688,0.546241887425,-0.00144651945214,1.04971759129
+399,6.650000000,pose2_to_pose3_retreat,0.575670164636,-0.0101222123074,1.050051101,0.546241798426,-0.00144652443058,1.04971759545
+400,6.666666667,pose2_to_pose3_retreat,0.57567004275,-0.0101221733796,1.05005106818,0.546241676354,-0.00144648611323,1.04971756313
+401,6.683333333,pose2_to_pose3_retreat,0.575669944526,-0.0101221420093,1.05005104174,0.546241577981,-0.00144645523481,1.04971753709
+402,6.700000000,pose2_to_pose3_retreat,0.575669814626,-0.0101221005221,1.05005100677,0.546241447884,-0.0014464143982,1.04971750266
+403,6.716666667,pose2_to_pose3_retreat,0.575669686423,-0.0101220852046,1.05005099802,0.546241319772,-0.0014463987864,1.04971749347
+404,6.733333333,pose2_to_pose3_retreat,0.575669677515,-0.0101221076531,1.05005102106,0.546241311134,-0.00144642035537,1.04971751558
+405,6.750000000,pose2_to_pose3_retreat,0.575669647183,-0.0101221840947,1.05005109952,0.54624128172,-0.00144649380205,1.04971759089
+406,6.766666667,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.0014465249625,1.04971762284
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4eac866ea27f5428ef6cf1b1cd344af6f0bad797
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a979654ee32aebdbf88bbadb249668345c9fce45b88e62f97101dac10874e2c
+size 25933583
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5cfc13b4bf669e501596c0b4118e1ae2365aa08d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+45,0.750000000,BASELINE,765,744,713.113915217,680,658,634,879,785,806,652,630,652,0.400979579622,-0.0153749852967,0.0598452797535,0.999999947901,0.000197055846142,-0.000255512561348,8.98127359987e-06,1793245346301394176
+46,0.766666667,BASELINE,765,744,713.689442203,680,658,634,879,785,806,652,630,652,0.400980698726,-0.015377734735,0.059846534373,0.99999994919,0.000193084244575,-0.000253475532862,9.42399372944e-06,1793245346318060800
+47,0.783333333,BASELINE,765,744,714,679.729965571,658,634,878.729965571,785,806.270034429,652,630,652,0.400981363117,-0.0153782817675,0.0598473765566,0.999999949793,0.000191966483606,-0.000251930701539,9.63485404825e-06,1793245346334727680
+48,0.800000000,BASELINE,765,744,714,679.14343654,658,634,878.14343654,785,806.85656346,652,630,652,0.400981494561,-0.0153762474648,0.0598477353439,0.999999949607,0.000194193573901,-0.000250962751003,9.57396249121e-06,1793245346351394304
+49,0.816666667,BASELINE,764.562248474,744,714,679,658,634,878,785.437751526,806.562248474,652,630,652,0.400982063139,-0.0153764363658,0.0598483596345,0.999999949545,0.000195335574305,-0.000250315688456,9.78097237319e-06,1793245346368060928
+50,0.833333333,BASELINE,764.017150747,744,714,679.017150747,657.982849253,634,878,785.982849253,806,652,630,652,0.400982691345,-0.0153773382697,0.0598490053803,0.99999994952,0.00019601845477,-0.000249872753513,1.00538660203e-05,1793245346384727808
+51,0.850000000,BASELINE,764.594594812,744,714,679.594594812,657.405405188,634,878,785.405405188,806,652,630,652,0.400980644654,-0.0153780217618,0.0598475442297,0.999999949365,0.000193177752595,-0.000252704882725,9.64592846964e-06,1793245346401394432
+52,0.866666667,BASELINE,764.828402738,744,714,679.828402738,657.171597262,634,878,785,806,652,630,652,0.400979602605,-0.0153786603437,0.0598466504737,0.999999949359,0.000191097269411,-0.000254310335314,9.52810888518e-06,1793245346418061056
+53,0.883333333,BASELINE,764.252440975,744,714,679.252440975,657.747559025,634,878,785,806,652,630,652,0.400980927967,-0.0153791930962,0.0598470937681,0.999999949734,0.00019080822275,-0.000253025156085,1.00939447914e-05,1793245346434727680
+54,0.900000000,BASELINE,764,744,714,679.330138479,658,634,878,785,806,652,630,652,0.40098141375,-0.0153785968155,0.0598471740505,0.999999949668,0.000191796046873,-0.000252539994261,1.01306997512e-05,1793245346451394304
+55,0.916666667,BASELINE,764,744,714,679.917881643,658,634,878,785,806,652,630,652,0.400981244415,-0.0153771195583,0.0598469710772,0.999999949254,0.000193780204114,-0.000252679080334,9.75461661988e-06,1793245346468060928
+56,0.933333333,BASELINE,764,744,714,680,658,634,878,785,806,652.499911806,630,652,0.400981670628,-0.015378559497,0.0598476983835,0.999999949693,0.000192681371645,-0.000251769609299,9.9748231776e-06,1793245346484727552
+57,0.950000000,BASELINE,764.080114971,744.080114971,714,680,658,634,878.080114971,785,806.080114971,652.919885029,629.919885029,652,0.400982029082,-0.0153798763813,0.0598483213146,0.999999950066,0.000191722179766,-0.000251009837299,1.0187681812e-05,1793245346501394176
+58,0.966666667,BASELINE,764.654767566,744.654767566,714,680,658,634,878.654767566,785,806.654767566,652.345232434,629.345232434,652,0.400981372219,-0.0153775090917,0.0598473673201,0.999999949186,0.000194715759623,-0.000252225345636,9.75738417693e-06,1793245346518061056
+59,0.983333333,BASELINE,765,744.771199056,714,680,658,634,878.771199056,785,806.771199056,652,629.228800944,652,0.400980880202,-0.0153763309346,0.0598468817828,0.999999948705,0.00019629878229,-0.000252915798415,9.51460187278e-06,1793245346534727680
+60,1.000000000,BASELINE,765,744.19809739,714,680,658,634,878.19809739,785,806.19809739,652,629.80190261,652,0.400980636245,-0.015376942189,0.0598471011818,0.999999948836,0.000195759192406,-0.000252816145341,9.55399344438e-06,1793245346551394304
+61,1.016666667,BASELINE,765,744,714,679.61271091,658,633.61271091,878,785.38728909,806.38728909,652,630,652.38728909,0.400981364503,-0.0153770517685,0.0598474915955,0.999999949207,0.000194895056156,-0.000252017897806,9.45638022537e-06,1793245346568060928
+62,1.033333333,BASELINE,765,744,714,679.020834969,658,633.020834969,878,785.979165031,806.979165031,652,630,652.979165031,0.400982606336,-0.0153768963365,0.0598479723484,0.999999949703,0.000193859477158,-0.000250850615243,9.28639373159e-06,1793245346584727552
+63,1.050000000,BASELINE,765,744,714,679.559372825,658,633.559372825,878,786,806.440627175,652,630,652.440627175,0.400981399094,-0.0153768333422,0.0598477980392,0.999999949533,0.000193631527063,-0.000251702260234,9.31677331142e-06,1793245346601394432
+64,1.066666667,BASELINE,765,744,714,680,658,634,878.137986439,785.862013561,806.137986439,652,630,652,0.400980363394,-0.0153769920451,0.0598474800812,0.999999949398,0.000193219336526,-0.000252553264758,9.38475457377e-06,1793245346618061056
+65,1.083333333,BASELINE,765,744,714,680,658,634,878.712900161,785.287099839,806.712900161,652,630,652,0.40098015382,-0.0153778420623,0.0598467829465,0.99999994945,0.000192130451551,-0.000253168992607,9.5486512321e-06,1793245346634727424
+66,1.100000000,BASELINE,764.712518914,744,714,680,658,634,878.712518914,785,807,652,630,652,0.400979802854,-0.0153785906783,0.0598466142808,0.99999994949,0.000191415744522,-0.000253551420106,9.58382108772e-06,1793245346651394304
+67,1.116666667,BASELINE,764.138269995,744,714,680,658,634,878.138269995,785,807,652,630,652,0.400979310848,-0.0153792381445,0.0598469727729,0.999999949518,0.000191074287153,-0.000253701126045,9.49058350697e-06,1793245346668060928
+68,1.133333333,BASELINE,764.449259332,744.449259332,714,679.550740668,658,634,878,785,807,652,630,652,0.400980420051,-0.0153784390921,0.0598471616724,0.99999994961,0.00019216096648,-0.000252513560662,9.50838113801e-06,1793245346684727552
+69,1.150000000,BASELINE,764.959871069,745,714,679.040128931,658,634,878,785,807,652,630,652,0.400981794886,-0.0153771764439,0.0598472094727,0.999999949643,0.000193721768871,-0.000251188244987,9.53284116732e-06,1793245346701394176
+70,1.166666667,BASELINE,764.380709716,745,714,679.619290284,658,634,878,785,807,652,630,652,0.4009799165,-0.0153758488535,0.0598460844379,0.99999994865,0.000195567229795,-0.000253709507294,9.17377284146e-06,1793245346718061056
+71,1.183333333,BASELINE,764.192678774,744.807321226,714,680,658,634,878,785,806.807321226,652,630,652,0.400978928725,-0.0153758002088,0.0598456638161,0.999999948276,0.000195871667354,-0.000254948150688,9.12617072707e-06,1793245346734727936
+72,1.200000000,BASELINE,764.754992698,744.245007302,714,680,658,634,878,785,806.245007302,652,630,652,0.400979649497,-0.0153782050945,0.0598465945406,0.999999949098,0.000193219804494,-0.000253726217139,9.67608563675e-06,1793245346751394816
+73,1.216666667,BASELINE,765,744,714,680,658,634,878,785,806,652,630,652,0.400979429472,-0.0153789576779,0.0598465029807,0.999999949291,0.00019186635677,-0.000253987345677,9.78110545961e-06,1793245346768061184
+74,1.233333333,BASELINE,765,744,714,680,658,634,878,785,806,652,630,652,0.400978483013,-0.0153784344413,0.059845622067,0.999999949002,0.000191515476195,-0.000255393615818,9.54260096647e-06,1793245346784727552
+75,1.250000000,BASELINE,764.477828672,744,714,680,658,634,878,785,806,652,630,652,0.400979778369,-0.0153778931154,0.059846154698,0.999999949133,0.00019243090352,-0.000254191835106,9.4976292821e-06,1793245346801394176
+76,1.266666667,BASELINE,764.10158703,744,714,679.89841297,658,634,878,785,806,652,630,652,0.400981084678,-0.0153776329123,0.059846757852,0.999999949365,0.000193081589827,-0.000252784127347,9.50232782143e-06,1793245346818060800
+77,1.283333333,BASELINE,764.677130895,744,714,679.322869105,658,634,878,785,806,652,630,652,0.400981278849,-0.0153786936807,0.0598469565658,0.999999949858,0.000191840052042,-0.000251768940353,9.63834275931e-06,1793245346834727680
+78,1.300000000,BASELINE,765,744,714,679.252125941,658,634,878,785,806.252125941,652,630,652,0.40098169945,-0.0153788812801,0.0598474648483,0.999999950007,0.000192053755427,-0.000251011028645,9.71338601671e-06,1793245346851394304
+79,1.316666667,BASELINE,765,744,714,679.826419658,658,634,878,785,806.826419658,652,630,652,0.400982409385,-0.01537795314,0.0598483686993,0.999999949715,0.000194126973289,-0.00025058186465,9.71051934797e-06,1793245346868061184
+80,1.333333333,BASELINE,765,744,714,680,658,634,878.412083468,785,806.587916532,652,630,652,0.400982872333,-0.0153780698805,0.0598488229802,0.999999949807,0.000194234770998,-0.000250125258974,9.78794193488e-06,1793245346884727808
+81,1.350000000,BASELINE,765,744.002620022,714,679.997379978,658,634,878.997379978,785.002620022,806.002620022,652,630,652,0.400983222308,-0.0153786364725,0.0598490790198,0.999999950065,0.000193492226111,-0.000249663958461,9.89959876823e-06,1793245346901394432
+82,1.366666667,BASELINE,765,744.58158948,714,679.41841052,658,634,878.41841052,785.58158948,806.58158948,652,630,652,0.400982256154,-0.0153785941356,0.0598485657003,0.999999949884,0.000192977324168,-0.000250784821116,9.89129519251e-06,1793245346918061056
+83,1.383333333,BASELINE,765,745,714,679.159886024,658,634,878,785.840113976,806.840113976,652,630,652,0.400981685822,-0.0153783796509,0.0598483379972,0.999999949677,0.000193302008318,-0.000251365010619,9.8384336968e-06,1793245346934727936
+84,1.400000000,BASELINE,765,745,714,679.736429104,658,634,878,785.263570896,806.263570896,652,630,652,0.400982146988,-0.0153777165553,0.0598488545997,0.999999949397,0.000195814622611,-0.000250536226162,9.66945591071e-06,1793245346951394560
+85,1.416666667,BASELINE,765,744.68933478,714,680.31066522,658,634,878,785,806.31066522,652.31066522,630,652,0.400982423797,-0.0153771865718,0.0598487954133,0.99999994949,0.000195702196022,-0.000250263388454,9.40766307583e-06,1793245346968061184
+86,1.433333333,BASELINE,765,744.117041519,714,680.882958481,658,634,878,785,806.882958481,652.882958481,630,652,0.400982545349,-0.0153767686891,0.0598482513238,0.999999949896,0.0001933790799,-0.000250458743723,9.06770566157e-06,1793245346984727808
+87,1.450000000,BASELINE,764.52762504,744.47237496,714,680.52762504,658,634,878,785,807,652.52762504,630,652,0.400981696712,-0.0153775678203,0.0598479816992,0.999999949914,0.000192387446689,-0.000251141547099,9.36151763271e-06,1793245347001394176
+88,1.466666667,BASELINE,764.064114948,745,714,680,658,634,878,785,807,652,630,652,0.400980797211,-0.0153786532284,0.059847879026,0.999999949852,0.000191862280525,-0.000251769847901,9.81820817497e-06,1793245347018060800
+89,1.483333333,BASELINE,764.639285543,745,714,680,658,634,878,785,807,652,630,652,0.400981480446,-0.0153795265512,0.0598485446611,0.999999949961,0.000192326733916,-0.000250964804346,1.02744333852e-05,1793245347034727424
+90,1.500000000,BASELINE,765,745,714,680,658,634,877.785191483,785,807,652,630,652,0.400982223011,-0.0153794791559,0.0598489665939,0.999999949983,0.000193181176573,-0.000250215611943,1.03833328466e-05,1793245347051394304
+91,1.516666667,BASELINE,765,745,714,680,658,634,877.209075867,785,807,652,630,652,0.400983065372,-0.0153778831162,0.0598489786206,0.999999949858,0.000194691579627,-0.000249560361048,9.90803168904e-06,1793245347068060928
+92,1.533333333,BASELINE,765,744.622005043,714,680,658,634,877.377994957,785,807,652,630,652,0.400983530744,-0.0153778342146,0.0598490585462,0.999999950222,0.000193633824542,-0.000248929033056,9.78984886996e-06,1793245347084727808
+93,1.550000000,BASELINE,765,744.028693778,714,680,658,634,877.971306222,785,807,652,630,652,0.400983781373,-0.0153786666051,0.0598491771489,0.99999995086,0.000191113176188,-0.000248311332144,9.87509041967e-06,1793245347101394432
+94,1.566666667,BASELINE,765,744.54605898,714,680,658,634,877.45394102,785.54605898,807,652.54605898,630,652,0.400980812449,-0.0153789610982,0.0598478111627,0.999999950102,0.000191105237171,-0.000251354169736,9.79456699721e-06,1793245347118061056
+95,1.583333333,BASELINE,765,744.879606355,714,680,658,634,877.120393645,785.879606355,807,652.879606355,630,652,0.400978860646,-0.0153788931756,0.0598468537112,0.999999949508,0.000191456934339,-0.000253446232711,9.68785159922e-06,1793245347134727680
+96,1.600000000,BASELINE,765,744.303283175,714,680,658,634,877.696716825,785.303283175,807,652.303283175,630,652,0.400981380283,-0.0153775563088,0.0598477290914,0.999999949832,0.000192686988528,-0.000251233236297,9.51384960376e-06,1793245347151394304
+97,1.616666667,BASELINE,765,744.280270836,714,679.719729164,658,634,878,785,807,652,630,652,0.400982439796,-0.0153773101546,0.0598482401228,0.999999949984,0.000193460549564,-0.000250026473147,9.62429122941e-06,1793245347168060928
+98,1.633333333,BASELINE,765,744.871856563,714,679.128143437,658,634,878,785,807,652,630,652,0.400981877456,-0.0153782755252,0.0598483464484,0.99999994995,0.000193727054146,-0.000249937398298,1.00506827368e-05,1793245347184727808
+99,1.650000000,BASELINE,765,745,714,679,658.453363048,634,878,785,807,652,630,652,0.400980947201,-0.0153776946446,0.0598479511264,0.999999949526,0.000194908965587,-0.000250717900855,9.94528596681e-06,1793245347201394688
+100,1.666666667,BASELINE,764.968194562,745,714,679,658.968194562,634,878,785,807,652,630,652,0.400980070884,-0.0153767239646,0.0598474756587,0.999999949029,0.000196322795114,-0.000251605139229,9.6922080964e-06,1793245347218061312
+101,1.683333333,BASELINE,764.39447424,745,714,679,658.39447424,634,878,785,807,652,630,652,0.400981846885,-0.0153763963928,0.0598479979877,0.999999949173,0.000197375492656,-0.000250214246759,9.42822973263e-06,1793245347234727936
+102,1.700000000,BASELINE,764,745,713.820612579,679.179387421,658,634,878,785.179387421,807,652,630,652,0.400982698779,-0.0153765691982,0.0598483813288,0.999999949407,0.000197001475679,-0.000249577323168,9.36309919228e-06,1793245347251394304
+103,1.716666667,BASELINE,764,745,713.246439943,679.753560057,658,634,878,785.753560057,807,652,630,652,0.400981516951,-0.0153778432041,0.0598484587937,0.999999949834,0.000193487629722,-0.000250599689825,9.73558120321e-06,1793245347268061184
+104,1.733333333,BASELINE,764.339076963,745,713.339076963,680,658,634,878,785.660923037,806.660923037,652,630,652,0.40098196353,-0.0153787347641,0.0598487361358,0.999999950216,0.000191893823387,-0.000250287018869,1.00136583777e-05,1793245347284727808
+105,1.750000000,BASELINE,764.933124302,745,713.933124302,680,658,634,878,785.066875698,806.066875698,652,630,652,0.400983634596,-0.0153793387423,0.0598491637765,0.999999950572,0.00019174379871,-0.000248970460763,1.02207474697e-05,1793245347301394432
+106,1.766666667,BASELINE,765,745,714,680,658,634,878,785.511743845,806,652,629.488256155,652,0.400982036072,-0.0153791530195,0.0598484061205,0.999999950171,0.000191655643386,-0.000250645783842,1.01332351221e-05,1793245347318061312
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,785,807,652,631,653,0.400977953263,-0.0153782556996,0.0598460753302,0.99999994887,0.000193188395275,-0.000254636892156,9.87607817822e-06,1793245347361039616
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.415991111,714,680,658,634,878,785,807,652.584008889,630.415991111,652.415991111,0.400979398064,-0.0153788760129,0.0598470122988,0.999999949276,0.000193032201452,-0.000253158174926,9.90387663484e-06,1793245347377706240
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.167524362,714,680,658,634,878.335048725,785,807,652.832475638,630,652,0.400980523223,-0.0153791484643,0.0598476447287,0.999999949496,0.000193399097898,-0.000252003856984,9.91233049822e-06,1793245347394372608
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.749818324,714,680,658,634,879.499636649,785,807,652.250181676,630,652,0.40098085699,-0.0153785596534,0.0598475231588,0.999999949262,0.000195061101109,-0.000251652711245,9.8728895474e-06,1793245347411039232
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.670257694,714,680,658.329742306,634,879.340515388,785,807,652,630,652,0.400979823919,-0.0153786696156,0.0598466642102,0.999999949227,0.000194023305084,-0.000252597373725,9.7355382116e-06,1793245347427706112
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.092119064,714,680,658.907880936,634,878.184238127,785,807,652,630,652,0.400977761201,-0.0153793059669,0.059845249791,0.999999949334,0.00019095173836,-0.000254518174235,9.52443055595e-06,1793245347444372480
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.518737557,744.481262443,714.481262443,680,658.518737557,634,878.481262443,785,806.518737557,652,630,652,0.400978583032,-0.0153781324955,0.059846230641,0.999999949258,0.000192556271847,-0.000253611051865,9.39690515796e-06,1793245347461039872
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.055505324,744.944494676,714.944494676,680,658,634,878.944494676,785,806.055505324,652,630,652.055505324,0.400979956197,-0.0153768072831,0.0598475783953,0.999999949136,0.000194906667298,-0.000252295578945,9.34021344563e-06,1793245347477707264
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.646765545,744.353234455,714.353234455,680,658,634,878.353234455,785,806.646765545,652,630,652.646765545,0.400981373798,-0.0153773284511,0.0598480855324,0.999999948958,0.000195901533892,-0.000252212201262,9.81431887765e-06,1793245347494373376
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.233198633,714,680,658,634.233198633,878.233198633,785,807,652,630,652.766801367,0.400987348334,-0.0153778685941,0.0598506395821,0.999999949889,0.000195663020238,-0.000248663293918,1.01985662849e-05,1793245347511039488
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.812468122,714,680,658,634.812468122,878.812468122,785,807,652,630,652.187531878,0.401000085442,-0.0153784368961,0.059856231286,0.999999952413,0.000193594148606,-0.000239971479876,1.0449462767e-05,1793245347527706368
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.610623312,714,680,658,634.610623312,878.610623312,785,806.610623312,652,630,652,0.401031566676,-0.0153798601845,0.0598686478421,0.999999957757,0.000192550663612,-0.000217440552317,1.14358525339e-05,1793245347544372992
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.034844911,714,680,658,634.034844911,878.034844911,785,806.034844911,652,630,652,0.401072021067,-0.0153816927706,0.0598843315797,0.999999963761,0.000191998049562,-0.00018828458813,1.27743363468e-05,1793245347561039872
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.460023425,744.539976575,714,679.460023425,658,633.460023425,878,785,806,652,629.460023425,651.460023425,0.401132704981,-0.0153867968299,0.0599018041374,0.999999968517,0.000190540381762,-0.000162634921756,1.45180005251e-05,1793245347577706752
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.234807369,658,633.117403685,878,785,806.117403685,652,629.117403685,651.117403685,0.401197878059,-0.0153915926886,0.059918423703,0.99999997233,0.000189510705177,-0.000138445316452,1.6105438217e-05,1793245347594373376
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680.411050163,658,633.705525082,878,785,806.705525082,652,629.705525082,651.705525082,0.401275825301,-0.0153943079271,0.0599311612929,0.999999974619,0.000190430762635,-0.000119204092734,1.6961856806e-05,1793245347611039744
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.279756363,744.720243637,714,680.720243637,658,634,878,785,806.720243637,652,630,652,0.401360677339,-0.0153977009303,0.0599403383264,0.999999976438,0.000190267134993,-0.000103070066,1.73159813847e-05,1793245347627706112
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.840058307,744.159941693,714,680.159941693,658,634,878,785,806.159941693,652,630,652,0.401452453646,-0.0154017736099,0.0599459447582,0.999999977934,0.000189016765047,-9.00520031144e-05,1.71663948862e-05,1793245347644372736
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806.426023834,652,630,652,0.401557766128,-0.0154072365722,0.0599455891909,0.999999978553,0.000186012604911,-8.96436897586e-05,1.60343389497e-05,1793245347661041408
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,807,652,630,652,0.401669447442,-0.0154133138813,0.0599428511757,0.999999978844,0.00018233155014,-9.41127730014e-05,1.45073753428e-05,1793245347677710848
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,807,652,630,652,0.401805933859,-0.015420912122,0.0599400960634,0.999999979389,0.000179262997557,-9.44495613866e-05,1.29180477216e-05,1793245347694374912
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,679.662702602,658,634,878.168648699,785,807,652,630,652,0.401949700835,-0.0154285346632,0.0599381713457,0.999999980152,0.000175515788357,-9.36186723749e-05,1.1247836552e-05,1793245347711040256
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,678.462340246,658,634,878.768829877,785,807,652,630,652,0.402112097034,-0.0154362193821,0.0599383714139,0.999999981469,0.000170032056463,-8.97999706279e-05,9.37066358981e-06,1793245347727707392
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.645999834,744.354000166,714,678.708000332,658,634,878.645999834,785,807,652,630,652,0.402309118331,-0.0154462735288,0.0599400291106,0.999999983232,0.000163508494285,-8.20859658199e-05,7.91652215023e-06,1793245347744374016
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.070233189,744.929766811,714,679.859533623,658,634,878.070233189,785,807,652,630,652,0.402527830838,-0.0154578120249,0.0599425999514,0.99999998517,0.00015633352084,-7.19317141802e-05,6.7273922999e-06,1793245347761039872
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.504362462,745,714,680,658,634,878,785,806.495637538,652,630,652,0.402770769284,-0.015468090745,0.0599463686764,0.999999986841,0.000150158145114,-6.11968035398e-05,5.07178179989e-06,1793245347777706240
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.918834024,744.918834024,714,680,658,634,878,785,806.081165976,652,630,652,0.403020526581,-0.0154779886495,0.059949208172,0.999999988171,0.000144470064103,-5.26863600854e-05,3.16595870433e-06,1793245347794372864
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.327119072,744.327119072,714,680,658,634,878,785,806.672880928,652,630,652,0.403292005049,-0.0154865920606,0.0599451558289,0.999999988342,0.000140973617631,-5.86756522928e-05,9.39033736088e-08,1793245347811039488
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878.258962769,785,806.741037231,652,630,652,0.403577292758,-0.0154913220394,0.0599371807407,0.999999987505,0.000141357237922,-7.06947735617e-05,-3.20860774604e-06,1793245347827706368
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878.838080378,785,806.161919622,652,630,652,0.403879652772,-0.0154912633057,0.0599243559757,0.999999985175,0.000146537772471,-9.01685527615e-05,-6.79603043256e-06,1793245347844372992
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.413469223,744.413469223,714,680,658.413469223,634,878.586530777,785,806.413469223,652,630,652,0.40420454517,-0.0154797381698,0.0599118388616,0.999999988826,9.72829082791e-05,-0.000112817640056,-1.2511552492e-05,1793245347861039872
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.987410877,744.987410877,714,680,658.987410877,634,878.012589123,785,806.987410877,652,630,652,0.404538182655,-0.0154637627838,0.0598994411508,0.999999990113,2.69010037454e-05,-0.000136699102027,-1.90530156373e-05,1793245347877707008
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.42429602,658.42429602,634,878,785,807,652,630,652,0.404939640917,-0.0154704761678,0.0598978868192,0.999999989247,3.47283816167e-05,-0.000140774610869,-2.19539851235e-05,1793245347894373376
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.323490302,658,634,878,785,807,652,630,652,0.405360827155,-0.0154786808075,0.0599023100927,0.999999989756,4.0796766258e-05,-0.000134993285675,-2.44986430236e-05,1793245347911039488
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680.482280676,658,634,878,785,807,652,630,652,0.405829026509,-0.0154894222213,0.0599215405099,0.999999993436,3.77941982496e-05,-0.000104907077976,-2.63340658634e-05,1793245347927706112
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.681238222,714,680.681238222,658,634,878.318761778,785.318761778,807,652,630,652,0.40633017968,-0.0154972401485,0.059946757421,0.999999997202,3.03895375409e-05,-6.27087296285e-05,-2.71969353776e-05,1793245347944372736
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.105049172,714,680.105049172,658,634,878.894950828,785.894950828,807,652,630,652,0.406857945913,-0.0155026971123,0.0599768089376,0.999999999382,1.94298118357e-05,-1.07287931914e-05,-2.72743854387e-05,1793245347961039360
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.470285174,714,680,658.470285174,634,879,785.529714826,807,652,630,652,0.407383972609,-0.0155020584612,0.0599893912703,0.999999999525,-6.17286369988e-06,3.97422692256e-06,-2.99395007388e-05,1793245347977707008
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.95341355,744.95341355,714,680,658.95341355,634,878.95341355,785.04658645,807,652,630,652,0.407911713853,-0.0155002350742,0.0599962703151,0.999999998882,-3.27610293171e-05,7.00456342103e-06,-3.33823394763e-05,1793245347994374400
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.363615028,744.363615028,714,680,658.363615028,634,878.363615028,785.636384972,807,652,630,652,0.408463970224,-0.0155004451465,0.0599820650127,0.999999998271,-3.27704813498e-05,-2.9156765643e-05,-3.91660632095e-05,1793245348011041280
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.444842541,744,714,680,658,634,878.22242127,785.77757873,807,652,630,652,0.409040772278,-0.0155017378401,0.0599729217779,0.999999996863,-3.78461316777e-05,-5.33480202393e-05,-4.46626638472e-05,1793245348027707648
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.604818685,744,714,680,658,634,878.802409342,785.197590658,807,652,630,652,0.409657034198,-0.0155047709674,0.0599719163778,0.999999995762,-5.10662563698e-05,-5.82960535692e-05,-4.96976820554e-05,1793245348044373760
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.621567788,744,714,680,658,634,879,785,807,652,630,652,0.410314225049,-0.0155088586559,0.0599785845251,0.999999995112,-7.28867988624e-05,-3.92611992911e-05,-5.40500965309e-05,1793245348061040128
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.047593817,744,714,680,658,634,879,785,807,652,630,652,0.410992564492,-0.0155134912524,0.0599892177129,0.999999993369,-9.91513093198e-05,-7.834017036e-06,-5.80497989066e-05,1793245348077706496
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.505178297,634,878.494821703,785,807,652,630,652,0.411672892476,-0.0155143263317,0.0599850652223,0.999999992938,-0.000101145039949,-1.80575139046e-05,-5.97356832735e-05,1793245348094372864
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.063125017,714,680,659,634,878.063125017,785,807,652,630,652,0.412352456787,-0.0155135282469,0.0599758433419,0.999999993532,-8.93365072976e-05,-3.89055717783e-05,-5.86653938879e-05,1793245348111039488
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.683696284,714,680,659,634,878.683696284,785,807,652,630,652,0.413023689072,-0.0155013401289,0.0599336603039,0.999999991833,2.49782397977e-05,-0.000120320954235,-3.51032913253e-05,1793245348127706368
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.71817045,714,680,659,633.71817045,879,785,807,652,630.28182955,652.28182955,0.413744153234,-0.0154944622016,0.059912903278,0.999999984468,7.34541529546e-05,-0.000158014864786,-2.64482829982e-05,1793245348144372992
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.143362714,714,680,659,633.143362714,879,785,807,652,630.856637286,652.856637286,0.414515796876,-0.0154931045247,0.0599144198312,0.999999986727,5.34867885332e-05,-0.000150257777679,-3.3290062633e-05,1793245348161039872
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.428869325,879,785,807,652,630.571130675,652.571130675,0.415355288109,-0.0155029298776,0.059957437377,0.999999996416,2.7653719021e-05,-7.21668427724e-05,-3.4557593817e-05,1793245348177706496
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,713.999754499,680,659,633.999754499,879,785,807,652,630,652.000245501,0.416217299889,-0.0155164662849,0.0600142217208,0.999999998995,-1.16921405484e-07,2.92500880305e-05,-3.3973240895e-05,1793245348194372864
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,713.428290185,680,659,633.428290185,879,785,807,652,630,652.571709815,0.417023145436,-0.0155186064275,0.0600166615021,0.99999999907,-1.09841115284e-06,2.62376740477e-05,-3.4215815125e-05,1793245348211039488
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,713.151048406,680,659,633,879,785,807.151048406,651.848951594,630,653,0.417846117962,-0.0155193786081,0.0600140309083,0.999999999196,-3.22528816281e-06,1.82376823329e-05,-3.55550848865e-05,1793245348227706112
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,713.75394202,680,659,633,879,785,807.75394202,651.24605798,630,653,0.418720323976,-0.0155160586761,0.0599962328277,0.999999999143,-8.77846905471e-06,-4.68211650812e-06,-4.01750024384e-05,1793245348244372736
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,680.339973596,659.339973596,633.339973596,879.339973596,785,808,651,630,652.660026404,0.419565606633,-0.0155154143702,0.0599693223112,0.99999999791,-1.29261868086e-05,-4.51940007987e-05,-4.43781481521e-05,1793245348261039104
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,680.914377835,659.914377835,633.914377835,879.914377835,785,808,651,630,652.085622165,0.420390944998,-0.0155166150571,0.0599361282656,0.999999993918,-1.61047595474e-05,-9.78366023809e-05,-4.82939062982e-05,1793245348277705984
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.490720649,744,714,680.509279351,659.509279351,634,879.509279351,785,808,651.490720649,630,652.490720649,0.421213468524,-0.015515916424,0.0599000002246,0.999999984783,-1.58252601192e-05,-0.000165987843858,-5.12978006901e-05,1793245348294372864
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.931247878,744,714,680.068752122,659,633.931247878,879.068752122,785,808,652,630,653,0.422049696096,-0.0155153061391,0.0598715142569,0.999999974049,-1.51246182956e-05,-0.000220877501741,-5.37259221752e-05,1793245348311039488
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.343023506,744,714,680.656976494,659,633.343023506,879.656976494,785,808,652,630,653,0.4229931929,-0.0155178772743,0.0599046530777,0.999999986451,-1.58189438676e-05,-0.000155039441125,-5.30105770662e-05,1793245348327706112
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.242459545,744,714,681,659,633.242459545,880,785,808,652,630.242459545,653,0.423965114226,-0.015522259396,0.0599499262793,0.999999995558,-1.91709965191e-05,-7.71712336632e-05,-5.06053621655e-05,1793245348344372736
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.824107713,744,714,681,659,633.824107713,880,785,808,652,630.824107713,653,0.424976800153,-0.0155291749967,0.0600121748695,0.999999998452,-2.62410747985e-05,1.75265493142e-05,-4.58361048414e-05,1793245348361039360
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.600508454,744,714,680.600508454,659.399491546,633.600508454,879.600508454,785.399491546,808,652,631,652.600508454,0.425931876547,-0.0155328109157,0.0600334897197,0.999999996743,-3.35651170847e-05,5.8135932144e-05,-4.48057977796e-05,1793245348377705728
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.0278402,744,714,680.0278402,659.9721598,633.0278402,879.0278402,785.9721598,808,652,631,652.0278402,0.426862413056,-0.0155350251159,0.0600370600846,0.999999995294,-4.0999250579e-05,7.52983775041e-05,-4.5396299113e-05,1793245348394372608
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,680.561777845,659.438222155,633,879,786,808,652,631,652.561777845,0.427748490572,-0.0155356229882,0.060011540032,0.999999997262,-4.08105789621e-05,3.79601450796e-05,-4.86714747604e-05,1793245348411039232
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744,713.850583804,681,659.149416196,633.149416196,879.149416196,785.850583804,808.149416196,652,631,653,0.42862571899,-0.0155348473984,0.0599816862004,0.999999997795,-4.05100370348e-05,-9.0300431788e-06,-5.18420274609e-05,1793245348427706112
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744,713.271135955,681,659.728864045,633.728864045,879.728864045,785.271135955,808.728864045,652,631,653,0.429484017412,-0.0155303565841,0.0599436376549,0.999999994812,-4.1008587664e-05,-7.57840644933e-05,-5.43166395487e-05,1793245348444372480
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.306402451,713.306402451,681,660,634,880,785.306402451,808.693597549,652,630.693597549,653,0.430396308634,-0.0155279044806,0.0599280166843,0.999999992755,-4.04635542285e-05,-9.82344839014e-05,-5.65900128765e-05,1793245348461039104
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.882261621,713.882261621,681,660,634,880,785.882261621,808.117738379,652,630.117738379,653,0.431356082207,-0.0155272452622,0.0599321189937,0.999999994178,-3.90007712333e-05,-8.17233863353e-05,-5.86864126471e-05,1793245348477705984
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.543463744,714,681,660,634,880,785.543463744,808.456536256,652,630,652.543463744,0.432317847839,-0.0155324395691,0.059971489516,0.999999997065,-4.85530789259e-05,-1.79646955587e-05,-5.64803102627e-05,1793245348494372608
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.968668403,880,785,809,652,630,652.031331597,0.433275228467,-0.0155388533501,0.0600168678229,0.999999995378,-5.99207754218e-05,5.29809986813e-05,-5.33581498756e-05,1793245348511039232
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.377287031,880,785,809,652,630,652.622712969,0.434145074865,-0.0155401745757,0.0600076158622,0.999999996526,-5.31360929932e-05,3.53426775424e-05,-5.36268281951e-05,1793245348527705856
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,880,785.209371736,809,652,630.209371736,653,0.435010468734,-0.0155408764469,0.0599898837949,0.99999999712,-5.19166434347e-05,2.80005959498e-06,-5.52877995963e-05,1793245348544372736
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,880,785.787708208,809,652,630.787708208,653,0.435868016293,-0.0155404868627,0.0599572076831,0.999999994837,-6.05045081422e-05,-5.60076151304e-05,-5.94023353842e-05,1793245348561039360
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,880,786,809,652,631,653,0.436707296963,-0.0155361440686,0.0599324964161,0.999999991067,-6.04169022673e-05,-0.000101593627022,-6.2399777715e-05,1793245348577705728
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,880,786,809,652,631,653,0.437535983492,-0.0155295085658,0.0599124044529,0.999999986643,-5.52978584847e-05,-0.000139511582291,-6.47493488091e-05,1793245348594372608
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.524074009,714,681,660,633,880,786,809,652,631,653,0.438340772724,-0.0155273476995,0.0599017642666,0.999999983153,-5.70619626771e-05,-0.000161378904222,-6.62871165629e-05,1793245348611039232
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.887960149,714,681.112039851,660,633,880,786,809,652,631,653,0.439159175586,-0.0155280739467,0.0599052657766,0.999999983311,-6.18575852981e-05,-0.000158518563438,-6.65086008289e-05,1793245348627705856
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.308769728,714,681.691230272,660,633,880,786,809,652,631,653,0.440046888124,-0.0155384885516,0.059962768349,0.999999993375,-7.56790384473e-05,-6.09837572988e-05,-6.16680849463e-05,1793245348644372480
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.269127252,714,682,660,633,880,785.730872748,809.269127252,652,630.730872748,652.730872748,0.440875126555,-0.0155469866452,0.059993295425,0.999999994713,-8.35388495334e-05,-1.45910629793e-05,-5.8150412179e-05,1793245348661039104
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.845547323,714,682,660,633,880,785.154452677,809.845547323,652,630.154452677,652.154452677,0.441635456655,-0.0155532964419,0.0599930215422,0.999999994493,-8.4591583806e-05,-2.6593070501e-05,-5.61431788581e-05,1793245348677705984
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,632.579274572,880,785,809.579274572,652,630,652,0.442339999768,-0.0155592702027,0.0599443992668,0.999999988859,-9.41414395176e-05,-9.83143041636e-05,-6.12721406625e-05,1793245348694372608
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,632.004551017,880,785,809.004551017,652,630,652,0.443024123233,-0.0155651209648,0.0598780800293,0.999999973504,-0.000106801495934,-0.000191894566298,-6.90131633183e-05,1793245348711039232
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.414763119,714,682,659.414763119,632.585236881,880,785,809.585236881,652,630.585236881,652.585236881,0.443671730834,-0.01557129022,0.0598428568963,0.99999995824,-0.00013538604182,-0.000244754537164,-7.26993289819e-05,1793245348727706112
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744,714,682,659,633,880.17204231,784.82795769,810,652,630.82795769,653,0.444315982915,-0.0155782423673,0.059816421302,0.999999943674,-0.000155204579389,-0.00028785942648,-7.55074493423e-05,1793245348744372992
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744,714,682,659,633,880.751500286,784.248499714,810,652,630.248499714,653,0.444952979094,-0.015587042473,0.0598102078126,0.999999937609,-0.000153963221036,-0.000308632880031,-7.63129046156e-05,1793245348761039616
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.327725199,714,682,658.672274801,632.672274801,880.672274801,784,810,652,630,653,0.445554923032,-0.0155929913162,0.0597897188379,0.999999922086,-0.000168604009338,-0.000348099304144,-7.89198454357e-05,1793245348777706240
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.901522533,714,682,658.098477467,632.098477467,880.098477467,784,810,652,630,653,0.446130547993,-0.0155967992912,0.05975851113,0.999999896878,-0.000195169891148,-0.000401601324298,-8.2879429618e-05,1793245348794373376
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681.524455703,658,632,880,783.524455703,810,652,630,653,0.44672170612,-0.0156098472408,0.0597476912595,0.999999889689,-0.000213212650172,-0.000410146200277,-8.33192609031e-05,1793245348811040000
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.05126023,658,631.94873977,880,783,810,652,630,652.94873977,0.447312467604,-0.0156261258835,0.0597430495201,0.99999988707,-0.000230161549763,-0.000407522755866,-8.25277959621e-05,1793245348827706112
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.6443938,658,631.3556062,880,783,810,652,630,652.3556062,0.447865016704,-0.0156563196105,0.0597590651444,0.999999890539,-0.000254213902164,-0.000385300270811,-7.64289487566e-05,1793245348844372736
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,880,783,810,652,630,652.230437666,0.4483798119,-0.0156812672787,0.0597601007539,0.999999882438,-0.000283759062437,-0.00038629682295,-7.33513692182e-05,1793245348861039616
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,880,783,810,652,630,652.805867367,0.448838085053,-0.015698360983,0.0597387095346,0.999999856447,-0.000321527593702,-0.000422054980692,-7.47969798801e-05,1793245348877706240
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,879.611366681,782.611366681,810,652,629.611366681,653,0.449267060065,-0.0157024001193,0.0597056707569,0.999999829697,-0.000332122476988,-0.000473545310206,-7.78130926715e-05,1793245348894372864
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,879.024865514,782.024865514,810,652,629.024865514,653,0.449681118332,-0.0156997926855,0.059666701767,0.999999800518,-0.000328882236234,-0.000533045482647,-8.16288071683e-05,1793245348911039488
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,682.540218011,657.459781989,630.459781989,879.540218011,782,809.459781989,652,629.540218011,653,0.450092361514,-0.0156994240131,0.0596549739069,0.999999801585,-0.000310293029757,-0.000542491721294,-7.9058553901e-05,1793245348927706112
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,630,880,781.88994293,809.11005707,652,629.88994293,653,0.45049891729,-0.0157002346386,0.0596497988279,0.999999808642,-0.000288663886012,-0.000542208953666,-7.34690948511e-05,1793245348944372736
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657,630,880,781.294972814,809.705027186,652,629.294972814,653,0.450885369553,-0.0157058045537,0.0596681814891,0.99999983606,-0.000256634838731,-0.000508824026285,-5.58226760233e-05,1793245348961039360
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.709705296,745,714,683,657,630,879.709705296,780.709705296,810,652,629,653,0.451247877204,-0.0157125775923,0.0596834785249,0.999999850625,-0.00024912451322,-0.000484220063795,-4.70966779979e-05,1793245348977705984
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.133977906,745,714,683,657,630,879.133977906,780.133977906,810,652,629,653,0.451586841255,-0.0157205336035,0.0596957416139,0.999999853956,-0.000265722258495,-0.000468250000399,-4.7141697715e-05,1793245348994372608
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.444256032,745,714,683,657,629.555743968,879.444256032,780,810,652,629,652.555743968,0.451898950487,-0.0157269556595,0.0597025278846,0.999999857614,-0.000276772115936,-0.000453696667982,-4.8252894595e-05,1793245349011039232
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,683,657,629.023562723,880,780,810,652,629,652.023562723,0.452200024736,-0.01573275491,0.0597069924246,0.999999860623,-0.000286101160291,-0.000440939557188,-4.97168937546e-05,1793245349027706112
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,629.610340279,880,780,810,652,629,652.610340279,0.452432015234,-0.0157347877222,0.0596956651045,0.999999849094,-0.000294517173024,-0.000460846615839,-5.18846424355e-05,1793245349044372992
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,682.804167306,657,629.804167306,880,780,810,652,629,653,0.452654885964,-0.0157367478683,0.0596857725509,0.999999837068,-0.000307524425025,-0.000477897328277,-5.39217349851e-05,1793245349061039616
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,682.22121541,657,629.22121541,880,780,810,652,629,653,0.452859728845,-0.0157385643689,0.0596787162243,0.99999982442,-0.000329607570709,-0.000489301655134,-5.57005481685e-05,1793245349077705984
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,682.354960046,657,629,880,779.645039954,809.645039954,652,628.645039954,653,0.453044028079,-0.0157402818191,0.0596750480671,0.999999817633,-0.000338438646497,-0.000496964160303,-5.67370087665e-05,1793245349094372608
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,682.926991511,657,629,880,779.073008489,809.073008489,652,628.073008489,653,0.45321576412,-0.0157419386962,0.0596734519024,0.999999814669,-0.000339165585348,-0.000502338401999,-5.73194930241e-05,1793245349111039232
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764.91778694,745,714,682.08221306,657,629,880,779,809.08221306,652,628,652.08221306,0.453513012917,-0.0157461611726,0.0596725061628,0.999999811783,-0.000338217580452,-0.000508521271793,-5.87211545282e-05,1793245349144372736
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.325538503,745,714,682.674461497,657,629,880,779,809.674461497,652,628,652.674461497,0.453638602513,-0.0157502682645,0.0596740991077,0.999999811923,-0.000341477495861,-0.00050606368724,-5.87029085033e-05,1793245349161039360
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745,714,683,656.74040201,628.74040201,880,779,809.74040201,652,628,653,0.453753249175,-0.0157545136927,0.0596768626407,0.999999812859,-0.000346526493937,-0.00050079389339,-5.83712050395e-05,1793245349177706240
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764.411184542,745,714,683,656.411184542,628,880,779,809.411184542,652,628,653,0.453939249877,-0.0157605968143,0.0596838628418,0.999999816811,-0.000356216375276,-0.000485991334026,-5.74438967315e-05,1793245349211039744
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+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714.635771559,683,656.635771559,628.364228441,880.635771559,778.364228441,810,652,628,653,0.454253097901,-0.0157598031592,0.0596757524268,0.99999980932,-0.000359472886361,-0.000498897282956,-5.69290073985e-05,1793245349361039616
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.776825969,683,657,628.223174031,880.776825969,778.223174031,810,652,628,653,0.454259666932,-0.0157582220021,0.059674230606,0.999999808359,-0.000359064570966,-0.000501103826713,-5.7011613594e-05,1793245349377706240
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.197276952,683,657,628.802723048,880.197276952,778.802723048,810,652,628,653,0.454264015815,-0.0157554311992,0.0596723664955,0.999999808498,-0.000356305488411,-0.000502717905078,-5.76648869341e-05,1793245349394372608
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,682.620944312,657,628.620944312,880,779,810,652,628,653,0.454268152911,-0.0157545328739,0.0596723542714,0.999999809293,-0.000355300082515,-0.000501844732649,-5.76878379945e-05,1793245349411039232
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,682.046271547,657,628.046271547,880,779,810,652,628,653,0.45427218071,-0.0157546111887,0.0596732977396,0.999999810426,-0.000355199686474,-0.000499687979038,-5.73855022617e-05,1793245349427705856
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,682.523029592,657,628,880,778.476970408,810,652,628,653,0.454271200025,-0.0157531469205,0.0596720612981,0.9999998088,-0.000356025827451,-0.000502299249369,-5.78100046425e-05,1793245349444372480
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657,628,880,778,810,652,628,652.903338227,0.454270317211,-0.0157519994858,0.0596708004363,0.999999807289,-0.000356771293855,-0.00050473618711,-5.81254373081e-05,1793245349461039360
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,683,657,628,880,778,810,652,628,652.304775575,0.454272219868,-0.0157531985541,0.0596704039554,0.999999807677,-0.000356676584908,-0.000504099966759,-5.75440581633e-05,1793245349477706240
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,683,656.71695986,628,880,778,810,652,628,652.28304014,0.45427393659,-0.0157532990266,0.0596704081966,0.999999808048,-0.000356256840914,-0.000503695398246,-5.72349171785e-05,1793245349494372864
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,683,656.14029298,628,880,778,810,652,628,652.85970702,0.454275460421,-0.0157522598126,0.0596708281482,0.999999808402,-0.000355499904519,-0.000503531146007,-5.72081968545e-05,1793245349511039488
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682.582448129,656.417551871,628,880.417551871,778,810,652,627.582448129,653,0.454275061595,-0.0157517401144,0.0596708156529,0.999999807933,-0.000355735460213,-0.00050426855631,-5.74409322668e-05,1793245349527706368
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682.030654541,656.969345459,628,880.969345459,778,810,652,627.030654541,653,0.45427404464,-0.0157513874392,0.0596706641271,0.999999807199,-0.000356290099287,-0.000505295848519,-5.77570819491e-05,1793245349544372992
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682.582358534,656.417641466,628,880.417641466,778.582358534,810,652,627.582358534,653,0.454274700734,-0.0157515069519,0.0596702626046,0.999999806735,-0.000357823248486,-0.000505133513078,-5.77337225336e-05,1793245349561039616
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628,880,778.813111605,809.813111605,652,628,653,0.454275461403,-0.0157513874261,0.0596700911781,0.999999806818,-0.000358197844893,-0.000504722433307,-5.75606911075e-05,1793245349577706240
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628,880,778.233946543,809.233946543,652,628,653,0.454276235006,-0.0157507078618,0.0596704335868,0.999999808018,-0.000356019837933,-0.000503936121872,-5.71154180077e-05,1793245349594372864
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628,880,778.343138028,809.343138028,652,628,653,0.45427564517,-0.0157507411309,0.059669598863,0.999999807799,-0.000354651885772,-0.000505387985873,-5.66301184871e-05,1793245349611039488
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628,880,778.918812675,809.918812675,652,628,653,0.454274131362,-0.0157512574706,0.059667966424,0.999999806613,-0.000353832888898,-0.000508356609068,-5.61176940148e-05,1793245349627706368
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628,880,778.505668875,810,652,628,653,0.454274990725,-0.0157505268556,0.0596685195956,0.999999807135,-0.000353640291784,-0.000507423912147,-5.64700808214e-05,1793245349644372736
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,744.928396031,714,683,656.071603969,628,880,778,810,652,627.928396031,653,0.454275999015,-0.0157499037947,0.0596691440301,0.999999807603,-0.000353891123225,-0.000506278211576,-5.69040830015e-05,1793245349661039360
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,744.338232341,714,683,656.661767659,628,880,778,810,652,627.338232341,653,0.454275264055,-0.0157515423198,0.0596676857857,0.999999805648,-0.000356608476254,-0.000508228735524,-5.6900856621e-05,1793245349677705984
+247,4.116666667,HOLD_POSE2,765,745,714,682,656,628,880,778,810,652,628,653,0.454273428934,-0.0157493926498,0.0596668947876,0.999999806976,-0.000350962187781,-0.000509591125806,-5.64883058574e-05,1793245349716165632
+248,4.133333333,HOLD_POSE2,765,745,714,682.576011143,656.576011143,628,880,778,809.423988857,652,628,653,0.454275163292,-0.015747903332,0.0596672864162,0.999999807163,-0.000351670088696,-0.000508717157662,-5.66392855412e-05,1793245349732832256
+249,4.150000000,HOLD_POSE2,765,745,714,682.848006855,657,628,880,778,809.151993145,652,628,652.848006855,0.454276498346,-0.0157473893225,0.0596676500871,0.999999807178,-0.000352701295435,-0.000507980579984,-5.65848308895e-05,1793245349749498880
+250,4.166666667,HOLD_POSE2,765,745,714,682.272105997,657,628,880,778,809.727894003,652,628,652.272105997,0.454276719742,-0.0157495954403,0.0596679357844,0.999999806709,-0.000354634199792,-0.000507627183062,-5.59574214898e-05,1793245349766165760
+251,4.183333333,HOLD_POSE2,765,745,714,682.312687261,656.687312739,628,880,778,809.687312739,652.312687261,628,652.312687261,0.454276417309,-0.0157496556356,0.0596676514954,0.999999806271,-0.000354699067577,-0.000508438211181,-5.601115667e-05,1793245349782832128
+252,4.200000000,HOLD_POSE2,765,745,714,682.905445318,656.094554682,628,880,778,809.094554682,652.905445318,628,652.905445318,0.454275645687,-0.0157477937499,0.0596668566757,0.999999805858,-0.000353090753913,-0.000510292202969,-5.66749861505e-05,1793245349799498496
+253,4.216666667,HOLD_POSE2,765.485086627,744.514913373,714,682.514913373,656,627.514913373,880,778,809.485086627,652.514913373,628,653,0.454275934488,-0.0157497509003,0.0596669321872,0.999999805603,-0.000354813322512,-0.000509644549807,-5.62538040582e-05,1793245349816164864
+254,4.233333333,HOLD_POSE2,765.938222954,744.061777046,714,682,656,627.061777046,880,778,810,652,627.938222954,652.938222954,0.454276325957,-0.0157520852447,0.0596671644137,0.999999805409,-0.00035679392503,-0.000508704636272,-5.56685164214e-05,1793245349832831488
+255,4.250000000,HOLD_POSE2,765.365350164,744.634649836,714,682,656,627.634649836,880,778,810,652,627.365350164,652.365350164,0.454275901755,-0.0157515435983,0.0596673265955,0.99999980553,-0.000355679192217,-0.000509274836798,-5.54292173229e-05,1793245349849498112
+256,4.266666667,HOLD_POSE2,765,745,714,682,656,628,880,778,809.785582827,652.214417173,627,652,0.454276477086,-0.0157506982028,0.0596679593273,0.999999806249,-0.000354670572795,-0.000508567002998,-5.54188214309e-05,1793245349866164736
+257,4.283333333,HOLD_POSE2,765,745,714,682,656,628,880,778,809.193677485,652.806322515,627,652,0.454278812128,-0.0157493180473,0.0596694204772,0.999999808018,-0.000353848769448,-0.000505609149557,-5.58114168496e-05,1793245349882831616
+258,4.300000000,HOLD_POSE2,765,745,714,682,656,628,879.611053942,778,809,652.611053942,627.388946058,652,0.454278822231,-0.0157486910588,0.0596692741125,0.999999808073,-0.000353843182673,-0.000505486659662,-5.59699332502e-05,1793245349899498496
+259,4.316666667,HOLD_POSE2,765,745,714,682,656,628,879.032944535,778,809,652.032944535,627.967055465,652,0.454277701603,-0.0157484303719,0.0596683459356,0.999999807296,-0.000354234561567,-0.000506743144432,-5.60146056967e-05,1793245349916165632
+260,4.333333333,HOLD_POSE2,765,745,714,682.542469572,656.542469572,628,879.542469572,778,809.542469572,652,628,652.542469572,0.454278505344,-0.0157478306607,0.0596691459588,0.9999998082,-0.000351762581547,-0.000506712980296,-5.5725768426e-05,1793245349932832256
+261,4.350000000,HOLD_POSE2,765,745,714,683,656.882192047,628,880.117807953,778,810,652,628,653,0.454279331737,-0.0157472990238,0.0596697248812,0.999999808887,-0.00034986805222,-0.000506692358495,-5.55032937851e-05,1793245349949498880
+262,4.366666667,HOLD_POSE2,765,745,714,683,656.306514775,628,880.693485225,778,810,652,628,653,0.454279794197,-0.0157471115885,0.059669038582,0.999999808361,-0.000350890336148,-0.000507011015351,-5.56170728294e-05,1793245349966165248
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628,880,778,810,652,628,653,0.454278509299,-0.0157490321741,0.0596685904518,0.999999808323,-0.000350058140283,-0.000507787027643,-5.44519497041e-05,1793245350003350016
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.418915776,628,880,778,810,652,628,653,0.454278506717,-0.0157498002341,0.0596682060851,0.9999998075,-0.000351919000897,-0.000508076827758,-5.48754454567e-05,1793245350020016640
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880,778,810,652,628,653,0.454278130627,-0.0157495639844,0.0596676202258,0.999999806886,-0.000352598302872,-0.000508768665713,-5.5297002477e-05,1793245350036683520
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880,778,810,652,628,653,0.454276789684,-0.015746733387,0.0596665138674,0.999999806814,-0.000350225385716,-0.000510499053752,-5.57135514269e-05,1793245350053350912
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880.315548453,778,810,652,627.684451547,653,0.454277110372,-0.0157458877048,0.0596664983925,0.999999807196,-0.000349440987899,-0.000510272148749,-5.58635193473e-05,1793245350070017536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880.905628007,778,810,652,627.094371993,653,0.454278876702,-0.0157467689238,0.059667432,0.999999807975,-0.000350038621918,-0.000508342374215,-5.57815584126e-05,1793245350086684160
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.513546512,656,628.486453488,880.513546512,778,810,652,627,653,0.454277660508,-0.0157472293696,0.0596664834557,0.999999806691,-0.000351241359414,-0.000510037428794,-5.57594860462e-05,1793245350103350272
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.934716742,745,714.065283258,682.065283258,656,628.934716742,880,778,810,652,627.065283258,653,0.454275891922,-0.0157476989185,0.0596652441708,0.999999805204,-0.000352329026772,-0.000512206323992,-5.56770862511e-05,1793245350120016384
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.357720629,745,714.642279371,682.642279371,656,628.357720629,880,778,810,652,627.642279371,653,0.454274244178,-0.0157488677203,0.0596645346049,0.99999980525,-0.00035161176777,-0.000512680189156,-5.50324503001e-05,1793245350136683008
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,714.782265212,683,656,628,880,778,810,652,628,653,0.454267915145,-0.0157484939854,0.0596615533218,0.999999803517,-0.000350513842188,-0.000516785808586,-5.51245963546e-05,1793245350153349632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,714.209323302,683,656,628,880,778,810,652,628,653,0.454253949173,-0.0157456037942,0.0596548660158,0.999999798812,-0.000348794906655,-0.00052681618155,-5.64187103139e-05,1793245350170016256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.375446182,745,714,683,656,628,880.375446182,778,810,652,627.624553818,652.624553818,0.454225603335,-0.0157432884751,0.0596425733773,0.999999788358,-0.000347429359433,-0.000547037469231,-5.76768891737e-05,1793245350186683392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.967024469,745,714,683,656,628,880.967024469,778,810,652,627.032975531,652.032975531,0.454188979476,-0.0157413040909,0.0596270539313,0.999999774078,-0.00034626724598,-0.000573125334361,-5.89143814628e-05,1793245350203350784
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.54723836,628,881,778,810,652,627.54723836,652.54723836,0.454135383257,-0.0157387404183,0.0596104513643,0.999999761758,-0.000346177710072,-0.000594179978109,-5.99603155915e-05,1793245350220017152
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.125640498,683,656.874359502,628,880.874359502,778,810,652,628,653,0.454076959162,-0.0157355570612,0.0595948409761,0.999999749779,-0.000345760028914,-0.000614143864251,-6.09893098993e-05,1793245350236683520
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.699968452,683,656.300031548,628,880.300031548,778,810,652,628,653,0.454004871777,-0.0157302828089,0.0595830021923,0.999999739676,-0.000343944359294,-0.000631273524433,-6.19981925253e-05,1793245350253349888
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.725160163,683.274839837,656,628.274839837,880,778,810,652,628.274839837,653,0.453925524707,-0.0157257493457,0.0595759767103,0.999999733299,-0.000342912002271,-0.00064179694634,-6.25243645566e-05,1793245350270016256
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.149694397,683.850305603,656,628.850305603,880,778,810,652,628.850305603,653,0.453838236836,-0.0157220261743,0.0595742161257,0.999999731238,-0.000342736450189,-0.000645094316945,-6.25225369519e-05,1793245350286682880
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.437664723,745,714,683.562335277,656.437664723,629,880,778.437664723,810,652,628.562335277,653,0.453739248633,-0.0157160847951,0.0595742538428,0.999999731736,-0.000339579901633,-0.000646051878141,-6.18848576982e-05,1793245350303349504
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.97150711,745,714,683,657,628.97150711,880,778.97150711,810,652,628,653,0.453634598973,-0.0157093742349,0.0595748459031,0.999999733024,-0.000335304433838,-0.000646375526252,-6.10064742716e-05,1793245350320016128
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.817936329,656.817936329,628,880,778,810,652.182063671,627.817936329,653,0.45335424693,-0.0156953698112,0.0595707885812,0.99999972969,-0.000324927587761,-0.000656934299233,-5.89861678565e-05,1793245350353349888
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.899721345,656.899721345,628,880.899721345,778.899721345,810,652.100278655,627.899721345,653,0.452801350707,-0.0156657923968,0.059555857885,0.999999719147,-0.000312328383354,-0.000678820923342,-5.79513537785e-05,1793245350403349760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.509417323,628,880.509417323,779,810.490582677,652,628,653,0.452587494887,-0.0156540921634,0.0595591694804,0.999999724973,-0.000305402609345,-0.000673486653543,-5.65508526044e-05,1793245350420016384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628.083411906,880,779,810.916588094,652,628,653,0.452364522956,-0.0156422547101,0.0595637380509,0.999999732029,-0.000298267003189,-0.000666297803007,-5.50160466223e-05,1793245350436682752
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.81543018,629,880,779,810,652,628,653,0.451526899624,-0.0156168791315,0.0595740919634,0.999999744221,-0.000286572685887,-0.000653433574639,-4.95780243714e-05,1793245350486683392
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,880,779,810,652,628.39906511,652.60093489,0.451190237529,-0.0156088347819,0.0595748160894,0.999999745386,-0.000282447107563,-0.000653568753586,-4.79486879675e-05,1793245350503350016
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.432545152,629.567454848,880.567454848,779.567454848,810,652,629,652.567454848,0.450442932888,-0.0155947755852,0.0595670374233,0.999999740785,-0.000270711046952,-0.000665684843292,-4.48148377621e-05,1793245350536683008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.853176429,656.146823571,629.853176429,881,780,809.853176429,652,629,652.853176429,0.450033716412,-0.0155896832161,0.0595574783067,0.999999735164,-0.000254492955504,-0.00068047292049,-4.31570733707e-05,1793245350553349632
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.221108184,682.221108184,657.221108184,630.778891816,880,781.778891816,809.778891816,652.221108184,629.778891816,652,0.446025530917,-0.0155296580502,0.0596568132415,0.999999849917,-9.75391245827e-05,-0.000539010933738,-1.09087711028e-05,1793245350686683136
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e170ecdb70bd377fb7d2ba663f97f67f8c8f8c4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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+348,5.800000000,pose2_to_pose3_retreat,0.58348202215,-0.0101222511486,1.05005115455,0.554053654044,-0.00144657021706,1.04971763477
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+361,6.016666667,pose2_to_pose3_retreat,0.578057080188,-0.0101222101044,1.05005089313,0.548628713127,-0.00144652529295,1.04971738226
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+368,6.133333333,pose2_to_pose3_retreat,0.576627394784,-0.0101222331771,1.05005103337,0.547199028247,-0.0014465467162,1.04971751928
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+372,6.200000000,pose2_to_pose3_retreat,0.576131190361,-0.0101221475752,1.0500507713,0.546702822477,-0.00144646531883,1.04971726693
+373,6.216666667,pose2_to_pose3_retreat,0.576047305761,-0.0101221907027,1.05005103933,0.546618938879,-0.00144650557565,1.04971752194
+374,6.233333333,pose2_to_pose3_retreat,0.575975482293,-0.0101221245486,1.05005101534,0.546547116203,-0.00144643642064,1.04971750591
+375,6.250000000,pose2_to_pose3_retreat,0.575914035738,-0.0101222117542,1.05005095673,0.54648567064,-0.00144652043583,1.04971744266
+376,6.266666667,pose2_to_pose3_retreat,0.575862046847,-0.0101223244491,1.05005096015,0.546433682351,-0.00144663092877,1.04971745015
+377,6.283333333,pose2_to_pose3_retreat,0.575817484718,-0.0101223183888,1.0500509332,0.546389119589,-0.00144662700123,1.04971742352
+378,6.300000000,pose2_to_pose3_retreat,0.575779730306,-0.0101221935318,1.05005081213,0.546351363844,-0.00144650700314,1.04971729363
+379,6.316666667,pose2_to_pose3_retreat,0.575748948826,-0.0101221757745,1.05005075159,0.546320582824,-0.00144648712088,1.04971724771
+380,6.333333333,pose2_to_pose3_retreat,0.57572500435,-0.0101221710221,1.05005075253,0.546296638043,-0.0014464834354,1.04971724787
+381,6.350000000,pose2_to_pose3_retreat,0.575706814788,-0.0101220701868,1.05005100616,0.546278446195,-0.00144639054337,1.04971749663
+382,6.366666667,pose2_to_pose3_retreat,0.57569364219,-0.0101221266379,1.05005120375,0.546265275757,-0.00144643958488,1.04971769635
+383,6.383333333,pose2_to_pose3_retreat,0.575685384783,-0.0101221282944,1.05005111872,0.546257017937,-0.00144644268151,1.04971761032
+384,6.400000000,pose2_to_pose3_retreat,0.575679834986,-0.0101221349572,1.05005098641,0.546251467417,-0.00144645183426,1.0497174771
+385,6.416666667,pose2_to_pose3_retreat,0.575676324872,-0.0101221796078,1.05005090775,0.546247957463,-0.0014464959073,1.04971739937
+386,6.433333333,pose2_to_pose3_retreat,0.575673984301,-0.0101222088668,1.0500508805,0.546245617308,-0.00144652371196,1.04971737332
+387,6.450000000,pose2_to_pose3_retreat,0.575672537874,-0.010122226725,1.0500508746,0.546244171271,-0.0014465402075,1.04971736842
+388,6.466666667,pose2_to_pose3_retreat,0.575671573182,-0.0101222434878,1.05005087285,0.546243207196,-0.00144655486822,1.04971736688
+389,6.483333333,pose2_to_pose3_retreat,0.575670996564,-0.0101222573186,1.05005087353,0.546242631228,-0.00144656650542,1.04971736734
+390,6.500000000,pose2_to_pose3_retreat,0.575670694732,-0.0101222645584,1.05005087388,0.546242329735,-0.00144657259695,1.04971736757
+391,6.516666667,pose2_to_pose3_retreat,0.575670466842,-0.0101222700246,1.05005087415,0.546242102102,-0.00144657719618,1.04971736775
+392,6.533333333,pose2_to_pose3_retreat,0.575670362751,-0.0101222680312,1.05005087995,0.546241998065,-0.00144657502053,1.04971737357
+393,6.550000000,pose2_to_pose3_retreat,0.575670183223,-0.0101222203735,1.05005094593,0.546241818003,-0.00144652915423,1.04971744008
+394,6.566666667,pose2_to_pose3_retreat,0.575670001667,-0.0101221721774,1.05005101266,0.546241635906,-0.00144648276972,1.04971750735
+395,6.583333333,pose2_to_pose3_retreat,0.575669981366,-0.0101221667882,1.05005102012,0.546241615544,-0.00144647758313,1.04971751487
+396,6.600000000,pose2_to_pose3_retreat,0.575669933642,-0.0101221541194,1.05005103766,0.546241567679,-0.00144646539056,1.04971753255
+397,6.616666667,pose2_to_pose3_retreat,0.575669926048,-0.0101221521036,1.05005104045,0.546241560062,-0.00144646345047,1.04971753537
+398,6.633333333,pose2_to_pose3_retreat,0.575669884598,-0.0101221411003,1.05005105568,0.546241518489,-0.00144645286081,1.04971755073
+399,6.650000000,pose2_to_pose3_retreat,0.575669875957,-0.0101221388063,1.05005105886,0.546241509822,-0.00144645065299,1.04971755393
+400,6.666666667,pose2_to_pose3_retreat,0.575669779586,-0.0101221132237,1.05005109428,0.546241413165,-0.00144642603201,1.04971758963
+401,6.683333333,pose2_to_pose3_retreat,0.57566971486,-0.0101221430217,1.05005111314,0.546241348835,-0.00144645454819,1.04971760679
+402,6.700000000,pose2_to_pose3_retreat,0.575669705679,-0.0101221514,1.05005111539,0.546241339763,-0.00144646257428,1.04971760862
+403,6.716666667,pose2_to_pose3_retreat,0.575669694785,-0.0101221613413,1.05005111805,0.546241328998,-0.00144647209769,1.04971761079
+404,6.733333333,pose2_to_pose3_retreat,0.575669682106,-0.0101221729116,1.05005112114,0.546241316469,-0.00144648318166,1.04971761331
+405,6.750000000,pose2_to_pose3_retreat,0.575669659159,-0.0101221938525,1.05005112674,0.546241293793,-0.00144650324229,1.04971761789
+406,6.766666667,pose2_to_pose3_retreat,0.575669656557,-0.0101221962273,1.05005112738,0.546241291222,-0.00144650551726,1.0497176184
+407,6.783333333,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496246,1.04971762284
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b04238e5862dfe5720adc0f55895d9b7324beba4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b54cf1108e2f705116abd402220297b5c8eb810bfb71704047565fa2e2883bb
+size 25475647
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e643467d359b35adf2eb8b855db3aac3210c5cb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+24,0.400000000,BASELINE,765,744.92564107,714,679,659,634,878.07435893,785.07435893,807.851282141,652.92564107,630,652,0.400934387096,-0.0154382077895,0.0499295782769,0.999999974975,5.37422923006e-05,-0.000214691052086,-3.26927207651e-05,1793245354051077632
+25,0.416666667,BASELINE,764.496428478,744.496428478,714,679,659,634,878,785.503571522,807.496428478,652.496428478,630,652.503571522,0.400934368177,-0.0154379860944,0.0499289901656,0.999999974888,5.52268760938e-05,-0.000214723671288,-3.2690025501e-05,1793245354067744256
+26,0.433333333,BASELINE,764,744,714,679.080876155,659,634,878,785.919123845,807,652.080876155,629.919123845,652.919123845,0.400934176151,-0.0154379107123,0.0499285223497,0.999999974788,5.6401454059e-05,-0.000214881544581,-3.27008134518e-05,1793245354084410880
+27,0.450000000,BASELINE,764,744,714,679.65578184,659,634,878,785.34421816,807,652.65578184,629.34421816,652.34421816,0.400933780933,-0.0154378059608,0.0499290702061,0.999999974737,5.57587539234e-05,-0.00021525181483,-3.29090659577e-05,1793245354101077504
+28,0.466666667,BASELINE,764.236107181,744.236107181,714,679.763892819,658.763892819,634,878.236107181,785,807,652.763892819,629.236107181,652.236107181,0.400932848405,-0.0154376968453,0.0499289006861,0.999999974554,5.53789845134e-05,-0.000216176680336,-3.30484513774e-05,1793245354117744128
+29,0.483333333,BASELINE,764.824519377,744.824519377,714,679.175480623,658.175480623,634,878.824519377,785,807,652.175480623,629.824519377,652.824519377,0.400931114134,-0.0154375812182,0.0499276607398,0.999999974172,5.53915446443e-05,-0.000217929079691,-3.30850774375e-05,1793245354134411008
+30,0.500000000,BASELINE,765,745,714,679,658.407241845,633.592758155,878.592758155,785,807,652,630,652.592758155,0.400932217231,-0.0154384164312,0.049928414434,0.999999974458,5.46523979609e-05,-0.000216871432991,-3.26235808271e-05,1793245354151077632
+31,0.516666667,BASELINE,765,745,714,679,658.987546375,633.012453625,878.012453625,785,807,652,630,652.012453625,0.400934526106,-0.015439655716,0.0499300153515,0.999999975023,5.35938037527e-05,-0.000214619620865,-3.19504005501e-05,1793245354167744512
+32,0.533333333,BASELINE,764.438452342,744.438452342,714,679,659,633.561547658,878,785,807,652.561547658,630,652,0.40093396045,-0.0154407418476,0.0499292089134,0.999999975147,5.07907979442e-05,-0.00021469794854,-3.20997298894e-05,1793245354184410880
+33,0.550000000,BASELINE,764.135098206,744.135098206,714,679,658.864901794,634,878,785,807,652.864901794,630,652,0.400933278762,-0.0154411063684,0.0499285389182,0.999999975111,4.94580235077e-05,-0.000215150887362,-3.2293471888e-05,1793245354201077504
+34,0.566666667,BASELINE,764.707636794,744.707636794,714,679,658.292363206,634,878,785,807,652.292363206,630,652,0.400932425496,-0.0154391452294,0.0499284816685,0.999999974596,5.30096498674e-05,-0.000216651328439,-3.25726116223e-05,1793245354217744128
+35,0.583333333,BASELINE,765,744.707612832,713.707612832,679.292387168,658.292387168,634,878.292387168,785.292387168,807,652,629.707612832,652,0.400931975291,-0.0154379443223,0.0499284417901,0.999999974346,5.4233561834e-05,-0.000217479505938,-3.27136857182e-05,1793245354234410752
+36,0.600000000,BASELINE,765,744.11011938,713.11011938,679.88988062,658.88988062,634,878.88988062,785.88988062,807,652,629.11011938,652,0.400931945679,-0.0154375367177,0.0499284200389,0.999999974383,5.30285020709e-05,-0.000217606175945,-3.27106882245e-05,1793245354251077632
+37,0.616666667,BASELINE,765,744.469348313,713.469348313,679.530651687,659,634,878.530651687,785.530651687,806.530651687,652,629.469348313,652,0.400931999578,-0.0154367685657,0.0499281699867,0.999999974423,5.35365101722e-05,-0.000217268662509,-3.29053394461e-05,1793245354267744512
+38,0.633333333,BASELINE,765,745,713.955160611,679,659,634,877.955160611,785,806.044839389,652,630,652,0.400932153985,-0.0154361275821,0.0499279566197,0.999999974481,5.43362564174e-05,-0.000216772483178,-3.30889653594e-05,1793245354284411392
+39,0.650000000,BASELINE,765,745,713.378528147,679,659,634,877.378528147,785,806.621471853,652,630,652,0.40093327663,-0.015437960966,0.0499287901122,0.99999997476,5.4005515839e-05,-0.000215638400436,-3.26121948119e-05,1793245354301077760
+40,0.666666667,BASELINE,765,745,713.202614782,679,658.797385218,634,877.202614782,785,807.202614782,652,630,652,0.400934122485,-0.0154392848142,0.0499292241145,0.999999974944,5.40917137893e-05,-0.000214801381909,-3.23636446037e-05,1793245354317744384
+41,0.683333333,BASELINE,765,745,713.792376057,679,658.207623943,634,877.792376057,785,807.792376057,652,630,652,0.400934439463,-0.0154396350662,0.04992889479,0.999999974947,5.49745776645e-05,-0.000214531979338,-3.25511667718e-05,1793245354334410752
+42,0.700000000,BASELINE,765,745,714,679,658.3747694,634,878,785,807.2504612,652,630,652.3747694,0.400935010653,-0.015439543387,0.0499292667475,0.99999997517,5.43998759576e-05,-0.000213631193641,-3.25805389304e-05,1793245354351077376
+43,0.716666667,BASELINE,765,745,714,679,658.95315956,634,878,785,806.093680881,652,630,652.95315956,0.400935719962,-0.0154392115965,0.0499300197275,0.999999975511,5.30332456105e-05,-0.000212387363106,-3.25239845773e-05,1793245354367744000
+44,0.733333333,BASELINE,765,745,714,679,658.472175397,634,878,785.527824603,806.527824603,652.527824603,630,652.472175397,0.40093488923,-0.0154386132808,0.0499293763385,0.999999975211,5.43820316711e-05,-0.000213433340794,-3.26730310445e-05,1793245354384410624
+45,0.750000000,BASELINE,765,744.89590281,714,679,658.10409719,634,878,785.89590281,807,652.89590281,630,652,0.400933984505,-0.015438280428,0.049928704689,0.999999974879,5.55122688688e-05,-0.000214686314678,-3.27064362316e-05,1793245354401077248
+46,0.766666667,BASELINE,765,744.310683388,714,679,658.689316612,634,878,785.310683388,807,652.310683388,630,652,0.400933365022,-0.0154392830579,0.0499284711372,0.999999974677,5.45264683565e-05,-0.000215963400838,-3.21216268318e-05,1793245354417743872
+47,0.783333333,BASELINE,765,744.273307231,714,679.273307231,659,634,878,785,807,652,630,652,0.400933424092,-0.0154396369608,0.0499286636516,0.999999974655,5.44102629961e-05,-0.000216132503919,-3.18854558756e-05,1793245354434410496
+48,0.800000000,BASELINE,765,744.855907327,714,679.855907327,659,634,878,785,807,652,630,652,0.40093425106,-0.0154392567205,0.0499293383312,0.999999974836,5.52781499362e-05,-0.000215047738907,-3.20438275825e-05,1793245354451077120
+49,0.816666667,BASELINE,765,745,714,679.56472015,659,634,878,785.43527985,807,652.43527985,630,652,0.400934159294,-0.0154387280998,0.0499288793264,0.999999974726,5.5458106014e-05,-0.000215475647756,-3.22925078716e-05,1793245354467743744
+50,0.833333333,BASELINE,765,744.98652234,714,679,658.98652234,634,878,785.98652234,807,652.98652234,629.98652234,652,0.400933782518,-0.0154381796866,0.0499280724188,0.999999974528,5.53762916603e-05,-0.000216371884093,-3.25597972583e-05,1793245354484410368
+51,0.850000000,BASELINE,765,744.413065397,714,679,658.413065397,634,878,785.413065397,807,652.413065397,629.413065397,652,0.400934107283,-0.0154388347335,0.0499282885888,0.999999974684,5.38104527179e-05,-0.000216074256025,-3.23673042643e-05,1793245354501078272
+52,0.866666667,BASELINE,764.839739829,744,714,679,658.160260171,634,878,785.160260171,807,652,629,652,0.400934188236,-0.0154391522398,0.0499284376309,0.999999974757,5.32867316526e-05,-0.00021588370877,-3.2257251317e-05,1793245354517745408
+53,0.883333333,BASELINE,764.266752631,744,714,679,658.733247369,634,878,785.733247369,807,652,629,652,0.400933641289,-0.0154386004588,0.049928413795,0.999999974618,5.54468354312e-05,-0.000215968932771,-3.23595108679e-05,1793245354534411264
+54,0.900000000,BASELINE,764.318747449,744.318747449,714,679.318747449,659,634,878.318747449,785.681252551,806.681252551,652.318747449,629.318747449,652,0.400933237292,-0.0154388623323,0.0499281897566,0.999999974646,5.45137584773e-05,-0.00021605994129,-3.24728452202e-05,1793245354551077632
+55,0.916666667,BASELINE,764.91514713,744.91514713,714,679.91514713,659,634,878.91514713,785.08485287,806.08485287,652.91514713,629.91514713,652,0.400932957815,-0.0154398329583,0.0499277913272,0.999999974812,5.08862958205e-05,-0.000216155988539,-3.25958265253e-05,1793245354567744768
+56,0.933333333,BASELINE,765,745,714,679.506305807,659,634,878.506305807,785,806.493694193,653,630,652,0.400933534272,-0.0154393381165,0.0499282143539,0.999999974975,5.18486622351e-05,-0.00021519519398,-3.24449429439e-05,1793245354584411392
+57,0.950000000,BASELINE,765,745,714,679,659,634,878,785,807,653,630,652,0.400934049368,-0.0154387917222,0.0499286463943,0.999999975073,5.3303198396e-05,-0.000214410983713,-3.22617512175e-05,1793245354601078016
+58,0.966666667,BASELINE,765,745,714,679,659,634,878,785,807,653,630,652,0.400933078438,-0.015439645066,0.0499281485112,0.999999974718,5.2790620378e-05,-0.000216198410386,-3.21744362682e-05,1793245354617744384
+59,0.983333333,BASELINE,764.776970787,745,714,679,658.776970787,633.776970787,878,785,807,653,629.776970787,652,0.400932615683,-0.015439900832,0.0499277013314,0.999999974559,5.23670705944e-05,-0.000217023297578,-3.22634528881e-05,1793245354634411008
+60,1.000000000,BASELINE,764.184234303,745,714,679,658.184234303,633.184234303,878,785,807,653,629.184234303,652,0.40093299531,-0.0154391660159,0.0499273382004,0.999999974728,5.20910995377e-05,-0.000216252618988,-3.26447678096e-05,1793245354651077376
+61,1.016666667,BASELINE,764.39925355,745,714,679.39925355,658.39925355,633.39925355,878,785.39925355,806.60074645,652.60074645,629.39925355,652,0.400934814268,-0.0154393028454,0.0499281427168,0.999999975151,5.17735859887e-05,-0.000214404738478,-3.23636850163e-05,1793245354667744000
+62,1.033333333,BASELINE,764.978570241,745,714,679.978570241,658.978570241,633.978570241,878,785.978570241,806.021429759,652.021429759,629.978570241,652,0.400937282362,-0.0154398327867,0.0499294738415,0.999999975685,5.14373368142e-05,-0.000212071040516,-3.17838611817e-05,1793245354684410880
+63,1.050000000,BASELINE,764.44797604,745,714,679.44797604,659,634,878,785.44797604,806.55202396,652,630,652,0.400935948868,-0.0154394410985,0.0499291114805,0.999999975421,5.18694051768e-05,-0.0002131287719,-3.23008997252e-05,1793245354701077760
+64,1.066666667,BASELINE,764,745,714,679.128522068,659,634,878,785,807,652.128522068,630,652,0.40093471734,-0.0154391226414,0.049928672922,0.999999975154,5.24303643022e-05,-0.000214185917547,-3.26771845268e-05,1793245354717744640
+65,1.083333333,BASELINE,764,745,714,679.716714144,659,634,878,785,807,652.716714144,630,652,0.400934372783,-0.0154391927199,0.0499281944959,0.999999974988,5.33467567142e-05,-0.000214775036403,-3.23993591515e-05,1793245354734411264
+66,1.100000000,BASELINE,764.300442301,745,713.699557699,680,658.699557699,634,878,785,807,653,630,652,0.400934024335,-0.0154396514818,0.049927978314,0.999999974948,5.30592488239e-05,-0.000215054354684,-3.22399931804e-05,1793245354751078144
+67,1.116666667,BASELINE,764.880023035,745,713.119976965,680,658.119976965,634,878,785,807,653,630,652,0.400933672273,-0.0154404713662,0.049928005781,0.999999975025,5.16532071681e-05,-0.000215045839805,-3.21906868673e-05,1793245354767744512
+68,1.133333333,BASELINE,765,745,713.456780302,679.543219698,658,634,878,785,807,652.543219698,630,652,0.40093353514,-0.0154412384926,0.0499283434873,0.999999975163,5.11748610434e-05,-0.000214551909282,-3.19790810263e-05,1793245354784410880
+69,1.150000000,BASELINE,764.967243013,744.967243013,713.967243013,679,658.032756987,634,878,785.032756987,807,652,629.967243013,652,0.400933538222,-0.0154419070576,0.0499287553781,0.99999997532,5.10177091329e-05,-0.000213890211906,-3.17565710056e-05,1793245354801077504
+70,1.166666667,BASELINE,764.391988012,744.391988012,713.391988012,679,658.608011988,634,878,785.608011988,807,652,629.391988012,652,0.400934934271,-0.0154411714044,0.0499290546234,0.999999975537,5.21693060099e-05,-0.000212548643755,-3.20551324495e-05,1793245354817744128
+71,1.183333333,BASELINE,764.18788383,744.18788383,713.18788383,679,659,634,878,785.81211617,807,652.18788383,629.18788383,652,0.400936544029,-0.0154401513883,0.049929581993,0.999999975715,5.28396526457e-05,-0.000211516949853,-3.22343291019e-05,1793245354834410752
+72,1.200000000,BASELINE,764.777630699,744.777630699,713.777630699,679,659,634,878,785.222369301,807,652.777630699,629.777630699,652,0.400938610887,-0.015438523151,0.049930597296,0.999999975814,5.24806576753e-05,-0.000211148042955,-3.21582175296e-05,1793245354851077376
+73,1.216666667,BASELINE,765,745,714,679,659,634,878,785,807,653,630,652,0.40093798828,-0.0154385094686,0.0499305216709,0.999999975678,5.31072238979e-05,-0.000211634080076,-3.21617072663e-05,1793245354867744512
+74,1.233333333,BASELINE,765,745,714,679,659,634,878,785,807,653,630,652,0.400935737772,-0.0154394730571,0.0499297857199,0.999999975398,5.4330338593e-05,-0.00021263760465,-3.22133787319e-05,1793245354884411392
+75,1.250000000,BASELINE,765,745,714,679.517231895,659,634,878,785,807,652.482768105,630,652,0.400935315867,-0.0154411471629,0.0499295733864,0.999999975464,5.1790328553e-05,-0.00021298956785,-3.20249788193e-05,1793245354901078016
+76,1.266666667,BASELINE,764.906499665,744.906499665,714,680,659,634,878,785.093500335,807,652.093500335,630,652,0.400935120472,-0.0154421322804,0.049929387769,0.999999975505,4.99096277147e-05,-0.000213264695865,-3.18845838423e-05,1793245354917744384
+77,1.283333333,BASELINE,764.319744109,744.319744109,714,680,659,634,878,785.680255891,807,652.680255891,630,652,0.40093505602,-0.0154390692622,0.0499290384193,0.999999975248,5.36966831613e-05,-0.000213513602051,-3.21371238417e-05,1793245354934411008
+78,1.300000000,BASELINE,764,744.263543353,714,680,658.736456647,634,878,785.736456647,807,652.736456647,630,652,0.4009346845,-0.0154376835911,0.0499285621564,0.999999975004,5.56532270079e-05,-0.000214128126501,-3.22935214622e-05,1793245354951077632
+79,1.316666667,BASELINE,764,744.842677759,714,680,658.157322241,634,878,785.157322241,807,652.157322241,630,652,0.400933945269,-0.0154383065299,0.0499279339161,0.99999997479,5.54177476141e-05,-0.000215180475875,-3.23347893368e-05,1793245354967744512
+80,1.333333333,BASELINE,764.420668625,745,714,679.15866275,658,634,878,785.420668625,807,652.420668625,630,652,0.400933680155,-0.0154386559664,0.0499277288958,0.999999974792,5.49118380792e-05,-0.000215283376565,-3.24584800442e-05,1793245354984411136
+81,1.350000000,BASELINE,764.998233034,745,714,678.003533932,658,634,878,785.998233034,807,652.998233034,630,652,0.400933591871,-0.0154389033953,0.0499276817229,0.999999974874,5.43050668329e-05,-0.000215032163707,-3.26129118042e-05,1793245355001077760
+82,1.366666667,BASELINE,765,745,714,678.572564142,658.572564142,634,878,786,807,653,630,652,0.40093382468,-0.0154381514299,0.0499281100547,0.99999997486,5.51047465691e-05,-0.000214867851292,-3.27890543091e-05,1793245355017744640
+83,1.383333333,BASELINE,764.849145656,744.849145656,714,679,658.849145656,634,878,785.849145656,807,652.849145656,630,652,0.400934027318,-0.0154382224635,0.0499282904981,0.99999997487,5.50184798944e-05,-0.000214851376077,-3.27365048903e-05,1793245355034411264
+84,1.400000000,BASELINE,764.259305492,744.259305492,714,679,658.259305492,634,878,785.259305492,807,652.259305492,630,652,0.400934139289,-0.0154406973464,0.0499277453404,0.999999974948,5.23415516412e-05,-0.000215264330731,-3.20182686248e-05,1793245355051077632
+85,1.416666667,BASELINE,764.324681774,744,713.675318226,679,658.324681774,634,878,785,807,652.324681774,630,652,0.400934654506,-0.0154411943154,0.0499276975234,0.999999975102,5.18554454918e-05,-0.000214693036242,-3.18431146191e-05,1793245355067744256
+86,1.433333333,BASELINE,764.90407739,744,713.09592261,679,658.90407739,634,878,785,807,652.90407739,630,652,0.400935486069,-0.0154401396046,0.0499280398715,0.999999975317,5.30880461183e-05,-0.000213349595276,-3.20940103438e-05,1793245355084410880
+87,1.450000000,BASELINE,765,744,713.481535723,679.481535723,659,634,878,785,807,652.518464277,630,652,0.400935049427,-0.0154389823367,0.0499283437462,0.999999975193,5.4201933604e-05,-0.000213603982906,-3.23981421849e-05,1793245355101077504
+88,1.466666667,BASELINE,765,744,714,679.940587754,658.940587754,634,878,785,807,652,629.940587754,652,0.400934472856,-0.015437992396,0.0499286288642,0.999999975044,5.49631046135e-05,-0.000214065831555,-3.2670223247e-05,1793245355117743872
+89,1.483333333,BASELINE,765,744,714,679.35561177,658.35561177,634,878,785,807,652,629.35561177,652,0.400934884287,-0.0154386626368,0.0499288155835,0.999999975272,5.28124795085e-05,-0.00021355856577,-3.25653475922e-05,1793245355134410752
+90,1.500000000,BASELINE,765,744,714,679,658,634,878.227235195,785.227235195,806.772764805,652,629,652,0.400934696597,-0.0154391604213,0.0499286149179,0.999999975276,5.15293435842e-05,-0.000213854352512,-3.25386573505e-05,1793245355151077888
+91,1.516666667,BASELINE,765,744,714,679,658,634,878.806781224,785.806781224,806.193218776,652,629,652,0.400933580015,-0.0154393908253,0.0499278136414,0.999999974939,5.15911836558e-05,-0.000215395210985,-3.26331876373e-05,1793245355167745024
+92,1.533333333,BASELINE,764.613950243,744.386049757,714,679.386049757,658.386049757,634,878.613950243,785.613950243,806.386049757,652.386049757,629,652,0.400933510521,-0.0154398680145,0.0499272786731,0.999999974929,5.14258230248e-05,-0.000215488561581,-3.2604554413e-05,1793245355184411392
+93,1.550000000,BASELINE,764.034820445,744.965179555,714,679.965179555,658.965179555,634,878.034820445,785.034820445,806.965179555,652.965179555,629,652,0.40093396472,-0.0154404686317,0.0499268768969,0.999999975081,5.11468295837e-05,-0.000214857951544,-3.2514321843e-05,1793245355201077504
+94,1.566666667,BASELINE,764,745,714,679.459922995,658.459922995,634,878,785.540077005,807,653,629.540077005,652,0.400934756477,-0.0154381398557,0.0499280161389,0.99999997514,5.44408060955e-05,-0.000213751098086,-3.2663193889e-05,1793245355217744128
+95,1.583333333,BASELINE,764,745,714,679.117301075,658,634,878,786,807,653,630,652,0.400935323062,-0.01543653494,0.0499289102815,0.999999975173,5.68383850812e-05,-0.000212962874035,-3.27250770838e-05,1793245355234411008
+96,1.600000000,BASELINE,764,745,714,679.7049399,658,634,878,786,807,653,630,652,0.400934900195,-0.0154385838645,0.0499284263792,0.999999975171,5.47252276005e-05,-0.000213574405085,-3.23768327694e-05,1793245355251077632
+97,1.616666667,BASELINE,764.28859123,745,714,680,658.28859123,634,878.28859123,785.71140877,807,652.71140877,630,652,0.400934120071,-0.0154398783613,0.0499281033638,0.999999975115,5.27249047822e-05,-0.000214356907194,-3.22622189036e-05,1793245355267744256
+98,1.633333333,BASELINE,764.868221211,745,714,680,658.868221211,634,878.868221211,785.131778789,807,652.131778789,630,652,0.40093297966,-0.015440412032,0.0499279425998,0.999999975004,5.08383736961e-05,-0.000215311830321,-3.23832169111e-05,1793245355284410880
+99,1.650000000,BASELINE,765,744.555085237,714,680,658.555085237,634,878.555085237,785,807.444914763,652,630,652,0.40093326341,-0.0154403414721,0.0499281341335,0.999999974975,5.23578728918e-05,-0.000215138054688,-3.19946395883e-05,1793245355301077760
+100,1.666666667,BASELINE,765,744.020516119,713.979483881,679.979483881,658.020516119,634,878.020516119,785,807.979483881,652.020516119,630,652,0.400933932919,-0.0154400844729,0.0499284036805,0.999999974968,5.47068247876e-05,-0.000214660138875,-3.15038412133e-05,1793245355317744384
+101,1.683333333,BASELINE,765,744.590012487,713.409987513,679.409987513,658.590012487,634,878.590012487,785,807.409987513,652.590012487,630,652,0.400933711507,-0.0154395961148,0.0499279868973,0.999999975006,5.24329585088e-05,-0.000214930813993,-3.22899539621e-05,1793245355334411520
+102,1.700000000,BASELINE,765,744.832864025,713.167135975,679.167135975,659,634,878.832864025,785,807,652.832864025,629.832864025,652,0.400933206731,-0.0154390769044,0.0499274379704,0.999999974918,5.09796888605e-05,-0.000215601990782,-3.28889329415e-05,1793245355351078656
+103,1.716666667,BASELINE,765,744.23613655,713.76386345,679.76386345,659,634,878.23613655,785,807,652.23613655,629.23613655,652,0.400931973622,-0.0154384783945,0.0499265493927,0.999999974512,5.16356084294e-05,-0.000217302581536,-3.30069197403e-05,1793245355367744512
+104,1.733333333,BASELINE,765,744.349827117,714,679.650172883,658.650172883,634,878,785.349827117,807,652.349827117,629.349827117,652,0.400932884326,-0.0154384809682,0.0499272077488,0.999999974641,5.34758749531e-05,-0.000216308765055,-3.26975952046e-05,1793245355384410880
+105,1.750000000,BASELINE,765,744.928742056,714,679.071257944,658.071257944,634,878,785.928742056,807,652.928742056,629.928742056,652,0.400935198926,-0.0154388771674,0.04992887913,0.999999975109,5.60917231071e-05,-0.000213550488947,-3.21084415365e-05,1793245355401077248
+106,1.766666667,BASELINE,764.494896376,744.494896376,714,679.505103624,658.505103624,634,878,786,807,653,630,652,0.400935896161,-0.0154391962202,0.0499292631152,0.999999975396,5.40428267505e-05,-0.000212704584958,-3.23107351544e-05,1793245355417743872
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,786,806,652,630,652,0.400935596735,-0.015441143529,0.0499285868421,0.999999975268,5.37344980906e-05,-0.000213491025022,-3.16005093132e-05,1793245355460527360
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.579660719,714,680,658,634,878,785.420339281,806.579660719,652,630,652,0.400935263594,-0.0154411393348,0.049928718986,0.99999997529,5.30084321804e-05,-0.000213561286603,-3.16355484597e-05,1793245355477193984
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.158810304,634,877.841189696,785.158810304,806.841189696,652,629.841189696,652,0.400935170763,-0.015440881646,0.0499287593031,0.999999975307,5.246874933e-05,-0.00021359355471,-3.17806901086e-05,1793245355493860352
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.736611486,634,877.263388514,785.736611486,806.263388514,652,629.263388514,652,0.400935711946,-0.0154399551595,0.0499285573525,0.99999997531,5.24208026868e-05,-0.000213525584259,-3.22163163428e-05,1793245355510526464
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.687287418,659,634,877.312712582,786,806.312712582,652,629.312712582,652.312712582,0.40093701442,-0.0154403078724,0.0499293135149,0.999999975662,5.13056010558e-05,-0.000212128010425,-3.23309927499e-05,1793245355527193088
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.112610547,659,634,877.887389453,786,806.887389453,652,629.887389453,652.887389453,0.400938954641,-0.015441732191,0.049930872304,0.999999976298,4.92963429938e-05,-0.000209616606748,-3.21768043691e-05,1793245355543859456
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807,652.47336088,630,652.52663912,0.400946731825,-0.015440759701,0.0499327072035,0.999999977281,5.24453364394e-05,-0.00020414987038,-3.17843629516e-05,1793245355560526336
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.938765754,634,877.938765754,785.938765754,807,652.938765754,630,652,0.400957187589,-0.0154396789529,0.0499349831793,0.999999978527,5.59903417486e-05,-0.000197053652213,-3.13342117023e-05,1793245355577192960
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.358108181,634,877.358108181,785.358108181,807,652.358108181,630,652,0.400978297871,-0.0154426348018,0.0499404298111,0.999999981552,5.22309306903e-05,-0.000182244787841,-3.0887071764e-05,1793245355593859584
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.778782024,745,714,679,658.221217976,634,877.221217976,785,807,652,629.778782024,652,0.401004426916,-0.0154445231006,0.0499460243914,0.999999984616,5.02600934958e-05,-0.000165271949655,-3.04591933444e-05,1793245355610526208
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.201598326,745,714,679,658.798401674,634,877.798401674,785,807,652,629.201598326,652,0.401038631741,-0.0154446935855,0.0499518570377,0.999999987753,5.11672822038e-05,-0.000144817024726,-3.00623090157e-05,1793245355627193344
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.37254026,744.62745974,713.62745974,679,658.62745974,634,878,785.37254026,806.62745974,652,629.37254026,652,0.401080752203,-0.0154465833877,0.0499561001185,0.999999990525,5.1046064093e-05,-0.000124315446988,-2.98397831122e-05,1793245355643859968
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.945044412,744.054955588,713.054955588,679,658.054955588,634,878,785.945044412,806.054955588,652,629.945044412,652,0.401127121449,-0.0154493960469,0.0499594899883,0.999999992904,5.03728406729e-05,-0.000103788826079,-2.9710845411e-05,1793245355660526336
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.533836592,713.533836592,679,658,634,878,785.466163408,806.533836592,652,630,652,0.401183183816,-0.0154519896664,0.049960825169,0.999999993894,4.83717704004e-05,-9.48422794174e-05,-2.96170907833e-05,1793245355677193216
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.878148214,744.878148214,714,679,658,634,878,785,806.878148214,652.121851786,630,652,0.401244301489,-0.0154552036689,0.0499620483644,0.999999994593,4.61091756059e-05,-8.84648185132e-05,-2.93422927931e-05,1793245355693859584
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.29952868,744.29952868,714,679,658,634,878,785,806.29952868,652.70047132,630,652,0.401320511031,-0.0154608303965,0.049963669621,0.999999994862,4.33947751566e-05,-8.71083998386e-05,-2.83748401425e-05,1793245355710526208
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.278203408,744.278203408,713.721796592,679.278203408,658.278203408,634,878,785,806.278203408,653,630,652,0.401406762075,-0.0154667301708,0.0499650627831,0.999999995137,4.12969932142e-05,-8.52553081682e-05,-2.74373937559e-05,1793245355727193088
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.854983028,744.854983028,713.145016972,679.854983028,658.854983028,634,878,785,806.854983028,653,630,652,0.401503789952,-0.0154729229868,0.0499662111473,0.99999999542,3.98609848426e-05,-8.28691722783e-05,-2.65321510466e-05,1793245355743860224
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.561443364,713,680,658.561443364,634,878.877113272,785,807,652.561443364,630,652,0.401623453811,-0.0154785648878,0.049968318614,0.999999995736,3.85485534613e-05,-7.98833023108e-05,-2.5701624271e-05,1793245355760527104
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.975733477,744,713,679.975733477,658,634,879.951466954,785.024266523,807,652.024266523,630,652,0.401751551052,-0.0154841616015,0.0499705447144,0.999999996033,3.70784709247e-05,-7.70646454755e-05,-2.4913421925e-05,1793245355777193984
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.393372631,744,713,679.393372631,658,634,878.786745262,785.606627369,807,652.606627369,630,652,0.401898750664,-0.0154929746544,0.0499680905658,0.999999995796,3.10280652964e-05,-8.27243258488e-05,-2.45214710618e-05,1793245355793860096
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.186968673,713.186968673,679,658,634,878.186968673,785.813031327,807,653,629.813031327,652,0.402057886214,-0.0155025037596,0.0499656011742,0.99999999563,2.52557222007e-05,-8.68211889378e-05,-2.37715180676e-05,1793245355810526208
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.763106295,713.763106295,679,658,634,878.763106295,785.236893705,807,653,629.236893705,652,0.402241865995,-0.0155135233023,0.0499630384259,0.999999995708,2.00621575912e-05,-8.76651001729e-05,-2.22763958349e-05,1793245355827192832
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.337448383,634,878.662551617,785,807,652.662551617,629.337448383,652,0.402447243425,-0.015524460828,0.0499639926661,0.999999996026,1.44900106285e-05,-8.5528963517e-05,-2.0565370719e-05,1793245355843859200
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.910536708,634,878.089463292,785,807,652.089463292,629.910536708,652,0.402667562835,-0.0155353410825,0.0499674028162,0.999999996482,8.65349937359e-06,-8.13118618233e-05,-1.87035806349e-05,1793245355860526080
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.496483392,745,713.503516608,679.496483392,658.503516608,634,878,785,807,652.496483392,630,652.496483392,0.402932837943,-0.0155462875547,0.0499738469562,0.999999997591,5.09641453878e-06,-6.7307709952e-05,-1.61730699818e-05,1793245355877193216
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.916281505,745,713.083718495,679.916281505,658.083718495,634,878,785,807,653,630,652.916281505,0.403211784783,-0.0155561468438,0.0499806412128,0.999999998576,3.57250216278e-06,-5.15123050703e-05,-1.34963519532e-05,1793245355893860352
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.335518663,745,713.664481337,679.335518663,658.664481337,634,878,785,807,653,630,652.335518663,0.403522528489,-0.0155594787069,0.0499861820008,0.999999999234,1.16162892007e-05,-3.58309022043e-05,-1.0686023244e-05,1793245355910526976
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.242951858,745,714,679,659,634,878,785,806.757048142,652.757048142,630,652,0.403850333574,-0.015557007556,0.0499923513434,0.999999999382,2.66275062817e-05,-2.14257669473e-05,-8.28532858644e-06,1793245355927193600
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.818286216,745,714,679,659,634,878,785,806.181713784,652.181713784,630,652,0.404201480315,-0.0155465972999,0.0499993806115,0.999999998632,5.11708657781e-05,-8.76669468605e-06,-6.44505455164e-06,1793245355943859968
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,806.784963743,652,630,652,0.404579697978,-0.0155427351556,0.0500064710576,0.999999998377,5.63082144691e-05,7.01278898896e-06,-5.14954300189e-06,1793245355960526336
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,807.932303665,652,630,652,0.404970412842,-0.015541895928,0.0500135897462,0.999999998321,5.24868353061e-05,2.42328009598e-05,-4.10551948409e-06,1793245355977192960
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.55895115,659,634,878,785,806.882097701,652,630,652,0.405377514628,-0.0155344427526,0.0499983222983,0.999999998249,5.8865847039e-05,-3.93127496311e-06,-4.58498819867e-06,1793245355993859584
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.8508764,659,634,878.1491236,785.1491236,806.1491236,652.1491236,630,652,0.405792060365,-0.0155278483007,0.0499796166456,0.999999996837,6.93758530129e-05,-3.85695210547e-05,-4.99991728579e-06,1793245356010526208
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.271737707,659,634,878.728262293,785.728262293,806.728262293,652.728262293,630,652,0.406225108602,-0.0155249259454,0.0499550441699,0.999999992441,8.99537247732e-05,-8.36708876364e-05,-4.95327642415e-06,1793245356027193344
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.69557988,714.30442012,679.30442012,658.69557988,634,878.69557988,785.69557988,807,652.69557988,629.69557988,652,0.406693654004,-0.0155240548959,0.0499400499792,0.999999987884,0.000109219716938,-0.000110870185184,-3.41462060923e-06,1793245356043860224
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.122057028,714.877942972,679.877942972,658.122057028,634,878.122057028,785.122057028,807,652.122057028,629.122057028,652,0.407193578406,-0.0155249971693,0.0499335228433,0.999999984422,0.000127326030034,-0.000122244332578,-5.57046384458e-07,1793245356060526848
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.463558722,714.536441278,679.536441278,658.463558722,634,878.463558722,785,807,652,629.463558722,652,0.40775399171,-0.0155273568865,0.04994972664,0.9999999856,0.000145045599407,-8.79817849001e-05,4.51586550367e-06,1793245356077193216
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.948491301,785.051508699,807,652,630,652,0.408336936161,-0.0155301752882,0.0499725879974,0.999999985883,0.000162502993443,-4.14615824391e-05,1.03325586212e-05,1793245356093859840
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.370106702,785.629893298,807,652,630,652,0.408983070253,-0.0155337656487,0.0500006874716,0.999999983932,0.000178348164241,4.23467865377e-06,1.76308953518e-05,1793245356110526464
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.793468986,714,679.206531014,659,634,878,786,807,652,630,652,0.409616329223,-0.0155361475097,0.0500161394411,0.999999981413,0.000189484466455,2.76482980952e-05,2.24856382445e-05,1793245356127193088
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.219935491,714,679.780064509,659,634,878,786,807,652,630,652,0.410226709258,-0.0155363818849,0.0500091169852,0.999999981189,0.000192253180236,1.14659984633e-05,2.299815156e-05,1793245356143859712
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.353573778,714,680,659,634,878.353573778,786,807.353573778,652.353573778,630,652,0.410839523076,-0.0155382520688,0.0499857078254,0.999999982439,0.000181856522038,-4.0341245293e-05,2.05746718269e-05,1793245356160526592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.927067955,714,680,659,634,878.927067955,786,807.927067955,652.927067955,630,652,0.411453850667,-0.0155411397141,0.0499521062514,0.999999980005,0.000163271094217,-0.000114306952707,1.63250249743e-05,1793245356177193216
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.480169689,808,653,630,652.519830311,0.412166449714,-0.0155432678793,0.0499507525988,0.999999981354,0.00016397934793,-0.000100601283283,1.68160005262e-05,1793245356193859840
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.111669802,807.888330198,652.888330198,630,652.888330198,0.412906721607,-0.0155453404798,0.0499577866896,0.999999983009,0.000168497813578,-7.24674594889e-05,1.83869176755e-05,1793245356210526464
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.6879879,807.3120121,652.3120121,630,652.3120121,0.413702560898,-0.0155476423125,0.0499801712688,0.999999983371,0.000177173517135,-3.74497877758e-05,2.15773930791e-05,1793245356227193088
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.736554357,786,807,652,630,652,0.4144724473,-0.0155490799118,0.0499810848536,0.999999982451,0.000182246850501,-3.70979563992e-05,2.25557637243e-05,1793245356243859456
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.162112185,786,807,652,630,652,0.415211696522,-0.0155494972874,0.0499566520183,0.999999980008,0.000183067601379,-7.76690064531e-05,2.09227539572e-05,1793245356260526080
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,713.575956907,680,659.424043093,634,878.424043093,786,807.424043093,652,630,652,0.415979163057,-0.0155514975929,0.0499413908073,0.999999978622,0.000180155999896,-9.95392095485e-05,1.97798813884e-05,1793245356277192704
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,713.014501374,680,659.985498626,634,879,786,808,652,630,652,0.416760000368,-0.015554070596,0.0499307924147,0.99999997803,0.000175903818083,-0.000112422203579,1.89582674433e-05,1793245356293859328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,713.593205893,680,659.406794107,634,879,786,808,652,630,652,0.417629423512,-0.0155547119092,0.0499613143114,0.999999982237,0.000176586419877,-6.17018229926e-05,2.3138349772e-05,1793245356310526208
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.829294633,659.170705367,634,879,785.829294633,808.170705367,652.170705367,630.170705367,652,0.418490955121,-0.0155561546913,0.0499810092197,0.99999998358,0.000176300410712,-3.28415814414e-05,2.607079087e-05,1793245356327193088
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.25464671,659.74535329,634,879,785.25464671,808.74535329,652.74535329,630.74535329,652,0.419333812825,-0.0155594940006,0.0499750840681,0.999999983019,0.000173722364378,-5.57093034537e-05,2.60509205089e-05,1793245356343859968
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.320252939,660,633.679747061,879,785.320252939,808.679747061,652.679747061,631,652.320252939,0.420199129331,-0.015560375645,0.0499703650381,0.999999982722,0.000175175215891,-5.66976374819e-05,2.5579930851e-05,1793245356360526592
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.895352874,660,633.104647126,879,785.895352874,808.104647126,652.104647126,631,652.895352874,0.421082317789,-0.0155593015586,0.0499666058011,0.999999982712,0.000179835726513,-4.02750565893e-05,2.4749954957e-05,1793245356377193216
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.484084665,745,714,680,660,633.484084665,879,786,808.484084665,652,631,652.515915335,0.421990579656,-0.0155589087311,0.0499889250333,0.999999982486,0.000185195984845,4.10203532305e-06,2.67221466811e-05,1793245356393859840
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.925729517,744.925729517,714,680,660,633.925729517,879.074270483,786,809,652,630.925729517,652.074270483,0.422899718127,-0.0155586708622,0.0500108436665,0.99999998067,0.00018964526647,4.31199291994e-05,2.88952087075e-05,1793245356410526464
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.346278954,744.346278954,714,680,660,633.346278954,879.653721046,786,809,652,630.346278954,652.653721046,0.423776882448,-0.0155584562561,0.049990580522,0.999999982142,0.000186839455526,3.38969492821e-06,2.81948668046e-05,1793245356427192832
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.230656475,744.230656475,714.230656475,680,660.230656475,633.230656475,880,786,809,652,630,653,0.424683444164,-0.0155598437334,0.0499845092213,0.999999982501,0.000184701629381,-8.33739439655e-06,2.85390715003e-05,1793245356443859456
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.80385681,744.80385681,714.80385681,680,660.80385681,633.80385681,880,786,809,652,630,653,0.425633663564,-0.0155636104365,0.0499995139746,0.999999982459,0.000183555815484,2.15224866442e-05,3.04345138433e-05,1793245356460526336
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.622144207,745,714.622144207,680,660.622144207,634,880,786,809,652,630.377855793,653,0.426540508103,-0.0155683182483,0.050008231026,0.999999982838,0.000181194864111,2.11585990723e-05,3.23152685854e-05,1793245356477192960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.047729806,745,714.047729806,680,660.047729806,634,880,786,809,652,630.952270194,653,0.42742478921,-0.0155735156199,0.0500136772469,0.999999983525,0.000178201804663,5.07246335846e-06,3.4188382803e-05,1793245356493859840
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.544512592,660,633.455487408,880,786,809,652,631,653,0.428267264971,-0.015564765386,0.0499759420522,0.999999980077,0.000189304513144,-5.52751924976e-05,3.08811234954e-05,1793245356510526464
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.134331834,745,714,680.865668166,660,633.134331834,880,786,809.134331834,652,631,653,0.429131881709,-0.0155570844335,0.0499473318962,0.999999975367,0.000198106130163,-9.60295462448e-05,2.82376925016e-05,1793245356527193088
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.710856213,745,714,680.289143787,660,633.710856213,880,786,809.710856213,652,631,653,0.43008185298,-0.0155570840801,0.0499616410352,0.999999978787,0.000195128088317,-5.90830431604e-05,2.932481761e-05,1793245356543859712
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.713864996,745,714,680,660,634,880,786,809.713864996,652,630.713864996,653,0.430995536425,-0.0155560327627,0.0499607090393,0.999999978684,0.000195675841288,-5.88429564013e-05,2.96742123798e-05,1793245356560526336
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.139839469,745,714,680,660,634,880,786,809.139839469,652,630.139839469,653,0.43187270935,-0.0155539240331,0.049944442399,0.999999975054,0.000199771021007,-9.55344924576e-05,2.92813505611e-05,1793245356577192960
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.553315646,880,786,809,652.446684354,630.446684354,653,0.432751807139,-0.0155535838734,0.049944928396,0.999999974943,0.00020376540284,-8.79249447875e-05,2.93647254647e-05,1793245356593859584
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.036479553,880,786.036479553,809.036479553,653,631,653,0.433632192878,-0.0155538244422,0.0499523941391,0.999999975891,0.000207691530231,-6.47525010569e-05,2.98221721824e-05,1793245356610526464
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.615069338,880,786.615069338,809.615069338,653,631,653,0.434522504572,-0.0155542302674,0.0499834018232,0.999999976909,0.000211085787267,-2.23395844127e-05,3.35592024656e-05,1793245356627193088
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.807357748,810,652.807357748,631,652.807357748,0.435377349167,-0.0155522217388,0.0499955959995,0.999999976093,0.000215214218725,-1.49436579497e-05,3.5697481986e-05,1793245356643859968
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.231805939,810,652.231805939,631,652.231805939,0.436161696973,-0.0155454142676,0.0499703951038,0.999999972047,0.000220801948619,-7.71500054706e-05,3.46579704877e-05,1793245356660526592
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.343010898,745,714,680.343010898,660,633.656989102,880.343010898,786,809.656989102,652.343010898,631,652,0.436990952059,-0.0155439992074,0.0499628788357,0.999999971092,0.000221800150293,-8.62635728236e-05,3.43266684461e-05,1793245356677193216
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.917332069,745,714,680.917332069,660,633.082667931,880.917332069,786,809.082667931,652.917332069,631,652,0.437850490435,-0.0155462205336,0.0499672882429,0.999999973496,0.000219703391866,-5.95738849902e-05,3.4472949362e-05,1793245356693859584
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.539748991,744.539748991,714,680.539748991,660,633.460251009,880.539748991,786,809.460251009,652.539748991,631,652.460251009,0.438649188686,-0.0155486038003,0.0499789853731,0.999999975077,0.000217080368614,-3.8595263568e-05,3.50954855923e-05,1793245356710526208
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.002110114,744.002110114,714,680.002110114,660,633.997889886,880.002110114,786,809.997889886,652.002110114,631,652.997889886,0.439437657103,-0.015551014296,0.0499919078809,0.99999997621,0.000214368857703,-1.85769167781e-05,3.57981006853e-05,1793245356727192832
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.638578599,714,680.638578599,660,633.361421401,880.638578599,786,810,652,631,653,0.440166506951,-0.015552184828,0.0499692038767,0.999999975334,0.000213573341146,-5.04324000347e-05,3.42920322917e-05,1793245356743859712
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.748537008,714,681,660,633,880.748537008,786,810,652,631,653,0.440897184437,-0.0155543074296,0.0499589015467,0.999999974844,0.000212245496905,-6.4229231719e-05,3.37449898649e-05,1793245356760526592
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.172108863,714,681,660,633,880.172108863,786,810,652,631,653,0.441630527298,-0.015557666703,0.049964807288,0.999999975829,0.000210219970679,-5.44247593525e-05,3.44485416002e-05,1793245356777193216
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.410831408,714,681,660,633,880,786,810,652,631,653,0.442335451997,-0.0155600025289,0.0499749178442,0.999999977024,0.000208476571117,-3.50352815613e-05,3.55327534408e-05,1793245356793859584
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.996543782,714,681,660,633,880,786,810,652,631,653,0.443028279838,-0.0155619026984,0.0499868182885,0.999999977863,0.000206853265769,-1.1565698574e-05,3.67790031002e-05,1793245356810526464
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681.579997548,660,633,880,786,809.420002452,652,631,653,0.443604888548,-0.0155656334907,0.0499435862885,0.999999976125,0.000195415676465,-9.18825293239e-05,3.34844655964e-05,1793245356827193088
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.839253784,714,681.839253784,659.839253784,632.839253784,880,785.839253784,809.160746216,652.160746216,630.839253784,653,0.444174925559,-0.0155704792528,0.0499005757408,0.999999968856,0.000183647046999,-0.000166300878216,3.01105967525e-05,1793245356843859456
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.265422099,714,681.265422099,659.265422099,632.265422099,880,785.265422099,809.734577901,652.734577901,630.265422099,653,0.444729847564,-0.0155781623395,0.0498589752666,0.999999959912,0.000171177418791,-0.000223978165449,2.66021275856e-05,1793245356860526080
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744,714.310262829,681,659,632,880.310262829,785,810,653,630.310262829,653,0.445291217296,-0.0155861378481,0.04983803673,0.999999956747,0.000159434782367,-0.000245909853405,2.47811087622e-05,1793245356877192960
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744,714.887542653,681,659,632,880.887542653,785,810,653,630.887542653,653,0.445858136008,-0.0155943650191,0.0498348801795,0.9999999606,0.000148317807421,-0.000237078322187,2.4412336095e-05,1793245356893859840
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.475636267,744.475636267,714.524363733,681,659,632,881.475636267,785,810,652.524363733,631,653,0.446385863089,-0.0156032861217,0.0498335738317,0.999999962434,0.000138240524511,-0.000235400904332,2.46501718609e-05,1793245356910526720
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659,631.355474897,881.355474897,784.355474897,810,652,630.355474897,653,0.447315743145,-0.0156162014719,0.0497869239512,0.999999946151,0.000120105754647,-0.000304666091179,2.12323776476e-05,1793245356943860224
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.778364986,745,714,681.221635014,658.778364986,631,880.778364986,784,810,652.221635014,630,653,0.447728940111,-0.0156199008617,0.0497533227752,0.999999929863,0.000112900955161,-0.00035663373322,1.84477719214e-05,1793245356960526592
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.204960149,745,714,681.795039851,658.204960149,631,880.204960149,784,810,652.795039851,630,653,0.44812753066,-0.0156225553232,0.0497318680307,0.999999917108,0.000107691813083,-0.000392315745032,1.66075327424e-05,1793245356977193216
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.621801981,658.378198019,631,880,784,810,652.621801981,630,653,0.448532957544,-0.015627479942,0.0497313911572,0.999999917167,0.000101173698226,-0.000393874528182,1.71216825455e-05,1793245356993859840
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681.03321813,658.96678187,631,880,784,810,652.03321813,630,653,0.448942187416,-0.0156336674152,0.0497425839537,0.999999924552,9.39274211626e-05,-0.000376451079211,1.89455431292e-05,1793245357010526720
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.546417889,681,659,631,880,784,810,652,630,653,0.449301389043,-0.015641602573,0.0497539080967,0.99999993076,8.68700164396e-05,-0.000361218358341,2.13169546525e-05,1793245357027193088
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.125006696,784,810.125006696,652,629.874993304,653,0.449648816124,-0.0156487701547,0.0497635732261,0.999999935982,7.97555554005e-05,-0.000348050327274,2.31509690113e-05,1793245357043859968
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.701745414,784,810.701745414,652,629.298254586,653,0.449964507388,-0.0156527862259,0.049767214853,0.999999938679,7.23940865306e-05,-0.000341869871332,2.29246620214e-05,1793245357060527104
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,681.277535964,658.722464036,630.722464036,880.722464036,784,810.722464036,652,629,653,0.450249771618,-0.0156570715255,0.0497667078023,0.999999937695,6.59216811132e-05,-0.000346023149893,2.307102148e-05,1793245357077194240
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,681.852310997,658.147689003,630.147689003,880.147689003,784,810.147689003,652,629,653,0.450502448689,-0.0156616451665,0.049761757547,0.999999932648,6.04014568453e-05,-0.000361243785891,2.36165040997e-05,1793245357093861120
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.561893281,681.561893281,658.876213437,630,880,784,810,652.438106719,629,653,0.450729374608,-0.0156654778238,0.0497543624784,0.999999927086,5.40108766654e-05,-0.000377300357032,2.35650565391e-05,1793245357110527232
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681.0272223,659.9455554,630,880,783.9727777,810,652.9727777,629,653,0.450945895008,-0.0156694582017,0.0497461618231,0.999999921208,4.71982742855e-05,-0.000393448680544,2.35532819138e-05,1793245357127193088
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681.606379734,658.787240531,630,880,783.393620266,810,652.393620266,629,653,0.45113199044,-0.0156816288603,0.0497387690233,0.999999916619,3.79314138763e-05,-0.000405596343087,2.85311125506e-05,1793245357143859456
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.184424164,682,658,630,880.184424164,783,810,652,629,653,0.451305658412,-0.0156980649268,0.0497319842779,0.999999911454,2.3046260317e-05,-0.000418872357967,3.32697317087e-05,1793245357160526336
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.760107262,682,658,630,880.760107262,783,810,652,629,653,0.451452961294,-0.0157235501257,0.0497264895308,0.999999904876,-3.75819450156e-06,-0.000434542189487,3.75008590928e-05,1793245357177192960
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,630,880.665620609,783,810,652,629,653,0.451592040159,-0.015734541164,0.0497249212902,0.999999902303,-1.59147872829e-05,-0.000440000355214,3.92397247471e-05,1793245357193859840
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,630,880.092356434,783,810,652,629,653,0.451725243699,-0.0157351773969,0.0497261581939,0.999999903083,-1.76067685611e-05,-0.000438163182105,3.9198088173e-05,1793245357210527232
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,630,880,783,810,652,629,653,0.451839270075,-0.0157320155282,0.049725819733,0.999999903638,-1.40038237991e-05,-0.000437056002502,3.88499062065e-05,1793245357227193856
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.087670048,745,715,681.912329952,658,630,880,782.912329952,810,652.087670048,628.912329952,653,0.45194615357,-0.015729251991,0.0497257013625,0.999999904322,-1.08237596835e-05,-0.000435610310225,3.85098470921e-05,1793245357243860480
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.666641678,745,715,681.333358322,658,630,880,782.333358322,810,652.666641678,628.333358322,653,0.452033647428,-0.0157328083006,0.0497285118178,0.999999906045,-1.57120319766e-05,-0.000431481961973,3.8545219386e-05,1793245357260526848
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714.756619306,681.243380694,658.243380694,629.756619306,880,782.243380694,810,653,628,652.756619306,0.452109978539,-0.0157352227463,0.0497293577212,0.999999906915,-1.93912615518e-05,-0.000429308466278,3.85871839087e-05,1793245357277193216
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,714.182910537,681.817089463,658.817089463,629.182910537,880,782.817089463,810,653,628,652.182910537,0.452171159024,-0.0157360873988,0.0497275372394,0.999999906665,-2.1429519457e-05,-0.00042978819149,3.86380957234e-05,1793245357293859840
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.599317953,745,714.400682047,681.599317953,658.599317953,629,880,782.599317953,810.400682047,653,628,652.400682047,0.452217162157,-0.0157345171588,0.0497252433667,0.999999904981,-2.18774600531e-05,-0.000433715995021,3.80825353401e-05,1793245357310526464
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.011099332,745,714.988900668,681.011099332,658.011099332,629,880,782.011099332,810.988900668,653,628,652.988900668,0.452256061628,-0.0157318072836,0.0497227279266,0.9999999026,-2.15810631214e-05,-0.000439257648717,3.72431196642e-05,1793245357327192832
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,681.56804221,658,629.56804221,880,782.56804221,810.43195779,652.43195779,628.56804221,653,0.452288764194,-0.0157317674051,0.0497219398122,0.999999902274,-2.18283179139e-05,-0.000439979868467,3.73333376238e-05,1793245357343860224
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.853519814,880,783,810,652.146480186,628.853519814,653,0.452317778805,-0.0157314877103,0.0497214766867,0.99999990209,-2.15615337464e-05,-0.000440407765284,3.73535803231e-05,1793245357360527616
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.276636287,880,783,810,652.723363713,628.276636287,653,0.452336307262,-0.0157303524803,0.0497218708662,0.999999902209,-1.97536247558e-05,-0.000440243199593,3.71156804778e-05,1793245357377193984
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658.299600228,629.299600228,880.299600228,783,810.299600228,652.700399772,628,653,0.452351118031,-0.0157300472616,0.0497213393355,0.999999902123,-1.92257269327e-05,-0.000440490398799,3.67847760864e-05,1793245357393860352
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658.875240677,629.875240677,880.875240677,783,810.875240677,652.124759323,628,653,0.452362503467,-0.0157305067838,0.0497199548909,0.999999901849,-1.98771823588e-05,-0.000441116982454,3.63681808269e-05,1793245357410526976
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658.538374723,630,880.538374723,782.538374723,810.538374723,652.461625277,628,653,0.452367508002,-0.0157314407642,0.0497182562865,0.999999900642,-2.37443829665e-05,-0.000443652559095,3.63874715659e-05,1793245357427193344
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.9498847,880,782,810,652.9498847,628,653,0.452370929342,-0.0157324210398,0.0497166906049,0.999999899336,-2.80236832351e-05,-0.000446324438928,3.65613912103e-05,1793245357443859712
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.370554967,880,782,810,652.370554967,628,653,0.452376276887,-0.0157325038485,0.0497174465375,0.999999899991,-2.72584971813e-05,-0.000444857698261,3.70945468453e-05,1793245357460526080
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652.207103691,628,653,0.452379117194,-0.0157320427011,0.0497170726781,0.999999899777,-2.60916149921e-05,-0.000445396844642,3.72370416199e-05,1793245357477192960
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652.781796316,628,653,0.452377507398,-0.0157306160843,0.0497146935477,0.999999898011,-2.42117612256e-05,-0.000449496245776,3.66861512805e-05,1793245357493860096
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652.635552792,628.364447208,653,0.452377797383,-0.0157285547759,0.0497137467776,0.999999897507,-2.23932631911e-05,-0.000450746942188,3.62104135828e-05,1793245357510526976
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652.048030738,628.951969262,653,0.452379250207,-0.0157261049783,0.0497136767425,0.999999897783,-2.06123205156e-05,-0.000450253972007,3.57806761588e-05,1793245357527193344
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681.467807987,658,629.532192013,880,782.532192013,810,652.532192013,628.467807987,653,0.452379842019,-0.0157287946738,0.0497133021664,0.999999897563,-2.53803777492e-05,-0.000450481164736,3.59993701116e-05,1793245357543859712
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,658,629.888633299,880,782.888633299,810,652.888633299,628,653,0.452380525322,-0.0157305667353,0.0497132355794,0.999999897456,-2.86748294256e-05,-0.000450516438186,3.60601172161e-05,1793245357560526336
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,658,629.311125526,880,782.311125526,810,652.311125526,628,653,0.452381912425,-0.0157265826965,0.0497145716102,0.999999898091,-2.33608346211e-05,-0.000449480040266,3.52181198269e-05,1793245357577192960
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681.265697787,658,629,880,782,810,652.265697787,628,652.734302213,0.452381752263,-0.0157248341667,0.0497145954284,0.999999897839,-2.21799472025e-05,-0.000450136585264,3.4752065423e-05,1793245357593859584
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681.841721751,658,629,880,782,810,652.841721751,628,652.158278249,0.452379784946,-0.0157256966365,0.049713086626,0.999999896563,-2.58263910165e-05,-0.000452770431135,3.47250998096e-05,1793245357610526208
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880.417955285,782,810.417955285,652.582044715,628,652.417955285,0.452379914848,-0.0157257120926,0.04971234729,0.999999896383,-2.64209922034e-05,-0.000453135075369,3.47099651092e-05,1793245357627192832
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880.994268188,782,810.994268188,652.005731812,628,652.994268188,0.452380839359,-0.0157254066265,0.0497118994946,0.999999896622,-2.5859291183e-05,-0.000452639949567,3.46993129837e-05,1793245357643859456
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.585195619,745,715,682,658,629,881,782,810.414804381,652.585195619,628,653,0.452382122057,-0.0157254775907,0.0497125024437,0.999999897092,-2.44875769508e-05,-0.000451654593476,3.49825278091e-05,1793245357660526080
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.828273544,745,715,682,658.171726456,629,880.828273544,782,810,652.828273544,628,653,0.452383139356,-0.0157260611283,0.0497130881011,0.999999897489,-2.43827018095e-05,-0.000450757032588,3.52982418442e-05,1793245357677192704
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.252434443,745,715,682,658.747565557,629,880.252434443,782,810,652.252434443,628,653,0.452383523642,-0.0157278419728,0.049713608228,0.999999897706,-2.72781447657e-05,-0.000450077663315,3.56834872364e-05,1793245357693859584
+242,4.033333333,HOLD_POSE2,766,745,715,682,658,629,880,782,810,653,628,653,0.452383772105,-0.0157290902936,0.049714253636,0.999999897646,-2.84919805881e-05,-0.000450136596088,3.5677690036e-05,1793245357730326016
+243,4.050000000,HOLD_POSE2,765.405519685,745,715,682,658,629,880,782.594480315,810,652.405519685,628,653,0.452384607428,-0.0157266463803,0.0497144407452,0.999999898012,-2.60353985113e-05,-0.00044950803503,3.52140910376e-05,1793245357746992640
+244,4.066666667,HOLD_POSE2,765,745,715,681.815840206,658,629,880.184159794,782.815840206,810,652,628,653,0.452385090944,-0.0157254050249,0.0497145208665,0.99999989808,-2.57974348446e-05,-0.000449395390151,3.49155206696e-05,1793245357763659008
+245,4.083333333,HOLD_POSE2,765,745,715,681.236463468,658,629,880.763536532,782.236463468,810,652,628,653,0.452384819465,-0.0157267444236,0.0497143713859,0.999999897503,-3.03207466084e-05,-0.000450389929357,3.49711106393e-05,1793245357780325632
+246,4.100000000,HOLD_POSE2,765,745,714.660253438,681,658,629,880.660253438,782,810,652,628,653,0.452384205952,-0.0157284669352,0.0497141777906,0.999999897015,-3.20965056516e-05,-0.00045132096382,3.53551637622e-05,1793245357796992256
+247,4.116666667,HOLD_POSE2,765,745,714.086227115,681,658,629,880.086227115,782,810,652,628,653,0.452383356583,-0.0157304536309,0.0497139537751,0.999999896596,-3.19776286436e-05,-0.000452208207128,3.5965715918e-05,1793245357813658880
+248,4.133333333,HOLD_POSE2,765,745,714.499583154,681.499583154,658,629.499583154,880.499583154,782.499583154,810,652.499583154,628,653,0.452382428452,-0.0157278723606,0.0497130072953,0.999999895884,-2.80143182135e-05,-0.00045405990893,3.57259179116e-05,1793245357830325248
+249,4.150000000,HOLD_POSE2,764.913790282,745,715,682,658.086209718,629.913790282,880.913790282,782.913790282,810,652.913790282,628,653,0.452381866183,-0.0157251310839,0.0497121982714,0.999999895331,-2.42087049352e-05,-0.000455522209187,3.53858027624e-05,1793245357846992128
+250,4.166666667,HOLD_POSE2,764.334410135,745,715,682,658.665589865,629.334410135,880.334410135,782.334410135,810,652.334410135,628,653,0.452383476509,-0.0157260936727,0.0497129061433,0.9999998961,-2.5192761671e-05,-0.000453781627992,3.53317013652e-05,1793245357863659008
+251,4.183333333,HOLD_POSE2,764.244245861,745,715,682,658.755754139,629,880,782,810,652.244245861,628,653,0.452384360777,-0.0157256745884,0.0497128997706,0.999999896496,-2.45558013835e-05,-0.00045294842179,3.52436226541e-05,1793245357880325376
+252,4.200000000,HOLD_POSE2,764.821913265,745,715,682,658.178086735,629,880,782,810,652.821913265,628,653,0.452384253898,-0.0157233693734,0.0497119183779,0.999999896383,-2.17059805991e-05,-0.000453353878973,3.51091613046e-05,1793245357896992256
+253,4.216666667,HOLD_POSE2,765,745,715,682,658,629,880,782,810,652.60161934,628,653,0.452384239137,-0.015723266641,0.0497121433615,0.999999896483,-2.21844403644e-05,-0.000453111118889,3.50908812369e-05,1793245357913658880
+254,4.233333333,HOLD_POSE2,765,745,715,682,658,629,880,782,810,652.025686721,628,653,0.452384265432,-0.01572414552,0.0497129060078,0.999999896678,-2.41462618901e-05,-0.000452579458653,3.51243813174e-05,1793245357930325504
+255,4.250000000,HOLD_POSE2,765,745,715,682,658,629,880,782,810,652.561147611,628.561147611,653,0.45238522962,-0.0157263391912,0.049713316571,0.99999989693,-2.73650641152e-05,-0.000451812774612,3.54543177803e-05,1793245357946992384
+256,4.266666667,HOLD_POSE2,765,745,715,681.853553297,658,629,880.146446703,782,810,653,628.853553297,653,0.452386007048,-0.0157271763715,0.0497134200364,0.999999897027,-2.90437883085e-05,-0.000451491143719,3.5461559117e-05,1793245357963659008
+257,4.283333333,HOLD_POSE2,765,745,715,681.274295405,658,629,880.725704595,782,810,653,628.274295405,653,0.452386103129,-0.0157238231593,0.0497126644751,0.999999896682,-2.59975192252e-05,-0.000452517255828,3.44742036082e-05,1793245357980325632
+258,4.300000000,HOLD_POSE2,765,745,715,681.303494288,658,629,880.696505712,782,810,652.696505712,628.303494288,653,0.452386149404,-0.0157221250385,0.0497123981937,0.9999998965,-2.52226709163e-05,-0.000452996524899,3.40223865234e-05,1793245357996992512
+259,4.316666667,HOLD_POSE2,765,745,715,681.879963391,658,629,880.120036609,782,810,652.120036609,628.879963391,653,0.452386150881,-0.0157219155729,0.0497125719899,0.999999896472,-2.64908288262e-05,-0.000452983941571,3.40522540211e-05,1793245358013659136
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,629,880,782,810,652,628,653,0.452385908908,-0.0157235349705,0.0497129653159,0.999999897048,-2.54612942783e-05,-0.000451700521223,3.49615142694e-05,1793245358046048256
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.588286473,681.588286473,658,629,880,782,810,652,628,653,0.452386159214,-0.0157226708775,0.0497133414373,0.99999989721,-2.58728318009e-05,-0.000451344540301,3.46346841197e-05,1793245358062714624
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.826165376,682,658,629,880,782,810,652,628,653,0.452386528287,-0.0157222314324,0.0497135400526,0.99999989728,-2.63402779566e-05,-0.000451176812913,3.44212103479e-05,1793245358079381248
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.247002031,682,658,629,880,782,810,652,628,653,0.452387174291,-0.0157227821353,0.049713324778,0.99999989714,-2.69380858818e-05,-0.000451448034626,3.4472048618e-05,1793245358096047872
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.330054662,681.669945338,658,629,880,782,810,652.330054662,628,653,0.452387417387,-0.0157232786771,0.0497128507087,0.99999989706,-2.69331982891e-05,-0.00045162842687,3.44432158672e-05,1793245358112714496
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.90554477,681.09445523,658,629,880,782,810,652.90554477,628,653,0.452387360873,-0.0157237349436,0.0497121841942,0.999999897024,-2.64801338596e-05,-0.000451741276429,3.43551381011e-05,1793245358129381376
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.490292907,745,715,681.490292907,658.490292907,629,880,782,810,652.509707093,628,653,0.452387952603,-0.0157229397353,0.0497125310422,0.99999989744,-2.65803500251e-05,-0.00045081753078,3.43070209029e-05,1793245358146048000
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.924132295,745,715,682,658.924132295,629,880.151735411,782,809.924132295,652,628,653,0.452387917702,-0.0157221219104,0.049712794346,0.999999897673,-2.69833299216e-05,-0.000450279964864,3.4259704523e-05,1793245358162714880
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.345131052,745,715,682,658.345131052,629,881.309737897,782,809.345131052,652,628,653,0.452382883019,-0.0157227837614,0.0497111840139,0.999999896105,-2.86736759546e-05,-0.00045365328387,3.41656625269e-05,1793245358179381504
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.233858592,745,715,682,658,629,881.532282816,782,809.233858592,652.233858592,628,653,0.452371298781,-0.0157225262847,0.0497062270909,0.999999892103,-2.92830730584e-05,-0.00046238603034,3.36973616967e-05,1793245358196048128
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.812831067,745,715,682,658,629,880.374337865,782,809.812831067,652.812831067,628,653,0.452350049122,-0.0157209121217,0.0496963314785,0.999999884332,-2.82972731888e-05,-0.000479027884256,3.26767530909e-05,1793245358212714752
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.611473093,745,715,681.611473093,658,629,880,782,810,652.611473093,628,653,0.452309823713,-0.0157186361808,0.0496791822549,0.999999869996,-2.74341891024e-05,-0.000508210222757,3.12625696907e-05,1793245358229381376
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.037342487,745,715,681.037342487,658,629,880,782,810,652.037342487,628,653,0.452260533373,-0.0157160441009,0.0496585678983,0.999999851573,-2.66297276204e-05,-0.000543383293587,2.96603710393e-05,1793245358246048000
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.549645972,658,628.450354028,880,782,810,652,628,653,0.452195854869,-0.0157115553436,0.0496389317085,0.999999836694,-2.48607971512e-05,-0.000570311462771,2.71650591727e-05,1793245358262714880
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.136135604,715,682,658,628.136135604,880,782,810,652,628,653,0.452127149805,-0.0157069463658,0.0496214917698,0.999999823147,-2.30525848884e-05,-0.000593762451928,2.49280254672e-05,1793245358279381248
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.718062853,715,682,658,628.718062853,880,782,810,652,628,653,0.452048764764,-0.015702375781,0.049611020872,0.999999814838,-2.13354489503e-05,-0.000607705242241,2.37402069954e-05,1793245358296048128
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.702860585,715,682,658,629,880,782.297139415,810,652,628,653,0.451963278713,-0.0156974601983,0.0496057568179,0.999999810223,-1.95532692862e-05,-0.00061534519382,2.28391642742e-05,1793245358312714752
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.126463195,715,682,658,629,880,782.873536805,810,652,628,653,0.451871118984,-0.0156922203796,0.0496053862675,0.999999809214,-1.77099602435e-05,-0.000617061602018,2.22076396103e-05,1793245358329381120
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.552462825,682,658,629,880,782.552462825,810.447537175,652.447537175,628,653,0.451760175001,-0.015685010575,0.0496060863379,0.999999808521,-1.39806929478e-05,-0.000618303191188,2.15100298576e-05,1793245358346047744
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,629,880,782.021548603,810.978451397,652.978451397,628.021548603,653,0.45164285019,-0.0156772721937,0.0496070484454,0.999999807909,-9.75233921412e-06,-0.000619398212594,2.08038364171e-05,1793245358362714368
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,629,880,782.613693163,810.386306837,652.386306837,628.613693163,653,0.451496367976,-0.0156701991881,0.0496069809538,0.999999807482,-6.34486506192e-06,-0.000620146083908,2.0362195983e-05,1793245358379380992
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.200147728,682,658,629,880,783,810,652,629,653,0.45133948906,-0.0156609743322,0.0496063142164,0.99999980643,-2.48165656758e-06,-0.000621896453964,1.94553790179e-05,1793245358396048128
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.775923503,682,658,629,880,783,810,652,629,653,0.45116309811,-0.0156477109838,0.0496045228421,0.999999804198,2.23685278932e-06,-0.00062552826745,1.76755401905e-05,1793245358412715776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.643944663,681.643944663,658,629,880,782.643944663,810,652,629,653,0.450978150434,-0.0156364798338,0.0496067939641,0.999999807986,7.87839218338e-06,-0.000619422043631,1.68098158972e-05,1793245358429382400
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.061037417,681.061037417,658,629,880,782.061037417,810,652,629,653,0.450787751033,-0.0156265434477,0.0496116534057,0.999999815472,1.4108017946e-05,-0.000607111468915,1.65264970394e-05,1793245358446048256
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.793028287,745,714.896514143,681,658,629.103485857,880,783,810,652,629,653,0.450303191485,-0.0155955311851,0.0496203023597,0.99999982675,2.52754153264e-05,-0.000587963761933,1.26623218659e-05,1793245358479381248
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.634720111,745,714.317360055,681,658,629.682639945,880,783,810,652,629,653,0.450031769561,-0.0155834393837,0.0496279331919,0.999999834829,2.67826979525e-05,-0.00057402307439,1.10447677588e-05,1793245358496048128
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.25973411,745,714.25973411,681,658,630,880,783,810,652,629,653,0.449738867774,-0.0155731617544,0.0496325907216,0.999999840871,2.67311045024e-05,-0.00056343330251,9.24710107947e-06,1793245358512715008
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.834331098,745,714.834331098,681,658,630,880,783,810,652,629,653,0.449419927022,-0.0155650833574,0.0496336438625,0.999999844595,2.47897622238e-05,-0.000556905681686,7.23109289272e-06,1793245358529382144
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.40957082,745,714.59042918,681.40957082,658,630,880.40957082,783.40957082,810,652.40957082,629,653,0.449060639425,-0.0155625438705,0.0496300915597,0.999999841104,1.36409979465e-05,-0.000563542976558,4.96337228168e-06,1793245358546048512
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.985070918,745,714.014929082,681.985070918,658,630,880.985070918,783.985070918,810,652.985070918,629,653,0.448685006134,-0.0155622483603,0.0496246734552,0.999999834388,-1.23796584027e-06,-0.000575513768964,2.59367555453e-06,1793245358562714880
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.426675278,745,714,681.426675278,658,630.573324722,880.426675278,783.426675278,810,652.426675278,629,652.426675278,0.448279187826,-0.0155539106314,0.04962554394,0.999999838006,-7.02755767792e-06,-0.000569155725074,-6.85606541831e-07,1793245358579381504
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631,880,783.160034552,810,652,629,652.160034552,0.447858307801,-0.0155442118458,0.0496250121715,0.99999984001,-1.19836619326e-05,-0.000565526450271,-4.02269598409e-06,1793245358596048128
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631,880,783.741780678,810,652,629,652.741780678,0.447399856623,-0.0155314908938,0.0496203439617,0.999999837191,-1.53812972924e-05,-0.000570374123999,-7.44828130333e-06,1793245358612714752
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.319039935,745,714,681,658,631,880,784,810,652,629.319039935,653,0.446925812196,-0.0155189022914,0.0496186853703,0.999999836378,-1.90918759938e-05,-0.000571623601294,-1.12094977008e-05,1793245358629381376
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.89271811,745,714,681,658,631,880,784,810,652,629.89271811,653,0.446439322137,-0.0155064193208,0.0496194288725,0.999999837167,-2.30522273714e-05,-0.000570001217935,-1.52385947467e-05,1793245358646048256
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.532331548,745,714,681,658,631,880,784,810,652,630,653,0.445932078396,-0.0154997553319,0.0496299413364,0.999999846361,-3.12401013636e-05,-0.000553177049991,-1.72309011218e-05,1793245358662715136
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.044032762,631.044032762,880,784.044032762,810,652,630,652.955967238,0.445417871927,-0.0154943333086,0.0496448840357,0.999999858489,-4.05859831701e-05,-0.000530120116767,-1.86540196427e-05,1793245358679382272
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.634308171,631.634308171,880,784.634308171,810,652,630,652.365691829,0.444876510895,-0.0154877137377,0.0496869095151,0.999999886536,-5.22340635775e-05,-0.000473122022938,-1.88281783459e-05,1793245358696048640
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.779759652,658.779759652,632,880,785,809.779759652,652,630,652,0.444310446228,-0.015480480514,0.049720713707,0.999999906497,-6.2057276198e-05,-0.000427526435898,-1.93961398285e-05,1793245358712715008
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.200899639,658.200899639,632,880,785,809.200899639,652,630,652,0.443704156409,-0.0154722480735,0.0497411310878,0.999999917214,-6.89090370028e-05,-0.000400497675314,-2.06053345628e-05,1793245358729381632
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.375949307,658.375949307,632,880,785,809,652,630,652,0.443053382622,-0.0154609732508,0.0497384994763,0.999999915392,-4.66928163517e-05,-0.000407959532493,-2.45922034767e-05,1793245358746048256
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.95172928,658.95172928,632,880,785,809,652,630,652,0.442378964016,-0.0154480812923,0.0497236164905,0.999999905436,-9.02591106376e-06,-0.00043375440177,-3.00555066889e-05,1793245358762714880
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.102704343,744.897295657,714,680.897295657,659,632.897295657,880,785,810,652.102704343,630.897295657,652,0.441084347691,-0.0154384235782,0.0497786703329,0.999999945575,-8.44177500758e-06,-0.000328229125738,-3.23172676303e-05,1793245358796048128
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.694842606,744.305157394,714,680.305157394,659,632.305157394,880,785,810,652.694842606,630.305157394,652,0.4403812271,-0.0154408828244,0.0498213462369,0.99999996532,-3.46424552562e-05,-0.000259216712503,-3.1093051994e-05,1793245358812715008
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,744.857748151,714,680.857748151,659,632.857748151,880,785,809.142251849,652.142251849,630.857748151,652,0.438829522187,-0.0154385410218,0.0498096035225,0.999999955494,-7.53946752857e-05,-0.000286210861113,-3.75686059701e-05,1793245358846048512
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,744.567910489,714,681,659,633,880,785,809,652,631,652.432089511,0.437997639881,-0.015433570248,0.0497769816129,0.999999936699,-8.69764250996e-05,-0.000342306269398,-4.31611230258e-05,1793245358862715136
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.061536475,713,679.061536475,658.061536475,633,879,785,808,652,630,652,0.416170501116,-0.0154104379801,0.049790905331,0.999999937846,-8.75984767367e-05,-0.000338012150795,-4.88116914596e-05,1793245359279382016
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744,713.526733566,679.526733566,658.526733566,633.526733566,878.473266434,785,808,652,630,652,0.415412122129,-0.0154123433146,0.0498079122422,0.99999994797,-9.29366205908e-05,-0.000305258354498,-4.73232826688e-05,1793245359296048640
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.12813028,714,679.87186972,658,634,878,785.12813028,807.87186972,652,630,652,0.403021565641,-0.0154238278424,0.0498451278882,0.999999949478,-0.000119067873159,-0.000291315090274,-4.47515944789e-05,1793245359679382016
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39c6b32f45e9cda885571498df38cb57bb9ca933
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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+328,5.466666667,pose2_to_pose3_retreat,0.592157495317,-0.0101222665954,1.04005098331,0.562729130119,-0.00144657543105,1.03971747366
+329,5.483333333,pose2_to_pose3_retreat,0.591434993162,-0.0101221674741,1.0400509571,0.562006626944,-0.00144647981454,1.03971744625
+330,5.500000000,pose2_to_pose3_retreat,0.59072009878,-0.0101221606412,1.04005097209,0.561291733056,-0.00144647144171,1.03971745767
+331,5.516666667,pose2_to_pose3_retreat,0.590017457929,-0.0101222753882,1.0400510408,0.560589093834,-0.00144658067412,1.03971752601
+332,5.533333333,pose2_to_pose3_retreat,0.589330095598,-0.0101222594808,1.04005095524,0.559901730414,-0.00144656818921,1.03971744748
+333,5.550000000,pose2_to_pose3_retreat,0.588658501815,-0.0101221595405,1.04005065224,0.559230134165,-0.00144647662242,1.03971714421
+334,5.566666667,pose2_to_pose3_retreat,0.588003519273,-0.0101224273247,1.04005098512,0.558575155113,-0.00144673280012,1.03971747105
+335,5.583333333,pose2_to_pose3_retreat,0.587360839303,-0.0101223213864,1.04005097075,0.557932474247,-0.00144663006901,1.03971745229
+336,5.600000000,pose2_to_pose3_retreat,0.586728156559,-0.0101221663424,1.04005104392,0.557299790742,-0.00144647731771,1.03971753296
+337,5.616666667,pose2_to_pose3_retreat,0.586106774633,-0.0101221880269,1.04005103489,0.556678409018,-0.00144649818305,1.03971752731
+338,5.633333333,pose2_to_pose3_retreat,0.58549578638,-0.0101222464252,1.04005090939,0.556067420244,-0.00144655846049,1.03971739896
+339,5.650000000,pose2_to_pose3_retreat,0.584898093922,-0.0101220853337,1.0400508987,0.555469725679,-0.00144640436101,1.03971739229
+340,5.666666667,pose2_to_pose3_retreat,0.584323442463,-0.0101221968369,1.04005092074,0.554895076239,-0.00144650920859,1.03971740925
+341,5.683333333,pose2_to_pose3_retreat,0.58376997031,-0.0101221002981,1.04005111869,0.554341602641,-0.00144641756438,1.03971760731
+342,5.700000000,pose2_to_pose3_retreat,0.583238633655,-0.0101221484791,1.04005114301,0.553810266506,-0.00144646393806,1.03971763275
+343,5.716666667,pose2_to_pose3_retreat,0.582726353957,-0.01012215932,1.04005115208,0.553297986666,-0.0014464753331,1.03971763993
+344,5.733333333,pose2_to_pose3_retreat,0.582232955864,-0.0101221667939,1.04005106988,0.552804588836,-0.00144648201463,1.03971755524
+345,5.750000000,pose2_to_pose3_retreat,0.581759193037,-0.0101222282464,1.04005097754,0.552330827014,-0.00144654000216,1.03971746427
+346,5.766666667,pose2_to_pose3_retreat,0.581303082586,-0.0101223181124,1.04005112315,0.551874716763,-0.00144662890833,1.03971761692
+347,5.783333333,pose2_to_pose3_retreat,0.580858416747,-0.0101221919013,1.04005114273,0.551430050491,-0.00144650428634,1.0397176338
+348,5.800000000,pose2_to_pose3_retreat,0.580426252386,-0.0101222907831,1.04005095696,0.550997887881,-0.00144659733909,1.03971744528
+349,5.816666667,pose2_to_pose3_retreat,0.580009916178,-0.0101221507729,1.04005094506,0.550581548419,-0.00144646789649,1.03971744544
+350,5.833333333,pose2_to_pose3_retreat,0.57961431257,-0.0101221995605,1.04005084358,0.550185944538,-0.00144651767414,1.03971734215
+351,5.850000000,pose2_to_pose3_retreat,0.579242964432,-0.0101222811333,1.04005082066,0.549814597552,-0.00144659550223,1.03971731511
+352,5.866666667,pose2_to_pose3_retreat,0.578903730709,-0.0101222510527,1.04005093228,0.549475363978,-0.00144656501473,1.03971742412
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+354,5.900000000,pose2_to_pose3_retreat,0.578310235028,-0.0101221834165,1.04005101759,0.548881867268,-0.00144650088868,1.03971750899
+355,5.916666667,pose2_to_pose3_retreat,0.578044291794,-0.0101222533038,1.04005092237,0.548615925694,-0.00144656513254,1.03971741404
+356,5.933333333,pose2_to_pose3_retreat,0.577792389195,-0.0101222046859,1.04005088749,0.548364023213,-0.00144651598391,1.03971738259
+357,5.950000000,pose2_to_pose3_retreat,0.577550239382,-0.0101222228368,1.04005078138,0.548121873311,-0.0014465344903,1.03971727506
+358,5.966666667,pose2_to_pose3_retreat,0.57731836073,-0.0101222920229,1.04005084224,0.547889995075,-0.00144660242885,1.03971733178
+359,5.983333333,pose2_to_pose3_retreat,0.577101525824,-0.0101222927938,1.04005104865,0.547673160569,-0.00144660175519,1.0397175405
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+362,6.033333333,pose2_to_pose3_retreat,0.576564700359,-0.0101222149535,1.0400510082,0.547136333989,-0.00144652760962,1.03971750236
+363,6.050000000,pose2_to_pose3_retreat,0.576427575034,-0.0101222830624,1.04005104537,0.546999208568,-0.00144659642747,1.03971752951
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+365,6.083333333,pose2_to_pose3_retreat,0.576201041835,-0.0101221642891,1.04005097957,0.546772674383,-0.00144648039918,1.03971747941
+366,6.100000000,pose2_to_pose3_retreat,0.576109638453,-0.0101221732082,1.04005089003,0.546681270789,-0.00144649027518,1.03971738395
+367,6.116666667,pose2_to_pose3_retreat,0.576030114099,-0.0101222841523,1.04005095911,0.546601748475,-0.0014465945959,1.03971744587
+368,6.133333333,pose2_to_pose3_retreat,0.575961778316,-0.0101222016524,1.04005112456,0.546533412139,-0.00144651366302,1.0397176191
+369,6.150000000,pose2_to_pose3_retreat,0.575902825829,-0.0101222016362,1.04005112732,0.546474459959,-0.00144651256179,1.03971762291
+370,6.166666667,pose2_to_pose3_retreat,0.575852514259,-0.010122160499,1.04005100424,0.546424148032,-0.00144647289877,1.03971749292
+371,6.183333333,pose2_to_pose3_retreat,0.575809785158,-0.0101222139942,1.04005103307,0.546381418756,-0.0014465270924,1.03971751907
+372,6.200000000,pose2_to_pose3_retreat,0.575774014424,-0.0101221899063,1.04005107842,0.546345647177,-0.00144650579072,1.03971756634
+373,6.216666667,pose2_to_pose3_retreat,0.575745052785,-0.0101219647881,1.04005096027,0.546316683702,-0.00144628688516,1.03971744864
+374,6.233333333,pose2_to_pose3_retreat,0.575722477088,-0.01012209017,1.04005114851,0.546294109144,-0.00144640838509,1.0397176374
+375,6.250000000,pose2_to_pose3_retreat,0.575706614879,-0.0101221804859,1.04005092761,0.546278246834,-0.00144649882963,1.03971742206
+376,6.266666667,pose2_to_pose3_retreat,0.575694506642,-0.0101222671778,1.04005097248,0.546266140026,-0.00144658084333,1.03971746251
+377,6.283333333,pose2_to_pose3_retreat,0.575685841509,-0.0101222417451,1.04005100324,0.546257474874,-0.00144655564533,1.03971748883
+378,6.300000000,pose2_to_pose3_retreat,0.575680267105,-0.0101221195443,1.04005094143,0.546251898715,-0.00144643944285,1.03971742598
+379,6.316666667,pose2_to_pose3_retreat,0.575676749885,-0.0101221475405,1.04005084498,0.546248382317,-0.00144646447762,1.039717334
+380,6.333333333,pose2_to_pose3_retreat,0.575674319321,-0.0101221685657,1.04005078054,0.546245952387,-0.00144648322241,1.03971727291
+381,6.350000000,pose2_to_pose3_retreat,0.575673045869,-0.0101221010191,1.04005083469,0.546244678332,-0.00144641771486,1.03971732736
+382,6.366666667,pose2_to_pose3_retreat,0.575672614926,-0.010122078161,1.04005085301,0.546244247184,-0.00144639554671,1.03971734579
+383,6.383333333,pose2_to_pose3_retreat,0.575672157648,-0.010122053906,1.04005087246,0.546243789689,-0.00144637202392,1.03971736534
+384,6.400000000,pose2_to_pose3_retreat,0.575671768638,-0.0101220332722,1.040050889,0.546243400495,-0.00144635201288,1.03971738197
+385,6.416666667,pose2_to_pose3_retreat,0.57567170327,-0.0101220298049,1.04005089178,0.546243335096,-0.00144634865027,1.03971738477
+386,6.433333333,pose2_to_pose3_retreat,0.575671629361,-0.0101220258846,1.04005089492,0.546243261152,-0.00144634484833,1.03971738793
+387,6.450000000,pose2_to_pose3_retreat,0.575671517262,-0.0101220199386,1.04005089969,0.546243148999,-0.00144633908186,1.03971739272
+388,6.466666667,pose2_to_pose3_retreat,0.575671309461,-0.0101220227463,1.04005090105,0.546242941233,-0.00144634177089,1.03971739409
+389,6.483333333,pose2_to_pose3_retreat,0.575671060428,-0.0101220289903,1.04005090113,0.54624269227,-0.0014463477789,1.03971739417
+390,6.500000000,pose2_to_pose3_retreat,0.57567103035,-0.0101220297445,1.04005090114,0.5462426622,-0.00144634850455,1.03971739418
+391,6.516666667,pose2_to_pose3_retreat,0.575670927015,-0.0101220323355,1.04005090117,0.546242558893,-0.00144635099756,1.03971739421
+392,6.533333333,pose2_to_pose3_retreat,0.575670858071,-0.0101220340641,1.04005090119,0.546242489969,-0.00144635266086,1.03971739424
+393,6.550000000,pose2_to_pose3_retreat,0.575670849577,-0.0101220342771,1.04005090119,0.546242481477,-0.00144635286578,1.03971739424
+394,6.566666667,pose2_to_pose3_retreat,0.575670800023,-0.0101220355196,1.04005090121,0.546242431938,-0.00144635406128,1.03971739426
+395,6.583333333,pose2_to_pose3_retreat,0.575670463433,-0.010122043959,1.04005090131,0.546242095441,-0.00144636218166,1.03971739436
+396,6.600000000,pose2_to_pose3_retreat,0.575669967568,-0.0101220585056,1.04005089344,0.546241599692,-0.0014463763588,1.03971738586
+397,6.616666667,pose2_to_pose3_retreat,0.575669801718,-0.0101220750661,1.04005084637,0.546241433757,-0.00144639335236,1.03971733505
+398,6.633333333,pose2_to_pose3_retreat,0.575669710679,-0.0101220841564,1.04005082054,0.546241342672,-0.00144640268047,1.03971730716
+399,6.650000000,pose2_to_pose3_retreat,0.575669699983,-0.0101220852245,1.0400508175,0.54624133197,-0.00144640377644,1.03971730388
+400,6.666666667,pose2_to_pose3_retreat,0.5756696221,-0.010122107441,1.04005080902,0.546241254309,-0.00144642527586,1.0397172945
+401,6.683333333,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211366,-0.00144652634688,1.03971731481
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df79149478bae515c5ae7bc670265e796a5adfc9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c72fa4cd8f7f9937e53ba606baec02e088b2c344459ab51d42947d3cfab6a5
+size 25603358
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6163c2536a6f90cc22f631bb4a1d8ff6e54d20da
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+8,0.133333333,BASELINE,764.355367648,745,714,679,659,634,878,785.355367648,807,652.355367648,630,652,0.400983299644,-0.0154438709853,0.0498509883535,0.999999956653,-0.000132015672946,-0.000260125964639,-4.00098862112e-05,1793245360677825024
+9,0.150000000,BASELINE,764.220920525,745,714,679.220920525,659,634,878,785,807,652,629.779079475,652,0.400984680751,-0.0154439075491,0.049851742134,0.999999957286,-0.000130511884063,-0.000258445384543,-3.99993396773e-05,1793245360694491648
+10,0.166666667,BASELINE,764.794042568,745,714,679.794042568,659,634,878,785,807,652,629.205957432,652,0.400984571877,-0.0154437316604,0.0498526149472,0.999999957431,-0.000130819788761,-0.000257752101608,-3.98572056955e-05,1793245360711158784
+11,0.183333333,BASELINE,765,744.624092738,714,679.624092738,659,634,878.375907262,785,807,652,629.375907262,652,0.400983795634,-0.0154443712898,0.0498522974667,0.999999957085,-0.000132286824084,-0.000258356044956,-3.97674684222e-05,1793245360727825408
+12,0.200000000,BASELINE,765,744.037323885,714,679.037323885,659,634,878.962676115,785,807,652,629.962676115,652,0.400982645036,-0.0154454683763,0.0498513123026,0.999999956461,-0.000134404062698,-0.000259687654942,-3.9707122569e-05,1793245360744492032
+13,0.216666667,BASELINE,765,744,714,679,659,634,878.454247813,785.545752187,807.545752187,652.545752187,630,652,0.400982972718,-0.0154443919486,0.0498515709483,0.999999957047,-0.000130222818081,-0.000259534654198,-3.98751417446e-05,1793245360761158400
+14,0.233333333,BASELINE,765,744.127042125,713.872957875,679,659,634,878,786,807.872957875,652.872957875,630,652,0.400983096609,-0.0154433351889,0.0498516860701,0.999999957421,-0.000126980724382,-0.000259671821181,-4.00564259313e-05,1793245360777825024
+15,0.250000000,BASELINE,765,744.70290826,713.29709174,679,659,634,878,786,807.29709174,652.29709174,630,652,0.400982145765,-0.0154428695326,0.0498509956389,0.999999956816,-0.000128568098131,-0.000261190404504,-4.02297687539e-05,1793245360794491648
+16,0.266666667,BASELINE,765,745,713.278701363,679,659.278701363,634,878,786,807,652,630,652,0.400981719616,-0.0154432097755,0.0498506267879,0.999999956311,-0.000130668806048,-0.000262084420171,-4.01933351842e-05,1793245360811158272
+17,0.283333333,BASELINE,765,745,713.854416602,679,659.854416602,634,878,786,807,652,630,652,0.400981852638,-0.0154444088707,0.0498506006468,0.999999955912,-0.00013331657747,-0.000262312829889,-3.99333415233e-05,1793245360827824896
+18,0.300000000,BASELINE,765,745,714,678.562250655,659.124501309,634,878.437749345,785.562250655,807,652.437749345,630,652,0.400982495583,-0.0154444112797,0.0498512090759,0.999999956248,-0.000133135078153,-0.000261142013325,-3.97975335835e-05,1793245360844492032
+19,0.316666667,BASELINE,765,744.976512591,714,678.023487409,658.023487409,634,878.976512591,785.023487409,807.023487409,653,629.976512591,652,0.400983265554,-0.0154441284443,0.0498519997186,0.999999956797,-0.000132170130779,-0.000259541382403,-3.97013441206e-05,1793245360861159168
+20,0.333333333,BASELINE,765,744.394883396,714,678.605116604,658.605116604,634,878.394883396,785.605116604,807.605116604,653,629.394883396,652,0.400982952753,-0.015446692203,0.0498520165175,0.999999956523,-0.000135343666269,-0.000258980899232,-3.95477966971e-05,1793245360877825536
+21,0.350000000,BASELINE,765,744.184904674,714,679,659,634,878,785.815095326,807.630190651,652.815095326,629.184904674,652,0.400983062297,-0.0154480095557,0.0498520606438,0.999999956539,-0.000136333623024,-0.000258417854552,-3.94396935534e-05,1793245360894491904
+22,0.366666667,BASELINE,765,744.760799523,714,679,659,634,878,785.239200477,806.478400955,652.239200477,629.760799523,652,0.400984064908,-0.0154466913204,0.0498521625554,0.999999957174,-0.000132706293035,-0.000257849393507,-3.942768463e-05,1793245360911158272
+23,0.383333333,BASELINE,765,745,714,679,658.665193679,634,878,785.334806321,806.334806321,652,630,652,0.400985086699,-0.0154453322274,0.049852458183,0.999999957591,-0.000130963486141,-0.000257099567089,-3.95790987691e-05,1793245360927825152
+24,0.400000000,BASELINE,765,745,714,679,658.092528165,634,878,785.907471835,806.907471835,652,630,652,0.400986122116,-0.0154439441074,0.0498528914337,0.999999957859,-0.000130559516038,-0.000256220891729,-3.98466148905e-05,1793245360944491776
+25,0.416666667,BASELINE,765,745,714,679,658,634,878,786,807.495646806,652,630,652,0.40098528729,-0.0154439764482,0.0498525301529,0.999999957574,-0.00013097405509,-0.000257135375069,-3.97487266242e-05,1793245360961158400
+26,0.433333333,BASELINE,765,745,714,679,658.085006736,634,878,785.914993264,807.914993264,652,630,652,0.400984176158,-0.0154440589572,0.0498520995148,0.999999957241,-0.000131153088274,-0.000258349435825,-3.96456894739e-05,1793245360977825280
+27,0.450000000,BASELINE,765,745,714,679,658.663886608,634,878,785.336113392,807.336113392,652,630,652,0.400983553701,-0.0154428425577,0.049852155497,0.999999957259,-0.000129047457983,-0.000259296329716,-3.99218521491e-05,1793245360994492160
+28,0.466666667,BASELINE,765,745,714,679.24116133,658.75883867,634,878.24116133,785,807,652,630,652,0.400983406435,-0.0154423706947,0.0498525390492,0.999999957353,-0.000128759747112,-0.00025905042662,-4.00863416511e-05,1793245361011159040
+29,0.483333333,BASELINE,765,745,714,679.816213668,658.183786332,634,878.816213668,785,807,652,630,652,0.400983917076,-0.0154429296522,0.0498533761265,0.999999957553,-0.000130988969521,-0.000257153080475,-4.00962181711e-05,1793245361027825408
+30,0.500000000,BASELINE,765,744.610768908,714,680,658.389231092,634.389231092,878.610768908,785.389231092,807.389231092,652,630,652,0.400983027335,-0.0154429746319,0.0498525465934,0.999999957437,-0.000130117570856,-0.000258056019028,-4.00218629709e-05,1793245361044491776
+31,0.516666667,BASELINE,765,744.038707344,714,680,658.961292656,634.961292656,878.038707344,785.961292656,807.961292656,652,630,652,0.400981479804,-0.0154427781847,0.0498509342164,0.999999957167,-0.000127789741683,-0.000260274313427,-3.99079422641e-05,1793245361061158400
+32,0.533333333,BASELINE,765,744.55838901,714,679.44161099,659,634.44161099,878,785.44161099,807.44161099,652,630,652,0.400982795033,-0.0154436869573,0.0498520305715,0.999999957703,-0.000127894947968,-0.000258194161629,-3.96524561835e-05,1793245361077825024
+33,0.550000000,BASELINE,765,745,714,679,659,634,878,785,807,652,629.849486051,652.150513949,0.400983784402,-0.0154444689001,0.0498528682296,0.999999957996,-0.00012855153754,-0.000256752124152,-3.95068462044e-05,1793245361094491392
+34,0.566666667,BASELINE,765,745,714,679,659,634,878,785,807,652,629.276418653,652.723581347,0.400983275683,-0.0154446695991,0.0498524277355,0.999999957452,-0.000130260368904,-0.000257977309753,-3.96985458148e-05,1793245361111158272
+35,0.583333333,BASELINE,765,745,714,679,659,634,878,785,807,652,629,652.695045362,0.400983177878,-0.0154444980796,0.0498523961298,0.999999957224,-0.000131452380864,-0.000258228693845,-3.98758359206e-05,1793245361127825152
+36,0.600000000,BASELINE,765,745,714,679,659,634,878,785,807,652,629,652.105932535,0.400983462963,-0.0154439797253,0.0498527455283,0.999999957293,-0.000132162818235,-0.000257572685175,-4.00396992035e-05,1793245361144492288
+37,0.616666667,BASELINE,765,745,714,679,659.47514421,634,878,785.47514421,807,652,629.47514421,652,0.400982841152,-0.0154455158057,0.0498525374022,0.999999957126,-0.000132399983623,-0.000258173981337,-3.95525695709e-05,1793245361161159168
+38,0.633333333,BASELINE,765,745,714,679,659.891282257,634,878,786,807,652.054358872,630,652,0.400982194393,-0.0154471275012,0.0498523188989,0.999999956967,-0.000132469044949,-0.000258832491249,-3.90282097915e-05,1793245361177825792
+39,0.650000000,BASELINE,765,745,714,679,658.734784564,634,878,786,807,652.632607718,630,652,0.400983223436,-0.0154451270247,0.0498531784066,0.999999957394,-0.000131917985195,-0.000257385780093,-3.95205570574e-05,1793245361194492160
+40,0.666666667,BASELINE,765,745,714,679.209107852,658.209107852,634,878,786,807,652.790892148,629.790892148,652,0.400984246174,-0.0154434784811,0.0498539402294,0.999999957905,-0.000130571197315,-0.000256026386144,-3.98901337601e-05,1793245361211158272
+41,0.683333333,BASELINE,765,745,714,679.782561031,658.782561031,634,878,786,807,652.217438969,629.217438969,652,0.400985257925,-0.0154424431386,0.0498545318479,0.999999958561,-0.000127837948739,-0.00025481913203,-4.00457974666e-05,1793245361227825152
+42,0.700000000,BASELINE,765,745,714,680,659,634,878,785.633948218,807,652,629.366051782,652,0.400984880708,-0.0154431397058,0.0498540610014,0.999999958473,-0.000127439253872,-0.000255398758741,-3.98113374074e-05,1793245361244491776
+43,0.716666667,BASELINE,765,745,714,680,659,634,878,785.044326948,807,652,629.955673052,652,0.400983655168,-0.0154448940527,0.0498529412448,0.999999957932,-0.00012846640922,-0.000257069739367,-3.93386056703e-05,1793245361261158400
+44,0.733333333,BASELINE,765,744.46437936,714,680,659,634,878.53562064,785,807,652.53562064,630,652,0.400984222002,-0.015444427611,0.0498534295769,0.999999958076,-0.0001284287243,-0.000256516093137,-3.94261618108e-05,1793245361277825024
+45,0.750000000,BASELINE,765,744.11419839,714,679.88580161,658.88580161,634,878.88580161,785.11419839,807,652.88580161,630,652,0.400984761036,-0.0154439979217,0.049853850234,0.999999958233,-0.000128542519865,-0.000255824015446,-3.95538533072e-05,1793245361294491904
+46,0.766666667,BASELINE,765,744.690415428,714,679.309584572,658.309584572,634,878.309584572,785.690415428,807,652.309584572,630,652,0.400984598122,-0.0154444472949,0.0498534682269,0.999999958223,-0.000129619372102,-0.000255303511693,-3.96596555489e-05,1793245361311158528
+47,0.783333333,BASELINE,765,745,713.729025631,679,658.270974369,634,878,785.729025631,807,652.270974369,629.729025631,652,0.400984250734,-0.0154448304506,0.0498528760977,0.999999958013,-0.00012997891277,-0.000255936224425,-3.96955687969e-05,1793245361327825152
+48,0.800000000,BASELINE,765,745,713.143425272,679,658.856574728,634,878,785.143425272,807,652.856574728,629.143425272,652,0.400983689153,-0.0154451367216,0.0498520399974,0.99999995757,-0.000129505589333,-0.000257907926753,-3.96503345537e-05,1793245361344491520
+49,0.816666667,BASELINE,765,745,713.437205877,679,659,634,878,785,807,653,629,652.437205877,0.400983767423,-0.0154456122903,0.0498521684687,0.999999957407,-0.000130622903957,-0.000257979794132,-3.96147025151e-05,1793245361361158400
+50,0.833333333,BASELINE,765,744.983749462,713.983749462,679,658.983749462,634,878.016250538,785,807,653,629.016250538,652.983749462,0.400984029148,-0.0154460343765,0.0498525896001,0.999999957348,-0.000132090553732,-0.00025746707867,-3.95921834311e-05,1793245361377825536
+51,0.850000000,BASELINE,765,744.403824623,713.403824623,679,658.403824623,634,878.596175377,785,807,653,629.596175377,652.403824623,0.400983455315,-0.0154426965767,0.0498523096727,0.99999995774,-0.00012781380641,-0.000258052310152,-3.99164722048e-05,1793245361394491904
+52,0.866666667,BASELINE,765,744.173992709,713.173992709,679,658,634.173992709,878.826007291,785,807,652.826007291,629.826007291,652,0.400983625345,-0.0154413865843,0.0498524852029,0.999999958073,-0.000125892362191,-0.000257678275449,-4.00988415791e-05,1793245361411158272
+53,0.883333333,BASELINE,765,744.746977169,713.746977169,679,658,634.746977169,878.253022831,785,807,652.253022831,629.253022831,652,0.400985501167,-0.0154447266629,0.0498537051664,0.999999958294,-0.000129371986572,-0.000255104497419,-3.99557681618e-05,1793245361427825152
+54,0.900000000,BASELINE,764.671831538,744.671831538,714,679,658,634.671831538,878,785.328168462,807,652,629.328168462,652,0.400985540448,-0.0154447438249,0.0498540169109,0.999999958311,-0.000129570876845,-0.000254946247533,-3.99069443866e-05,1793245361444492288
+55,0.916666667,BASELINE,764.084150381,744.084150381,714,679,658,634.084150381,878,785.915849619,807,652,629.915849619,652,0.400984127409,-0.015442133254,0.0498536104436,0.999999958169,-0.000127175391664,-0.000256698175894,-3.99326523951e-05,1793245361461159168
+56,0.933333333,BASELINE,764.497613312,744.497613312,714,679,658,634,878,785.502386688,807,652,629.502386688,652,0.40098422821,-0.0154434592284,0.049853452602,0.999999957919,-0.000129111663271,-0.000256728415734,-3.97715596836e-05,1793245361477825536
+57,0.950000000,BASELINE,765,745,714,679,658,634.077996183,878,785,807,652,629.077996183,652.077996183,0.400984507324,-0.015445273008,0.0498533990705,0.999999957697,-0.000131453001277,-0.000256431196571,-3.96134271156e-05,1793245361494491904
+58,0.966666667,BASELINE,765,745,714,679,658,634.655867183,878,785,807,652,629.655867183,652.655867183,0.400984307812,-0.0154459967959,0.0498537477637,0.999999957797,-0.00013175077854,-0.000255879353617,-3.96743427915e-05,1793245361511158272
+59,0.983333333,BASELINE,765.232187275,744.767812725,714,679,658.232187275,634.767812725,878.232187275,785.232187275,807,652,629.767812725,652.767812725,0.400984615835,-0.0154458508616,0.0498539909771,0.999999958028,-0.000131178872648,-0.000255261857472,-3.97177352216e-05,1793245361527824896
+60,1.000000000,BASELINE,765.806224051,744.193775949,714,679,658.806224051,634.193775949,878.806224051,785.806224051,807,652,629.193775949,652.193775949,0.400985671105,-0.0154444244349,0.0498540788925,0.999999958451,-0.00012932653163,-0.000254547700003,-3.97353281725e-05,1793245361544491520
+61,1.016666667,BASELINE,765.609987925,744.390012075,714,679,659,634,878.609987925,785.609987925,807,652.390012075,629.390012075,652,0.400984986726,-0.0154439313204,0.0498536356526,0.999999958307,-0.00012870855919,-0.000255399000199,-3.98858284854e-05,1793245361561158400
+62,1.033333333,BASELINE,765.021230829,744.978769171,714,679,659,634,878.021230829,785.021230829,807,652.978769171,629.978769171,652,0.400983415844,-0.0154439138096,0.0498529217429,0.999999957875,-0.000128719604846,-0.000257048037067,-4.01040566402e-05,1793245361577825280
+63,1.050000000,BASELINE,765,745,714,679,659,634,878,785,807,653,630,652,0.400983845423,-0.015443831886,0.0498528117298,0.999999957824,-0.000128905849178,-0.000257187549001,-3.9884989863e-05,1793245361594492160
+64,1.066666667,BASELINE,765,745,714,679,659,634,878,785.137604785,807,652.862395215,629.862395215,652,0.400984215807,-0.0154440147145,0.0498529148868,0.999999957786,-0.000129590040521,-0.00025701984455,-3.96819013467e-05,1793245361611158528
+65,1.083333333,BASELINE,765,745,714,679,659,634,878,785.714291423,807,652.285708577,629.285708577,652,0.400984158513,-0.0154450500263,0.04985362616,0.999999957744,-0.000131842213081,-0.000256052037178,-3.95819973547e-05,1793245361627824896
+66,1.100000000,BASELINE,765,745,714,679,658.709702418,634,878.290297582,785.709702418,807,652.290297582,629.290297582,652,0.400983886442,-0.0154454840676,0.0498535647551,0.999999957728,-0.000131772330714,-0.00025614614991,-3.9607279044e-05,1793245361644491520
+67,1.116666667,BASELINE,765,745,714,679,658.134364449,634,878.865635551,785.134364449,807,652.865635551,629.865635551,652,0.400983403483,-0.015445327727,0.0498527446648,0.999999957737,-0.000129422444961,-0.00025728295177,-3.97554793478e-05,1793245361661158144
+68,1.133333333,BASELINE,765,744.548781034,714,679,658,634,879,785,807,652.548781034,630,652,0.400983192003,-0.0154446716043,0.0498525234538,0.999999957679,-0.000129379225085,-0.000257525209215,-3.98058396885e-05,1793245361677824768
+69,1.150000000,BASELINE,765,744.039282313,714,679.039282313,658.039282313,634,878.960717687,785.039282313,807.039282313,652,630,652,0.400983101597,-0.0154439664277,0.0498525224283,0.999999957634,-0.000129852208682,-0.000257460069233,-3.98083054832e-05,1793245361694491904
+70,1.166666667,BASELINE,765,744.618522409,714,679.618522409,658.618522409,634,878.381477591,785.618522409,807.618522409,652,630,652,0.400983538407,-0.0154446802026,0.0498530397116,0.999999958053,-0.000127759764196,-0.000256916169548,-3.95622135555e-05,1793245361711158784
+71,1.183333333,BASELINE,765,745,714,679.803339345,659,634,878,786,807.803339345,652,630,652,0.400983825554,-0.0154449883266,0.0498533807928,0.999999958241,-0.000126904048235,-0.000256616250556,-3.95073658939e-05,1793245361727825408
+72,1.200000000,BASELINE,765,745,714,679.22732643,659,634,878,786,807.22732643,652,630,652,0.400983824006,-0.015444513963,0.0498533819855,0.99999995799,-0.000128433942599,-0.000256786962608,-3.98214224039e-05,1793245361744492288
+73,1.216666667,BASELINE,765,745,714,679.355036007,659,634,878,785.644963993,807,652,630,652,0.400983594166,-0.0154441743957,0.0498532779614,0.999999957893,-0.000129719916918,-0.00025648970429,-4.00065184005e-05,1793245361761158912
+74,1.233333333,BASELINE,765,745,714,679.941537985,659,634,878,785.058462015,807,652,630,652,0.400983215489,-0.0154439227088,0.0498531053411,0.999999957896,-0.000130846867303,-0.000255887352358,-4.0107538482e-05,1793245361777825024
+75,1.250000000,BASELINE,765,745,714,679.47848209,658.47848209,634,878,785,807,652.52151791,629.47848209,652,0.40098326296,-0.0154449330488,0.0498528445942,0.999999957643,-0.000131883860763,-0.000256311556587,-4.03160701812e-05,1793245361794491392
+76,1.266666667,BASELINE,765,744.899581027,714,679,658.100418973,634,878,785.100418973,807,652.899581027,629.100418973,652,0.400983534095,-0.0154457272225,0.049852806511,0.99999995753,-0.000132463280154,-0.000256434491772,-4.04233524153e-05,1793245361811158016
+77,1.283333333,BASELINE,765,744.322373936,714,679,658.677626064,634,878,785.677626064,807,652.322373936,629.677626064,652,0.400984643169,-0.0154448316263,0.0498538719577,0.999999958223,-0.00013091743117,-0.000254587370954,-3.99933872764e-05,1793245361827824896
+78,1.300000000,BASELINE,765,744.253270072,714,678.746729928,659,634,878,785.746729928,807.253270072,652,630,652,0.40098521308,-0.0154442005248,0.0498544439626,0.999999958504,-0.0001301313011,-0.000253934461031,-3.96795843908e-05,1793245361844491776
+79,1.316666667,BASELINE,765,744.826936675,714,678.173063325,659,634,878,785.173063325,807.826936675,652,630,652,0.400985100931,-0.0154439040197,0.0498543917445,0.99999995827,-0.000130306245245,-0.000254792274674,-3.95127313254e-05,1793245361861158656
+80,1.333333333,BASELINE,765,745,714,678,659,634,878,785.412351851,807.587648149,652.412351851,630,652,0.400983764252,-0.0154440766025,0.049853392529,0.999999958013,-0.000129348489927,-0.000256284195771,-3.95083034755e-05,1793245361877825536
+81,1.350000000,BASELINE,765,745,714,678.005585944,658.997207028,634,878,785.997207028,807,653,629.997207028,652,0.400981906442,-0.0154444485145,0.049851990494,0.999999957743,-0.000127912142521,-0.000258043137168,-3.95748800581e-05,1793245361894492160
+82,1.366666667,BASELINE,765,745,714,679.165973637,658.417013182,634,878,785.417013182,807,653,629.417013182,652,0.400981676515,-0.0154441340698,0.0498518887717,0.999999957548,-0.000128696498041,-0.000258371781291,-3.98142105965e-05,1793245361911158784
+83,1.383333333,BASELINE,765,745,714,679.838467393,658,634,878,785,807,652.838467393,629.161532607,652,0.400982203647,-0.0154445946109,0.0498522106069,0.999999957473,-0.000129964798416,-0.000258013494631,-3.98939539782e-05,1793245361927825152
+84,1.400000000,BASELINE,765,745,714,679.264133145,658,634,878,785,807,652.264133145,629.735866855,652,0.400984665464,-0.0154470356526,0.0498536148565,0.999999957701,-0.000132469835213,-0.000255899734895,-3.95658674281e-05,1793245361944491776
+85,1.416666667,BASELINE,765,744.682855458,714,679,658.317144542,634,878,785,807.317144542,652.317144542,629.682855458,652,0.400985243186,-0.015446592447,0.0498541573974,0.999999957977,-0.000131655277801,-0.000255235923327,-3.96034894228e-05,1793245361961158656
+86,1.433333333,BASELINE,765,744.095665538,714,679,658.904334462,634,878,785,807.904334462,652.904334462,629.095665538,652,0.400984216621,-0.0154436933336,0.0498539662019,0.99999995829,-0.000128014119251,-0.00025580672813,-3.99525085743e-05,1793245361977825280
+87,1.450000000,BASELINE,765,744.48485727,714,679,659,634,878,785.48485727,808,652.51514273,629.48485727,652,0.400983439963,-0.0154441433538,0.0498532231915,0.99999995786,-0.000129076925821,-0.000256965829247,-3.98473770664e-05,1793245361994491904
+88,1.466666667,BASELINE,765,745,714,679.063963785,659,634,878.063963785,785.936036215,807.936036215,652,630,652,0.400982721055,-0.0154452213079,0.0498524168304,0.999999957311,-0.000131120390985,-0.000258090229385,-3.96821136442e-05,1793245362011158528
+89,1.483333333,BASELINE,765,745,714,679.642116353,659,634,878.642116353,785.357883647,807.357883647,652,630,652,0.400982075398,-0.0154461070639,0.0498519645706,0.999999956988,-0.000133687375355,-0.000258015238106,-3.97440217499e-05,1793245362027825408
+90,1.500000000,BASELINE,764.781451595,744.781451595,714,679.781451595,659,634,878.781451595,785,807,652.218548405,630,652,0.400981664871,-0.015446136147,0.0498517287338,0.999999956899,-0.000133909804238,-0.000258228580835,-3.9849816038e-05,1793245362044492032
+91,1.516666667,BASELINE,764.207815023,744.207815023,714,679.207815023,659,634,878.207815023,785,807,652.792184977,630,652,0.400981636374,-0.0154447733441,0.0498518445319,0.99999995719,-0.000130322898685,-0.000258910396425,-4.00269147254e-05,1793245362061158400
+92,1.533333333,BASELINE,764.376243127,744.376243127,714,679,658.623756873,634,878,785,807,653,629.623756873,652,0.400982993428,-0.0154453018299,0.0498528785334,0.999999957691,-0.000129757689308,-0.000257303939117,-3.96996680707e-05,1793245362077825024
+93,1.550000000,BASELINE,764.966221598,744.966221598,714,679,658.033778402,634,878,785,807,653,629.033778402,652,0.400985137581,-0.0154469047145,0.0498544341458,0.999999958308,-0.000130909037906,-0.000254397564994,-3.9085914074e-05,1793245362094491648
+94,1.566666667,BASELINE,765,745,714,679,658.546137375,634,878,785.546137375,807,652.453862625,629.546137375,652,0.400985219953,-0.0154465809428,0.0498544868932,0.999999958484,-0.000129650370301,-0.000254348277663,-3.91209150213e-05,1793245362111158272
+95,1.583333333,BASELINE,765,745,714,679,659,634,878,785.875424814,807.124575186,652,630,652,0.400984970369,-0.0154457488366,0.0498543579443,0.999999958602,-0.000128205126924,-0.00025459093996,-3.92737436218e-05,1793245362127825408
+96,1.600000000,BASELINE,765,745,714,679,659,634,878,785.300123209,807.699876791,652,630,652,0.400983972767,-0.0154435008663,0.0498539018242,0.999999958617,-0.000126614385032,-0.0002552621195,-3.97103343788e-05,1793245362144492032
+97,1.616666667,BASELINE,764.726191435,745,714,679.273808565,659,634,878,785.273808565,807.726191435,652,630,652,0.400983383347,-0.0154428998615,0.0498533513835,0.999999958489,-0.000126553398478,-0.00025577469867,-3.98077743291e-05,1793245362161158912
+98,1.633333333,BASELINE,764.153753702,745,714,679.846246298,659,634,878,785.846246298,807.153753702,652,630,652,0.400983239109,-0.015444095119,0.0498526980723,0.999999958209,-0.000128160838878,-0.000256114300384,-3.95353196025e-05,1793245362177825536
+99,1.650000000,BASELINE,764.434992152,744.565007848,714,679.565007848,658.565007848,634,878,785.565007848,807.434992152,652,629.565007848,652,0.400983696769,-0.0154454218384,0.0498528448345,0.999999958175,-0.000129338849245,-0.00025565893184,-3.95043966904e-05,1793245362194492160
+100,1.666666667,BASELINE,765,744.028886715,714,679,658.028886715,634,878,785.028886715,807.971113285,652.028886715,629,652,0.400984315066,-0.0154467216253,0.0498532747448,0.999999958226,-0.000130304644307,-0.000254958918715,-3.95456758403e-05,1793245362211158528
+101,1.683333333,BASELINE,765,744.606813325,714,679,658.606813325,634,878,785.606813325,807.393186675,652.606813325,629,652,0.400983785408,-0.015446591933,0.0498535019739,0.999999958196,-0.000130234285371,-0.000255157787922,-3.92734235353e-05,1793245362227825152
+102,1.700000000,BASELINE,765,745,714,679,658.816218198,634,878.183781802,785.816218198,807,653,629.183781802,652,0.400983337306,-0.0154464735829,0.0498537386954,0.999999958102,-0.00013017396535,-0.000255573907992,-3.91579986109e-05,1793245362244491776
+103,1.716666667,BASELINE,765,745,714,679,658.241289012,634,878.758710988,785.241289012,807,653,629.758710988,652,0.400983062785,-0.0154463793727,0.0498539956197,0.999999957873,-0.000130135011408,-0.000256452408455,-3.93763533379e-05,1793245362261158400
+104,1.733333333,BASELINE,765.341411821,745,714,679,658.341411821,634,878.658588179,785,807,652.658588179,629.658588179,652.341411821,0.400983227551,-0.0154455736624,0.0498540988063,0.999999957984,-0.0001297204755,-0.000256195603343,-3.96014731884e-05,1793245362277825024
+105,1.750000000,BASELINE,765.929733181,745,714,679,658.929733181,634,878.070266819,785,807,652.070266819,629.070266819,652.929733181,0.400983710008,-0.0154442533942,0.0498540908096,0.999999958339,-0.00012903431815,-0.000255117743632,-3.98314856089e-05,1793245362294491904
+106,1.766666667,BASELINE,765.489650995,745,714,679,658.489650995,634,878,785,807,652.510349005,629.510349005,652.489650995,0.400982057409,-0.0154458883076,0.0498527105403,0.999999957652,-0.000129836334998,-0.000257437090431,-3.95659961045e-05,1793245362311159040
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,785,807,653,630,652,0.400984560629,-0.0154440256189,0.0498541550035,0.999999958821,-0.000126639268521,-0.000254564175627,-3.89618997651e-05,1793245362354153216
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,713.427584291,679.427584291,658.427584291,634,878,785,807,652.427584291,630,652,0.400983210273,-0.0154442327656,0.0498529880146,0.999999958222,-0.000127552937831,-0.000256387756488,-3.93772389655e-05,1793245362370819840
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,713.149937873,679.149937873,658,634,878,785.149937873,807,652,630,652,0.400982599004,-0.015444506196,0.0498524451703,0.999999957867,-0.000128645706512,-0.000257190955119,-3.96172840212e-05,1793245362387486208
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,713.742535914,679.742535914,658,634,878,785.742535914,807,652,630,652,0.40098416973,-0.0154449753152,0.0498537449823,0.999999958234,-0.000130267228792,-0.000254981689355,-3.93398099278e-05,1793245362404152576
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.672804004,658,634,878,786,807.327195996,652.327195996,630,652,0.400985583391,-0.0154452639771,0.0498548041674,0.999999958799,-0.000129383737563,-0.000253230998155,-3.91909825562e-05,1793245362420819200
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.094242232,658,634,878,786,807.905757768,652.905757768,630,652,0.400986876388,-0.0154454140042,0.0498556784926,0.999999959513,-0.000126575789116,-0.000251832603422,-3.91409870433e-05,1793245362437486080
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633.517830957,878,785.517830957,807.517830957,653,629.517830957,652,0.400985185333,-0.0154452209596,0.0498549386065,0.999999958968,-0.000126914631084,-0.000253802282145,-3.92571868851e-05,1793245362454152704
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633.059245682,878.059245682,785.059245682,807,652.940754318,629.059245682,652,0.400983650021,-0.0154448669088,0.049854175638,0.99999995835,-0.00012776530866,-0.000255780171055,-3.94004395204e-05,1793245362470819328
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633.645971928,878.645971928,785.645971928,807,652.354028072,629.645971928,652,0.400988671078,-0.0154436737333,0.049856003718,0.999999959313,-0.000127721309196,-0.00025199610363,-3.94966237299e-05,1793245362487485696
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.76895725,786,807.23104275,652,630,652,0.40100100444,-0.0154442838567,0.0498609334606,0.999999961542,-0.0001284143736,-0.000242705642507,-3.89884296752e-05,1793245362504152064
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.186405049,786,807.813594951,652,630,652,0.401024462772,-0.0154476375271,0.049870582086,0.999999965494,-0.000130228810178,-0.000225037730196,-3.75607318665e-05,1793245362520818688
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.608633481,713.608633481,679.391366519,658,634,878,785.608633481,807.608633481,652,629.608633481,652,0.401067094853,-0.0154503851862,0.049884410295,0.999999971584,-0.000131046468296,-0.000195892937934,-3.58556339963e-05,1793245362537485312
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.033111364,713.033111364,679.966888636,658,634,878,785.033111364,807.033111364,652,629.033111364,652,0.401118749049,-0.01545284769,0.0499002051876,0.999999977772,-0.000131395097236,-0.000161347754315,-3.4020006728e-05,1793245362554151680
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.541235963,713.541235963,679.458764037,658,634,878,785,807.541235963,652,629.541235963,652,0.40118668185,-0.0154562760031,0.0499156566872,0.999999981736,-0.000130805040336,-0.000135556979915,-3.2291988642e-05,1793245362570818560
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.119034602,634,878,785,807.880965398,652,630,652,0.40125763569,-0.0154604280499,0.0499292879723,0.999999984464,-0.000131355598932,-0.000113487638554,-3.06153089236e-05,1793245362587485184
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.710825422,634,878,785,807.289174578,652,630,652,0.401336641204,-0.0154672203132,0.0499357733766,0.999999984822,-0.000136663790152,-0.000104075822475,-2.91164342415e-05,1793245362604151808
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.295823308,745,714,679,659,634,878,785,807,652.295823308,629.704176692,652,0.401426175791,-0.0154731011314,0.0499397280484,0.999999985043,-0.000138945005056,-9.91816419576e-05,-2.77809694385e-05,1793245362620818688
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.874329955,745,714,679,659,634,878,785,807,652.874329955,629.125670045,652,0.401525771763,-0.0154781109891,0.0499412643982,0.999999985217,-0.000138333696487,-9.86044318747e-05,-2.66016562174e-05,1793245362637485312
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.551456889,745,714,679,659,634,878,785.448543111,807,652.551456889,629,652,0.401644412588,-0.0154847087025,0.0499435926573,0.999999985277,-0.000139521858593,-9.65395311905e-05,-2.56734775291e-05,1793245362654151936
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.021615454,659,634,878,785.978384546,807,652.021615454,629.021615454,652,0.401769104706,-0.015491736525,0.0499458950574,0.999999985265,-0.000141154981492,-9.44920591263e-05,-2.48297686853e-05,1793245362670818304
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.595984622,659,634,878,785.404015378,807,652.595984622,629.595984622,652,0.401913385508,-0.0154984946038,0.0499419162327,0.999999984356,-0.000141396374686,-0.000103447994384,-2.43639043952e-05,1793245362687484928
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.176718698,785.176718698,807,653,630,652,0.402069633728,-0.0155067373163,0.0499395013769,0.999999983696,-0.000142169286814,-0.000108833457034,-2.34961244603e-05,1793245362704151552
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.772547867,785.772547867,807,653,630,652,0.402254264154,-0.0155185010224,0.0499407956695,0.999999983776,-0.000144202762493,-0.000105751096528,-2.16751514268e-05,1793245362720818432
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.643644684,714,680,659,634,878.643644684,786,807,653,629.643644684,652,0.402462962234,-0.0155295958525,0.0499426144802,0.999999983714,-0.000146737576667,-0.000103137946456,-2.00504018067e-05,1793245362737485568
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.067259916,714,680,659,634,878.067259916,786,807,653,629.067259916,652,0.402686520762,-0.0155402776902,0.0499447571515,0.999999983559,-0.000149581939484,-0.000100814507252,-1.85468089785e-05,1793245362754152704
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.514360048,714,679.485639952,659,634,878,786,807,652.485639952,629.514360048,652,0.40294141082,-0.0155505621923,0.0499496634097,0.999999984954,-0.000146930021666,-9.07784725623e-05,-1.61990133344e-05,1793245362770819072
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.096186005,745,714,679,659.096186005,634,878.096186005,785.903813995,807,652,630,652,0.403209237814,-0.0155596785833,0.049955586121,0.999999986816,-0.000141739059324,-7.80790678802e-05,-1.35067487316e-05,1793245362787485696
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.675572592,745,714,679,659.675572592,634,878.675572592,785.324427408,807,652,630,652,0.403521261394,-0.0155631905454,0.0499647810032,0.999999990202,-0.000127440614687,-5.71185020669e-05,-9.64427309966e-06,1793245362804152320
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.745156744,745,714,679,659.745156744,634,878.745156744,785,807,652.254843256,630,652,0.403849646678,-0.0155590121381,0.0499728177074,0.999999993648,-0.00010483493533,-4.07591794517e-05,-7.20224475143e-06,1793245362820818944
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.166033621,745,714,679,659.166033621,634,878.166033621,785,807,652.833966379,630,652,0.404198851687,-0.0155450479822,0.0499793806668,0.999999996953,-7.16585671845e-05,-3.02547924246e-05,-6.56769022631e-06,1793245362837485312
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.412591544,659,634,878.412591544,785,807.412591544,652.587408456,630,652,0.404587349912,-0.0155307575735,0.049985234629,0.999999999118,-3.75188215477e-05,-1.71766109492e-05,-7.85376462148e-06,1793245362854151936
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.991016551,659,634,878.991016551,785,807.991016551,652.008983449,630,652,0.404991641303,-0.0155163360338,0.0499908036228,0.999999999942,-2.99186509935e-06,-3.0639411211e-06,-9.91179993667e-06,1793245362870818560
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.43722773,658.43722773,634,878.43722773,785,807.43722773,652,630,652,0.405388390404,-0.0155119068738,0.0499765281637,0.999999999236,2.26752520759e-05,-3.0531064361e-05,-9.04839549864e-06,1793245362887485696
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.139127784,745,714,679,658.139127784,634,878.139127784,785.139127784,807,652.139127784,630,652,0.405793664636,-0.0155098188726,0.0499610705107,0.999999997126,4.57771556185e-05,-5.99102670683e-05,-7.93788329068e-06,1793245362904152576
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.73078684,745,714,679,658.73078684,634,878.73078684,785.73078684,807,652.73078684,630,652,0.406227054907,-0.0155148330563,0.049942785902,0.999999993762,6.09899883672e-05,-9.33751620504e-05,-6.17352930625e-06,1793245362920818944
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.684331415,745,714,679,659,634,878.684331415,786,807.315668585,653,630,652,0.406696383656,-0.0155185764659,0.0499293270507,0.999999989787,7.97916909692e-05,-0.000118515982004,-3.67425246157e-06,1793245362937485568
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.105108048,745,714,679,659,634,878.105108048,786,807.894891952,653,630,652,0.40719571784,-0.0155212588944,0.0499198972691,0.999999985495,0.000101589777717,-0.000136706954176,-5.61381156374e-07,1793245362954151936
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.470039116,659,634,878,786,808,653,630,652,0.407781480087,-0.0155222332214,0.0499397933315,0.999999987312,0.000127546795443,-9.53143765114e-05,4.79602918283e-06,1793245362970818816
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.045283055,745,714,680,659.045283055,634,878.045283055,785.954716945,808,653,630,652,0.408386890944,-0.0155230886173,0.0499660956948,0.99999998717,0.000154243958837,-4.18923210131e-05,1.07149726585e-05,1793245362987485184
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.632500423,745,714,680,659.632500423,634,878.632500423,785.367499577,808,653,630,652,0.40899814386,-0.015527052541,0.0499912607479,0.999999983867,0.000178764698033,-2.58946507898e-06,1.73990707011e-05,1793245363004152064
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.783133219,745,714,679.783133219,659.783133219,634,879,785.216866781,808,652.783133219,630,652,0.409613110385,-0.0155306935474,0.0500060083288,0.999999979028,0.000202697813539,1.81832413069e-05,2.29747095668e-05,1793245363020819200
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.203535488,745,714,679.203535488,659.203535488,634,879,785.796464512,808,652.203535488,630,652,0.410234288252,-0.0155337944428,0.0500033316647,0.999999974153,0.000225648069811,7.96245393445e-06,2.66963414544e-05,1793245363037486848
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.624639231,714,679,659,634,879,785.624639231,808,652,630,652,0.410851551984,-0.0155343126268,0.0499789200327,0.999999968448,0.000245371666465,-4.59665857217e-05,2.79984680101e-05,1793245363054153984
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.04612265,714,679,659,634,879,785.04612265,808,652,630,652,0.411466697256,-0.0155334329745,0.0499427448245,0.999999957299,0.000263348902156,-0.000123551761137,2.7991089923e-05,1793245363070820608
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.529776031,714,679.529776031,659,634,879.529776031,785,808,652,630,652,0.412211711895,-0.0155346735582,0.0499473918951,0.999999983447,0.000151622191843,-9.82006079885e-05,2.17731093648e-05,1793245363087486208
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.892364958,785.107635042,808,652,630,652,0.412968924787,-0.0155373181274,0.0499579634778,0.999999996543,5.02533499808e-05,-6.42730527596e-05,1.60451263247e-05,1793245363104151808
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.304753067,785.695246933,808,652,630,652,0.41373036192,-0.0155454043973,0.0499791837465,0.999999998361,4.51806808476e-05,-3.18671856914e-05,1.49014751733e-05,1793245363120818688
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,807.720420739,652,630,652,0.414486572202,-0.0155510608005,0.0499799066418,0.999999997769,5.66830862474e-05,-3.19550000531e-05,1.5083149262e-05,1793245363137485312
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,807.139621751,652,630,652,0.41523715115,-0.0155540992576,0.0499585455941,0.999999993911,8.60435373721e-05,-6.70516225017e-05,1.66927334971e-05,1793245363154151936
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.56319753,659,633.56319753,879,786,807.43680247,652,630,652,0.416019377541,-0.015553958906,0.0499436112253,0.999999989518,0.000111289666058,-9.09812631385e-05,1.73714376355e-05,1793245363170819072
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.011835378,745,714,679,659.011835378,633.011835378,879,786,808,652.011835378,630,652,0.416813546094,-0.0155528899542,0.0499316166276,0.999999984711,0.000134914229949,-0.000109806820514,1.783160538e-05,1793245363187486208
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.586546309,745,714,679,659.586546309,633.586546309,879,786,808,652.586546309,630,652,0.417699339958,-0.0155555027382,0.04996270475,0.99999998803,0.000143344666101,-5.39648526212e-05,2.19092948037e-05,1793245363204152832
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.833338762,745,714,679.166661238,659.833338762,634,879.166661238,786,808,652.833338762,630,652,0.418562567323,-0.0155566502323,0.0499821679941,0.999999988779,0.000145969434157,-2.31089413974e-05,2.45258260956e-05,1793245363220819456
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.239368351,745,714,679.760631649,659.239368351,634,879.760631649,786,808,652.239368351,630,652,0.419367935516,-0.015554040813,0.0499718257629,0.999999989202,0.000133708826317,-5.63157479744e-05,2.33960376058e-05,1793245363237485568
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.343355349,745,714,680,659.343355349,634,880,786,808,652,630.343355349,652,0.420224157884,-0.0155556534647,0.0499679124681,0.999999989396,0.00013248868593,-5.57819592971e-05,2.33091277799e-05,1793245363254151936
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.918487117,745,714,680,659.918487117,634,880,786,808,652,630.918487117,652,0.421114708498,-0.0155601161566,0.0499683389223,0.999999989565,0.000138721233217,-3.24721317599e-05,2.39261962047e-05,1793245363270818816
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.50612367,880.49387633,786,808.49387633,652,631,652,0.422034262899,-0.0155605752603,0.0499863936031,0.999999988554,0.000149056836127,3.94949554759e-06,2.56636553129e-05,1793245363287485440
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.929204531,745,714,680,660,633.070795469,881,786,808.929204531,652,631,652.070795469,0.422953787395,-0.0155602509947,0.050002883854,0.999999986657,0.000157410183014,3.4069619982e-05,2.73352784457e-05,1793245363304152064
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.341423829,745,714,680,660,633.658576171,881,786,808.341423829,652,631,652.658576171,0.423838117706,-0.0155590340415,0.0499866921384,0.99999998892,0.000146340236237,2.36151312604e-06,2.71750661088e-05,1793245363320818688
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.244015796,745,714,680,660,634,880.511968408,786,808.244015796,652,631,653,0.424746025342,-0.0155602772595,0.0499825468812,0.999999989479,0.000142216429792,-6.06152182707e-06,2.7911250755e-05,1793245363337485312
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.826211025,745,714,680,660,634,879.34757795,786,808.826211025,652,631,653,0.42568660872,-0.0155649300076,0.049995096707,0.999999988485,0.000147719219179,1.77860234241e-05,2.98897444178e-05,1793245363354152192
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.597644743,744.597644743,714,680,660,633.597644743,879.804710514,786,809,652,631,653,0.426592510658,-0.0155694826452,0.0500045661944,0.999999987336,0.000154798411414,1.8648162198e-05,3.19061391608e-05,1793245363370818816
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.024075424,744.024075424,714,680,660,633.024075424,880.951849152,786,809,652,631,653,0.427483654562,-0.0155739926826,0.0500127249061,0.999999986166,0.000162548409361,9.72932926123e-06,3.39386618169e-05,1793245363387485184
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.546769753,714,680,660,633.546769753,880.453230247,786,809,652,631,653,0.428335748222,-0.0155630711742,0.0499715376208,0.999999982526,0.000176325487186,-5.44698632989e-05,2.98335188361e-05,1793245363404151808
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.122456948,809.122456948,652,630.877543052,653,0.42920852014,-0.0155542785834,0.0499402353107,0.999999977994,0.000182461954481,-0.000100042401942,2.66605512766e-05,1793245363420818176
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.717282232,809.717282232,652,630.282717768,653,0.430167656642,-0.0155563061925,0.049955403431,0.999999985031,0.000158106723862,-6.44211932847e-05,2.8120697322e-05,1793245363437484800
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.304163681,660,634,880,786.695836319,810,652,630.304163681,653,0.431079341306,-0.0155558054603,0.0499536162467,0.999999984862,0.000157476779608,-6.8164290184e-05,2.88122123081e-05,1793245363454152192
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.883849299,660,634,880,786.116150701,810,652,630.883849299,653,0.43194804241,-0.0155530144692,0.0499364703626,0.999999977898,0.000178338018069,-0.000107564932584,2.88074747232e-05,1793245363470819840
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.541765558,659.541765558,633.541765558,880,786,810,652,631,653,0.432847698069,-0.0155531056184,0.0499444798182,0.999999978421,0.000187348995828,-8.48419150442e-05,2.93336945703e-05,1793245363487486720
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.031348302,745,714,680.031348302,659.031348302,633.031348302,880,786,810,652,630.968651698,653,0.433753854565,-0.0155538845427,0.049959315762,0.999999979782,0.000193164299187,-4.70677281954e-05,3.01447264125e-05,1793245363504152832
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.605446356,745,714,680.605446356,659.605446356,633.605446356,880,786,810,652,630.394553644,653,0.434638270515,-0.0155540675334,0.0499832095232,0.999999980246,0.000195061821317,-1.82191596193e-05,3.35833774523e-05,1793245363520819200
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880,786.185835204,810,652,630.185835204,653,0.435496585556,-0.0155521941681,0.049991070362,0.99999998005,0.000195648529653,-1.90114992562e-05,3.55102618498e-05,1793245363537485568
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880,786.780048357,810,652,630.780048357,653,0.436297543307,-0.0155458019043,0.0499636984195,0.999999977118,0.000193354688896,-8.49405406982e-05,3.41149982714e-05,1793245363554151936
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.63578814,880,786.63578814,809.63578814,652,631,652.63578814,0.437137362985,-0.0155459125893,0.0499592078044,0.999999976798,0.000194752093979,-8.55332344727e-05,3.4043653295e-05,1793245363570818560
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.057530802,880,786.057530802,809.057530802,652,631,652.057530802,0.438000021574,-0.015549845025,0.049968164432,0.999999978592,0.00019831882592,-4.77280815059e-05,3.4750368724e-05,1793245363587485184
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.481173982,745,714,681,660,633,880.518826018,786,809.518826018,652,631,652.518826018,0.43881273756,-0.0155514855105,0.049982213501,0.99999997865,0.000201749702552,-2.72358373533e-05,3.54316867807e-05,1793245363604152064
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.096705404,745,714,681,660.096705404,633,880.903294596,786,810,652,631,653,0.439608966556,-0.0155526252945,0.0499904119023,0.999999978288,0.000204555674,-1.73597982553e-05,3.57615057102e-05,1793245363620819200
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.683362566,745,714,681,660.683362566,633,880.316637434,786,810,652,631,653,0.440349620562,-0.0155525112233,0.0499661177801,0.999999977217,0.00020427164806,-5.15792027237e-05,3.43246928835e-05,1793245363637486336
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.732898625,745,714,680.732898625,660.732898625,633,880,786,810,652,631,653,0.441093778237,-0.0155545906646,0.049957922566,0.999999978335,0.000195931065341,-6.17741169836e-05,3.35321705998e-05,1793245363654152704
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.152582053,745,714,680.152582053,660.152582053,633,880,786,810,652,631,653,0.44184204442,-0.0155592423181,0.0499686056642,0.999999982612,0.000178142998552,-4.37968210406e-05,3.34951727763e-05,1793245363670818560
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.424550381,745,714,680.424550381,660,633,880,786,810,652,631,653,0.442542042623,-0.0155633004404,0.0499729945324,0.99999998415,0.000170774025659,-3.72109879589e-05,3.39254174946e-05,1793245363687484928
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.999443229,632.999443229,880,785.999443229,810,652,631,653,0.443224708287,-0.0155671429321,0.0499750903921,0.999999984833,0.000167130854308,-3.47706606031e-05,3.45187744898e-05,1793245363704151808
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659.413171417,632.413171417,880,785.413171417,810,652,631,653,0.443787055096,-0.01556687669,0.0499269830821,0.999999977512,0.000173048284389,-0.000118516878979,3.13637089051e-05,1793245363720818432
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.829549232,745,714,681,659.170450768,632.170450768,880,785,810,652,631,653,0.444357397824,-0.0155685958112,0.0498813568207,0.999999965581,0.000175871198831,-0.000192613728707,2.84209111007e-05,1793245363737485312
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.252251297,745,714,681,659.747748703,632.747748703,880,785,810,652,631,653,0.444946826043,-0.0155750537754,0.0498416525386,0.9999999553,0.000171307849437,-0.000243678619113,2.59847728141e-05,1793245363754152448
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714.326043239,681,659.673956761,632.673956761,880,785,810.326043239,652,631,652.673956761,0.445535738519,-0.0155845763639,0.0498271966547,0.999999953725,0.000164830202929,-0.00025438197163,2.59078146054e-05,1793245363770819584
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714.905111149,681,659.094888851,632.094888851,880,785,810.905111149,652,631,652.094888851,0.446124250719,-0.0155964772425,0.0498323347008,0.999999959991,0.000156866973556,-0.000233762896427,2.76616897041e-05,1793245363787486720
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.52082903,681,659,632,880,785,810.52082903,652,630.52082903,652.47917097,0.446643425573,-0.0156044231025,0.049824512973,0.999999957275,0.00015399257327,-0.00024682290305,2.85494062216e-05,1793245363804152576
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.053978348,745,714,681,659,632,880,784.946021652,810,652,630,653,0.447141706714,-0.0156110696616,0.0498111401812,0.999999951378,0.000152476111128,-0.00027047568369,2.89327120509e-05,1793245363820818688
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.646021059,745,714,681,659,632,880,784.353978941,810,652,630,653,0.44756716994,-0.0156124909058,0.0497677510663,0.999999931966,0.000154554516546,-0.000333925181006,2.59800569938e-05,1793245363837485312
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659,632,880,784,810,652,630,653,0.447999105375,-0.0156152391819,0.0497375211183,0.999999915944,0.000154666634184,-0.000378949978703,2.42349175065e-05,1793245363854151936
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659,632,880,784,810,652,630,653,0.448440664354,-0.0156199606317,0.0497268576427,0.999999909538,0.000151855063611,-0.000396578941828,2.42852427779e-05,1793245363870818560
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.611716312,745,714.388283688,681.388283688,659,631.611716312,880,784,810.388283688,652,630,653,0.44886176713,-0.0156258512098,0.0497336903217,0.999999919121,0.000112284509136,-0.000385703263567,1.95748922288e-05,1793245363887485440
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.037979602,745,714.962020398,681.962020398,659,631.037979602,880,784,810.962020398,652,630,653,0.449273099604,-0.0156323001904,0.0497488795567,0.999999933162,5.51570367522e-05,-0.000361213127939,1.25907357978e-05,1793245363904152320
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.450129347,682,659,631,880,784,811,652,630,653,0.449644600386,-0.0156417973639,0.0497615120588,0.99999994078,1.64829295846e-05,-0.000343590671502,1.06844547895e-05,1793245363920818944
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.131271036,681.868728964,659,631,880.131271036,784,811,652.131271036,629.868728964,653,0.449998417702,-0.0156506777015,0.0497696818709,0.999999944085,-1.07825958786e-05,-0.000334088414739,9.88473533707e-06,1793245363937485824
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.688496254,681.311503746,659,631,880.688496254,784,811,652.688496254,629.311503746,653,0.450304017323,-0.0156568553416,0.0497639590632,0.999999938895,-5.27379914176e-06,-0.000349355202301,1.15075943314e-05,1793245363954152192
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,681.26481203,659,630.73518797,881,783.73518797,811,653,629,653,0.450595005979,-0.0156604039563,0.0497579258668,0.99999993347,1.08728307658e-06,-0.000364552441383,1.26674973679e-05,1793245363970818560
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,681.865329075,659,630.134670925,881,783.134670925,811,653,629,653,0.450867472141,-0.0156606197272,0.0497514991876,0.999999927805,8.52881629715e-06,-0.000379661512226,1.32405061355e-05,1793245363987485440
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.447204944,745,715,682,659,630,881,783,811,652.552795056,629,653,0.45110121968,-0.015663853685,0.0497427757918,0.999999920788,1.1035102446e-05,-0.000397627676736,1.39260453959e-05,1793245364004152064
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.976406538,745,715,682,659,630,881,783.023593462,811,652.023593462,629,653,0.451322262965,-0.0156678764995,0.0497333643222,0.99999991308,1.2155748685e-05,-0.000416508268062,1.46191155025e-05,1793245364020818688
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.40231364,745,715,682,659,630,881,783.59768636,811,652.59768636,629,653,0.451508047523,-0.0156699471239,0.0497233900976,0.999999904108,1.42350210255e-05,-0.000437453179777,1.47288572875e-05,1793245364037485568
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.177838719,745,715,682,658.822161281,630,880.822161281,783.822161281,811,652.822161281,629,653.177838719,0.451688819447,-0.015671722139,0.049715983638,0.99999989744,1.5915591867e-05,-0.000452369638107,1.50950614926e-05,1793245364054152448
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.772182487,745,715,682,658.227817513,630,880.227817513,783.227817513,811,652.227817513,629,653.772182487,0.451857851565,-0.0156728048257,0.0497145909835,0.999999897052,1.66623883388e-05,-0.000453167226538,1.60619104471e-05,1793245364070819072
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.644594441,745,715,682,658,629.644594441,880,783,810.644594441,652,629,653.644594441,0.452019489494,-0.0156738524711,0.0497187048091,0.999999900984,1.9079774335e-05,-0.000444261056754,1.72971225608e-05,1793245364087485440
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.068283477,745,715,682,658,629.068283477,880,783,810.068283477,652,629,653.068283477,0.452176531517,-0.0156748783362,0.0497262412351,0.999999907412,2.25355297989e-05,-0.000429323431938,1.86991382127e-05,1793245364104151808
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658.505708207,629.505708207,880,782.494291793,810,652,628.494291793,652.494291793,0.452296830756,-0.015676737982,0.0497290250085,0.999999909887,2.21872491247e-05,-0.000423515357953,1.91811413939e-05,1793245364120818432
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,682.081461199,658.918538801,630,880,782.081461199,810,652.081461199,628,652.081461199,0.452407816213,-0.015679180296,0.0497304800884,0.999999911401,2.05612796632e-05,-0.000419988825479,1.9607962566e-05,1793245364137485056
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,682.670121739,658.329878261,630,880,782.670121739,810,652.670121739,628,652.670121739,0.452491560423,-0.0156845526971,0.0497276397019,0.999999910214,1.41635469244e-05,-0.000423027565029,2.04611336833e-05,1793245364154151680
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,682.745238912,658.254761088,629.745238912,880,783,810.254761088,652.745238912,628,653,0.452565977695,-0.0156929488723,0.0497244340865,0.999999908142,6.59025739717e-06,-0.000427926800991,2.34747665878e-05,1793245364170818304
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,715,682.165725543,658.834274457,629.165725543,880,783,810.834274457,652.165725543,628,653,0.452628505607,-0.0157051995508,0.049720762902,0.999999904871,-2.48155238922e-06,-0.000435197672296,2.92424106595e-05,1793245364187485184
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658.588155328,629,880,782.588155328,810.588155328,652.411844672,628.411844672,653,0.45268107392,-0.0157277350397,0.0497189585272,0.999999902887,-2.39983906249e-05,-0.000438605941994,3.56960993604e-05,1793245364204152320
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658.011363378,629,880,782.011363378,810.011363378,652.988636622,628.988636622,653,0.452729653326,-0.015754389682,0.0497179018256,0.999999900819,-5.04995679138e-05,-0.000440467206598,4.24245545849e-05,1793245364220819200
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.562658034,880.562658034,782.562658034,810.562658034,653,628.437341966,653,0.452766744014,-0.0157495404335,0.0497186733398,0.999999902109,-4.64925073457e-05,-0.000438099393946,4.10972190322e-05,1793245364237485568
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.859150841,880.859150841,782.859150841,811,653,628,653,0.452799415767,-0.0157441840675,0.0497191190535,0.999999902992,-4.17458994365e-05,-0.000436681851746,3.97732713397e-05,1793245364254151936
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.267434062,880.267434062,782.267434062,811,653,628,653,0.452818681291,-0.0157392310814,0.0497184042458,0.999999902395,-3.65945960901e-05,-0.000438578252998,3.89784107853e-05,1793245364270818560
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810.683059405,652.683059405,628,653,0.452832764913,-0.0157394948864,0.0497161906156,0.999999900667,-3.75229001814e-05,-0.000442418030575,3.90538330583e-05,1793245364287485184
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810.10473969,652.10473969,628,653,0.452842575053,-0.0157440609491,0.0497127409149,0.999999897972,-4.34650216397e-05,-0.000447860499828,3.98469725779e-05,1793245364304151808
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810.470767975,652.470767975,628,653,0.452850024614,-0.0157413323926,0.0497109135541,0.99999989715,-4.25644970889e-05,-0.000449854843889,3.89766912505e-05,1793245364320818432
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810.95446849,653,628,653,0.452856656391,-0.0157375801034,0.0497095899906,0.999999896763,-4.07061088333e-05,-0.000450977003985,3.78917101879e-05,1793245364337485056
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810.381121114,653,628,653,0.452859860274,-0.0157406624963,0.0497099472101,0.999999896607,-4.52871990853e-05,-0.000450828916612,3.85825791527e-05,1793245364354152192
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.199475466,745,715,682,658.199475466,629,880,782,810,653,628,653,0.452862548467,-0.0157424619954,0.0497100262823,0.999999896352,-4.850622985e-05,-0.000451031707647,3.88986030511e-05,1793245364370818816
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.794444781,745,715,682,658.794444781,629,880,782,810,653,628,653,0.452864214218,-0.0157417179406,0.0497095538804,0.999999895938,-4.90247470282e-05,-0.000451930174495,3.84714331634e-05,1793245364387485440
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658.622596773,629,880.377403227,782.377403227,810.377403227,653,628,653,0.452864873114,-0.0157388289463,0.0497085993398,0.999999895369,-4.6989247349e-05,-0.000453461389135,3.77693378955e-05,1793245364404152064
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,682,658.045978374,629,880.954021626,782.954021626,810.954021626,653,628,653,0.452865000533,-0.0157348077294,0.0497073902985,0.999999894706,-4.36055903773e-05,-0.000455326604488,3.6922121182e-05,1793245364420818432
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658.52603396,629,880.47396604,782.47396604,811,652.47396604,628,652.47396604,0.452865330308,-0.0157364124429,0.0497066582937,0.999999894478,-4.37717159401e-05,-0.000455770362317,3.74322468213e-05,1793245364437485056
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.898573634,745,715,682,658.898573634,629,880.101426366,782,811,652.101426366,628,652.101426366,0.452865575138,-0.0157380586104,0.0497060980538,0.999999894266,-4.44304626686e-05,-0.000456130803801,3.79279787779e-05,1793245364454151680
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.304837827,745,715,682,658.304837827,629,880.695162173,782,811,652.695162173,628,652.695162173,0.452865322546,-0.0157375398781,0.0497061709078,0.999999893948,-4.59873826935e-05,-0.000456684665239,3.77829847004e-05,1793245364470818560
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880.720936995,782,811,653,628,653,0.452865911462,-0.0157365028163,0.0497065961654,0.999999894135,-4.67001345372e-05,-0.000456216952558,3.76063073335e-05,1793245364487485696
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880.147413708,782,811,653,628,653,0.452867388317,-0.0157349188262,0.0497073932704,0.999999894856,-4.65221414884e-05,-0.000454671300565,3.73961985366e-05,1793245364504152576
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,811,652.570016953,628,653,0.452867629646,-0.0157341080813,0.0497068822972,0.999999894764,-4.50524440395e-05,-0.000455026126458,3.73374964681e-05,1793245364520818944
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.008657888,745,715,682,658,629,880.008657888,782.008657888,811,652.008657888,628,653,0.452867423572,-0.0157335915979,0.0497059093516,0.999999894376,-4.31851386663e-05,-0.000456059052604,3.73321074373e-05,1793245364537485568
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.58328528,745,715,682,658,629,880.58328528,782.58328528,811,652.58328528,628,653,0.452865912061,-0.0157348241207,0.0497043193559,0.999999893226,-4.45380068374e-05,-0.000458440248913,3.73877409417e-05,1793245364554152192
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.836640671,745,715,682,658.163359329,629,880.836640671,782.836640671,810.836640671,652.836640671,628,653,0.452865531102,-0.0157357514019,0.0497036078566,0.999999892726,-4.59451664772e-05,-0.000459384573005,3.74653808528e-05,1793245364570818560
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.242193512,745,715,682,658.757806488,629,880.242193512,782.242193512,810.242193512,652.242193512,628,653,0.452868133549,-0.0157358731829,0.0497052146158,0.999999893952,-4.74955954263e-05,-0.000456537144571,3.76010933192e-05,1793245364587485184
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.341300056,745,715,682,658.658699944,629,880,782.341300056,810.341300056,652.341300056,628,653,0.45286862901,-0.015734762577,0.04970536724,0.999999893913,-4.69499116535e-05,-0.000456689780081,3.74681065154e-05,1793245364604151808
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.91726241,745,715,682,658.08273759,629,880,782.91726241,810.91726241,652.91726241,628,653,0.452867675802,-0.0157328046383,0.0497045200676,0.999999893002,-4.49630366402e-05,-0.000458905122372,3.71503743852e-05,1793245364620818432
+244,4.066666667,HOLD_POSE2,766,745,715,682,658,629,881,783,810,653,628,653,0.452868137029,-0.0157358438317,0.0497041828445,0.999999893145,-4.82416510482e-05,-0.000458251026957,3.7274644964e-05,1793245364652151040
+245,4.083333333,HOLD_POSE2,765.426633649,745,715,682.573366351,658,629,881,782.426633649,810,652.426633649,628,653,0.452869001637,-0.0157332564882,0.0497050421875,0.999999893642,-4.53966359886e-05,-0.000457474290572,3.70363796353e-05,1793245364668817152
+246,4.100000000,HOLD_POSE2,765.152396529,745,715,683,658,629,880.847603471,782,810.152396529,652.152396529,628,653,0.452869237768,-0.0157311914513,0.0497054210831,0.999999893813,-4.39021423245e-05,-0.000457269319495,3.67498297802e-05,1793245364685483264
+247,4.116666667,HOLD_POSE2,765.747894741,745,715,683,658,629,880.252105259,782,810.747894741,652.747894741,628,653,0.452867646568,-0.0157306450506,0.0497044030504,0.999999893052,-4.63343667192e-05,-0.000458726788802,3.63228898289e-05,1793245364702149376
+248,4.133333333,HOLD_POSE2,766,745,715,682.667819455,658,629,880.332180545,782,811,653,628,653,0.45286776313,-0.0157313868819,0.0497039130289,0.999999892859,-4.72476177835e-05,-0.00045905000821,3.63604480895e-05,1793245364718815744
+249,4.150000000,HOLD_POSE2,766,745,715,682.091765383,658,629,880.908234617,782,811,653,628,653,0.452869133464,-0.0157330744812,0.0497038106518,0.999999893089,-4.70456998946e-05,-0.000458540507114,3.67390221833e-05,1793245364735482624
+250,4.166666667,HOLD_POSE2,765.517778419,745,715,682,658.482221581,629,881.482221581,782,811,653,628,653,0.452869971633,-0.0157331515291,0.0497046552143,0.999999893467,-4.77352631705e-05,-0.00045763557513,3.68403898442e-05,1793245364752149248
+251,4.183333333,HOLD_POSE2,765.057339313,745,715,682,658.942660687,629.057339313,881.885321375,782,811,653,628,653,0.452870625313,-0.0157328753623,0.0497055595895,0.999999893834,-4.84230301136e-05,-0.000456755879358,3.68899180352e-05,1793245364768815616
+252,4.200000000,HOLD_POSE2,765.646579925,745,715,682,658.353420075,629.646579925,880.70684015,782,811,653,628,653,0.45287050299,-0.0157321535611,0.0497053543425,0.999999893853,-4.75271469849e-05,-0.000456805346528,3.69458187044e-05,1793245364785482752
+253,4.216666667,HOLD_POSE2,765.767922567,745,715,682,658,629.767922567,880,782.232077433,810.767922567,653,628,653,0.452870419286,-0.0157316378727,0.0497052879793,0.999999893776,-4.7045555095e-05,-0.000457029080798,3.68693334151e-05,1793245364802149632
+254,4.233333333,HOLD_POSE2,765.188034833,745,715,682,658,629.188034833,880,782.811965167,810.188034833,653,628,653,0.45287039346,-0.0157314310819,0.0497054297587,0.999999893558,-4.71848541573e-05,-0.000457513986049,3.65944436519e-05,1793245364818816256
+255,4.250000000,HOLD_POSE2,765,745,715,682.390556486,658,629,880.390556486,782.609443514,810,653,628,653,0.452870883721,-0.0157318785702,0.0497057233521,0.999999893705,-4.89846981167e-05,-0.000457027503609,3.62688038812e-05,1793245364835482624
+256,4.266666667,HOLD_POSE2,765,745,715,682.968525759,658,629,880.968525759,782.031474241,810,653,628,653,0.452871621632,-0.0157326400214,0.0497060897953,0.999999894022,-5.15813726552e-05,-0.000456074890238,3.59188111416e-05,1793245364852148992
+257,4.283333333,HOLD_POSE2,765,745,715,682.457682453,658,629,880.457682453,782.542317547,810.542317547,652.457682453,628,653,0.452871065866,-0.0157314363346,0.0497054177767,0.999999893885,-4.94273996763e-05,-0.000456567198236,3.65262212641e-05,1793245364868815616
+258,4.300000000,HOLD_POSE2,765.119298589,745,715,682,658,629,880.119298589,783,810.880701411,652.119298589,628,653,0.452870635686,-0.0157303180097,0.0497047961488,0.999999893731,-4.7590973732e-05,-0.00045706274504,3.69647405481e-05,1793245364885481984
+259,4.316666667,HOLD_POSE2,765.709827732,745,715,682,658,629,880.709827732,783,810.290172268,652.709827732,628,653,0.452870995873,-0.015729983919,0.0497046098067,0.999999893642,-4.8089597783e-05,-0.000457242376495,3.65183376012e-05,1793245364902148864
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,811,652,629,653,0.45287234488,-0.0157305725059,0.0497060681447,0.999999894482,-4.65095757668e-05,-0.000455512155904,3.71808004021e-05,1793245364939166464
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810.425606351,652,628.425606351,653.574393649,0.452871134716,-0.0157313605353,0.0497047677179,0.999999893311,-4.83482466227e-05,-0.000457904022401,3.69431240184e-05,1793245364955833600
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.152526644,629,880,782,810,652.152526644,628,653.847473356,0.452870605692,-0.0157320740987,0.049704059586,0.999999892586,-4.9982622064e-05,-0.000459327511034,3.67153826855e-05,1793245364972500480
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.741356183,629,880,782,810,652.741356183,628,653.258643817,0.452872025067,-0.0157325746525,0.0497050457151,0.999999893158,-5.10326103225e-05,-0.00045798095263,3.6516060539e-05,1793245364989166592
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.675064879,629,880,782,810,652.675064879,628,653,0.452871969903,-0.0157321465371,0.0497050949647,0.999999893178,-5.10367957693e-05,-0.000457953695908,3.63015194263e-05,1793245365005832960
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.095598919,629,880,782,810,652.095598919,628,653,0.452870759689,-0.0157309909689,0.0497044103301,0.999999892766,-5.0221774335e-05,-0.000458959885461,3.60750568807e-05,1793245365022499328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652,628,653.480901872,0.45287075523,-0.0157303410306,0.049704792487,0.999999892529,-4.97299899211e-05,-0.000459518290156,3.62115725925e-05,1793245365039165952
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652,628,653.943529263,0.452870799969,-0.0157299111154,0.0497052024075,0.999999892334,-4.92687897335e-05,-0.000459975031188,3.64274680074e-05,1793245365055832576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652,628,653.371122357,0.4528691177,-0.0157305786973,0.0497039403285,0.999999892207,-4.85035448698e-05,-0.000460311230947,3.67133945067e-05,1793245365072499456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.208682611,745,715,682,658,629,880,782,810,652.208682611,628,653,0.45286462951,-0.0157301208836,0.0497014462361,0.999999890919,-4.80606416555e-05,-0.000463165394862,3.64696972491e-05,1793245365089166336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.802127836,745,715,682,658,629,880,782,810,652.802127836,628,653,0.452854967846,-0.0157275880997,0.0496966805951,0.999999887455,-4.82120621928e-05,-0.000470662103976,3.52494958831e-05,1793245365105832960
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.613696671,745,715,682,658.386303329,629,880,782,810,653,628,653,0.45282982552,-0.0157270661957,0.0496854056608,0.999999878447,-4.91815771721e-05,-0.000489400652961,3.42655599969e-05,1793245365122499328
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.034157997,745,715,682,658.965842003,629,880,782,810,653,628,653,0.452796939509,-0.0157275501672,0.0496708746694,0.999999866188,-5.0560316575e-05,-0.000513762557489,3.33998079035e-05,1793245365139165952
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,629,880,782,810,653,628,653,0.452742019118,-0.0157244189944,0.0496506807174,0.999999847751,-4.98976396934e-05,-0.000548666626461,3.1204199011e-05,1793245365155832320
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.882245123,629,880,782,810,652.882245123,628,653,0.452684274547,-0.0157207837317,0.0496319418381,0.999999830618,-4.88103655924e-05,-0.000579253416541,2.91011820978e-05,1793245365172498944
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.294986849,629,880,782,810,652.294986849,628,653,0.452620772014,-0.0157160413708,0.0496204186609,0.999999824487,-4.65399508349e-05,-0.00058999410548,2.7699431614e-05,1793245365189165824
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652.288339166,628,653,0.45254715575,-0.0157106959759,0.0496117559127,0.999999818861,-4.44970873704e-05,-0.000599678375685,2.61429969825e-05,1793245365205832448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652.867696354,628,653,0.452463331793,-0.0157047419448,0.0496059801696,0.999999813778,-4.26838894337e-05,-0.000608296411722,2.44304411738e-05,1793245365222499584
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,653,628,653,0.452365031939,-0.0156991021423,0.0496038333967,0.999999809872,-3.95734422334e-05,-0.000614906237882,2.41025227715e-05,1793245365239166208
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.02230792,745,715,682,658,629,880,782.02230792,810.02230792,653,628,653,0.452261486197,-0.0156934958452,0.0496028464022,0.999999806419,-3.61023131393e-05,-0.000620704714284,2.41618283764e-05,1793245365255833088
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.598242574,745,715,682,658,629,880,782.598242574,810.598242574,653,628,653,0.452134070801,-0.0156864131731,0.049603988743,0.999999806275,-3.32077840357e-05,-0.000621117092919,2.36614074889e-05,1793245365272499456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.822070688,745,715,682,658,629,880,782.822070688,810.822070688,653,628,653,0.451999563237,-0.015678040415,0.0496050730772,0.999999806222,-2.94299022512e-05,-0.000621421123332,2.29247664641e-05,1793245365289166080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.233729474,745,715,682,658,629,880,782.233729474,810.233729474,653,628,653,0.451848696893,-0.0156666919444,0.0496060236129,0.999999806371,-2.36144788186e-05,-0.000621475237581,2.16432599372e-05,1793245365305832448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.349064741,658,629,880,782,810,653,628,653,0.451670165262,-0.0156554707547,0.0496058486687,0.999999804572,-1.81861566488e-05,-0.000624583515178,2.04903505863e-05,1793245365322499072
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.928202911,658,629,880,782,810,653,628,653,0.451473399039,-0.0156443334565,0.049604931905,0.999999801463,-1.30129777287e-05,-0.000629704834325,1.94222012955e-05,1793245365339165952
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.495248747,658,629,880.504751253,782.504751253,810,652.495248747,628,653,0.451249260227,-0.0156304560787,0.0495999824729,0.999999796517,-7.53303739074e-06,-0.000637653777855,1.7509686966e-05,1793245365355832576
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.080641816,745,715,682.080641816,658.080641816,629,880.919358184,783,810,652,628.080641816,653,0.451018507123,-0.0156166730949,0.0495955448406,0.99999979295,-2.34638862377e-06,-0.000643314677619,1.5487235803e-05,1793245365372499712
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.654750231,745,715,682.654750231,658.654750231,629,880.345249769,783,810,652,628.654750231,653,0.450770983396,-0.0156058405597,0.0495977312128,0.999999799864,7.79894009266e-07,-0.000632525846997,1.35232511409e-05,1793245365389166336
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.764168192,745,715,682.764168192,658.764168192,629.235831808,880,783,810.235831808,652.235831808,629,653,0.45051409468,-0.0155961119582,0.0496047494785,0.999999811077,1.90672545376e-06,-0.000614571710879,1.19992908556e-05,1793245365405833216
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.172567136,745,715,682.172567136,658.172567136,629.827432864,880,783,810.827432864,652.827432864,629,653,0.450243078219,-0.015588048721,0.0496190570034,0.999999828352,1.72407486276e-08,-0.000585808196321,1.11391391116e-05,1793245365422500096
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.41005537,745,714.58994463,682,658,630,880.41005537,783,810.58994463,652.58994463,629,653,0.449923893521,-0.0155817930378,0.0496270537401,0.999999837091,-5.82191619135e-06,-0.000570696460053,9.42997067122e-06,1793245365439166464
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.988980303,745,714.011019697,682,658,630,880.988980303,783,810.011019697,652.011019697,629,653,0.449584872121,-0.0155762817441,0.049632451559,0.999999842408,-1.32876325008e-05,-0.000561206818543,7.37115903737e-06,1793245365455832576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.56428789,682,658,630,880.43571211,783,810,652,629,653,0.449207713576,-0.0155727820242,0.0496352202098,0.999999846204,-2.36031350102e-05,-0.00055408235407,5.1897208094e-06,1793245365472498944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.857535707,745,714.857535707,682,658,630.142464293,880,783.142464293,810,652,629,653,0.448819769651,-0.0155683438868,0.049636063269,0.999999847667,-3.24084396808e-05,-0.00055100599964,2.80323820019e-06,1793245365489166080
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.270181425,745,714.270181425,682,658,630.729818575,880,783.729818575,810,652,629,653,0.448400455964,-0.0155608533509,0.0496310523724,0.999999842301,-3.63249859257e-05,-0.000560427836532,-2.16129550808e-07,1793245365505832960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.68714038,658.31285962,631,880,784,810,652,629.31285962,652.68714038,0.447952633324,-0.0155491880376,0.0496266036764,0.999999839573,-3.74538591986e-05,-0.000565187016496,-3.93618293204e-06,1793245365522499840
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.107773471,658.892226529,631,880,784,810,652,629.892226529,652.107773471,0.447480525484,-0.0155339664683,0.0496226338866,0.999999839147,-3.62080730865e-05,-0.000565974345678,-8.25311082694e-06,1793245365539166464
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.469695197,659,631,880,784,810,652.469695197,630,652,0.446968992486,-0.0155225708813,0.0496221950568,0.999999838453,-4.26770760095e-05,-0.000566683671877,-1.19074525657e-05,1793245365555832832
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.046528713,745,714,682,659,631,880,784,810,652.953471287,630,652.046528713,0.44644728537,-0.0155124614481,0.0496231815201,0.999999838281,-5.1120176557e-05,-0.000566207548262,-1.52945838993e-05,1793245365572499200
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.621077721,745,714,682,659,631,880,784,810,652.378922279,630,652.621077721,0.445912365437,-0.015507025226,0.0496311853104,0.999999845312,-6.19581449964e-05,-0.000552480918384,-1.73677100954e-05,1793245365589165824
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.799148116,745,714.200851884,682,659,631.200851884,880,784.200851884,810,652,630,653,0.44537864993,-0.0155008434804,0.0496506403365,0.999999860118,-7.15814043239e-05,-0.000523725377959,-1.87379832542e-05,1793245365605832448
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.20925304,745,714.79074696,682,659,631.79074696,880,784.79074696,810,652,630,653,0.444847267389,-0.015493217682,0.049692276012,0.999999888203,-7.88518131014e-05,-0.000465859354536,-1.87468540939e-05,1793245365622499072
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.626635077,682,659,632,880,785,810,652,630.373364923,653,0.44425781934,-0.0154847525264,0.0497232777054,0.999999906049,-8.73963967648e-05,-0.000424116612892,-1.97086626621e-05,1793245365639165696
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.048017632,682,659,632,880,785,810,652,630.951982368,653,0.443636450548,-0.0154758259454,0.0497484335038,0.999999918572,-9.66414413212e-05,-0.000391237438296,-2.11943363886e-05,1793245365655832576
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.475142654,659,632,880,785,810,652,631,653,0.442941426043,-0.0154629488644,0.0497382607955,0.999999911553,-8.39191499541e-05,-0.000411341970197,-2.54725881471e-05,1793245365672499456
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.690953717,632.690953717,880.690953717,785.690953717,809.309046283,652.690953717,631,653,0.441601539648,-0.0154488687855,0.0497588268284,0.999999931625,-2.44148730926e-05,-0.000367681250494,-3.10589557352e-05,1793245365705832960
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.72376623,633,880.72376623,786,809.27623377,652.72376623,631,652.72376623,0.440927946248,-0.0154482013774,0.0497930701935,0.999999952305,-1.58483994479e-05,-0.000306866173717,-3.11756297132e-05,1793245365722499328
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.144364395,633,880.144364395,786,809.855635605,652.144364395,631,652.144364395,0.440225621539,-0.0154497035391,0.0498351889122,0.999999969948,-4.22481827355e-05,-0.000239659125897,-2.97082403391e-05,1793245365739165952
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.988125889,659,633,880,786,810,652,630.011874111,653,0.438622101232,-0.0154429507015,0.049809746547,0.999999953681,-9.16141326263e-05,-0.000287672063514,-3.8585873063e-05,1793245365772499200
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.184358812,744.815641188,714,680,659,633,879.815641188,785.184358812,809.815641188,652,630,652,0.429942104518,-0.0154111676295,0.0497837731844,0.999999938454,-3.96267925909e-05,-0.000347188046136,-3.13265996824e-05,1793245365939165696
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.425907855,714,680,658,634,879,785,808,652.425907855,629.574092145,652,0.411361527029,-0.0154156263967,0.0498011300586,0.999999940034,-0.000103106647823,-0.000327310983629,-4.65661874364e-05,1793245366305832704
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..454b809c0d624d25335e8611811504db7e5164f5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd573610fc1760f41a611332ffc25e598cd2f165
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7b5345e4a39332d45df6ec2085ebf4d12cf18bafde21d10620033fc3e645a02
+size 25675811
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d63c10a4f21d61828cc32e4d3ac3b8bad9ebb379
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+61,1.016666667,BASELINE,764.518474362,745,714,679,658.518474362,634,878.481525638,785.481525638,807,652.518474362,629.518474362,652,0.400985712826,-0.0154490883482,0.0498518822939,0.999999961438,-0.000101793194421,-0.000255816928155,-3.63236626614e-05,1793245368457197056
+62,1.033333333,BASELINE,764.058097615,745,714,679.058097615,658.058097615,634,878.941902385,785.941902385,807,652.058097615,629.058097615,652,0.400985180448,-0.0154482841263,0.0498516841413,0.999999961542,-9.92812875249e-05,-0.000256395555518,-3.63515686532e-05,1793245368473863680
+63,1.050000000,BASELINE,764.631943743,745,714,679.631943743,658.631943743,634,878.368056257,785.368056257,807,652.631943743,629.631943743,652,0.400985448297,-0.0154497518909,0.0498521265447,0.999999961363,-0.000102486652134,-0.000255859738406,-3.61337134683e-05,1793245368490530304
+64,1.066666667,BASELINE,765,745,714,679.788170457,659,634,878,785.211829543,807,653,629.788170457,652,0.400985602426,-0.0154503994301,0.0498522994514,0.999999961312,-0.000103889296087,-0.000255517676355,-3.59720517241e-05,1793245368507197184
+65,1.083333333,BASELINE,765,745,714,679.197482706,659,634,878,785.802517294,807,653,629.197482706,652,0.400985553167,-0.0154495799919,0.0498519903617,0.999999961501,-0.000102067764858,-0.000255522146251,-3.59108922458e-05,1793245368523864064
+66,1.100000000,BASELINE,765,745,714,679.383715857,658.616284143,634,878.383715857,785.616284143,807,653,629.383715857,652,0.400985805013,-0.0154499208121,0.0498523703969,0.999999961618,-0.000102167444551,-0.000255060042101,-3.56423811498e-05,1793245368540530432
+67,1.116666667,BASELINE,765,745,714,679.960148567,658.039851433,634,878.960148567,785.039851433,807,653,629.960148567,652,0.400986208084,-0.0154508443587,0.0498530965373,0.999999961699,-0.000103232030275,-0.000254363606531,-3.52697301028e-05,1793245368557197056
+68,1.133333333,BASELINE,765,745,714,679.462945143,658,634,879,785.537054857,807,652.462945143,630,652,0.400985462523,-0.0154513263356,0.0498525613983,0.999999961388,-0.000105801501917,-0.000254481497572,-3.56309167687e-05,1793245368573863936
+69,1.150000000,BASELINE,765,745,714,679,658,634,878.883744362,786,807,652,630,652,0.400984809461,-0.015451553744,0.0498521180551,0.999999961189,-0.000107000748286,-0.000254723758703,-3.59114706082e-05,1793245368590530560
+70,1.166666667,BASELINE,765,745,714,679,658,634,878.295368524,786,807,652,630,652,0.400984878481,-0.0154508805181,0.0498524279153,0.999999961574,-0.000102181547828,-0.000255225483448,-3.56432368056e-05,1793245368607197184
+71,1.183333333,BASELINE,765,745,714,679.288407842,658.288407842,634,878,786,807,652,629.711592158,652,0.400984455105,-0.0154506597871,0.0498520881563,0.999999961396,-0.000101418464472,-0.000256213396476,-3.57347864353e-05,1793245368623863808
+72,1.200000000,BASELINE,765,745,714,679.867547742,658.867547742,634,878,786,807,652,629.132452258,652,0.400983535365,-0.0154508951975,0.0498510935428,0.999999960657,-0.000104744185,-0.000257691415936,-3.61890188808e-05,1793245368640530688
+73,1.216666667,BASELINE,764.55523519,745,714,680,659,634,878,785.55523519,807,652,629,652,0.400984982425,-0.0154508484222,0.0498520239534,0.999999961139,-0.00010552420679,-0.000255492572042,-3.61950223496e-05,1793245368657197056
+74,1.233333333,BASELINE,764.021407461,745,714,680,658.978592539,634,878,785,807.021407461,652.021407461,629,652,0.400987028437,-0.0154507141133,0.0498534604057,0.99999996194,-0.000105477360097,-0.000252377694851,-3.60623288438e-05,1793245368673863680
+75,1.250000000,BASELINE,764.597940649,745,714,680,658.402059351,634,878,785,807.597940649,652.597940649,629,652,0.400986407316,-0.0154504797165,0.049853217328,0.999999961795,-0.000103563052435,-0.000253780941894,-3.57795524446e-05,1793245368690530560
+76,1.266666667,BASELINE,765,745,714,679.82188607,658.17811393,634,878,785.17811393,807.82188607,652.82188607,629,652,0.40098577137,-0.0154504857311,0.0498529604661,0.999999961674,-0.00010204747889,-0.000254894460422,-3.56030166947e-05,1793245368707197184
+77,1.283333333,BASELINE,765,745,714,679.233324557,658.766675443,634,878,785.766675443,807.233324557,652.233324557,629,652,0.400985101264,-0.0154510457522,0.0498526718399,0.999999961618,-0.000101450752488,-0.000255340325472,-3.56713030152e-05,1793245368723863808
+78,1.300000000,BASELINE,765,745,714,679.350335595,659,634,878,786,807,652,629.350335595,652,0.400984838732,-0.0154516295025,0.0498526315682,0.999999961438,-0.000102768774256,-0.000255528016015,-3.55979895191e-05,1793245368740530688
+79,1.316666667,BASELINE,765,745,714,679.93077644,659,634,878,786,807,652,629.93077644,652,0.4009848439,-0.0154522288385,0.0498527544192,0.999999961172,-0.000105344429059,-0.00025554613396,-3.54316713072e-05,1793245368757197312
+80,1.333333333,BASELINE,764.493984588,745,714,679.493984588,659.506015412,634,878,785.493984588,807,652,629.493984588,652,0.400983740289,-0.0154524896569,0.0498516732115,0.99999996075,-0.00010589487695,-0.00025694731786,-3.55640028891e-05,1793245368773863936
+81,1.350000000,BASELINE,764.082227179,745,714,679,659.917772821,634,878,785.082227179,807,652.082227179,629,652,0.400982847603,-0.0154525367728,0.0498507718815,0.999999960431,-0.0001061425196,-0.000258062200885,-3.57033725339e-05,1793245368790530560
+82,1.366666667,BASELINE,764.668724239,745,714,679,659.331275761,634,878,785.668724239,807,652.668724239,629,652,0.400984169199,-0.0154515544379,0.0498519735481,0.999999960886,-0.000106214931376,-0.00025627278144,-3.56379002766e-05,1793245368807197184
+83,1.383333333,BASELINE,765,744.7479581,714,679,659,634,878.2520419,785.7479581,807,652.7479581,629,652,0.400984858062,-0.0154508388556,0.0498525469963,0.999999961125,-0.000105993870009,-0.000255422640845,-3.56939216915e-05,1793245368823863808
+84,1.400000000,BASELINE,765,744.168767201,714,679,659,634,878.831232799,785.168767201,807,652.168767201,629,652,0.400984725639,-0.0154504695166,0.0498523050209,0.999999961087,-0.000105391882131,-0.000255791678785,-3.59076412157e-05,1793245368840530432
+85,1.416666667,BASELINE,765,744,714,679,659,634,879,785,807,652,629.410337697,652,0.40098398949,-0.0154506008911,0.0498516533334,0.999999960942,-0.00010490549993,-0.000256536080421,-3.60554706144e-05,1793245368857197312
+86,1.433333333,BASELINE,765,744,714,679,659,634,879,785,807,652,629.989407197,652,0.400983005086,-0.0154509381602,0.0498508331713,0.999999960753,-0.000104466655086,-0.000257434832448,-3.61762058294e-05,1793245368873863936
+87,1.450000000,BASELINE,765,744.562397262,714,679.562397262,659,634,879,785,807,652,629.437602738,652,0.400983756687,-0.0154513938337,0.0498510915462,0.999999960947,-0.000104467015264,-0.000256715618877,-3.59079734855e-05,1793245368890530304
+88,1.466666667,BASELINE,765,745,714,679.860730491,659,634,878.860730491,785.139269509,807.139269509,652,629,652,0.400984548658,-0.0154517726358,0.0498516806593,0.999999961223,-0.000104480461639,-0.00025566797394,-3.56675058821e-05,1793245368907197184
+89,1.483333333,BASELINE,765,745,714,679.270933216,659,634,878.270933216,785.729066784,807.729066784,652,629,652,0.400985366577,-0.0154518956266,0.0498532746758,0.999999961737,-0.000104509766305,-0.000253655403862,-3.55403018692e-05,1793245368923863808
+90,1.500000000,BASELINE,765,745,714,679,659,634,878.314240643,786,807.685759357,652.314240643,629,652,0.400985235442,-0.0154515051377,0.0498533121386,0.999999961799,-0.000103501351601,-0.000253824805075,-3.55239534994e-05,1793245368940530688
+91,1.516666667,BASELINE,765,745,714,679,659,634,878.895486036,786,807.104513964,652.895486036,629,652,0.400984297914,-0.0154506783541,0.049852027025,0.999999961475,-0.000101611204992,-0.00025584818903,-3.56017972267e-05,1793245368957197312
+92,1.533333333,BASELINE,764.527986623,744.527986623,714,679,658.527986623,634,878.527986623,785.527986623,807,653,629,652,0.400983804778,-0.0154506457797,0.0498522289357,0.999999961403,-0.000102138702993,-0.000255907294879,-3.56781212282e-05,1793245368973863936
+93,1.550000000,BASELINE,764.047282393,744.047282393,714,679,658,634,878,785.047282393,807,652.952717607,629,652,0.400983543921,-0.0154508056087,0.0498527625533,0.999999961404,-0.000103108165307,-0.000255506296312,-3.57296720422e-05,1793245368990530304
+94,1.566666667,BASELINE,764.620061563,744.620061563,714,679,658,634,878,785.620061563,807,652.379938437,629,652,0.400984781825,-0.0154511686989,0.0498533595902,0.999999961599,-0.000103098965303,-0.000254777710762,-3.55095963015e-05,1793245369007197184
+95,1.583333333,BASELINE,764.800702457,744.800702457,714,679.199297543,658.199297543,634,878,785.800702457,807,652.199297543,629,652,0.400985467149,-0.0154514895238,0.0498536060633,0.999999961717,-0.000102814470778,-0.000254447009379,-3.53835113841e-05,1793245369023863808
+96,1.600000000,BASELINE,764.208745041,744.208745041,714,679.791254959,658.791254959,634,878,785.208745041,807,652.791254959,629,652,0.400985063769,-0.0154517270767,0.049853161849,0.999999961684,-0.000101987585665,-0.000254900226943,-3.54426089645e-05,1793245369040530432
+97,1.616666667,BASELINE,764.373428543,744.373428543,714,679.626571457,658.626571457,634,878,785.373428543,807,653,629,652,0.400984782473,-0.0154510368001,0.0498524144584,0.999999961482,-0.000101949750677,-0.000255664607819,-3.57469938211e-05,1793245369057197056
+98,1.633333333,BASELINE,764.950272602,744.950272602,714,679.049727398,658.049727398,634,878,785.950272602,807,653,629,652,0.40098456768,-0.0154498411125,0.0498515019202,0.999999961187,-0.000102341730339,-0.000256598486817,-3.61849925583e-05,1793245369073863680
+99,1.650000000,BASELINE,765,745,714,679,658.527679353,633.472320647,878,786,807,653,629,652,0.40098493554,-0.0154499444445,0.0498518734772,0.999999961327,-0.00010246707615,-0.000256004812435,-3.61687811932e-05,1793245369090530560
+100,1.666666667,BASELINE,765,745,714,679,658.89487665,633.10512335,878,785.89487665,807,652.89487665,629.10512335,652,0.400984962763,-0.0154504385454,0.0498522074045,0.999999961383,-0.000102890747169,-0.000255630333415,-3.60573478113e-05,1793245369107197184
+101,1.683333333,BASELINE,765,745,714,679,658.317503813,633.682496187,878,785.317503813,807,652.317503813,629.682496187,652,0.400983212794,-0.0154521375862,0.0498518280867,0.999999960879,-0.000104767594971,-0.000256887931412,-3.57106394617e-05,1793245369123863808
+102,1.700000000,BASELINE,765,744.734722707,714,679,658.265277293,634,878,785.265277293,807,652.265277293,630,652,0.400982928315,-0.0154527487353,0.0498518877838,0.999999960763,-0.000105797462344,-0.000256935850161,-3.55661280984e-05,1793245369140530432
+103,1.716666667,BASELINE,765,744.145333904,714,679,658.854666096,634,878,785.854666096,807,652.854666096,630,652,0.400984434349,-0.0154520307161,0.0498524838623,0.999999961126,-0.000105792502579,-0.000255505802272,-3.566865777e-05,1793245369157197056
+104,1.733333333,BASELINE,764.56548812,744,714,679,658.56548812,634,878.43451188,786,807,653,629.56548812,652,0.400984424518,-0.0154518178938,0.0498523424037,0.999999961077,-0.000105474203181,-0.000255830912691,-3.56637574942e-05,1793245369173863680
+105,1.750000000,BASELINE,764.011188281,744.011188281,714,679,658.011188281,634,878.988811719,786,807,653,629,652,0.400983923876,-0.0154517731495,0.0498519737063,0.999999960898,-0.000105050945828,-0.000256709132775,-3.56230501311e-05,1793245369190530304
+106,1.766666667,BASELINE,764.585543608,744.585543608,714,679,658.585543608,634,878.414456392,786,807,653,629,652,0.400983690755,-0.0154518659692,0.049852317172,0.999999961008,-0.000104506602822,-0.000256513551148,-3.55497991101e-05,1793245369207196928
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,807,652,629,652,0.400986383254,-0.0154496738336,0.0498539784791,0.999999961939,-0.000103527869179,-0.000253224862118,-3.57945087778e-05,1793245369247432448
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.577750647,744.422249353,714,679,658.422249353,634,878.422249353,786,807.577750647,652.577750647,629,652,0.400985510826,-0.0154520522765,0.0498535639124,0.999999961431,-0.000105966313056,-0.000254285038694,-3.53352724211e-05,1793245369264099072
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.155061594,714,679,658.155061594,634,878,785.844938406,807.844938406,653,629.155061594,652,0.400984739581,-0.0154533941222,0.0498529814946,0.999999961031,-0.000107284080348,-0.000255328097373,-3.51570989449e-05,1793245369280765696
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.731178704,714,679,658.731178704,634,878,785.268821296,807.268821296,653,629.731178704,652,0.40098424309,-0.0154519211838,0.0498519432919,0.999999960939,-0.000105558753865,-0.000256324674216,-3.57421258003e-05,1793245369297432320
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785.313647839,807.313647839,653,630,652,0.400984886889,-0.0154517623311,0.0498521941274,0.999999961155,-0.000105511950432,-0.000255481813559,-3.58514462825e-05,1793245369314098944
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785.901673669,807.901673669,653,630,652,0.400986528208,-0.0154527530357,0.0498535726087,0.999999961639,-0.000106933512974,-0.000253029819595,-3.55446205215e-05,1793245369330765568
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.517629854,634,878,785.517629854,807.517629854,652.517629854,630,652,0.400986651449,-0.0154525347549,0.0498538197845,0.999999961682,-0.000106782982481,-0.000252931888323,-3.54801163049e-05,1793245369347432448
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.06152247,634,878,785,807,652,629.93847753,652,0.400986477846,-0.0154522101978,0.0498537798522,0.999999961611,-0.000106452517048,-0.000253354602774,-3.54517286203e-05,1793245369364099072
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.640065544,634,878,785,807,652,629.359934456,652,0.400986371213,-0.0154530325431,0.0498532360785,0.99999996132,-0.000107262646705,-0.000254180492634,-3.53179660983e-05,1793245369380765696
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,807,652.216597748,629.216597748,652,0.40098835262,-0.0154534573502,0.0498538235734,0.999999961663,-0.000106647494909,-0.000253104312145,-3.52015119758e-05,1793245369397432320
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,807,652.78981904,629.78981904,652,0.400993771939,-0.015453227619,0.049856273678,0.999999963033,-0.000103685647714,-0.00024889641357,-3.51135557741e-05,1793245369414099712
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+119,1.983333333,POSE1_TO_POSE2_PRESS,764.036591419,745,714,679,659,634,878.963408581,785,807,653,629.036591419,651.036591419,0.401040646992,-0.0154561803003,0.04987431346,0.999999971112,-0.0001055892987,-0.000213373934596,-3.31355852794e-05,1793245369447433216
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.543413321,744.456586679,713.456586679,679.543413321,658.456586679,634,878.456586679,785.543413321,807.543413321,652.456586679,629.543413321,651.543413321,0.401092429884,-0.015458127251,0.0498904833746,0.999999977985,-0.00010290834651,-0.000180165439475,-3.13150777317e-05,1793245369464099584
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,713.121837832,679.878162168,658.121837832,634,878.121837832,786,807.878162168,652.121837832,630,652,0.401150388144,-0.0154607565309,0.04990677977,0.999999983371,-0.000101280116079,-0.000148785635787,-2.93788357552e-05,1793245369480765952
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,713.696805178,679.303194822,658.696805178,634,878.696805178,786,807.303194822,652.696805178,630,652,0.401225335958,-0.0154659019239,0.0499221505949,0.999999986055,-0.000104676781619,-0.000127258231843,-2.7166945438e-05,1793245369497432320
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.277646204,714,679,658.722353796,634,878.722353796,786,807,652.722353796,630,652,0.401304058944,-0.0154708301273,0.049933373314,0.999999987827,-0.000107419327886,-0.000110271894673,-2.54507085062e-05,1793245369514098944
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.865039988,714,679,658.134960012,634,878.134960012,786,807,652.134960012,630,652,0.401386993581,-0.0154755160294,0.0499399683233,0.999999988881,-0.000109432125621,-9.83516624869e-05,-2.42874324076e-05,1793245369530765568
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.554163318,714,679,658,634,878.445836682,786,807,652,630,652,0.401482083459,-0.0154816770062,0.0499419156709,0.999999988929,-0.000110547463735,-9.68971684741e-05,-2.3049047661e-05,1793245369547432192
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.024633762,634,878.975366238,785.975366238,807,652.024633762,629.975366238,652,0.401582224369,-0.0154882256638,0.0499425918661,0.999999988723,-0.000111384645411,-9.8339278452e-05,-2.18208349617e-05,1793245369564098816
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.60271845,634,878.39728155,785.39728155,807,652.60271845,629.39728155,652,0.40171438438,-0.0154935986002,0.0499458570654,0.999999989016,-0.000111987131191,-9.47194681191e-05,-2.13245302009e-05,1793245369580765696
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.179757728,714,679,659,634,878,785,807,652.820242272,629.179757728,652,0.401853365074,-0.0155006128309,0.0499464908785,0.999999988758,-0.000114072791914,-9.50679442258e-05,-2.07989867514e-05,1793245369597432576
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.754499834,714,679,659,634,878,785,807,652.245500166,629.754499834,652,0.402007332941,-0.0155112335016,0.0499413427064,0.999999987243,-0.000119417455306,-0.00010413599667,-2.0209196753e-05,1793245369614099200
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.337650712,785.337650712,807,652.337650712,630,652,0.402180637264,-0.0155216226829,0.0499407192179,0.999999986834,-0.000122048574236,-0.000105242122289,-1.89947925201e-05,1793245369630765824
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.927071676,785.927071676,807,652.927071676,630,652,0.402368359889,-0.0155318392544,0.0499434695725,0.999999987287,-0.000122656331278,-0.000100411414577,-1.73146427749e-05,1793245369647432192
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,713.492889737,679,659,634,878.492889737,786,807,652.492889737,630,652,0.402588588763,-0.0155420265657,0.0499456577397,0.999999987494,-0.000122811882096,-9.84590812927e-05,-1.53596485933e-05,1793245369664099072
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,713.085388872,679,658.914611128,634,878.085388872,785.914611128,807.085388872,652,630,652,0.40282142597,-0.0155521846416,0.0499486231169,0.99999998796,-0.000122323936864,-9.45479174221e-05,-1.33036154877e-05,1793245369680765696
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,713.661168387,679,658.338831613,634,878.661168387,785.338831613,807.661168387,652,630,652,0.403100313606,-0.0155621985502,0.0499565079171,0.99999998995,-0.000118507074944,-7.70530304903e-05,-1.08901865241e-05,1793245369697432320
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.762916292,785,807.762916292,652,630,652,0.403398261171,-0.0155675169322,0.0499646849022,0.999999992258,-0.000108778152828,-5.99088943262e-05,-7.86817778905e-06,1793245369714098944
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.186806804,785,807.186806804,652,630,652,0.403723464104,-0.0155661207884,0.0499732797064,0.999999994952,-9.05950826941e-05,-4.32663270039e-05,-3.97591019749e-06,1793245369730765824
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.399127289,658.399127289,634,878,785.399127289,807,652.399127289,629.600872711,652,0.404064766873,-0.0155559220394,0.0499793464741,0.999999997575,-6.2178523699e-05,-3.1200930183e-05,-3.0771049607e-06,1793245369747432704
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.989775699,658.989775699,634,878,785.989775699,807,652.989775699,629.010224301,652,0.404413795134,-0.0155414993627,0.0499842001639,0.99999999935,-2.88514283121e-05,-2.13318878466e-05,-3.61471193647e-06,1793245369764099328
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.431842162,714,680,658.431842162,634,878,785.431842162,807,652.431842162,629.568157838,652,0.404808312903,-0.0155245984652,0.0499882396411,0.999999999862,9.48013637884e-06,-1.24618721421e-05,-5.47847198866e-06,1793245369780765696
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.145505594,714,679.854494406,658.145505594,634,878.145505594,785,807,652,630,652,0.405204369652,-0.0155113951709,0.0499859586312,0.999999998908,4.34083521905e-05,-1.59558439404e-05,-6.69376528584e-06,1793245369797432320
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.720438191,714,679.279561809,658.720438191,634,878.720438191,785,807,652,630,652,0.405602603399,-0.015509233359,0.0499650664549,0.999999996368,6.40808990566e-05,-5.58874060471e-05,-5.9263114178e-06,1793245369814098944
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.707460418,785,807.292539582,652,630,652,0.406031550006,-0.0155111887387,0.0499457884198,0.999999992565,8.16034711821e-05,-9.04946726972e-05,-4.62734975878e-06,1793245369830765568
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.138038634,785,807.861961366,652,630,652,0.406489565699,-0.0155170409483,0.049928038131,0.999999988167,9.61446647779e-05,-0.000120062616897,-2.82532772047e-06,1793245369847432448
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.454074546,785,808,652,630,652,0.406987504395,-0.0155201091185,0.0499217034611,0.999999984218,0.000119108383983,-0.000131824887942,3.42578365813e-07,1793245369864099072
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,785.050856621,807.949143379,652,629.949143379,651.949143379,0.407505304019,-0.0155223144997,0.0499216299633,0.999999980751,0.000144668314416,-0.00013248010623,4.14914094241e-06,1793245369880765952
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,785.621162952,807.378837048,652,629.378837048,651.378837048,0.408095479761,-0.0155248066689,0.0499481974374,0.9999999826,0.00016921789951,-7.78836838335e-05,1.00147078902e-05,1793245369897432576
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.805093218,714,679,659,634,879,786,807.194906782,652,629.194906782,651.194906782,0.40870121122,-0.01552726845,0.0499736438043,0.999999980422,0.00019484255216,-3.05927081126e-05,1.60334457844e-05,1793245369914098944
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.22454806,714,679,659,634,879,786,807.77545194,652,629.77545194,651.77545194,0.409337720851,-0.0155296701056,0.0499968719709,0.999999974973,0.000222594309723,2.24386394197e-06,2.23552441202e-05,1793245369930765568
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.639370768,744.360629232,714,679.360629232,659,634,879,786,808,652,630,652,0.409960451417,-0.0155315791793,0.0499986756352,0.999999968749,0.00024858453787,-1.65176616914e-06,2.65406409482e-05,1793245369947432448
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.051271742,744.948728258,714,679.948728258,659,634,879,786,808,652,630,652,0.410574490702,-0.0155331775529,0.0499869656212,0.999999961765,0.000273463666011,-2.8716530084e-05,2.93784850584e-05,1793245369964099072
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.529003568,745,714,679.470996432,659,634,879,785.470996432,807.470996432,652,629.470996432,652,0.41120183197,-0.0155312782305,0.0499535090182,0.99999995022,0.000298000090243,-9.92906292381e-05,2.99503744161e-05,1793245369980765440
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.107869313,634,879,785,807.107869313,652,629.107869313,652,0.41185467269,-0.0155303563931,0.0499283903829,0.999999945062,0.000294318033342,-0.000149261227891,3.12225554764e-05,1793245369997432320
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.68386057,634,879,785,807.68386057,652,629.68386057,652,0.412612660138,-0.0155351262897,0.0499484696981,0.999999980957,0.000168317885587,-9.17847200228e-05,3.64729974238e-05,1793245370014098944
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.740068996,714,679.259931004,659.740068996,634.259931004,879,785.259931004,807.740068996,652,630,652,0.413376926377,-0.0155384012352,0.0499664532094,0.999999992394,0.000105270873609,-5.10942103597e-05,3.89870069876e-05,1793245370030765824
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.163902155,714,679.836097845,659.163902155,634.836097845,879,785.836097845,807.163902155,652,630,652,0.414148831585,-0.0155398574023,0.0499818869377,0.999999991738,0.000118813546986,-3.08257837688e-05,3.81718345191e-05,1793245370047432704
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634.578358088,879,786,807,652,630,652,0.414905688928,-0.015545276074,0.0499642314467,0.999999994444,8.14381364672e-05,-6.25928722088e-05,2.37100349837e-05,1793245370064099328
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.010763497,714,679.989236503,659,634,879,786,807.021526994,652,630,652,0.415657922534,-0.0155522685511,0.0499340205175,0.999999993175,2.55073576156e-05,-0.000113933868003,4.29182225452e-06,1793245370080765952
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.591909458,714,679.408090542,659,634,879,786,808.183818916,652,630,652,0.416482163109,-0.0155591789521,0.0499355883838,0.999999992565,5.90219902182e-05,-0.000106262271283,9.72762362809e-06,1793245370097432576
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.829084787,714,679,659,633.829084787,879,786,808.829084787,652,630,652,0.417317915286,-0.0155630053485,0.0499458876764,0.999999992091,9.19208833871e-05,-8.4474137274e-05,1.52674302357e-05,1793245370114099200
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.255125992,714,679,659,633.255125992,879,786,808.255125992,652,630,652,0.418180813488,-0.0155595592015,0.0499767769754,0.999999991736,0.000123367769,-2.93971018613e-05,2.10524963725e-05,1793245370130765824
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.325948387,744,714,679.325948387,659,633,879,786,808.325948387,652,630,652,0.419021078927,-0.0155549004997,0.0499806251576,0.999999989164,0.000142169952337,-3.02405980329e-05,2.3361528313e-05,1793245370147432448
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.912716538,744,714,679.912716538,659,633,879,786,808.912716538,652,630,652,0.419843233874,-0.0155492715271,0.0499628353799,0.999999985484,0.000150854003898,-7.5830996755e-05,2.28890815263e-05,1793245370164099328
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.506525915,744.493474085,714,680,659.493474085,633.493474085,879,786,808.506525915,652,630.493474085,652,0.420745926736,-0.015555168331,0.0499658547109,0.999999987694,0.000146524342445,-5.08540979907e-05,2.35911085755e-05,1793245370180765952
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.073535054,786,808.073535054,652,630.926464946,652,0.421657959371,-0.0155622031469,0.0499734399013,0.999999989533,0.000141719823785,-1.56102818254e-05,2.46245642154e-05,1793245370197432832
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.656044273,786,808.656044273,652,630.343955727,652,0.422537225167,-0.0155631741351,0.0499874588433,0.999999988478,0.000149368852582,5.34398919465e-06,2.65314651477e-05,1793245370214099200
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.766730652,880,786,809,652,630,652,0.423431404398,-0.0155634365647,0.0499895843454,0.999999988744,0.00014732221394,6.77971304928e-06,2.75918512291e-05,1793245370230765824
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.197124379,880,786,809,652,630,652,0.424347086537,-0.0155626773667,0.04997456142,0.999999990806,0.000131295981624,-1.99271692689e-05,2.74316991692e-05,1793245370247432448
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.387620044,745,714,680.387620044,660,633.387620044,880,786,809,652,630,652.387620044,0.425290039737,-0.0155650579596,0.0499828084501,0.999999990232,0.00013646156758,-8.23012232397e-06,2.91025517135e-05,1793245370264099328
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.980375823,745,714,680.980375823,660,633.980375823,880,786,809,652,630,652.980375823,0.426247425234,-0.0155691001883,0.0500033703745,0.999999987533,0.000152842258736,2.37909998019e-05,3.17424059342e-05,1793245370280765952
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680.444547635,660.555452365,633.444547635,880,786,809,652,630.555452365,653,0.427118256905,-0.0155669527715,0.0499929712641,0.999999985259,0.000167489726301,-2.02181884912e-05,3.19594775856e-05,1793245370297432576
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.86931468,745,714,680,660.86931468,633,880,786,809.13068532,652,631,653,0.427993130702,-0.0155641634445,0.0499777517099,0.999999981283,0.000180320625573,-6.27146587092e-05,3.13925609719e-05,1793245370314099200
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.291475331,745,714,680,660.291475331,633,880,786,809.708524669,652,631,653,0.42889197539,-0.0155599029108,0.0499496657792,0.999999977933,0.000187138998145,-9.11277307349e-05,2.84269888823e-05,1793245370330765824
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.291859482,745,714,680,660,633.291859482,880.291859482,786,810,652,631,653,0.429803678913,-0.0155585654991,0.0499423714987,0.999999979903,0.000176625836317,-9.06730170642e-05,2.78377151031e-05,1793245370347432448
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.880787811,745,714,680,660,633.880787811,880.880787811,786,810,652,631,653,0.430728470732,-0.015560203384,0.0499562399779,0.999999986688,0.000148471791058,-6.08352582058e-05,2.96671540673e-05,1793245370364098816
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.539006977,880.539006977,786,809.539006977,652,630.539006977,653,0.431634704129,-0.0155575417363,0.0499468384091,0.999999983436,0.000160780755248,-8.01481169012e-05,2.92150872596e-05,1793245370380765440
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.961115634,745,714,680,660,633,880.038884366,786,809.038884366,652,630,653,0.432536722774,-0.0155541278506,0.049933668133,0.999999977165,0.00018248787925,-0.000107528746087,2.83768692161e-05,1793245370397432064
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.384607155,745,714,680,660,633,880.615392845,786,809.615392845,652,630,653,0.433445588688,-0.0155554006074,0.0499500465047,0.999999978346,0.000192149575595,-7.39844660193e-05,3.02055432472e-05,1793245370414098688
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.190600478,745,714,680,660,633,880.809399522,786,809.809399522,652,630.190600478,653,0.434341424596,-0.0155553681206,0.0499662995549,0.999999978617,0.000198903582258,-4.65540251725e-05,3.21822023046e-05,1793245370430765312
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.763201066,745,714,680,660,633,880.236798934,786,809.236798934,652,630.763201066,653,0.435211146026,-0.0155527196743,0.0499823014396,0.999999978948,0.000199830020209,-3.13768911588e-05,3.44554522774e-05,1793245370447432192
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.651840147,745,714,680,660,633,880,786,809.348159853,652,631,652.651840147,0.436033402148,-0.015550282064,0.049971165689,0.999999978694,0.000192751405847,-6.52721784764e-05,3.46223330135e-05,1793245370464099072
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.058166702,745,714,680,660,633,880,786,809.941833298,652,631,652.058166702,0.436822186874,-0.01554799313,0.0499408931579,0.999999974293,0.000180027828694,-0.000133772106579,3.33038547551e-05,1793245370480765952
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.521346475,745,714,680,660,633.521346475,880,786,810,652,631,652.521346475,0.437714940109,-0.0155514255857,0.049956408596,0.99999997831,0.000188079340757,-8.27619438011e-05,3.40026034429e-05,1793245370497432576
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.901059154,745,714,680,660,634,880,786,810,652,631,653,0.438599462742,-0.0155541452364,0.0499734961875,0.999999979351,0.000197833519006,-3.09797832225e-05,3.46499138866e-05,1793245370514099200
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.325299564,745,714,680,660,634,880,786,810,652,631,653,0.439389896368,-0.0155504347712,0.0499741919739,0.999999977703,0.000204918220186,-3.8036474106e-05,3.39933855083e-05,1793245370530765568
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.7445016,714,680,660,634,880,786.2554984,810,652,631,653,0.440154912978,-0.0155498875781,0.0499679769285,0.999999977619,0.000202468824994,-5.17463411826e-05,3.30327260716e-05,1793245370547432192
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.1571598,714,680,660,634,880,786.8428402,810,652,631,653,0.440886917696,-0.0155534488689,0.0499527860385,0.999999979149,0.000187636467261,-7.40974070354e-05,3.16770587805e-05,1793245370564098816
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744,714,680,660,633.575952802,880.424047198,786.575952802,810,652,631,653,0.441639859364,-0.0155602485278,0.0499596070641,0.999999983224,0.000170382961051,-5.85304330795e-05,3.31163136698e-05,1793245370580765696
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.003008235,744.003008235,714,680.003008235,659.996991765,633,880.996991765,786,810,652,631,653,0.442400069285,-0.0155681833274,0.0499743441283,0.999999987324,0.000152399133511,-2.93618152081e-05,3.5560132071e-05,1793245370597432320
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.581059255,744.581059255,714,680.581059255,659.418940745,633,880.418940745,786,810,652,631,653,0.443087492142,-0.0155669533998,0.0499650628549,0.999999984801,0.000163892814994,-4.81887452363e-05,3.48470559675e-05,1793245370614098944
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659.156442859,632.843557141,880.156442859,785.843557141,810,652,631,653,0.443739712247,-0.0155672011851,0.0499413206863,0.999999980452,0.000172525935095,-9.06439546494e-05,3.33961020736e-05,1793245370630765824
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.724803224,632.275196776,880.724803224,785.275196776,810,652,631,653,0.444299242876,-0.0155713398212,0.0498795026586,0.999999965403,0.000173627135282,-0.000195312950251,3.00022992734e-05,1793245370647432448
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,632.307017132,880.692982868,785.307017132,810,652,630.692982868,653,0.444878626549,-0.0155772283242,0.0498398457577,0.999999953324,0.000172488921177,-0.000250650709461,2.78148820985e-05,1793245370664098816
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,632.902235519,880.097764481,785.902235519,810,652,630.097764481,653,0.445476646517,-0.0155847594512,0.0498209918188,0.999999951602,0.000169248538961,-0.00025968054599,2.67599163221e-05,1793245370680765440
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.515548177,745,714,681,659.515548177,632.515548177,880,785.515548177,809.515548177,652,630,653,0.446072621415,-0.0155960000041,0.0498237800788,0.999999955571,0.000165391002309,-0.000246362168133,2.84389231754e-05,1793245370697432320
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,880.063811866,784.936188134,809.127623733,652,630,653,0.446657551783,-0.0156069543431,0.0498266486335,0.999999958575,0.000161842501263,-0.000236095491165,3.02502980357e-05,1793245370714098944
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,880.640751793,784.359248207,810.281503587,652,630,653,0.447156902118,-0.0156097449798,0.0497959606669,0.999999945695,0.000161754355539,-0.000285686289327,2.88054524714e-05,1793245370730765824
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,631.784082335,881,784,811,652,630,653,0.447635782171,-0.0156129993257,0.0497649562526,0.999999930129,0.000162777145327,-0.000335378625869,2.76959690341e-05,1793245370747432448
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,631.211844176,881,784,811,652,630,653,0.448080880868,-0.0156170189121,0.0497334296202,0.99999991171,0.000165633268898,-0.00038523852274,2.71399208146e-05,1793245370764099328
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.372746236,659,631,880.627253764,784,810.627253764,652,629.627253764,653,0.44852261198,-0.0156223171263,0.0497238734699,0.999999905912,0.000162565826075,-0.000401214498213,2.78443547088e-05,1793245370780765696
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681.964597517,659,631,880.035402483,784,810.035402483,652,629.035402483,653,0.448962363624,-0.0156283669346,0.0497272318491,0.999999908488,0.000156016434974,-0.000397273072896,2.92897162157e-05,1793245370797432320
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.543131856,745,714,681.456868144,659,631,879.456868144,784,810.543131856,652,629.543131856,653,0.449386387368,-0.0156352759864,0.0497424634272,0.999999923171,0.000110544387736,-0.000374692084552,3.22975030334e-05,1793245370814098944
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.879787499,745,714,681.120212501,658.879787499,630.879787499,879.120212501,783.879787499,810.879787499,652,629.879787499,653,0.449799274802,-0.015642130643,0.0497559857186,0.999999933816,7.21940957428e-05,-0.00035489120395,3.47631245416e-05,1793245370830765568
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.304999904,745,714,681.695000096,658.304999904,630.304999904,879.695000096,783.304999904,810.304999904,652,629.304999904,653,0.450173835047,-0.0156485728911,0.0497601879807,0.999999935654,7.01383267787e-05,-0.000350087459168,3.48026947467e-05,1793245370847432448
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.276415523,745,714,682,658.276415523,630,880,783,810,652.276415523,629,652.723584477,0.450513456961,-0.0156561222935,0.0497603265171,0.999999935728,3.90980463571e-05,-0.000355387602617,2.67332865409e-05,1793245370864099072
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.865323798,745,714,682,658.865323798,630,880,783,810,652.865323798,629,652.134676202,0.450813580439,-0.0156649233538,0.0497558709378,0.999999930417,-2.47097489655e-05,-0.000372110373694,9.49653135716e-06,1793245370880766208
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.553013986,745,714,682,658.553013986,630,880,783,810,652.553013986,629,652.446986014,0.451078375492,-0.0156673347729,0.049742915649,0.999999919739,-3.27345553305e-05,-0.000399273003839,5.63476186936e-06,1793245370897432832
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.026351637,682,658.026351637,630,880,783,810.026351637,652.026351637,629,653,0.451331548237,-0.0156679732538,0.0497276621132,0.999999907675,-2.44071670263e-05,-0.000428976663633,5.77734998989e-06,1793245370914099712
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.602624825,682,658.602624825,630,880,783,810.602624825,652.602624825,629,653,0.451560769986,-0.0156711480942,0.0497170382557,0.999999899823,-1.99825889254e-05,-0.000447112754863,6.72923418149e-06,1793245370930766080
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,681.821122467,658.821122467,630,880,783,811,652.821122467,628.821122467,653,0.451786078003,-0.0156741391946,0.0497099858043,0.999999894666,-1.55936222347e-05,-0.000458650433575,7.99058248455e-06,1793245370947432448
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,681.244915329,658.244915329,630,880,783,811,652.244915329,628.244915329,653,0.452002692662,-0.015676722164,0.0497108662981,0.999999896132,-1.12837575698e-05,-0.000455531464364,9.93932416379e-06,1793245370964099072
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714.661639832,681.338360168,658.338360168,629.661639832,880,783,811,652,628.338360168,653,0.452199463071,-0.0156787565381,0.0497155647556,0.999999900416,-7.50176908651e-06,-0.000446060273542,1.18772770302e-05,1793245370980765696
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714.073138822,681.926861178,658.926861178,629.073138822,880,783,811,652,628.926861178,653,0.452381563168,-0.0156803853504,0.0497230857339,0.99999990663,-4.11002523937e-06,-0.000431893050638,1.38072542106e-05,1793245370997432576
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.507065524,745,714.507065524,682,659,629,880,782.492934476,810.492934476,652.507065524,629,653,0.452532279997,-0.01568078878,0.0497262418813,0.999999909399,-1.07906416933e-07,-0.000425409689604,1.5106019759e-05,1793245371014099200
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.91438682,745,715,682,658.91438682,629,880,782,810.08561318,653,628.91438682,653,0.452673755327,-0.0156817324313,0.0497279633208,0.999999910983,2.67614807254e-06,-0.000421618158936,1.62935554068e-05,1793245371030765824
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.338582937,745,715,682,658.338582937,629,880,782,810.661417063,653,628.338582937,653,0.452787818219,-0.0156867649071,0.0497250168557,0.999999908685,-2.00997147342e-06,-0.00042699542989,1.73571311155e-05,1793245371047432704
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.237127791,745,715,682.237127791,658.237127791,629,880,782,811,652.762872209,628,653,0.452890789014,-0.015692367799,0.0497215860945,0.999999906414,-5.6846443772e-06,-0.000432187132412,1.88059977633e-05,1793245371064099328
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.812705524,745,715,682.812705524,658.812705524,629,880,782,811,652.187294476,628,653,0.452977928172,-0.0156987848393,0.0497174641027,0.999999904218,-7.91569009342e-06,-0.000437113974798,2.08047859587e-05,1793245371080765952
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.601448029,745,715,682.601448029,658.601448029,629,880,782,810.601448029,652.398551971,628,653,0.453049849238,-0.0157168074281,0.0497146598949,0.999999901493,-2.34541241973e-05,-0.000442398917919,2.73259024652e-05,1793245371097432320
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.010648326,745,715,682.010648326,658.010648326,629,880,782,810.010648326,652.989351674,628,653,0.45311442962,-0.0157404281332,0.0497124913408,0.999999898032,-4.54115836516e-05,-0.000447856596133,3.60284341846e-05,1793245371114099200
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652.431116208,628,652.431116208,0.453165831301,-0.0157537117555,0.0497103600979,0.999999897066,-5.87303305806e-05,-0.000448271744456,3.83488549329e-05,1793245371130765568
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652,628,652.146873419,0.453213014908,-0.0157605508862,0.0497087279975,0.999999896372,-6.57468195432e-05,-0.000448748932838,3.94715072213e-05,1793245371147432448
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652,628,652.720977662,0.453248632425,-0.0157491959357,0.0497085458296,0.999999896688,-5.48922857181e-05,-0.000449675806066,3.74507864668e-05,1793245371164099328
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,628.69789915,880,782,810,652,628,653,0.453276030897,-0.0157439001233,0.0497066028428,0.999999895716,-5.1128569695e-05,-0.000452360684918,3.63785328725e-05,1793245371180766208
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,628.110138948,880,782,810,652,628,653,0.453295657639,-0.015744333686,0.0497029948676,0.999999893592,-5.40697604478e-05,-0.00045670789206,3.62031269492e-05,1793245371197433344
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.470779272,745,715,682,658,628.470779272,880,782.470779272,810.470779272,652,628,653,0.453309531952,-0.0157455939034,0.0497009645746,0.999999892097,-5.41964037722e-05,-0.00045992801527,3.65293290423e-05,1793245371214099712
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.950426412,745,715,682,658,629,880.049573588,782.950426412,811,652,627.950426412,653,0.453321513863,-0.0157467448881,0.0496992652568,0.999999890768,-5.38246437585e-05,-0.000462826007563,3.68656627569e-05,1793245371230765824
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.377398577,745,715,682,658,629,880.622601423,782.377398577,811,652,627.377398577,653,0.453327520402,-0.0157447296279,0.0496972192128,0.99999988969,-5.50433877767e-05,-0.000465066943119,3.60875998708e-05,1793245371247432448
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.802702531,682,658,629,881,782,811,652,627.197297469,653,0.453333237208,-0.015744357947,0.0496958955792,0.999999888863,-5.72090473244e-05,-0.000466615820098,3.56463314313e-05,1793245371264098816
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.224788285,682,658,629,881,782,811,652,627.775211715,653,0.453338395076,-0.0157471569802,0.0496959655849,0.999999888519,-6.12014506356e-05,-0.000466829610866,3.58547906651e-05,1793245371280765696
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714.36067051,682,658,629,881,782,811,652.36067051,627.63932949,652.63932949,0.45334113957,-0.0157460196414,0.0496956651463,0.999999887985,-6.11856001397e-05,-0.000467985564467,3.57252573884e-05,1793245371297432576
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.950931891,682,658,629,881,782,811,652.950931891,627.049068109,652.049068109,0.453342347789,-0.0157423765389,0.049695128895,0.999999887328,-5.86182281927e-05,-0.000469741267638,3.53805692928e-05,1793245371314099456
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714.109721868,681.109721868,658,628,880.109721868,782,810,652.890278132,627.890278132,652.109721868,0.453344528078,-0.0157430709746,0.0496949546625,0.999999887427,-5.8832216996e-05,-0.000469487257218,3.55855250502e-05,1793245371347438080
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714.685806538,681.685806538,658,628,880.685806538,782,810,652.314193462,627.314193462,652.685806538,0.453343777723,-0.015744150165,0.0496937426927,0.999999886467,-5.83502597415e-05,-0.000471557593575,3.59724029318e-05,1793245371364101376
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.835952805,715,682,658,628,880.164047195,782,810,652.835952805,627.835952805,653,0.453345029486,-0.0157435116191,0.0496935026684,0.999999886501,-6.01612108738e-05,-0.000471315876961,3.52050709915e-05,1793245371397432576
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.577459695,715,682,658,628.422540305,880,782,810,652.577459695,627.577459695,653,0.453345529776,-0.015742020882,0.0496931600786,0.999999886516,-5.9831329077e-05,-0.000471349650247,3.4892986865e-05,1793245371414098944
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.013549551,745,715,682,658,629,880,782,810,652,627.013549551,653,0.453345807881,-0.0157403444569,0.0496926032819,0.999999886399,-5.88689276712e-05,-0.000471731117757,3.47331326481e-05,1793245371430765568
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.590847946,745,715,682,658,629,880,782,810,652,627.590847946,653,0.453347505856,-0.0157416980868,0.0496936386639,0.999999886928,-6.07691609832e-05,-0.000470353248527,3.49152292025e-05,1793245371447433216
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,682,658,629,880,782,810.16795766,652,628,653,0.453348281392,-0.0157423306043,0.0496939381322,0.999999887004,-6.18109694139e-05,-0.000470050253488,3.49980406222e-05,1793245371464100608
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658,629,880,782,810.744608225,652,628,653,0.453346812351,-0.0157412084323,0.0496924468951,0.999999885984,-6.07639646546e-05,-0.000472362759689,3.48392606093e-05,1793245371480766464
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.672434774,745,714.672434774,682.327565226,658,629,880,782,811,652,628,653,0.453346074768,-0.0157398707565,0.0496914738985,0.999999885297,-5.94595916335e-05,-0.000473991681533,3.46819594635e-05,1793245371497432576
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.084464359,745,714.084464359,682.915535641,658,629,880,782,811,652,628,653,0.453345918674,-0.0157383617613,0.0496909128888,0.999999884876,-5.7950618096e-05,-0.000475077172831,3.45258339832e-05,1793245371514098944
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.478075145,682.521924855,658,629,880.478075145,782,810.521924855,652,628,653,0.453345999029,-0.0157387557371,0.0496905973288,0.999999884824,-5.80182210398e-05,-0.000475160460259,3.47753790402e-05,1793245371530765824
+245,4.083333333,HOLD_POSE2,765,745,715,683,659,628,880,782,810,652,628,653,0.453350425983,-0.015740200308,0.0496940793428,0.99999988699,-6.29561801772e-05,-0.000469892447942,3.54748019647e-05,1793245371574207232
+246,4.100000000,HOLD_POSE2,765,745,715,682.425824199,658.425824199,628.574175801,880,782,810,652.574175801,628,653,0.453350589043,-0.015738425971,0.0496934762511,0.999999886981,-6.15591627574e-05,-0.000470163601083,3.45573832716e-05,1793245371590873344
+247,4.116666667,HOLD_POSE2,765,745,715,682,658,628.847216692,880,782,810.152783308,653,627.847216692,653,0.453350249426,-0.0157372393762,0.0496928084003,0.999999886709,-6.09611986923e-05,-0.000470869834691,3.3859556927e-05,1793245371607539712
+248,4.133333333,HOLD_POSE2,765,745,715,682,658,628.255888406,880,782,810.744111594,653,627.255888406,653,0.453348466937,-0.0157377398203,0.049691954667,0.999999885684,-6.26568149435e-05,-0.000472824911294,3.37920421708e-05,1793245371624206336
+249,4.150000000,HOLD_POSE2,765.32752497,745,715,682,658,628.32752497,879.67247503,782,810.67247503,652.67247503,627,653,0.45334740776,-0.0157384914362,0.0496912502845,0.99999988485,-6.34537256615e-05,-0.000474472904904,3.39007442645e-05,1793245371640872960
+250,4.166666667,HOLD_POSE2,765.904900467,745,715,682,658,628.904900467,879.095099533,782,810.095099533,652.095099533,627,653,0.453346900357,-0.0157394346568,0.0496906598337,0.999999884163,-6.35650639683e-05,-0.000475886641917,3.41438723652e-05,1793245371657539584
+251,4.183333333,HOLD_POSE2,766,745,715,682,658,629,879.483100454,782,810.483100454,652.483100454,627,653,0.453348671285,-0.0157394228871,0.0496920190854,0.999999885385,-6.29055776562e-05,-0.000473378350563,3.44491370512e-05,1793245371674205952
+252,4.200000000,HOLD_POSE2,765.937751983,745,715,681.937751983,658,628.937751983,880,782.062248017,810.937751983,653,627.062248017,653,0.453350613255,-0.015739036599,0.0496935464809,0.99999988674,-6.21176562081e-05,-0.000470595195817,3.46678620445e-05,1793245371690872576
+253,4.216666667,HOLD_POSE2,765.352002653,745,715,681.352002653,658,628.352002653,880,782.647997347,810.352002653,653,627.647997347,653,0.453350215417,-0.0157370843416,0.0496932546736,0.999999886133,-6.15278981e-05,-0.000472004537924,3.40557505835e-05,1793245371707539200
+254,4.233333333,HOLD_POSE2,765,745,715,681.230973303,658,628.230973303,880,782.769026697,810,652.769026697,627.769026697,653,0.453349281759,-0.0157363802823,0.0496922979162,0.999999885432,-6.11565336556e-05,-0.000473551599226,3.38211773781e-05,1793245371724206080
+255,4.250000000,HOLD_POSE2,765,745,715,681.809772741,658,628.809772741,880,782.190227259,810,652.190227259,627.190227259,653,0.453347541203,-0.0157375559033,0.0496903398007,0.999999884591,-6.11140515339e-05,-0.000475306053783,3.4155144707e-05,1793245371740872704
+256,4.266666667,HOLD_POSE2,765.387517492,745,715,682,658,628.612482508,880,782,810,652,627,653,0.453349370816,-0.0157382145615,0.04969141484,0.999999885503,-6.25697170651e-05,-0.000473173811369,3.44245276267e-05,1793245371757539840
+257,4.283333333,HOLD_POSE2,765.964745968,745,715,682,658,628.035254032,880,782,810,652,627,653,0.453352948221,-0.0157386201383,0.0496939747743,0.999999887257,-6.47588077151e-05,-0.000469138818597,3.4662292979e-05,1793245371774206720
+258,4.300000000,HOLD_POSE2,766,745,715,682.539705422,658,628.539705422,880,782,810,652,627.539705422,653,0.453352718196,-0.0157399904355,0.049694112776,0.999999886915,-6.6505670303e-05,-0.000469592183323,3.50632250276e-05,1793245371790873344
+259,4.316666667,HOLD_POSE2,766,745,715,682.882522074,658,628.882522074,880,782,810.117477926,652.117477926,628,652.882522074,0.453352055249,-0.0157407403295,0.0496938312718,0.999999886367,-6.72568727027e-05,-0.000470633225136,3.53080172482e-05,1793245371807539712
+260,4.333333333,HOLD_POSE2,766,745,715,682.292849278,658,628.292849278,880,782,810.707150722,652.707150722,628,652.292849278,0.453350647667,-0.0157387443236,0.0496924968141,0.999999885536,-6.4121706575e-05,-0.000472862898745,3.48825551714e-05,1793245371824206080
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,811,652,628,653,0.453352471574,-0.0157391869987,0.0496923476445,0.999999885603,-6.7732497462e-05,-0.000472258251668,3.43417167714e-05,1793245371861276672
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.574654199,628.425345801,880,782,810.425345801,652.574654199,628,653,0.45335139169,-0.0157378359943,0.0496922007483,0.999999885292,-6.60223886425e-05,-0.000473164433704,3.42415703058e-05,1793245371877943552
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.847191805,682,658.847191805,628,880,782,810,653,627.847191805,653,0.453350571291,-0.0157372046254,0.0496919984468,0.999999885006,-6.53867342981e-05,-0.000473862954006,3.41596814212e-05,1793245371894610176
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.259067544,682,658.259067544,628,880,782,810,653,627.259067544,653,0.453350490107,-0.0157386233356,0.0496916383081,0.999999884795,-6.78119579043e-05,-0.000473969893096,3.41298042423e-05,1793245371911276800
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.324333734,682,658,628.324333734,880,782,810,653,627,653,0.453350786418,-0.015737779575,0.0496916431018,0.999999884904,-6.68762121597e-05,-0.000473887180266,3.39256407664e-05,1793245371927943424
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.904016555,682,658,628.904016555,880,782,810,653,627,653,0.453351379931,-0.0157351545633,0.0496919352081,0.999999885258,-6.3294363302e-05,-0.000473655153804,3.35842610786e-05,1793245371944609792
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.482998735,745,715,682,658,628.517001265,880,781.517001265,810,652.517001265,627,653,0.45335157632,-0.0157376619223,0.049691707639,0.999999885094,-6.68699785341e-05,-0.000473496225192,3.37846121293e-05,1793245371961276160
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,628.061198113,880,781.061198113,810,652,627.061198113,653,0.453351307364,-0.0157405970123,0.0496912404962,0.999999884695,-7.09865362075e-05,-0.000473722243637,3.40288075499e-05,1793245371977942784
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,628.634015577,880,781.634015577,810,652,627.634015577,653,0.453347806893,-0.0157385936778,0.0496896326121,0.99999988335,-6.77516228646e-05,-0.000477045174493,3.37408473232e-05,1793245371994609408
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.787019412,745,715,682,658,628.787019412,880,782,810,652.212980588,627.787019412,653,0.453342575882,-0.0157373581852,0.0496874065863,0.999999881631,-6.55012756202e-05,-0.000480960339194,3.35327602599e-05,1793245372011276032
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.197176576,745,715,682,658,628.197176576,880,782,810,652.802823424,627.197176576,653,0.453334282734,-0.0157374813644,0.0496840867792,0.999999879267,-6.49930865166e-05,-0.000485923442139,3.34660062011e-05,1793245372027942656
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628.385615304,880.385615304,782,810,653,627.385615304,653,0.45331078549,-0.0157358905589,0.0496733833449,0.999999870796,-6.43989046746e-05,-0.000503200109457,3.23948912732e-05,1793245372044609536
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628.964866613,880.964866613,782,810,653,627.964866613,653,0.453279653538,-0.0157334390793,0.0496589722357,0.999999858807,-6.37615416648e-05,-0.000526660010343,3.08194383906e-05,1793245372061276160
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.540591303,745,715,682.540591303,658,628.459408697,880.459408697,782,810,653,628,653,0.453223882655,-0.0157308046524,0.0496387152895,0.99999984046,-6.46574759331e-05,-0.000560432327525,2.8553732523e-05,1793245372077942784
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.883895853,745,714.883895853,682.883895853,658,628.116104147,880,782.116104147,810,653,628,653,0.45316423595,-0.0157278150107,0.0496191844819,0.999999822568,-6.47289194314e-05,-0.000591587461459,2.64352512045e-05,1793245372094609664
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.308320053,745,714.308320053,682.308320053,658,628.691679947,880,782.691679947,810,653,628,653,0.453095546937,-0.0157234663864,0.0496040210693,0.999999811919,-6.11457159393e-05,-0.000609750233931,2.50757758935e-05,1793245372111276288
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.267760393,682,658,628.732239607,880,782.732239607,810,653,628,653,0.453022001667,-0.015718333254,0.0495949004023,0.999999805167,-5.84963074647e-05,-0.000621019510471,2.40470916168e-05,1793245372127943168
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.844422988,682,658,628.155577012,880,782.155577012,810,653,628,653,0.452942853972,-0.0157122950729,0.0495927509594,0.999999803208,-5.69241733293e-05,-0.000624336093565,2.34000250318e-05,1793245372144609792
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.433277098,745,715,682,658,628.433277098,880,782,810,653,628,653,0.452850341216,-0.015706559199,0.0495941438985,0.999999804353,-5.65262643263e-05,-0.00062256887585,2.25177704659e-05,1793245372161276416
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,629,880.025696837,782,810,652.974303163,627.974303163,653,0.452751565354,-0.0157008149833,0.0495968748232,0.999999806589,-5.62581836938e-05,-0.00061902424591,2.15959862196e-05,1793245372177943040
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,629,880.598143555,782,810,652.401856445,627.401856445,653,0.452624594038,-0.0156925168077,0.0496002269096,0.999999807808,-4.95217351652e-05,-0.000617626070116,2.16819707057e-05,1793245372194609920
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.824166649,745,715,682,658,629,880.824166649,782,810,652.175833351,627.175833351,653,0.452489001398,-0.015683600206,0.0496021379076,0.999999807787,-4.36999339629e-05,-0.000618111968802,2.12901144717e-05,1793245372211276544
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.234125916,745,715,682,658,629,880.234125916,782,810,652.765874084,627.765874084,653,0.45233309968,-0.0156732267904,0.0496006541596,0.999999804916,-4.00327515637e-05,-0.00062303614725,1.97726176501e-05,1793245372227942912
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652.650550348,628,653,0.452154813783,-0.0156623193334,0.0495980356787,0.999999800221,-3.44055935588e-05,-0.000630893800323,1.8614250017e-05,1793245372244609536
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652.071227603,628,653,0.45196180323,-0.0156510605752,0.049594670754,0.999999794229,-2.74891345518e-05,-0.000640681136357,1.76921226662e-05,1793245372261276416
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.507046953,745,714.492953047,681.492953047,658.507046953,629,880,782,809.492953047,652.507046953,628,653,0.451740302288,-0.0156388495897,0.0495942750648,0.999999792436,-2.37472523284e-05,-0.000643664092327,1.61458203186e-05,1793245372277942784
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.915783555,745,714.084216445,681,658.915783555,629,880,782.084216445,809.084216445,652.915783555,628,653,0.451508521149,-0.015626301884,0.0495938425585,0.999999790961,-2.03381931193e-05,-0.000646108637665,1.44528874017e-05,1793245372294609664
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.344159033,745,714.655840967,681,658.344159033,629,880,782.655840967,809.655840967,652.344159033,628,653,0.451240357804,-0.0156125779569,0.0495907879322,0.999999787917,-1.62797284354e-05,-0.000650957715373,1.24177337192e-05,1793245372311276288
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,629.235218812,880,782.764781188,810,652,628.235218812,653,0.450966650637,-0.0156012095608,0.0495905455967,0.999999789265,-1.48480476683e-05,-0.000648954554195,1.04062140914e-05,1793245372327942912
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,629.826327524,880,782.173672476,810,652,628.826327524,653,0.450684555592,-0.0155934051223,0.0495945583033,0.999999797194,-1.73907340773e-05,-0.000636583843428,8.43045329526e-06,1793245372344609536
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.408813117,658,629.591186883,880,782.408813117,810,652.408813117,629,653,0.450383420968,-0.0155887855946,0.0496069496925,0.999999814091,-2.30592780365e-05,-0.000609293038014,6.91877105636e-06,1793245372361276416
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.987711085,658,629.012288915,880,782.987711085,810,652.987711085,629,653,0.45007436502,-0.0155854911349,0.0496228269947,0.999999833764,-3.00283208241e-05,-0.000575794794346,5.6001666476e-06,1793245372377942784
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.43649132,682,658,629.56350868,880.56350868,783,810.56350868,652.43649132,629,653,0.449703586177,-0.0155830227952,0.0496300644747,0.999999840416,-3.89489490779e-05,-0.000563589808632,4.25216786453e-06,1793245372394609408
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.138582798,682,658,630,880.861417202,783,810.861417202,652.138582798,629,653,0.449315771213,-0.0155784630833,0.0496348829365,0.9999998443,-4.61652123383e-05,-0.00055611419338,2.46374986985e-06,1793245372411276032
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.711599619,682,658,630,880.288400381,783,810.288400381,652.711599619,629,653,0.448878747452,-0.0155672911,0.0496327055977,0.999999840921,-4.79058849349e-05,-0.000562016643622,-7.0331032846e-07,1793245372427942656
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.705524989,682,658,630,880.294475011,783,810,653,629,653,0.448430689604,-0.015556696206,0.0496314867321,0.99999983989,-5.20244914554e-05,-0.000563468641045,-4.04585473046e-06,1793245372444609280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.112659888,682,658,630,880.887340112,783,810,653,629,653,0.447971450916,-0.0155466860723,0.0496312390825,0.999999841227,-5.85526470171e-05,-0.000560411017065,-7.56621680147e-06,1793245372461276160
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,630.468176804,880.531823196,783.468176804,810,652.531823196,629.468176804,653,0.44747257787,-0.0155354834163,0.0496291850482,0.999999840889,-6.44553424991e-05,-0.000560307057179,-1.11404865503e-05,1793245372477943040
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.045637991,631,880,784,810,652,630,653,0.446961164103,-0.0155241934479,0.0496265952603,0.999999839843,-7.03516793101e-05,-0.000561379923923,-1.47488941689e-05,1793245372494609920
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.616726381,631,880,784,810,652,630,653,0.446412421148,-0.0155151193786,0.0496227164058,0.99999983547,-7.78642676845e-05,-0.000568023846861,-1.86047365243e-05,1793245372511276288
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.805130029,659,631,880,784,810,652,630,653,0.445865770333,-0.0155061974529,0.0496274398036,0.999999839203,-8.59696794521e-05,-0.000560115858309,-2.17388939244e-05,1793245372527942912
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.21258893,659,631,880,784,810,652,630,653,0.445323388982,-0.015497586007,0.049649717817,0.999999858677,-9.5284865336e-05,-0.0005225117847,-2.34003086662e-05,1793245372544609536
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.950524892,745,714,681,659,631.950524892,880.950524892,784.950524892,810,652,630,652.049475108,0.444106130271,-0.0154822768452,0.0497278227848,0.999999902647,-0.00011485160917,-0.000425407632415,-2.33027648815e-05,1793245372577942784
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.099616901,881,785,810,652,630,652.099616901,0.442770739792,-0.0154575826344,0.0497386735417,0.999999907907,-0.000119427161301,-0.000411189559597,-2.90820474104e-05,1793245372611276288
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.675920313,881,785,810,652,630,652.675920313,0.442079422791,-0.0154495911972,0.0497437752306,0.999999917081,-9.54645263789e-05,-0.000394533732322,-3.26740183175e-05,1793245372627943168
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880.741112185,785,810,652,630.258887815,653,0.44138664314,-0.0154444273118,0.0497672795503,0.999999935966,-6.12180258333e-05,-0.000350900740735,-3.44856821033e-05,1793245372644609536
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.567647942,714,680.567647942,659,632.567647942,880,785,810,652,630.567647942,653,0.439928431674,-0.0154440733342,0.0498295211523,0.999999967691,-2.65333253029e-05,-0.000250324797243,-3.53858179714e-05,1793245372677942784
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744.010988413,714,680.010988413,659,632.010988413,880,785,810,652,630,653,0.439140193892,-0.0154460072601,0.049832913807,0.999999966673,-5.95758433109e-05,-0.000248394728874,-3.74913910453e-05,1793245372694609408
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.587067707,714,680.587067707,659,632.587067707,880,785,810,652,630,653,0.438281615454,-0.0154397486035,0.0497926463786,0.999999944693,-8.64327970942e-05,-0.000318007673093,-4.48855952084e-05,1793245372711276032
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.911651423,633,880,785.088348577,810.088348577,652,630.088348577,652.911651423,0.434851651466,-0.0154256815806,0.0497883672507,0.999999925898,-0.000157600819127,-0.000346311750471,-5.86064828971e-05,1793245372777943040
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.50862382,633,880.49137618,785.49137618,810,652,630,652.50862382,0.43398132381,-0.0154235794675,0.0497801796304,0.999999929277,-0.00011933732921,-0.000352631869441,-5.34360437459e-05,1793245372794609664
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.642538845,633,879.71492231,786,809.357461155,652.642538845,630,652,0.432257952681,-0.0154227133702,0.0498008290702,0.999999947405,-2.40228144971e-05,-0.000322374925622,-2.62241752422e-05,1793245372827942912
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.777568965,659.777568965,633,879.222431035,786,809,652.777568965,630,652,0.431373490176,-0.0154188715118,0.0498130513119,0.999999953254,-1.37662308763e-06,-0.00030527284065,-1.72679382961e-05,1793245372844609536
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.187802897,659.187802897,633,879.812197103,786,809,652.187802897,630,652,0.430442872547,-0.0154082648583,0.0498013854789,0.99999994972,-2.25295466081e-05,-0.000315317346643,-2.50391675522e-05,1793245372861276160
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.394858296,745,714,680,659,633,879.605141704,785.605141704,808.605141704,652,630,652,0.429504024212,-0.0154089145285,0.0497806223671,0.999999939394,-2.20559914842e-05,-0.000346020628736,-3.15318554247e-05,1793245372877942784
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.552710308,659,633,879.552710308,785.552710308,808.552710308,652.552710308,630,652,0.427638200312,-0.0154167304371,0.0497707090776,0.999999927228,-3.89715294101e-05,-0.000377615418724,-3.78261003652e-05,1793245372911276288
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.870389885,745,714,680.870389885,659,633.129610115,879.870389885,786,809,653,630,652,0.426718505613,-0.015416909993,0.0497804419271,0.999999928367,-6.28022679545e-05,-0.000371281040221,-3.83692423058e-05,1793245372927943168
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.298849451,745,714,680.298849451,659,633.701150549,879.298849451,786,809,653,630,652,0.425807415573,-0.0154118350284,0.0497654988171,0.99999992428,-6.80944988428e-05,-0.000381024816972,-4.02776749552e-05,1793245372944609536
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633.717500639,879,786,808.717500639,652.717500639,629.717500639,652,0.42492176905,-0.0154128941171,0.0497759568863,0.999999935296,-7.91224623749e-05,-0.000348608651035,-4.02423907985e-05,1793245372961275904
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633.125402597,879,786,808.125402597,652.125402597,629.125402597,652,0.424064006826,-0.015420675681,0.0498142527951,0.999999958178,-9.64363695572e-05,-0.000269988262628,-3.80769345696e-05,1793245372977942528
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.455761771,745,714,680,659,633,879,786,808,652,629.455761771,652,0.4231745481,-0.0154228743161,0.049829762999,0.999999966285,-7.94188000616e-05,-0.000244334202499,-3.77184580941e-05,1793245372994609408
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,633.033832005,879,786,808.033832005,652.033832005,630,652,0.4222746495,-0.0154233852424,0.0498366908194,0.999999969621,-5.57007046633e-05,-0.000237085577598,-3.8024867177e-05,1793245373011276032
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,633.609400074,879,786,808.609400074,652.609400074,630,652,0.421343961172,-0.0154208928988,0.049804231164,0.999999952526,-7.24055482406e-05,-0.00029666060783,-4.12030300659e-05,1793245373027942656
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.815585983,745,714,680,659,634,878.815585983,786,809,652.815585983,630,652,0.420438536399,-0.015418786345,0.0497875885634,0.999999939971,-8.68030877798e-05,-0.000332695869782,-4.28614512152e-05,1793245373044609280
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.241742088,745,714,680,659,634,878.241742088,786,809,652.241742088,630,652,0.419586460885,-0.0154174944694,0.0498043470714,0.99999994362,-9.63282619641e-05,-0.000319021858874,-4.13106115335e-05,1793245373061276160
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.656927173,659,634,878.343072827,785.656927173,808.656927173,652,629.656927173,652,0.41870427383,-0.0154138274872,0.0498006216215,0.99999993922,-8.37959645553e-05,-0.000335815603397,-4.20260291748e-05,1793245373077943040
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.064126318,659,634,878.935873682,785.064126318,808.064126318,652,629.064126318,652,0.417800168169,-0.0154084316282,0.04978198558,0.999999927258,-5.52076909114e-05,-0.000374787299677,-4.43910906758e-05,1793245373094609408
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.516376614,659,634,879,785,808.516376614,652,629.516376614,652,0.416989602289,-0.0154106118467,0.0497803617602,0.999999929588,-6.59711603005e-05,-0.000366600035048,-4.55741980522e-05,1793245373111276032
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,785,808.905489091,652,630,652,0.416197632686,-0.0154142141011,0.0497853249219,0.999999935641,-8.06134596993e-05,-0.000346557750545,-4.60170215113e-05,1793245373127942656
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,785,808.331800978,652,630,652,0.415442422345,-0.0154203670333,0.0498132223561,0.999999951308,-9.07211121116e-05,-0.000295411543757,-4.34334315068e-05,1793245373144609536
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.751746753,785,808,652,630,652,0.414677799329,-0.0154229358825,0.0498223539485,0.999999955661,-9.60217844527e-05,-0.000278624411627,-4.2732030516e-05,1793245373161275904
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.162960066,785,808,652,630,652,0.413900264838,-0.01542058838,0.0498057440959,0.999999946787,-9.47286352005e-05,-0.000308968244692,-4.46124623396e-05,1793245373177942528
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.999026216,786,808,652,629,652,0.412334194541,-0.0154148936515,0.049763209409,0.999999923881,-9.66137734516e-05,-0.000374835875229,-4.90171449332e-05,1793245373211276288
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.423217678,786,808,652,629,652,0.411661489536,-0.0154161379479,0.0497887041505,0.999999934268,-0.000100912577921,-0.00034510361408,-4.67391885255e-05,1793245373227942912
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.151433613,658.151433613,634,878.151433613,786,808.151433613,652.151433613,629.151433613,652,0.410990594274,-0.0154169345688,0.0498077180394,0.999999941433,-0.000104097700867,-0.000322920800786,-4.49407347131e-05,1793245373244609792
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.096696033,634,878.096696033,785.096696033,808.096696033,653,630,652,0.409055753531,-0.015412749783,0.0497826578975,0.999999928759,-9.96280162784e-05,-0.000360944052727,-4.77002897449e-05,1793245373294609408
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.036141034,745,714,680,658.963858966,634,878,786,807.036141034,652.963858966,629.963858966,652,0.405386174427,-0.0154177952976,0.0497661553997,0.999999906803,-0.000153326305958,-0.00040034318327,-5.10886459704e-05,1793245373411276544
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.540900487,786,807,653,630,652,0.40497413854,-0.0154173882806,0.0497742061655,0.999999910674,-0.000159724365238,-0.000387961139013,-5.12517233217e-05,1793245373427943168
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.883370626,633.883370626,878.883370626,786,807,652.883370626,630,652,0.404581533147,-0.0154183045482,0.0497864619937,0.999999916806,-0.000167157820183,-0.000368577350106,-5.09568786484e-05,1793245373444609792
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.30867329,633.30867329,878.30867329,786,807,652.30867329,630,652,0.404251253852,-0.01542465437,0.0498092853847,0.99999992802,-0.000179059255336,-0.000330858708738,-4.92899719158e-05,1793245373461276160
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.726577091,679.726577091,658,633.273422909,878.273422909,786,807,652.273422909,629.726577091,652,0.403932853239,-0.0154297880765,0.0498301770936,0.999999938915,-0.000174020847649,-0.000299300331467,-4.8012626025e-05,1793245373477942784
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.135895872,679.135895872,658,633.864104128,878.864104128,786,807,652.864104128,629.135895872,652,0.403628235727,-0.0154335106988,0.04984882743,0.999999949955,-0.000149326786077,-0.000274889839668,-4.71872958366e-05,1793245373494609920
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.44541483,744.55458517,713.44541483,679,658.44541483,634,878.55458517,786,807.44541483,653,629.44541483,652,0.403330403502,-0.0154341856491,0.0498516555762,0.99999995334,-0.000121762002019,-0.000276139159699,-4.73446529012e-05,1793245373511276544
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.976251017,744.023748983,714,679,659,634,878.023748983,786,808,652.976251017,630,652,0.403035532427,-0.0154339430406,0.0498493284078,0.999999953547,-9.49466857257e-05,-0.0002856577637,-4.78668396914e-05,1793245373527943168
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.402008226,744.597991774,714,679,659,634,878.597991774,786,808,652.402008226,630,652,0.402762302179,-0.0154335410885,0.0498370934345,0.999999945415,-0.000105387539471,-0.000309125745604,-5.003918369e-05,1793245373544609792
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.827487645,634,879,786,807.827487645,652,630,652,0.402505611184,-0.0154333765679,0.0498261714571,0.999999937947,-0.000115499467039,-0.000328711151843,-5.21020180542e-05,1793245373561276160
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.252318762,634,879,786,807.252318762,652,630,652,0.402287524061,-0.01543376623,0.0498183141104,0.999999933214,-0.000124843655374,-0.000339234337934,-5.39092486307e-05,1793245373577942784
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.667057184,714,679,658.332942816,634,879,786,807.332942816,652.332942816,630,652,0.402090479613,-0.0154346318279,0.0498115207472,0.999999928863,-0.000133015797667,-0.00034864488943,-5.50299532738e-05,1793245373594609408
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.073907747,714,679,658.926092253,634,879,786,807.926092253,652.926092253,630,652,0.401909880741,-0.0154358693865,0.0498055589241,0.999999924825,-0.0001402719454,-0.000357185878646,-5.56141137387e-05,1793245373611276032
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.495904986,634,878.495904986,786,807.495904986,653,630,652,0.401770898626,-0.0154311155839,0.0498091097917,0.999999936542,-7.98615991835e-05,-0.000344610358422,-4.22023938949e-05,1793245373627943168
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.079925913,714,679.079925913,658,634,878.079925913,786,807,653,629.920074087,652,0.401640900767,-0.0154261781971,0.0498142266084,0.999999945009,-2.03381019237e-05,-0.000329734552575,-2.90394712695e-05,1793245373644610048
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.655658329,714,679.655658329,658,634,878.655658329,786,807,653,629.344341671,652,0.401529888846,-0.0154253921561,0.0498206581178,0.999999948262,-2.60633467993e-05,-0.000319234532651,-2.97778295824e-05,1793245373661276416
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.762671667,658,634,878.762671667,786,807,652.762671667,629,652,0.401430800995,-0.0154262288475,0.0498264868609,0.999999951334,-3.39108435135e-05,-0.000308645719163,-3.03302757558e-05,1793245373677943040
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.172165742,658,634,878.172165742,786,807,652.172165742,629,652,0.401349457824,-0.0154294803906,0.0498314186034,0.999999954143,-4.49165460143e-05,-0.000297924769129,-3.06060587446e-05,1793245373694609408
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.590305958,714,679.409694042,658,634,878.409694042,786,807,652,629.409694042,652,0.401277291004,-0.0154320922501,0.0498333781926,0.999999954611,-5.33096258786e-05,-0.000294868572165,-3.1440869601e-05,1793245373711276032
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.012004463,714,679.987995537,658,634,878.987995537,786,807,652,629.987995537,652,0.401208900665,-0.0154344408511,0.0498341146076,0.999999954131,-6.06274942144e-05,-0.000294966764732,-3.25057454625e-05,1793245373727942656
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.439218696,744.560781304,714,679.439218696,658.560781304,634,878.439218696,785.439218696,807.560781304,652.560781304,629.439218696,652,0.401157981482,-0.0154415883478,0.0498341209669,0.9999999538,-7.19380670275e-05,-0.000293578575167,-3.21866076695e-05,1793245373744609536
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.137541421,744.862458579,714,679,659,633.862458579,878,785.137541421,807.862458579,653,629.137541421,652,0.40111068416,-0.0154465886886,0.0498337504824,0.999999953414,-8.04865638512e-05,-0.000292676162952,-3.2169427726e-05,1793245373761276160
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.727766849,744.272233151,714,679,659,633.272233151,878,785.727766849,807.272233151,653,629.727766849,652,0.401074088383,-0.015444187376,0.0498321906431,0.99999995321,-7.96657941731e-05,-0.000293476271508,-3.32426291207e-05,1793245373777942784
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.31210448,714,679,659,633.31210448,878,785.68789552,807,652.68789552,629.68789552,652,0.401045524248,-0.0154423141507,0.0498318687777,0.999999953403,-8.00098093782e-05,-0.00029262487914,-3.40946815948e-05,1793245373794609664
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.891401633,714,679,659,633.891401633,878,785.108598367,807,652.108598367,629.108598367,652,0.401023835998,-0.0154408930208,0.0498326067416,0.999999953933,-8.13509969343e-05,-0.000290359636769,-3.47574085774e-05,1793245373811276288
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878,785.469880633,807,652.469880633,629,652.469880633,0.401010353458,-0.015441594711,0.0498348609002,0.999999954836,-8.30085920149e-05,-0.000286767188918,-3.46608598487e-05,1793245373827942656
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.951981036,713.951981036,679,659,634,878,786,807,652.951981036,629.048018964,652.951981036,0.400999202243,-0.0154425425811,0.049837272896,0.999999955782,-8.44455786078e-05,-0.000283050441535,-3.44604657823e-05,1793245373844609280
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.375514013,713.375514013,679,659,634,878,786,807,652.375514013,629.624485987,652.375514013,0.400992872578,-0.0154408097312,0.0498375722093,0.999999956395,-8.26514012814e-05,-0.000281335605997,-3.50450872373e-05,1793245373861275904
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.204327152,744.204327152,713.204327152,679.204327152,659,634,878,785.795672848,807,652,630,652,0.400988356961,-0.015439415106,0.0498387267168,0.999999957273,-8.05726407086e-05,-0.000278769531639,-3.53406368551e-05,1793245373877942528
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.790473425,744.790473425,713.790473425,679.790473425,659,634,878,785.209526575,807,652,630,652,0.400987231191,-0.0154386525097,0.0498414792963,0.999999958639,-7.79620893204e-05,-0.000274612776681,-3.50960078397e-05,1793245373894609408
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.626513765,745,714,680,659,634,878.373486235,785.373486235,807.373486235,652.373486235,629.626513765,652,0.400986394582,-0.0154394188242,0.0498431674389,0.99999995946,-7.81242153049e-05,-0.000271576260132,-3.49655024548e-05,1793245373911276288
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.045244229,745,714,680,659,634,878.954755771,785.954755771,807.954755771,652.954755771,629.045244229,652,0.400985718843,-0.0154410357245,0.0498442633982,0.99999995998,-7.98288776316e-05,-0.000269162971066,-3.48984879982e-05,1793245373927942912
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.474730787,658.474730787,633.474730787,878.474730787,786,807.474730787,652.474730787,629.525269213,652,0.400983319828,-0.0154398644607,0.0498433980604,0.999999959415,-8.01805314481e-05,-0.000271121703402,-3.51283786081e-05,1793245373944609792
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.096744286,745,714,679,658.096744286,633,878,786,807,652.096744286,630,652,0.400981188159,-0.0154386359326,0.0498425468536,0.999999958928,-8.01511592248e-05,-0.000272888735765,-3.53707702379e-05,1793245373961276672
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.677573797,745,714,679,658.677573797,633,878,786,807,652.677573797,630,652,0.400981122054,-0.0154382984548,0.0498425947132,0.999999959313,-7.87866695751e-05,-0.000271850015286,-3.55503154882e-05,1793245373977943040
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.736662879,745,714,679,658.736662879,633.263337121,878.263337121,785.736662879,807,652.736662879,629.736662879,652,0.400981288646,-0.015437467598,0.0498431763726,0.999999959806,-7.70107340498e-05,-0.000270517747139,-3.5732149384e-05,1793245373994609408
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.144743242,745,714,679,658.144743242,633.855256758,878.855256758,785.144743242,807,652.144743242,629.144743242,652,0.400981745591,-0.0154360211205,0.049844424088,0.999999960431,-7.4721411089e-05,-0.000268819200709,-3.59168389928e-05,1793245374011276032
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.436449859,658.436449859,634,878.563550141,785.436449859,807,652.436449859,629.436449859,652,0.400982441304,-0.0154366377928,0.0498453232716,0.999999960555,-7.64012462906e-05,-0.000267868829422,-3.60504266682e-05,1793245374027942656
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.985931324,658.985931324,634,878,785.985931324,807.014068676,652.985931324,629.985931324,652,0.400983215506,-0.0154378962858,0.0498460946852,0.999999960522,-7.92713117453e-05,-0.000267142044384,-3.61491073513e-05,1793245374044609280
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.412379025,658.412379025,634,878,785.412379025,807.587620975,652.412379025,629.412379025,652,0.400984037532,-0.0154381214075,0.0498462713155,0.999999961005,-7.83826130282e-05,-0.000265676165989,-3.55174012781e-05,1793245374061276160
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.838395133,679.161604867,658.161604867,634,878.161604867,785,807.838395133,652,629,652,0.400984093749,-0.015438528151,0.0498464208595,0.999999961214,-7.85208571559e-05,-0.000264899004437,-3.51473652063e-05,1793245374077943040
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.263306999,679.736693001,658.736693001,634,878.736693001,785,807.263306999,652,629,652,0.400982190564,-0.015439399593,0.0498465011003,0.999999960721,-8.12866439903e-05,-0.000265883998375,-3.54468397428e-05,1793245374094609664
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.322086835,679.677913165,658.677913165,634,878.677913165,785.322086835,807,652,629.322086835,652,0.400982158061,-0.0154388579104,0.0498466477559,0.999999960825,-8.18436416359e-05,-0.000265263660596,-3.58727461852e-05,1793245374111276288
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.916184064,679.083815936,658.083815936,634,878.083815936,785.916184064,807,652,629.916184064,652,0.400983705397,-0.0154371228086,0.0498468505003,0.999999961434,-8.05352613951e-05,-0.000263287579958,-3.64054275209e-05,1793245374127942656
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.493130955,658.493130955,634,878.493130955,786,807,652.493130955,630,652,0.40098272464,-0.0154381229887,0.049846432788,0.999999960969,-8.08463622453e-05,-0.000264972474504,-3.62683333468e-05,1793245374144609536
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.932593221,659,634,878.932593221,785.932593221,807,653,629.932593221,652,0.400981758344,-0.0154393343398,0.0498460870664,0.999999960488,-8.12865970024e-05,-0.000266679214094,-3.60407960158e-05,1793245374161276160
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.357217833,659,634,878.357217833,785.357217833,807,653,629.357217833,652,0.400984030292,-0.0154387513179,0.0498470518583,0.999999961245,-8.06953749106e-05,-0.000264019021103,-3.59607387967e-05,1793245374177942784
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.223235961,658.776764039,634,878.223235961,785.223235961,807.223235961,652.776764039,629,652,0.400985531785,-0.0154383820213,0.0498480723488,0.999999961896,-8.02526042419e-05,-0.000261695980914,-3.58185426451e-05,1793245374194609664
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.812005385,658.187994615,634,878.812005385,785.812005385,807.812005385,652.187994615,629,652,0.400985771712,-0.015438362685,0.0498491840418,0.999999962382,-8.00529124285e-05,-0.000259925004721,-3.55745982728e-05,1793245374211276544
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.395508378,634,878.604491622,786,807.604491622,652,629,652,0.400985141818,-0.0154392755838,0.0498491073207,0.999999962292,-8.04039838294e-05,-0.000260176327441,-3.54847140897e-05,1793245374227943168
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.976540971,634,878.023459029,786,807.023459029,652,629,652,0.400984103908,-0.0154406257734,0.0498484731409,0.999999961931,-8.10134060581e-05,-0.000261376265863,-3.54670961414e-05,1793245374244609792
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c01cefd022cd28b643fc362252791812dec9b0f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/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,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
+1,0.016666667,pose1_baseline,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
+2,0.033333333,pose1_baseline,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
+3,0.050000000,pose1_baseline,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
+4,0.066666667,pose1_baseline,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
+5,0.083333333,pose1_baseline,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
+6,0.100000000,pose1_baseline,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
+7,0.116666667,pose1_baseline,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
+8,0.133333333,pose1_baseline,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
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+376,6.266666667,pose2_to_pose3_retreat,0.575749580909,-0.0101222310835,1.04005089232,0.546321213861,-0.00144654613083,1.03971738448
+377,6.283333333,pose2_to_pose3_retreat,0.575726067467,-0.0101221791704,1.04005086302,0.546297700646,-0.00144649349801,1.03971735397
+378,6.300000000,pose2_to_pose3_retreat,0.575708496678,-0.0101220770214,1.04005080394,0.546280128403,-0.00144639639647,1.03971729187
+379,6.316666667,pose2_to_pose3_retreat,0.575695974215,-0.0101222267127,1.04005087426,0.546267608163,-0.0014465383274,1.03971736789
+380,6.333333333,pose2_to_pose3_retreat,0.575687317053,-0.0101222075231,1.04005075787,0.546258950121,-0.00144652232041,1.0397172464
+381,6.350000000,pose2_to_pose3_retreat,0.575681860791,-0.0101221550226,1.04005077167,0.546253492858,-0.00144647331872,1.03971725745
+382,6.366666667,pose2_to_pose3_retreat,0.575678386249,-0.0101220873462,1.04005095047,0.546250017538,-0.00144640823728,1.03971743722
+383,6.383333333,pose2_to_pose3_retreat,0.575676437173,-0.0101220529932,1.04005103755,0.546248068055,-0.00144637524248,1.03971752485
+384,6.400000000,pose2_to_pose3_retreat,0.575675122378,-0.0101220678077,1.04005095715,0.546246753287,-0.00144638994846,1.03971744495
+385,6.416666667,pose2_to_pose3_retreat,0.575674135698,-0.0101220789251,1.04005089681,0.546245766628,-0.00144640098448,1.039717385
+386,6.433333333,pose2_to_pose3_retreat,0.575673294865,-0.0101220883993,1.0400508454,0.546244925813,-0.00144641038919,1.03971733391
+387,6.450000000,pose2_to_pose3_retreat,0.575672592108,-0.0101220963176,1.04005080242,0.546244223071,-0.00144641824953,1.0397172912
+388,6.466666667,pose2_to_pose3_retreat,0.575672098493,-0.0101221013336,1.0400507618,0.546243729541,-0.00144642288565,1.03971725301
+389,6.483333333,pose2_to_pose3_retreat,0.575671991699,-0.0101221023921,1.04005075251,0.546243622769,-0.00144642384542,1.03971724435
+390,6.500000000,pose2_to_pose3_retreat,0.575671745254,-0.0101221048349,1.04005073105,0.546243376374,-0.00144642606025,1.03971722436
+391,6.516666667,pose2_to_pose3_retreat,0.575671390847,-0.0101221083477,1.04005070019,0.54624302204,-0.00144642924534,1.03971719561
+392,6.533333333,pose2_to_pose3_retreat,0.575671049857,-0.0101221117275,1.04005067051,0.546242681121,-0.00144643230986,1.03971716795
+393,6.550000000,pose2_to_pose3_retreat,0.575670995766,-0.0101221122637,1.0400506658,0.546242627041,-0.00144643279598,1.03971716356
+394,6.566666667,pose2_to_pose3_retreat,0.575670961335,-0.010122112605,1.0400506628,0.546242592617,-0.00144643310542,1.03971716077
+395,6.583333333,pose2_to_pose3_retreat,0.575670901784,-0.0101221131952,1.04005065761,0.546242533077,-0.00144643364061,1.03971715594
+396,6.600000000,pose2_to_pose3_retreat,0.575670742188,-0.0101221147771,1.04005064372,0.546242373514,-0.00144643507492,1.03971714299
+397,6.616666667,pose2_to_pose3_retreat,0.575670462197,-0.0101221191571,1.04005062392,0.546242093608,-0.00144643911101,1.03971712469
+398,6.633333333,pose2_to_pose3_retreat,0.575670299418,-0.0101221458005,1.04005068111,0.546241931282,-0.00144646427915,1.03971718029
+399,6.650000000,pose2_to_pose3_retreat,0.575670000912,-0.0101221946598,1.04005078599,0.546241633607,-0.00144651043291,1.03971728224
+400,6.666666667,pose2_to_pose3_retreat,0.575669818086,-0.0101222245847,1.04005085022,0.546241451288,-0.00144653870085,1.03971734469
+401,6.683333333,pose2_to_pose3_retreat,0.575669669994,-0.0101222214722,1.04005088643,0.546241303269,-0.00144653541644,1.03971737904
+402,6.700000000,pose2_to_pose3_retreat,0.575669577102,-0.0101221913949,1.04005089055,0.54624121008,-0.0014465064252,1.03971738108
+403,6.716666667,pose2_to_pose3_retreat,0.57566957715,-0.0101221926718,1.04005088735,0.546241210158,-0.00144650763139,1.03971737707
+404,6.733333333,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a52385e9bfc08b4d25242b854abebb84a8b04100
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:832f969ba7155a0a41820f5f8ac4cc687d7804ccd4895cb64d7855479c821d27
+size 25680912
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b72639ec9991bf904371eb8becf4ba644feb8017
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,679,658,634,878,785,807,652,629,652,0.40098425608,-0.0154407962724,0.0498492464599,0.999999962245,-7.96125786192e-05,-0.000260585831655,-3.56046385478e-05,1793245374389298432
+1,0.016666667,BASELINE,765,744.407969325,714,679,658,634,878,785.592030675,807,652.592030675,629.592030675,652,0.40098455176,-0.0154382716801,0.0498497408087,0.999999962504,-7.70769792792e-05,-0.000260317767607,-3.58476910453e-05,1793245374405964288
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+3,0.050000000,BASELINE,764.242767636,744.757232364,714,679.757232364,658.757232364,634,878,786,807,653,630,652,0.400984721186,-0.0154378277426,0.0498503540156,0.999999962887,-7.60332171753e-05,-0.000259132768575,-3.60007019103e-05,1793245374439297280
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+21,0.350000000,BASELINE,765,745,714,679,659,634,879,786,807.20498754,652.79501246,629.79501246,652,0.400983760429,-0.0154381693222,0.0498496302552,0.999999962841,-7.70723668757e-05,-0.000258942300251,-3.64292042116e-05,1793245374739297024
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+39,0.650000000,BASELINE,765,745,714,679,659,634,878,786,807.638331359,653,629.638331359,652,0.400984883566,-0.0154366172795,0.049850105845,0.999999963287,-7.39976557242e-05,-0.00025811534769,-3.6421535987e-05,1793245375039297024
+40,0.666666667,BASELINE,765,745,714,679.224502337,659,634,878,786,807.775497663,653,630,652,0.40098549246,-0.0154365876114,0.0498506338665,0.99999996355,-7.35757244616e-05,-0.000257199965295,-3.65331622234e-05,1793245375055963904
+41,0.683333333,BASELINE,765,745,714,679.803656511,659,634,878,786,807.196343489,653,630,652,0.400985926035,-0.0154384070311,0.049851575617,0.999999963704,-7.58796340893e-05,-0.000255990007274,-3.6109433743e-05,1793245375072630784
+42,0.700000000,BASELINE,765,745,714,679.618703002,659,634,878,785.618703002,807,653,629.618703002,652,0.400985789518,-0.0154381464326,0.0498516681561,0.999999963663,-7.65911973109e-05,-0.000255932955725,-3.61335243342e-05,1793245375089297664
+43,0.716666667,BASELINE,765,745,714,679.041838902,659,634,878,785.041838902,807,653,629.041838902,652,0.400985360603,-0.0154368189934,0.049851325135,0.999999963525,-7.64860465264e-05,-0.000256467229556,-3.63873011894e-05,1793245375105964544
+44,0.733333333,BASELINE,765,745,714,679,658.456768886,634,878,785,807,652.456768886,629.543231114,652,0.400984645792,-0.0154378156132,0.0498504856425,0.999999963082,-7.73582748694e-05,-0.000257912716674,-3.65197769744e-05,1793245375122630656
+45,0.750000000,BASELINE,765,745,714,679,658.128267335,634,878.128267335,785.128267335,807,652.128267335,630,652.128267335,0.400984142215,-0.0154384407783,0.0498500170936,0.999999962838,-7.74744603729e-05,-0.000258815989066,-3.65596302981e-05,1793245375139297024
+46,0.766666667,BASELINE,765,745,714,679,658.710910527,634,878.710910527,785.710910527,807,652.710910527,630,652.710910527,0.400984466109,-0.0154371062957,0.0498510001109,0.99999996339,-7.46416798864e-05,-0.000257546091813,-3.63049789607e-05,1793245375155963648
+47,0.783333333,BASELINE,765,745,714,679,659,634.288899314,879,786,807,653,630,652.711100686,0.4009849436,-0.0154361812883,0.0498514846662,0.999999963735,-7.32600980276e-05,-0.000256618865112,-3.61788577432e-05,1793245375172630528
+48,0.800000000,BASELINE,765,745,714,679,659,634.862304546,879,786,807,653,630,652.137695454,0.400985572353,-0.0154356595291,0.0498514783399,0.999999963883,-7.33076455573e-05,-0.000256029097699,-3.61793120115e-05,1793245375189297152
+49,0.816666667,BASELINE,765,745,714,679,659,634.562504877,878.562504877,786,807,652.562504877,629.562504877,652,0.400985386087,-0.0154360611917,0.0498512361933,0.999999963677,-7.44510928618e-05,-0.000256482463913,-3.63171594893e-05,1793245375205964032
+50,0.833333333,BASELINE,765,745,714,679.013629444,659,634,878,786,807,652.013629444,629.013629444,652,0.400984960814,-0.0154367115353,0.0498509334903,0.999999963372,-7.58591534324e-05,-0.000257233936073,-3.64979651726e-05,1793245375222630912
+51,0.850000000,BASELINE,765,745,714,679.60587767,659,634,878,786,807,652.60587767,629.60587767,652,0.400985323497,-0.0154355302669,0.0498512238106,0.999999963671,-7.37979470981e-05,-0.000256645956777,-3.66591760683e-05,1793245375239297536
+52,0.866666667,BASELINE,765.193415581,745,714,680,659,634,878,786,807,652.806584419,630,652,0.400985300335,-0.0154354864614,0.049851305303,0.999999963789,-7.29543711311e-05,-0.000256431246682,-3.66377790834e-05,1793245375255963904
+53,0.883333333,BASELINE,765.771583453,745,714,680,659,634,878,786,807,652.228416547,630,652,0.400984509631,-0.0154377053564,0.0498509713839,0.999999963551,-7.45329686709e-05,-0.00025695906305,-3.62531290361e-05,1793245375272630528
+54,0.900000000,BASELINE,765.654685076,745,714,679.654685076,659,634,878,786,807,652.345314924,629.654685076,652,0.400984712263,-0.0154383092438,0.0498513671103,0.999999963674,-7.52865454728e-05,-0.00025625851324,-3.62599744194e-05,1793245375289297408
+55,0.916666667,BASELINE,765.083850963,745,714,679.083850963,659,634,878,786,807,652.916149037,629.083850963,652,0.400985563626,-0.0154378583977,0.0498522393555,0.999999964033,-7.55013154757e-05,-0.000254755738758,-3.65224986943e-05,1793245375305964032
+56,0.933333333,BASELINE,765,745,714,679,659,634,878.50578829,786,807.50578829,652.49421171,629.50578829,652,0.400985542756,-0.0154368625782,0.0498517384491,0.999999963925,-7.49438553393e-05,-0.000255323383038,-3.66543124092e-05,1793245375322630400
+57,0.950000000,BASELINE,765,745,714,679,659,634,879,786,807.903703914,652.096296086,630,652,0.400985477191,-0.0154359428154,0.0498512573679,0.999999963803,-7.41847940509e-05,-0.000256010369524,-3.67321403844e-05,1793245375339297280
+58,0.966666667,BASELINE,765,745,714,679,659,634,879,786,807.325064613,652.674935387,630,652,0.400985940016,-0.0154358740396,0.0498520598861,0.999999964015,-7.30819426974e-05,-0.000255509471547,-3.66522892542e-05,1793245375355963904
+59,0.983333333,BASELINE,765,745,714,679,659,634,878.747299863,785.747299863,807,653,630,652,0.400986567899,-0.0154361379443,0.049852517364,0.999999964121,-7.31011599318e-05,-0.00025509723123,-3.65969374969e-05,1793245375372630784
+60,1.000000000,BASELINE,765,745,714,679,659,634,878.170656147,785.170656147,807,653,630,652,0.400987407375,-0.0154368283216,0.049852532525,0.999999964091,-7.45587890322e-05,-0.000254798643646,-3.65729921797e-05,1793245375389297408
+61,1.016666667,BASELINE,765,745,714,679,659,634,878,785.403190099,807,653,629.596809901,652,0.400986469154,-0.0154363375638,0.0498520690663,0.999999963907,-7.44992928714e-05,-0.00025551112341,-3.67351599542e-05,1793245375405963776
+62,1.033333333,BASELINE,765,745,714,679,659,634,878,785.9758604,807,653,629.0241396,652,0.40098478368,-0.0154353503179,0.0498514044209,0.999999963659,-7.38020758659e-05,-0.000256648603454,-3.6975560019e-05,1793245375422630400
+63,1.050000000,BASELINE,765,745,714,679.56768373,659,634,878,785.43231627,807,653,629,652,0.400984908339,-0.0154348648572,0.0498517681715,0.999999963814,-7.24815994749e-05,-0.000256418723968,-3.69800161249e-05,1793245375439297280
+64,1.066666667,BASELINE,765,744.843232849,714,679.843232849,659,634,878,785.156767151,807,652.843232849,629.156767151,652,0.400985034533,-0.0154339877697,0.049852050166,0.999999964014,-7.12316938429e-05,-0.000255972629261,-3.7093665809e-05,1793245375455963904
+65,1.083333333,BASELINE,765,744.263808953,714,679.263808953,659,634,878,785.736191047,807,652.263808953,629.736191047,652,0.400984950096,-0.015431995289,0.0498519897218,0.999999964289,-7.02460014058e-05,-0.000255105836101,-3.75297044639e-05,1793245375472630528
+66,1.100000000,BASELINE,764.688378171,744.311621829,714,679,659,634,878,785.688378171,807.311621829,652.311621829,630,652,0.400985214276,-0.0154315792745,0.0498517819235,0.999999964311,-7.01788652976e-05,-0.000255001241953,-3.77698948478e-05,1793245375489297664
+67,1.116666667,BASELINE,764.11628509,744.88371491,714,679,659,634,878,785.11628509,807.88371491,652.88371491,630,652,0.400985769849,-0.0154324809601,0.0498514509582,0.999999964123,-7.08795108695e-05,-0.000255533737141,-3.78463840845e-05,1793245375505965056
+68,1.133333333,BASELINE,764.470228348,745,714,679,659,634,878,785.470228348,807.529771652,653,630,652,0.400984864535,-0.0154309017731,0.0498509355955,0.999999963905,-6.86826946453e-05,-0.000256918123679,-3.82957853075e-05,1793245375522631424
+69,1.150000000,BASELINE,765,745,714,679,659,634,878,785.940671807,807.059328193,653,630,652,0.400983898712,-0.0154274479888,0.0498505309799,0.999999963835,-6.45215595277e-05,-0.00025812724643,-3.92000430245e-05,1793245375539297792
+70,1.166666667,BASELINE,765,745,714,679,659,634,878,785.361151391,807.638848609,653,630,652,0.400985670194,-0.0154131070953,0.0498515098774,0.999999965092,-4.9618497672e-05,-0.000255894059302,-4.3258338783e-05,1793245375555964160
+71,1.183333333,BASELINE,765,745,714,679,659,634,878.217150289,785.217150289,807.782849711,652.782849711,630,652,0.400986711193,-0.0154022429206,0.0498521880821,0.999999965756,-3.82841976436e-05,-0.000254716309821,-4.62862250132e-05,1793245375572630784
+72,1.200000000,BASELINE,765,745,714,679,659,634,878.793436444,785.793436444,807.206563556,652.206563556,630,652,0.400986544077,-0.015397128745,0.0498523689836,0.999999965742,-3.28521225602e-05,-0.00025528410465,-4.76099602828e-05,1793245375589297152
+73,1.216666667,BASELINE,764.630925127,745,714,679,659,634,878.630925127,785.630925127,807,652,629.630925127,652,0.400987376388,-0.0154000355232,0.0498532562508,0.999999965941,-3.62563720552e-05,-0.000254169803592,-4.69165247171e-05,1793245375605963776
+74,1.233333333,BASELINE,764.055648616,745,714,679,659,634,878.055648616,785.055648616,807,652,629.055648616,652,0.400988767078,-0.0154074235979,0.0498545381636,0.999999966208,-4.45974645856e-05,-0.000252115717768,-4.50960984246e-05,1793245375622630400
+75,1.250000000,BASELINE,764.533085783,745,714,679.533085783,659,634,878.533085783,785.533085783,807.533085783,652,629,652,0.400988997345,-0.0154029880151,0.0498540897883,0.999999966248,-4.01611318559e-05,-0.000252483761456,-4.62898276293e-05,1793245375639297280
+76,1.266666667,BASELINE,765,745,714,680,658.87937349,634,878.87937349,786,807.87937349,652,629.12062651,652,0.400989019852,-0.015399037734,0.0498536905239,0.999999966258,-3.58326233701e-05,-0.00025291457409,-4.7273721868e-05,1793245375655964160
+77,1.283333333,BASELINE,765,745,714,680,658.301813858,634,878.301813858,786,807.301813858,652,629.698186142,652,0.400988726111,-0.0154017222665,0.0498541792154,0.999999966339,-3.70959581537e-05,-0.000252600572666,-4.62400120319e-05,1793245375672631040
+78,1.300000000,BASELINE,765,745,714,680,658,634,878,786,807,652,630,652,0.40098774719,-0.0154020975716,0.0498537941841,0.999999966181,-3.70355137413e-05,-0.000253278553213,-4.60101344658e-05,1793245375689297664
+79,1.316666667,BASELINE,765,745,714,680,658,634,878,786,807,652,630,652,0.400986018315,-0.0153999453429,0.0498524528311,0.999999965757,-3.5526144562e-05,-0.000255042294286,-4.66600807485e-05,1793245375705964032
+80,1.333333333,BASELINE,765,745,714,679.579632022,658,634,878.420367978,786,807,652.420367978,630,652,0.400987233274,-0.0153995939815,0.0498528115299,0.999999966036,-3.54542956557e-05,-0.000253903033509,-4.69423063748e-05,1793245375722630400
+81,1.350000000,BASELINE,765,745,714,679.012555849,658,634,878.987444151,786,807,652.987444151,630,652,0.40098947563,-0.0153998711217,0.0498537635456,0.999999966558,-3.58841404153e-05,-0.000251750626818,-4.70961977457e-05,1793245375739297024
+82,1.366666667,BASELINE,765,745,713.412912546,679,658,634,878.412912546,786,807,652.412912546,629.412912546,652,0.400988338444,-0.0154028146227,0.0498535907675,0.999999966116,-4.0291712504e-05,-0.000252937396913,-4.65621314455e-05,1793245375755963648
+83,1.383333333,BASELINE,765,744.81942888,713.18057112,679,658,634,878.18057112,786,807,652.18057112,629,652,0.400987844726,-0.0154034206609,0.0498535807345,0.999999965979,-4.16474717731e-05,-0.000253282448614,-4.643712759e-05,1793245375772630784
+84,1.400000000,BASELINE,765,744.241136355,713.758863645,679,658,634,878.758863645,786,807,652.758863645,629,652,0.400988936838,-0.0153987452854,0.0498539852557,0.99999996658,-3.60830074427e-05,-0.000251607020429,-4.72474242967e-05,1793245375789297408
+85,1.416666667,BASELINE,765,744,714,679,658,634,878.665350743,786,807,652.665350743,629.334649257,652,0.400988298156,-0.0153985943866,0.049853539306,0.999999966527,-3.54562033924e-05,-0.000251925001777,-4.7145334529e-05,1793245375805964032
+86,1.433333333,BASELINE,765,744,714,679,658,634,878.091358126,786,807,652.091358126,629.908641874,652,0.400986421597,-0.0154016794238,0.049852485094,0.999999966014,-3.83608469159e-05,-0.00025366868289,-4.63906998815e-05,1793245375822630656
+87,1.450000000,BASELINE,765,744.495514001,714,679,658.495514001,634,878,786,807,652.495514001,629.504485999,652,0.400986180006,-0.0154005205751,0.0498528494546,0.999999965942,-3.66640824961e-05,-0.000254178717313,-4.65391742819e-05,1793245375839297536
+88,1.466666667,BASELINE,765.083370023,745,713.916629977,679.083370023,658.916629977,634,878,786,807,653,629,652,0.400986307108,-0.0153991281124,0.0498533364451,0.99999996596,-3.47725105385e-05,-0.000254325840861,-4.678025462e-05,1793245375855963904
+89,1.483333333,BASELINE,765.662578037,745,713.337421963,679.662578037,658.337421963,634,878,786,807,653,629,652,0.400986786351,-0.0154011239849,0.049852955749,0.999999966053,-3.69025677251e-05,-0.000253703406044,-4.65553887484e-05,1793245375872630784
+90,1.500000000,BASELINE,765.758570836,744.758570836,713.241429164,679.758570836,658.241429164,634,878,786,807.241429164,652.758570836,629.241429164,652,0.400987313304,-0.0154017112608,0.0498528843738,0.999999966133,-3.73110753813e-05,-0.000253335893409,-4.65018954919e-05,1793245375889297408
+91,1.516666667,BASELINE,765.180217808,744.180217808,713.819782192,679.180217808,658.819782192,634,878,786,807.819782192,652.180217808,629.819782192,652,0.400987906835,-0.0154003327847,0.0498532446679,0.9999999662,-3.53170929894e-05,-0.000253324134729,-4.66875594581e-05,1793245375905964032
+92,1.533333333,BASELINE,765,744.391710501,714,679,659,634,878,786,807.608289499,652.391710501,630,652,0.400987726423,-0.0153996600926,0.0498534073922,0.999999966192,-3.4231597261e-05,-0.00025349805336,-4.67137316708e-05,1793245375922630912
+93,1.550000000,BASELINE,765,744.960730678,714,679,659,634,878,786,807.039269322,652.960730678,630,652,0.400987195681,-0.0153993068771,0.0498534806856,0.999999966152,-3.35573322971e-05,-0.000253756019733,-4.66677091762e-05,1793245375939297536
+94,1.566666667,BASELINE,764.44679205,745,714,679,659,634,878.55320795,786,807,652.44679205,629.44679205,652,0.400986926642,-0.0154006531546,0.0498532494794,0.999999966202,-3.64313326028e-05,-0.000253185193678,-4.65486805311e-05,1793245375955964416
+95,1.583333333,BASELINE,764.143990374,744.856009626,714,679,659,634,879,785.856009626,807,652.143990374,629.143990374,652,0.400987086805,-0.0154017170262,0.0498534042301,0.999999966363,-3.86613670593e-05,-0.000252233820047,-4.64489430732e-05,1793245375972631296
+96,1.600000000,BASELINE,764.724366641,744.275633359,714,679,659,634,879,785.275633359,807,652.724366641,629.724366641,652,0.400988488944,-0.0154015432197,0.0498547970925,0.999999966866,-3.81426197742e-05,-0.000250315329484,-4.64240719253e-05,1793245375989297664
+97,1.616666667,BASELINE,765,744.301966795,714,679,659,634,878.698033205,785,807,653,629.698033205,652,0.400988701436,-0.0154014611726,0.0498548896631,0.999999966882,-3.79095474022e-05,-0.000250280455599,-4.64570971107e-05,1793245376005964032
+98,1.633333333,BASELINE,765,744.87705598,714,679,659,634,878.12294402,785,807,653,629.12294402,652,0.400987837917,-0.0154014621199,0.0498538061481,0.999999966458,-3.79348617998e-05,-0.000251949272098,-4.65424882704e-05,1793245376022630656
+99,1.650000000,BASELINE,765,745,714,679.460797654,658.539202346,634,878,785.460797654,807,653,629.460797654,652,0.400988078741,-0.0154005264639,0.0498540565636,0.999999966615,-3.61648188012e-05,-0.000251573942034,-4.660832928e-05,1793245376039297280
+100,1.666666667,BASELINE,765,745,714,680,658.046353107,634,878,785.953646893,807,653,629.953646893,652,0.400988511692,-0.0153994050626,0.0498545343902,0.99999996687,-3.40882164255e-05,-0.000250837907923,-4.66714104151e-05,1793245376055964160
+101,1.683333333,BASELINE,765,745,714,680,658.625711442,634,878,785.374288558,807,653,629.374288558,652,0.400987700974,-0.0153990762634,0.0498534564098,0.999999966486,-3.41000393096e-05,-0.000252345582168,-4.67638831877e-05,1793245376072630784
+102,1.700000000,BASELINE,765,745,714,679.795711113,658.795711113,634.204288887,878,785.204288887,807,653,629.204288887,652,0.400987545635,-0.0153992657598,0.0498530981072,0.999999966357,-3.42401745563e-05,-0.000252829584855,-4.68039615154e-05,1793245376089297408
+103,1.716666667,BASELINE,765,745,714,679.218558995,658.218558995,634.781441005,878,785.781441005,807,653,629.781441005,652,0.400988586478,-0.0154004012373,0.0498540533436,0.999999966696,-3.4614502483e-05,-0.000251445206326,-4.67484107344e-05,1793245376105964288
+104,1.733333333,BASELINE,765,745,714,679,658,634.642561956,878,785.642561956,807,653,630,652,0.40098829356,-0.0154008512487,0.0498542003328,0.999999966708,-3.48541364018e-05,-0.00025138361287,-4.66467483321e-05,1793245376122630912
+105,1.750000000,BASELINE,765,745,714,679,658,634.06726887,878,785.06726887,807,653,630,652,0.400987187728,-0.0154008834752,0.0498538547033,0.999999966521,-3.50116756574e-05,-0.000252128244028,-4.65169813356e-05,1793245376139297536
+106,1.766666667,BASELINE,765,745,714,679.520345272,658.520345272,634,878,785.520345272,807,652.479654728,630,652,0.400986314367,-0.0154014560255,0.0498526364621,0.999999966134,-3.64678446134e-05,-0.000253452455024,-4.6525887028e-05,1793245376155963904
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,880,786,807,653,630,652,0.400988441666,-0.0153994989034,0.0498533424919,0.999999966536,-3.43124264676e-05,-0.000252136782879,-4.66668746433e-05,1793245376198342144
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.422341626,786,807,652.422341626,630,652,0.4009882178,-0.0154008318094,0.0498532313,0.999999966421,-3.63271680869e-05,-0.000252343521375,-4.64798722205e-05,1793245376215008768
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.845912075,714,678.845912075,659,634,879,786,807,652.154087925,630,652,0.400988360557,-0.0154015432844,0.0498532804544,0.999999966441,-3.75732446685e-05,-0.00025209828716,-4.64000213904e-05,1793245376231675392
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.272823849,714,678.272823849,659,634,879,786,807,652.727176151,630,652,0.400989500246,-0.015400564947,0.049853765627,0.999999966833,-3.67291456956e-05,-0.000250624035841,-4.66115402015e-05,1793245376248342016
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.309624168,714,678.309624168,659,634,878.690375832,786,807,652.690375832,629.690375832,652.309624168,0.40098945805,-0.015401229199,0.0498539050536,0.999999966837,-3.72434281015e-05,-0.00025054024001,-4.65753172629e-05,1793245376265008384
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.900576569,714,678.900576569,659,634,878.099423431,786,807,652.099423431,629.099423431,652.900576569,0.400988341979,-0.0154033859274,0.0498537303312,0.999999966486,-3.89919521652e-05,-0.000251719828794,-4.63139931874e-05,1793245376281674752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.518470476,714,679.481529524,659,634,878,786,807,652.481529524,629,652.518470476,0.400988532328,-0.0154011598667,0.0498543392112,0.999999966539,-3.68318136778e-05,-0.000251786133906,-4.65781910885e-05,1793245376298341376
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.060178893,714,679.939821107,659,634,878,786,807,653,629.060178893,652,0.400989055866,-0.01539847537,0.049855033559,0.999999966653,-3.40618311046e-05,-0.000251669571321,-4.68537017658e-05,1793245376315008000
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.636418927,714,679.363581073,659,634,878,786,807,653,629.636418927,652,0.400990170543,-0.0153994619149,0.049855101604,0.999999966657,-3.28420835486e-05,-0.000251915925421,-4.63146599629e-05,1793245376331674624
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807,652.783571096,629.783571096,652,0.400996682383,-0.0154008943705,0.0498573399549,0.99999996776,-3.31550513465e-05,-0.000247567720522,-4.57304601755e-05,1793245376348341504
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807,652.197115745,629.197115745,652,0.401012421699,-0.0154030891955,0.0498632888573,0.999999970635,-3.60884882009e-05,-0.000235364241535,-4.50690542595e-05,1793245376365008128
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.616591554,745,714,679,659,634,878,786,807,652.383408446,629,652,0.401049278036,-0.0154047084119,0.0498768045313,0.999999976773,-3.69660679717e-05,-0.000207773756638,-4.37956871333e-05,1793245376381674752
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.039070154,745,714,679,659,634,878,786,807,652.960929846,629,652,0.401096825548,-0.0154060362081,0.0498941511293,0.999999983572,-3.68028036762e-05,-0.00017239309988,-4.2212494703e-05,1793245376398341376
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.539341398,745,714,679,659,634,878,785.460658602,807,653,629.539341398,652,0.401162196392,-0.0154113778495,0.0499118333389,0.999999988652,-3.82651408509e-05,-0.000140188572315,-3.97366419016e-05,1793245376415008000
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.883342382,714,679,658.883342382,634,878,785.116657618,807,652.883342382,630,652,0.401231365887,-0.0154168915292,0.049927845852,0.999999992171,-3.9902888372e-05,-0.000112564954299,-3.73433408783e-05,1793245376431674624
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.310561204,714,679,658.310561204,634,878,785.689438796,807,652.310561204,630,652,0.401310331301,-0.015421939118,0.0499372347527,0.9999999933,-4.17652868394e-05,-0.000101951294052,-3.55260640926e-05,1793245376448341248
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.271386907,714,679,658,634,878,785.728613093,807,652,629.728613093,652,0.40139637295,-0.0154272724603,0.0499436722203,0.999999994049,-4.36252828048e-05,-9.40111942872e-05,-3.4070621061e-05,1793245376465008128
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.864191874,714,679,658,634,878,785.135808126,807,652,629.135808126,652,0.401490795359,-0.0154329442355,0.0499466141471,0.999999994438,-4.548243325e-05,-8.92375361394e-05,-3.30437172497e-05,1793245376481674752
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.552955678,714,679,658,634,878.447044322,785,807,652,629,652,0.401602040081,-0.015438346645,0.0499473546653,0.999999994346,-4.62280380214e-05,-9.01246976629e-05,-3.23716386048e-05,1793245376498341376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.026610026,714,679,658.026610026,634,878.973389974,785.026610026,807,652.026610026,629,652,0.401719391043,-0.0154438413062,0.0499474049194,0.99999999411,-4.67208124664e-05,-9.26690916515e-05,-3.17871138367e-05,1793245376515007744
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.599420737,714,679,658.599420737,634,878.400579263,785.599420737,807,652.599420737,629,652,0.401859465802,-0.0154528726331,0.0499467150018,0.99999999385,-4.8804227748e-05,-9.4699866776e-05,-3.08353485921e-05,1793245376531674368
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807,652.826722149,629.173277851,652,0.402009484623,-0.015462262964,0.049945616225,0.999999993485,-5.11180443289e-05,-9.76015900562e-05,-2.98463466711e-05,1793245376548340992
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807,652.250431371,629.749568629,652,0.402182631516,-0.0154724882723,0.0499435665158,0.999999992874,-5.39677323487e-05,-0.00010252898086,-2.87707391112e-05,1793245376565007616
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.335314087,878,786,807,652.335314087,630,652,0.402378153192,-0.0154825860583,0.0499438660512,0.999999992653,-5.57767786101e-05,-0.000104123839845,-2.72073889806e-05,1793245376581674496
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.928325774,878,786,807,652.928325774,630,652,0.402590870489,-0.0154925858413,0.0499459710421,0.999999992748,-5.67860649088e-05,-0.000103157561948,-2.5269195881e-05,1793245376598341120
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.492370462,634.492370462,878.507629538,786,807.507629538,653,630,652,0.402846362287,-0.0155030750958,0.0499528581157,0.999999994323,-5.47539954123e-05,-8.85294990046e-05,-2.27829088837e-05,1793245376615008000
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.084010816,634,878.915989184,785.915989184,807.915989184,653,630,651.915989184,0.403112271567,-0.0155129369967,0.0499603373531,0.999999995889,-5.11096067374e-05,-7.21684185544e-05,-2.00490840508e-05,1793245376631674624
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.654383642,634,878.345616358,785.345616358,807.345616358,653,630,651.345616358,0.403404445652,-0.0155187773987,0.0499674386473,0.99999999744,-4.05517233272e-05,-5.66480759476e-05,-1.63184307331e-05,1793245376648341248
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.765289658,745,714,679,659,634,878,785.234710342,807,652.765289658,630,651.234710342,0.403718549278,-0.0155168504682,0.0499743810336,0.999999998763,-2.17874878688e-05,-4.2568556505e-05,-1.3666318307e-05,1793245376665007872
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.169656554,745,714,679,659,634,878,785.830343446,807,652.169656554,630,651.830343446,0.404066374752,-0.0155029794232,0.0499810790608,0.999999999402,9.59595762041e-06,-3.07046449808e-05,-1.26727182675e-05,1793245376681674752
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.412841233,745,714,679,659,634,878,785.587158767,807,652.412841233,629.587158767,652,0.404437645047,-0.0155003218283,0.0499873633957,0.999999999326,3.09392867926e-05,-1.71779257726e-05,-9.76755292228e-06,1793245376698341376
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.990107515,745,714,679,659,634,878,785.009892485,807,652.990107515,629.009892485,652,0.404818252861,-0.0155021302897,0.0499934829663,0.999999998811,4.82838706781e-05,-2.98894926804e-06,-6.10105565256e-06,1793245376715007744
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.434918762,714,679.565081238,658.434918762,634,878,785.565081238,807,652.434918762,629.565081238,652,0.405210944422,-0.0155121868298,0.0499798481259,0.999999998008,5.6155923334e-05,-2.85061531474e-05,-4.27085015315e-06,1793245376731674368
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.139955536,634,878,785.860044464,807.139955536,652,629.860044464,652,0.405609841118,-0.0155194209158,0.0499638203568,0.999999996004,6.74723259486e-05,-5.85831881462e-05,-2.76666601583e-06,1793245376748340992
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.714645045,634,878,785.285354955,807.714645045,652,629.285354955,652,0.406027357869,-0.0155174411042,0.0499414294823,0.99999999088,9.00006892325e-05,-0.000100673656786,-2.17572780824e-06,1793245376765007616
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,679.70094214,658.70094214,634,878,785.29905786,807.70094214,652,629,652,0.406487630696,-0.0155160659516,0.0499267084114,0.999999985449,0.000114309016589,-0.000126626349821,-5.26834064978e-07,1793245376781674752
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,679.106939685,658.106939685,634,878,785.893060315,807.106939685,652,629,652,0.406990071579,-0.0155152871414,0.0499195516504,0.999999980807,0.000140372829036,-0.000136663232595,2.16546407924e-06,1793245376798341376
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.472616559,714,679,658.472616559,634,878.472616559,785.527383441,807,652,629.472616559,652,0.407544388005,-0.0155162683402,0.0499307035109,0.999999980002,0.00016641314526,-0.000110722606146,6.58580266183e-06,1793245376815008000
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.951140071,714,679,659,634,878.951140071,785.048859929,807,652,629.951140071,652,0.408114510068,-0.0155179190304,0.0499470505628,0.999999978558,0.000192337672907,-7.58650178197e-05,1.15702957835e-05,1793245376831674880
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.376414454,714,679,659,634,878.376414454,785.623585546,807,652,629.376414454,652,0.408732158811,-0.0155226162522,0.049976047518,0.999999975816,0.00021707154457,-3.00539042558e-05,1.85431544325e-05,1793245376848341248
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.198975095,714,679.198975095,659.198975095,634,878.39795019,785.801024905,807.198975095,652,629.198975095,652,0.409350416968,-0.0155277019832,0.0499964375892,0.999999970791,0.000240434910842,6.92557019334e-07,2.46822081473e-05,1793245376865007872
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.775624821,714,679.775624821,659.775624821,634,879.551249643,785.224375179,807.775624821,652,629.775624821,652,0.409969831819,-0.0155335251433,0.0500004909321,0.999999965457,0.0002611969202,2.84479866503e-06,2.92386163597e-05,1793245376881674752
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.638054046,659.638054046,634,879.276108093,785,807.638054046,652,630,652,0.410587000661,-0.0155335602801,0.0499818222316,0.999999957205,0.000287923903732,-4.11400023386e-05,3.15683606995e-05,1793245376898341632
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.045572902,659.045572902,634,878.091145804,785,807.045572902,652,630,652,0.411202738924,-0.0155299088358,0.0499486811199,0.999999942211,0.000318450171802,-0.000114510991487,3.24798698187e-05,1793245376915008768
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.469707113,679,659,633.469707113,878.530292887,785,807.530292887,652,630,652,0.41190189345,-0.0155293057765,0.0499419180378,0.999999934038,0.000343456608445,-0.000112881254802,3.49150195468e-05,1793245376931674880
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.894922521,713.105077479,679,659,633.105077479,879,785,808,652,630,652,0.412622870507,-0.0155293859265,0.0499434981385,0.999999937876,0.00033680009952,-9.68260697728e-05,3.79375898716e-05,1793245376948341248
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.318778247,713.681221753,679,659,633.681221753,879,785,808,652,630,652,0.413410517374,-0.0155313901665,0.0499726271994,0.999999980002,0.000190259260015,-4.41185627038e-05,4.30244131082e-05,1793245376965007872
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.263015036,714,679,659.263015036,634,879,785,808,652,630,652,0.41417069118,-0.0155388015833,0.0499810729874,0.999999996565,6.86100197935e-05,-3.11369791944e-05,3.45394512461e-05,1793245376981674752
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.851805364,714,679,659.851805364,634,879,785,808,652,630,652,0.414896836449,-0.0155529104295,0.0499639000945,0.999999997442,-2.22080414602e-05,-6.73606533207e-05,9.24422661532e-06,1793245376998341376
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.434073794,745,714,679,659.565926206,634,879,785.434073794,808.434073794,652,630,652,0.415683885505,-0.0155573581138,0.0499441030218,0.999999995175,-1.52616446952e-05,-9.69253781922e-05,4.75221532839e-06,1793245377015008000
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.985990042,744.985990042,714,679,659.014009958,634,879,786,808.985990042,652,630,652,0.416492542758,-0.0155585052749,0.0499246120369,0.999999992181,2.46944340233e-05,-0.000122363461224,7.38635755549e-06,1793245377031674624
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.411597185,744.411597185,714,679,659.588402815,634,879,786,808.411597185,652,630,652,0.417346127549,-0.0155576130804,0.0499526689834,0.999999994839,6.97122877829e-05,-7.23276875856e-05,1.51795517648e-05,1793245377048341248
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.836461487,744,714,679,659.836461487,634,879,786,808.163538513,652,630,652,0.41819566068,-0.0155561969271,0.0499734778914,0.999999993061,0.000109377903799,-3.81615226753e-05,2.14256437514e-05,1793245377065007872
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.259447695,744,714,679,659.259447695,634,879,786,808.740552305,652,630,652,0.419034949929,-0.0155534560465,0.0499759615442,0.999999989563,0.000135511427096,-4.41185762043e-05,2.37601887729e-05,1793245377081674752
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.650537501,744,714,679.32526875,659.32526875,634,879.32526875,786,809,652,630,652,0.419879331749,-0.0155536844994,0.0499679358273,0.999999987147,0.000149070207211,-5.40382781312e-05,2.3750550092e-05,1793245377098341632
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.832556286,744,714,679.916278143,659.916278143,634,879.916278143,786,809,652,630,652,0.420727874098,-0.0155563388623,0.0499513240822,0.999999985898,0.0001523555727,-6.71954156835e-05,2.18257415171e-05,1793245377115008768
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.504544347,744.495455653,714,680,660,633.504544347,880,785.504544347,809,652,630,652,0.421675731471,-0.0155596648244,0.0499727918035,0.999999988088,0.000150781905835,-2.23316279707e-05,2.42751216919e-05,1793245377131675392
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.072404384,745,714,679.927595616,660,633.072404384,880,785.072404384,809,652,630,652,0.422628992781,-0.0155624025998,0.0499953001289,0.99999998864,0.000146748178302,2.14004637964e-05,2.69774591026e-05,1793245377148341504
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.6474364,745,714,679.3525636,660,633.6474364,880,785.6474364,809,652,630,652,0.423505983509,-0.0155602877676,0.0499814050952,0.999999991001,0.000131203768203,-9.19749416226e-06,2.64243587696e-05,1793245377165008128
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.77153439,745,714,679.22846561,660,634,880,786,809,652,630.22846561,652.22846561,0.424395831179,-0.0155603260917,0.0499749369029,0.999999991332,0.00012703060592,-2.21154558567e-05,2.66500248713e-05,1793245377181674752
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.181000852,745,714,679.818999148,660,634,880,786,809,652,630.818999148,652.818999148,0.425306054421,-0.0155637766967,0.0499802386244,0.999999989657,0.000140878377306,-7.01450258333e-06,2.81098650611e-05,1793245377198341376
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786,809,652,631,652.598482774,0.426234402554,-0.0155657214312,0.0499940785358,0.999999987253,0.000156609182909,6.40050271861e-06,3.04242470025e-05,1793245377215008000
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786,809,652,631,652.019507317,0.427170761277,-0.0155670006172,0.0500116920635,0.999999984276,0.000173172230692,1.90703701032e-05,3.31163099488e-05,1793245377231674368
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.554749568,744.445250432,714,680,660.554749568,634,879.445250432,786,809.554749568,652,631,652.554749568,0.428045434645,-0.0155614105838,0.0499694238338,0.999999980816,0.000184554117894,-5.85166819349e-05,2.97298585119e-05,1793245377248341248
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744.132149117,714,680,660.867850883,634,879.132149117,786.132149117,809.867850883,652,631,653,0.428933956885,-0.0155572753307,0.0499379887272,0.999999976178,0.000184995206784,-0.000112605722764,2.72235016995e-05,1793245377265008384
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744.72097758,714,680,660.27902242,634,879.72097758,786.72097758,809.27902242,652,631,653,0.429877770633,-0.0155589951975,0.0499512060574,0.999999985821,0.000148251522024,-7.46150987114e-05,2.84909971824e-05,1793245377281674752
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.695443596,880,786.695443596,809.304556404,652,631,653,0.430791930832,-0.0155587498808,0.0499529824444,0.999999987071,0.000142101876059,-6.94426113015e-05,2.90251557751e-05,1793245377298341376
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.116592816,880,786.116592816,809.883407184,652,631,653,0.431679383935,-0.0155567346493,0.0499444547084,0.999999981813,0.000163506316295,-9.38273120415e-05,2.88988449337e-05,1793245377315008000
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.539772701,745,713.539772701,680,660,633.460227299,880,786,810,652,630.539772701,652.539772701,0.432584464462,-0.0155535749279,0.049940673575,0.999999978589,0.000183309691807,-9.17699377057e-05,2.82434298729e-05,1793245377331674624
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.036480183,680,660,633.963519817,880,786,810,652,630,652,0.43349547723,-0.0155505021891,0.0499400915581,0.999999975928,0.000201958961597,-8.11522202245e-05,2.77592988352e-05,1793245377348340992
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.611919162,680,660,633.388080838,880,786,810,652,630,652,0.434428445706,-0.0155529793274,0.0499690857454,0.999999976638,0.000209523593633,-4.25968181708e-05,3.17773594874e-05,1793245377365007616
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.192095673,744.807904327,714,680,660,633,880,786,810,652,630.192095673,652,0.435318441159,-0.0155529893289,0.0499823785811,0.999999977553,0.000206312824592,-3.38938756726e-05,3.43567679443e-05,1793245377381674496
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.782085296,744.217914704,714,680,660,633,880,786,810,652,630.782085296,652,0.436119425377,-0.015547889071,0.0499631487072,0.999999979296,0.000180782622018,-8.70252862707e-05,3.39562505608e-05,1793245377398341120
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.634744106,744.365255894,714,680.365255894,660.365255894,633.365255894,880,786,810,652,631,652.365255894,0.436959902378,-0.015547207357,0.049955174932,0.99999997827,0.000181761075436,-9.6376862917e-05,3.36692658058e-05,1793245377415008000
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.05556727,744.94443273,714,680.94443273,660.94443273,633.94443273,880,786,810,652,631,652.94443273,0.437823509234,-0.0155491134703,0.0499537935642,0.999999976579,0.000198264965618,-8.00877186066e-05,3.34487742352e-05,1793245377431674624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.480541612,660.480541612,633.480541612,880,786,810,652.519458388,631,652.480541612,0.438670723631,-0.0155498002931,0.049968400535,0.999999976903,0.000205316151182,-5.39411875103e-05,3.36107785475e-05,1793245377448341248
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.094113461,745,714,680,660,633,880,786,810,652.905886539,631,652,0.439506397971,-0.0155502615764,0.0499787694328,0.999999977119,0.000208266774327,-3.55613148226e-05,3.34879056059e-05,1793245377465008128
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.669125961,745,714,680,660,633,880,786,810,652.330874039,631,652,0.440291994237,-0.0155502315847,0.049958812753,0.999999978474,0.000195390323327,-6.22126967785e-05,3.17019576631e-05,1793245377481674752
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.748808368,744.748808368,714,680.251191632,659.748808368,633,880,786,810.251191632,652.251191632,631,652.251191632,0.441066426499,-0.0155530373454,0.0499517626393,0.999999980533,0.000181547820123,-7.05710829633e-05,3.1539963044e-05,1793245377498341376
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.157183777,744.157183777,714,680.842816223,659.157183777,633,880,786,810.842816223,652.842816223,631,652.842816223,0.441825728436,-0.0155596863216,0.0499622044334,0.999999984127,0.000166396054683,-5.41374840685e-05,3.35788668784e-05,1793245377515008256
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.425067836,713.574932164,680.574932164,659.850135672,633.425067836,880.425067836,786,810.574932164,652.574932164,631,652.574932164,0.442554931039,-0.0155629192989,0.0499691660445,0.999999984264,0.000168461137038,-4.34652292106e-05,3.46814241653e-05,1793245377531675136
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.003898742,680.003898742,660.992202516,633.992202516,880.996101258,785.996101258,810,652,631,652,0.443272406593,-0.0155649177041,0.0499744477231,0.999999983124,0.000176717341302,-3.56052425957e-05,3.54179110941e-05,1793245377548341760
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.578405684,680.578405684,659.843188632,632.843188632,880.421594316,785.421594316,810,652,631,652,0.443867387815,-0.0155671152314,0.0499181456086,0.999999974377,0.000179403672098,-0.000134260036299,3.2159791212e-05,1793245377565008384
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.153170946,745,714,681,659,632.153170946,880,785,810,652.153170946,631,652.153170946,0.444471655127,-0.015570798901,0.0498673091,0.99999995987,0.000180335477986,-0.000216537829196,2.91587509458e-05,1793245377581675008
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.72864855,745,714,681,659,632.72864855,880,785,810,652.72864855,631,652.72864855,0.44510152519,-0.0155785800046,0.0498315417668,0.999999951903,0.000176429898839,-0.000253662720732,2.68665032695e-05,1793245377598341632
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.687450033,745,714,681,659,632.687450033,880,785,810,652.687450033,630.687450033,652.687450033,0.445720798753,-0.0155893394625,0.0498188213754,0.999999951229,0.000171582682208,-0.000259550907448,2.71005490625e-05,1793245377615008000
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.096032644,745,714,681,659,632.096032644,880,785,810,652.096032644,630.096032644,652.096032644,0.446330617728,-0.0156027563063,0.04982666423,0.999999957582,0.000165895305788,-0.000237568670628,2.95886376173e-05,1793245377631674368
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,744.517403656,714,681,659,631.517403656,880,785,810,652,630,652,0.446865742089,-0.0156068142252,0.0498093267557,0.999999949774,0.000169357533189,-0.000266263004336,2.95658548579e-05,1793245377648341248
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659,631,880,784.941353496,810,652,630,652.058646504,0.447381918437,-0.0156092957075,0.0497858451673,0.999999937587,0.000173842051163,-0.000306212704725,2.89667101052e-05,1793245377665008128
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659,631,880,784.36618175,810,652,630,652.63381825,0.447858742202,-0.0156138719017,0.0497512416387,0.99999992052,0.000171708639778,-0.000358770049387,2.75782620642e-05,1793245377681675008
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.213530554,744,714.213530554,681,659,631,880.213530554,784,810.213530554,652,630,653,0.44833272988,-0.0156192660785,0.0497280766705,0.999999907303,0.00016914626227,-0.000395026152514,2.71694507272e-05,1793245377698341888
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.801198532,744,714.801198532,681,659,631,880.801198532,784,810.801198532,652,630,653,0.44880174826,-0.0156260934821,0.0497249537721,0.999999904753,0.000165832272939,-0.000402720041618,2.84771094678e-05,1793245377715008512
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,744.385608286,714.614391714,681.385608286,659,631,880.614391714,784,811,652,630,652.614391714,0.449260679387,-0.0156330103254,0.0497347815813,0.999999913284,0.000146684759169,-0.000388551975783,3.07055691733e-05,1793245377731674880
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.117045241,745,714.117045241,682,659,631,880,783,811,652.882954759,629,653,0.45049696454,-0.0156511952602,0.0497648135012,0.999999938007,4.51407925924e-05,-0.000347770469291,3.16825394762e-05,1793245377781674496
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+219,3.650000000,POSE1_TO_POSE2_PRESS,765.008290753,745,715,682,658,629,880,782,811,652,627.008290753,653,0.453631023574,-0.0157543817779,0.049699347878,0.999999894062,-6.27915551461e-05,-0.000454720093888,3.41027868922e-05,1793245378065007872
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.567834097,745,715,682,658,629,880.567834097,782,811,652.567834097,627,653,0.45367821668,-0.015755923388,0.0496993486693,0.999999893659,-6.3675608232e-05,-0.000455454816898,3.44653739976e-05,1793245378081674496
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658,629,880.856745725,782,811,652.856745725,627,653,0.453721340301,-0.0157568251182,0.0496994504779,0.999999893465,-6.42105387294e-05,-0.000455791832046,3.46466574915e-05,1793245378098341376
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,682,658,629,880.283336449,782,811,652.283336449,627,653,0.453752966801,-0.0157558129606,0.0496998289583,0.999999893912,-6.36760430976e-05,-0.000454914670757,3.42730318983e-05,1793245378115008000
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,682.299886867,658,629,880.299886867,782,811,652,627,653,0.453778106175,-0.0157545230065,0.0496988008694,0.99999989347,-6.2346266282e-05,-0.000456080839838,3.41025223821e-05,1793245378131674368
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,682.892696382,658,629,880.892696382,782,811,652,627,653,0.453796909075,-0.0157529617069,0.0496963988756,0.999999892151,-6.02396768916e-05,-0.000459242887282,3.41304119694e-05,1793245378148340992
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.527989235,745,715,682.527989235,658,628.527989235,880.527989235,782,810.527989235,652,627,653,0.453809824218,-0.0157535263277,0.049695625407,0.999999891452,-5.96002901471e-05,-0.000460821899302,3.44469031955e-05,1793245378165007872
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,682.048045907,658,628.048045907,880,781.951954093,810,652,627.048045907,652.951954093,0.453820997206,-0.0157544211234,0.0496952072137,0.999999890927,-5.94653271426e-05,-0.000461951078001,3.47974979346e-05,1793245378181674496
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,682.62084173,658,628.62084173,880,781.37915827,810,652,627.62084173,652.37915827,0.45382735501,-0.0157537903189,0.0496947382179,0.999999890798,-6.12979490449e-05,-0.000461988507045,3.48239162162e-05,1793245378198341120
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.199297584,745,715,682.800702416,658,629,880,781.199297584,810.199297584,652.199297584,627.800702416,652.199297584,0.453832283903,-0.0157521809219,0.0496939336384,0.999999890398,-6.1306825584e-05,-0.000462875718091,3.45164497727e-05,1793245378215007744
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.788836206,745,715,682.211163794,658,629,880,781.788836206,810.788836206,652.788836206,627.211163794,652.788836206,0.453834414872,-0.0157486553604,0.0496924719586,0.999999889459,-5.77446587884e-05,-0.00046542687209,3.35552096105e-05,1793245378231674368
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.627961363,745,715,682,658,628.627961363,880,782,811,653,627,653,0.453836277078,-0.0157484990876,0.0496919886784,0.999999888873,-5.92865562965e-05,-0.000466504200084,3.33668999989e-05,1793245378248341248
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.048295059,745,715,682,658,628.048295059,880,782,811,653,627,653,0.453837989292,-0.0157502231508,0.0496920514244,0.999999888476,-6.36769348472e-05,-0.000466759013811,3.36099482151e-05,1793245378265008128
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,628.528311552,880.528311552,782,811,652.471688448,627.528311552,653,0.453838540396,-0.0157504619413,0.0496917330854,0.999999888365,-6.34324490384e-05,-0.000467035156937,3.35439645245e-05,1793245378281674496
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.104093647,715,682,658,629,880.895906353,782,811,652.104093647,627.895906353,653,0.453839112198,-0.0157499439987,0.0496912926825,0.999999888312,-6.20702979828e-05,-0.000467343215016,3.33839993203e-05,1793245378298341120
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.677412426,715,682,658,629,880.322587574,782,811,652.677412426,627.322587574,653,0.453840253006,-0.015746623424,0.0496904581785,0.999999888389,-5.75689091597e-05,-0.000467786398142,3.29270008191e-05,1793245378315007744
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.741049324,715,682.258950676,658,628.741049324,880,781.741049324,811,652.741049324,627.258950676,653,0.45384124372,-0.0157454568913,0.0496903749045,0.999999888473,-5.61481361324e-05,-0.000467789903258,3.27766462441e-05,1793245378331674368
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.148935926,715,682.851064074,658,628.148935926,880,781.148935926,811,652.148935926,627.851064074,653,0.453842041324,-0.0157470617217,0.0496912581536,0.999999888582,-5.86908444874e-05,-0.000467227724178,3.30208158717e-05,1793245378348341248
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.432656339,745,715,682.567343661,658,628.432656339,880,781.432656339,811,652.432656339,628,653,0.453841733535,-0.0157460066708,0.0496905424446,0.999999888131,-5.95225413485e-05,-0.000468105264045,3.27482142335e-05,1793245378365007872
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658,629,880,782,810.989372404,653,628,653,0.453841041821,-0.015744108485,0.0496892909002,0.999999887489,-5.97683176395e-05,-0.000469474651076,3.23138780557e-05,1793245378381674752
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658,629,880,782,810.415913331,653,628,653,0.453839691138,-0.015744898255,0.0496881196719,0.999999886658,-5.94362297074e-05,-0.000471268230303,3.25115371549e-05,1793245378398341376
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.838440728,745,715,682,658,628.838440728,880.161559272,782,810,652.838440728,628,653,0.453839048311,-0.0157452438025,0.0496873327502,0.999999886166,-5.91935998255e-05,-0.000472336272808,3.25964766328e-05,1793245378415008000
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.250372635,745,715,682,658,628.250372635,880.749627365,782,810,652.250372635,628,653,0.453840274192,-0.0157444166237,0.0496875603799,0.999999886573,-5.9187134978e-05,-0.000471488932641,3.238384164e-05,1793245378431675136
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.333505195,745,715,682,658,628,880.666494805,782,810,652,627.666494805,652.666494805,0.453841476872,-0.0157437254446,0.0496881674471,0.999999886808,-5.93373813619e-05,-0.000470976998125,3.23040171507e-05,1793245378448341760
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.914276274,745,715,682,658,628,880.085723726,782,810,652,627.085723726,652.085723726,0.453842662351,-0.0157431350979,0.0496890558351,0.999999886916,-5.96038158646e-05,-0.000470713738561,3.23226604221e-05,1793245378465008128
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.506816033,745,715,682,658.493183967,628.493183967,880.493183967,782,810,652.493183967,627.493183967,652.493183967,0.453842046881,-0.0157430157004,0.0496892457898,0.999999887044,-5.81131334643e-05,-0.000470628048712,3.23254449277e-05,1793245378481674496
+245,4.083333333,HOLD_POSE2,765,745,714,682,658,629,880,782,810,652,627,652,0.453844470385,-0.0157435645873,0.049689743182,0.999999887661,-5.94856373843e-05,-0.000469165540769,3.19845539131e-05,1793245378525191168
+246,4.100000000,HOLD_POSE2,765,745,714.586890512,682,658,629,880.586890512,782,810,652,627,652.586890512,0.453844880757,-0.0157425573655,0.0496902177783,0.999999888146,-5.64652925824e-05,-0.000468475014859,3.24127379256e-05,1793245378541857280
+247,4.116666667,HOLD_POSE2,765.171401768,745,715,682.171401768,658,628.828598232,880.828598232,782,810,652.171401768,627,653,0.453845253279,-0.01574254949,0.0496903524134,0.999999888326,-5.59103522103e-05,-0.000468130681622,3.28085781968e-05,1793245378558523648
+248,4.133333333,HOLD_POSE2,765.750257212,745,715,682.750257212,658,628.249742788,880.249742788,782,810,652.750257212,627,653,0.453845535824,-0.015744917245,0.0496896788981,0.99999988778,-6.12161331469e-05,-0.000468609312204,3.31275315046e-05,1793245378575190784
+249,4.150000000,HOLD_POSE2,766,745,715,682.672049743,658,628,880,781.672049743,810,653,627,653,0.453845078733,-0.015744887116,0.0496891961241,0.999999887346,-6.27188684003e-05,-0.000469361593682,3.27836943472e-05,1793245378591857664
+250,4.166666667,HOLD_POSE2,766,745,715,682.095238804,658,628,880,781.095238804,810,653,627,653,0.453844060381,-0.0157430373846,0.0496888580918,0.999999887008,-6.13357127865e-05,-0.000470321531473,3.19369074567e-05,1793245378608524032
+251,4.183333333,HOLD_POSE2,766,745,715,682,658,628,880.480026076,781,810,652.519973924,627,653,0.453843995838,-0.0157438088895,0.0496894391168,0.999999886992,-6.03706356709e-05,-0.000470457884839,3.22685371322e-05,1793245378625190400
+252,4.200000000,HOLD_POSE2,766,745,715,682.056399547,658,628,880.943600453,781.056399547,810,652.056399547,627.056399547,653,0.453844003698,-0.0157448773206,0.0496899384528,0.999999886958,-5.97850675173e-05,-0.000470572794729,3.27229121072e-05,1793245378641857024
+253,4.216666667,HOLD_POSE2,766,745,715,682.646148008,658,628,880.353851992,781.646148008,810,652.646148008,627.646148008,653,0.45384291242,-0.0157438514287,0.049687946466,0.999999886157,-6.20064792379e-05,-0.000472025190644,3.21341660553e-05,1793245378658523648
+254,4.233333333,HOLD_POSE2,765.768248249,745,715,682.768248249,657.768248249,628,880.231751751,782,810,653,627.768248249,652.768248249,0.453842816684,-0.0157429460597,0.0496872935318,0.999999886056,-6.27186799559e-05,-0.000472164514691,3.18552871426e-05,1793245378675190016
+255,4.250000000,HOLD_POSE2,765.188861763,745,715,682.188861763,657.188861763,628,880.811138237,782,810,653,627.188861763,652.188861763,0.453844214294,-0.0157422214789,0.0496886492181,0.999999887009,-6.11670176752e-05,-0.000470334190527,3.20412184975e-05,1793245378691856896
+256,4.266666667,HOLD_POSE2,765,745,714.612116986,682,657.387883014,628,880.612116986,782,810,653,627,652.387883014,0.453843902747,-0.0157425640569,0.049688379252,0.999999886596,-6.0311637833e-05,-0.000471304140646,3.22879170658e-05,1793245378708523520
+257,4.283333333,HOLD_POSE2,765,745,714.036649714,682,657.963350286,628,880.036649714,782,810,653,627,652.963350286,0.453842764635,-0.0157434227239,0.0496873231036,0.99999988552,-5.97929872764e-05,-0.000473628332347,3.25640033065e-05,1793245378725190400
+258,4.300000000,HOLD_POSE2,765,745,714.549951203,682,658,628,880,782,810,652.450048797,627,653,0.453843600475,-0.0157411528214,0.0496883867544,0.999999886301,-5.8293533332e-05,-0.000472204866548,3.19616671074e-05,1793245378741856768
+259,4.316666667,HOLD_POSE2,765,745,714.864572081,682,658,628,880,782,810,652,627,653,0.453844372297,-0.0157392632196,0.0496892359839,0.999999886966,-5.68918827052e-05,-0.000470998035902,3.14886114145e-05,1793245378758523648
+260,4.333333333,HOLD_POSE2,765,745,714.285262061,682,658,628,880,782,810,652,627,653,0.453844494222,-0.015739317584,0.0496889098321,0.999999886851,-5.6029454848e-05,-0.000471336757202,3.16351243585e-05,1793245378775190272
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,628,880,782,811,653,627,653,0.453843391962,-0.0157410376864,0.0496880914748,0.999999885978,-6.0372629474e-05,-0.000472606378779,3.2272469734e-05,1793245378812260096
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.43884729,745,714.43884729,682,658,628.56115271,880,781.43884729,810.43884729,652.43884729,627,653,0.453844031911,-0.0157401743671,0.0496883917657,0.999999885821,-6.06079339577e-05,-0.000472946790698,3.17177746718e-05,1793245378828926464
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.131716742,745,714.131716742,682,658,628.868283258,880,781.131716742,810,652.131716742,627,653,0.453844609879,-0.0157394581097,0.0496885021607,0.999999885746,-6.03770390831e-05,-0.000473161664566,3.13223311086e-05,1793245378845592832
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.736049956,745,714.736049956,682,658,628.263950044,880,781.736049956,810,652.736049956,627,653,0.453844965448,-0.0157392695288,0.0496879311852,0.999999885965,-5.84733615071e-05,-0.000472926091988,3.14983020852e-05,1793245378862259456
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.325606217,658,628,880.325606217,782,810,653,627,653,0.453845821483,-0.0157388654121,0.0496880472612,0.999999886333,-5.84075223867e-05,-0.000472161653178,3.13972491076e-05,1793245378878926080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.903703658,658,628,880.903703658,782,810,653,627,653,0.453847065604,-0.0157382941582,0.0496886961111,0.999999886817,-5.97668345537e-05,-0.000470987105249,3.10813779931e-05,1793245378895592704
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.518059534,745,715,682.518059534,658,628.481940466,880.518059534,782,810,652.518059534,627.481940466,653,0.453845147113,-0.0157400491958,0.0496878369405,0.999999886072,-6.04290122853e-05,-0.000472447639597,3.15778838946e-05,1793245378912259584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.059803796,745,715,682,658,628.940196204,880,782,810,652,628,653,0.453842719001,-0.0157418874553,0.049686736439,0.999999885189,-6.06171184561e-05,-0.000474251541834,3.21354439127e-05,1793245378928926208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.634213722,745,715,682,658,628.365786278,880,782,810,652,628,653,0.453841344851,-0.0157404409818,0.0496861528621,0.999999885251,-5.79248428673e-05,-0.000474478171475,3.18212099662e-05,1793245378945592832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.785681566,745,715,682.214318434,658,628,880,782,810.214318434,652,627.785681566,653,0.453835356877,-0.0157390931155,0.0496832943123,0.999999883152,-5.72033677637e-05,-0.00047900258986,3.13001916201e-05,1793245378962259456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.195592074,745,715,682.804407926,658,628,880,782,810.804407926,652,627.195592074,653,0.453821279347,-0.0157379181406,0.0496764469829,0.99999987717,-5.99373576417e-05,-0.000491062452489,3.04166118985e-05,1793245378978926080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.227590556,658,628,880,782,811,652,627,653,0.453792178416,-0.015736148375,0.049662792962,0.999999866114,-5.98582916703e-05,-0.000513168905429,2.91022188733e-05,1793245378995592960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.072219907,658,628,880,782,811,652,627,653,0.45375562887,-0.0157340837115,0.0496457641776,0.999999851977,-5.83845106295e-05,-0.000540256466462,2.75742281809e-05,1793245379012259584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.540579139,745,715,682.081158278,658,628,880.540579139,781.459420861,810.459420861,652.540579139,627,652.459420861,0.453694686398,-0.015729569466,0.0496245119454,0.999999831948,-5.70367013746e-05,-0.000576390475818,2.49962454771e-05,1793245379028926464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.880635968,745,715,682.880635968,658,628,880.880635968,781.119364032,810,652.880635968,627,652,0.453630781831,-0.0157250196642,0.0496046770732,0.999999813281,-5.56140232007e-05,-0.000608139336888,2.26310479089e-05,1793245379045593088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.29337517,745,715,682.29337517,658,628,880.29337517,781.70662483,810,652.29337517,627,652,0.453561641498,-0.0157209707148,0.0495915019781,0.999999805913,-5.38649407437e-05,-0.000620334396705,2.13743785162e-05,1793245379062259456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628,880,782,810,652.289611493,627,652.289611493,0.453484497295,-0.0157167231185,0.0495820093593,0.999999799011,-5.20143880218e-05,-0.000631553474252,2.02976335745e-05,1793245379078926080
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628,880,782,810,652.86833141,627,652.86833141,0.453399363128,-0.0157122772206,0.049576192821,0.999999792606,-5.00625414008e-05,-0.000641798264149,1.94005006221e-05,1793245379095592960
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628,880.446051559,782,809.553948441,652.553948441,627,653,0.453296047972,-0.0157065208872,0.0495754269801,0.999999791465,-4.78684533877e-05,-0.00064375310361,1.89715820733e-05,1793245379112259328
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628.023376927,880.976623073,782,809.023376927,652,627,653,0.453186580662,-0.0157002537454,0.0495763617481,0.999999792055,-4.55332941546e-05,-0.000643015593042,1.86611967147e-05,1793245379128925952
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628.598335412,880.401664588,782,809.598335412,652,627,653,0.453058299381,-0.0156910407462,0.0495823233003,0.999999796498,-4.15529723637e-05,-0.000636361897048,1.78938092127e-05,1793245379145592576
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.177670548,628.822329452,880,782,810,652.177670548,627.177670548,653,0.452918928665,-0.0156813939918,0.0495870388341,0.99999979934,-3.65188553327e-05,-0.000632212055082,1.71742717663e-05,1793245379162259456
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.767149905,628.232850095,880,782,810,652.767149905,627.767149905,653,0.45275385462,-0.0156707418706,0.0495888663174,0.999999798548,-2.90422284573e-05,-0.000633865703495,1.65656423671e-05,1793245379178926336
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.350478973,745,714.649521027,681.649521027,658.649521027,628,880,782,810,652.649521027,628,653,0.452572014184,-0.0156604413087,0.0495912090167,0.999999798237,-2.40614725019e-05,-0.00063458118074,1.59312570131e-05,1793245379195592960
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.929792456,745,714.070207544,681.070207544,658.070207544,628,880,782,810,652.070207544,628,653,0.45237922663,-0.0156503702854,0.0495938881106,0.999999798257,-2.07103182729e-05,-0.000634684108031,1.52800550374e-05,1793245379212259584
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.494608388,745,714.505391612,681.505391612,658,628.505391612,880.505391612,782,810,652,628,653,0.452150899228,-0.0156380782113,0.0495937766045,0.999999794429,-1.6615822912e-05,-0.000640835922025,1.39492872081e-05,1793245379228926208
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880.919642828,782.080357172,810,652,628,653,0.451912610113,-0.0156256363835,0.0495934185397,0.999999790437,-1.26131339966e-05,-0.00064715359974,1.25742086389e-05,1793245379245592832
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880.345422992,782.654577008,810,652,628,653,0.451643218997,-0.0156141566032,0.0495939102924,0.999999789049,-9.80467834151e-06,-0.000649364015657,1.15027577741e-05,1793245379262259456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782.764002929,810,652.235997071,628.235997071,653,0.451355257069,-0.015603035367,0.0495920708264,0.99999978678,-9.1553324777e-06,-0.000652889759679,9.5152811896e-06,1793245379278926336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782.171712455,810,652.828287545,628.828287545,653,0.451039258122,-0.0155924554387,0.0495867118345,0.999999783166,-1.17656737462e-05,-0.000658401302467,6.14484716086e-06,1793245379295592960
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.410587545,745,715,682,658,629,880.410587545,782,810,652.589412455,628.589412455,653,0.4507148531,-0.0155868010895,0.0495890869487,0.999999792396,-1.81500837788e-05,-0.000644101717077,3.40427046374e-06,1793245379312259584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.988808646,745,715,682,658,629,880.988808646,782,810,652.011191354,628.011191354,653,0.450387016075,-0.0155831577423,0.0495946197226,0.999999806396,-2.60753601796e-05,-0.000621713698188,9.20850270856e-07,1793245379328926208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,629.561219973,881,782.561219973,810,652,628,653,0.450029071637,-0.0155826061414,0.0496106824492,0.999999823702,-3.74812198385e-05,-0.000592612757452,5.03301228726e-07,1793245379345592832
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,629.862101729,880.862101729,783,810,652.137898271,628.137898271,653,0.449654152767,-0.0155792910786,0.0496252062965,0.999999838088,-4.64875962652e-05,-0.000567152412214,-3.75306786674e-07,1793245379362259712
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,629.271024028,880.271024028,783,810,652.728975972,628.728975972,653,0.449225403171,-0.0155666938289,0.0496339898833,0.999999845364,-4.73827167526e-05,-0.000554091689385,-2.90310320011e-06,1793245379378926336
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.68693152,745,714.68693152,682,658,629.31306848,880,783,810,652.68693152,629,653,0.448769236928,-0.0155540250677,0.049636469285,0.999999846904,-4.96501917187e-05,-0.000551080691357,-6.05951509069e-06,1793245379395592960
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.108754067,745,714.108754067,682,658,629.891245933,880,783,810,652.108754067,629,653,0.448289853995,-0.0155412957486,0.0496336102518,0.999999843653,-5.30797878892e-05,-0.000556579881846,-9.74824403715e-06,1793245379412259840
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.466727346,630,880,783,810,652,629,653,0.447775150977,-0.0155328546089,0.0496272479401,0.999999839703,-6.13944301569e-05,-0.000562707120849,-1.36186041329e-05,1793245379428926208
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,630.04173166,880,783.04173166,810,652.04173166,629.04173166,652.95826834,0.447249779545,-0.0155251325693,0.049620250243,0.999999835467,-7.08522371881e-05,-0.00056898037223,-1.75214537287e-05,1793245379445592832
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.200310255,745,714,681.799689745,659,631,879.799689745,784,809.799689745,652.799689745,630,652.200310255,0.446126422808,-0.0155031734818,0.0496182737597,0.999999833224,-8.97146760973e-05,-0.000569995813418,-2.46698965274e-05,1793245379478926080
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.791327011,745,714,681.208672989,659,631,879.208672989,784,809.208672989,652.208672989,630,652.791327011,0.445543026875,-0.0154934729961,0.04963566124,0.9999998478,-9.82979555284e-05,-0.00054221458823,-2.72362287176e-05,1793245379495592704
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.047189378,745,714,681.952810622,659,631,880.905621243,784.952810622,809.952810622,652,630,653,0.444352592657,-0.0154815683872,0.0497164393736,0.999999896959,-0.000125032322927,-0.000435610225394,-2.63134470881e-05,1793245379528926208
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,744.10389097,714,681,659,632.10389097,880,785,810,652,630.10389097,652,0.443014146645,-0.015451976894,0.0497473467231,0.999999912748,-0.000129660310352,-0.000395852986817,-3.1519787533e-05,1793245379562259456
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880,785,810,652,630.143406473,652.856593527,0.440890557343,-0.015438027845,0.0498004891476,0.999999951236,-0.000101295800419,-0.000292997971881,-3.76795045239e-05,1793245379612259328
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.566607415,714,681,659,632.566607415,880,785.433392585,810,652.433392585,630,652.566607415,0.440131341231,-0.0154374166564,0.0498246734036,0.99999996486,-5.33390137114e-05,-0.000256731400997,-3.90411440265e-05,1793245379628926464
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744.009402552,714,680.990597448,659,632.009402552,879.990597448,785.990597448,810,652.990597448,630.009402552,652.009402552,0.439357040345,-0.0154369664462,0.0498422526703,0.999999971792,-2.59851466382e-06,-0.000233959575795,-4.0891058983e-05,1793245379645593600
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.585683427,714,680.414316573,659,632.585683427,879.414316573,785.414316573,810,652.414316573,630.585683427,652.585683427,0.438488400048,-0.0154331135194,0.0498016287845,0.999999953614,-3.29804700763e-05,-0.000298969916115,-4.79705287984e-05,1793245379662259968
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,879.165601336,785,809.834398664,652,631,653,0.437629691316,-0.0154299445133,0.0497720557888,0.999999935772,-6.38215447498e-05,-0.000348525612245,-5.39605814579e-05,1793245379678926336
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880,785.337958862,809,652,630.662041138,653,0.43592505649,-0.0154257473273,0.0497781449574,0.999999928878,-0.000122598055227,-0.00035160956258,-5.98701781773e-05,1793245379712259840
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880,785.916757738,809,652,630.083242262,653,0.43502662419,-0.0154220017238,0.0497917360176,0.999999932156,-0.000145614469241,-0.000332586260952,-6.22224307514e-05,1793245379728926720
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,744.071380019,714,680,659,633,880,785,809.928619981,652,630,652.071380019,0.433261870647,-0.0154130330903,0.0497710756124,0.999999928904,-9.03108101768e-05,-0.000362052002951,-5.43510794179e-05,1793245379762259968
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,744.644185154,714,680,659,633,880,785,809.355814846,652,630,652.644185154,0.432402914341,-0.0154115779686,0.0497976019037,0.999999947164,-2.00292795654e-05,-0.000322987860208,-3.08240293524e-05,1793245379778926592
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880,785,809,652,630,652.776081205,0.431526835424,-0.0154087735957,0.0498115767385,0.99999995469,1.47429754569e-05,-0.000300097804623,-1.85388588335e-05,1793245379795593216
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.602503192,714,680,658.602503192,633.397496808,880,785.397496808,809,652,630,652,0.429668369987,-0.0154038709633,0.0497819900734,0.999999942092,-1.05062558875e-05,-0.000338658508952,-3.18669004704e-05,1793245379828926208
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.023942886,714,680,658.023942886,633.976057114,880,785.976057114,809,652,630,652,0.428691215736,-0.0154063224099,0.0497515519484,0.999999924005,-2.43398564366e-06,-0.000387843570429,-3.95152064009e-05,1793245379845593088
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.298428942,745,714,680.298428942,658.298428942,633,879,785,809,652,630,652,0.425916087216,-0.015405173151,0.0497629212287,0.999999921519,-6.06779210788e-05,-0.000389167911097,-4.27509538944e-05,1793245379895593216
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633,879,785,808.715006083,652,629.715006083,652,0.425029129563,-0.0154063177015,0.0497709599627,0.99999993124,-7.1943044601e-05,-0.000361323187135,-4.22968142298e-05,1793245379912259840
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633,879,785,808.123008107,652,629.123008107,652,0.424197657092,-0.0154125402287,0.0498064879007,0.999999956284,-8.65667832614e-05,-0.000279924694088,-3.97476404905e-05,1793245379928926464
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.059844028,714,679,658.940155972,633.940155972,878.059844028,785,808,652,629,652,0.417924274549,-0.0154015283306,0.0497836357763,0.999999928243,-6.20970915418e-05,-0.000371019613171,-4.47576281044e-05,1793245380045592832
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.517038213,714,679.517038213,659.517038213,633.482961787,878.517038213,785,808,652,629,652,0.417090152922,-0.0154058118447,0.0497794053552,0.999999929074,-6.21595744236e-05,-0.000368564091283,-4.63439160243e-05,1793245380062259456
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.813428368,633,879,785.093285816,808,652,629,652,0.416275782849,-0.0154112703099,0.0497816531314,0.999999934285,-6.65458488874e-05,-0.000353220588726,-4.73011527698e-05,1793245380078926336
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.664614771,633,879,785.667692615,808,652,629,652,0.415523774102,-0.0154162958574,0.049810942976,0.999999951705,-8.17867078041e-05,-0.000296453168622,-4.49118565182e-05,1793245380095592960
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744.751323191,714,680,658,633.248676809,879,786,808,652,629,652,0.414762404693,-0.0154182085595,0.0498223549998,0.999999957137,-9.22904754342e-05,-0.000274333183187,-4.41638140939e-05,1793245380112259584
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.161310865,714,680,658,633.838689135,879,786,808,652,629,652,0.413988186837,-0.0154158485476,0.0498092278002,0.99999994939,-9.62920776448e-05,-0.00029977051311,-4.5668568428e-05,1793245380128926208
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.420597829,744,714,680,658.420597829,633.579402171,879,786,808,652,629,652,0.4132135617,-0.015411637442,0.0497873547745,0.999999937971,-9.49373162488e-05,-0.000335731730138,-4.82519371348e-05,1793245380145593088
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.999457354,744,714,680,658.999457354,633.000542646,879,786,808,652,629,652,0.412438783249,-0.0154067298103,0.0497621908861,0.999999923937,-9.15670734585e-05,-0.000375652855694,-5.12411647293e-05,1793245380162259712
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.426091783,744,714,680,658.426091783,633.573908217,879,785.426091783,808,652,629,652,0.411748733394,-0.0154086881644,0.0497883965025,0.999999935052,-9.58857249136e-05,-0.000343983561695,-4.87487684265e-05,1793245380178926336
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.15203689,714,679.84796311,658,634,878.84796311,785.15203689,808,652,629,652,0.411067409074,-0.0154096618387,0.0498092159651,0.99999994336,-9.77354208527e-05,-0.000318668702329,-4.66683577094e-05,1793245380195593216
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.740740658,714,679.259259342,658,634,878.259259342,785.740740658,808,652,629,652,0.410410916961,-0.0154077888995,0.0498144273613,0.999999946067,-9.24732815888e-05,-0.0003117974136,-4.5785987767e-05,1793245380212259840
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.323753893,658,634,878,786,808,652.323753893,629,652,0.409765938686,-0.0154058858972,0.0498046924711,0.999999941459,-9.15587780617e-05,-0.000326356216494,-4.68066018688e-05,1793245380228926208
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.902288874,658,634,878,786,808,652.902288874,629,652,0.409130021371,-0.0154039592366,0.0497831954635,0.999999930356,-9.40656865091e-05,-0.000357779626263,-4.93247866962e-05,1793245380245592832
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.520910258,714,680,658.479089742,634,878.479089742,785.520910258,808,653,629,652,0.408559931368,-0.0154066921157,0.0497945938999,0.999999937042,-0.0001010227216,-0.000336770309402,-4.79257822302e-05,1793245380262259712
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.944509775,634,878.944509775,785.055490225,808,653,629,652,0.408004884641,-0.015410444092,0.0498121912539,0.999999945885,-0.000109168010746,-0.000306935676354,-4.58466424969e-05,1793245380278926592
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.368559317,634,878.368559317,785.631440683,808,653,629,652,0.407465464851,-0.0154148732919,0.0498252305936,0.999999948501,-0.000119976246637,-0.000294263833056,-4.48545699264e-05,1793245380295593216
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744,713.787645389,680,658,634,878.212354611,785.787645389,807.787645389,652.787645389,629,652,0.406933720467,-0.0154161615472,0.0498264727917,0.999999946116,-0.000127891696942,-0.000298937545678,-4.52460056989e-05,1793245380312259840
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,713.197910832,680,658,634,878.802089168,785.197910832,807.197910832,652.197910832,629,652,0.40641561627,-0.0154118679618,0.0498067500343,0.999999934383,-0.000130666314559,-0.000334436419997,-4.80961039883e-05,1793245380328926464
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.385050184,713.385050184,680,658.385050184,634,879,785.385050184,807.385050184,652,629.385050184,652,0.405923385025,-0.0154113476074,0.0497874458164,0.999999922964,-0.000136949048268,-0.000364336480474,-5.07495338731e-05,1793245380345593088
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.964589925,713.964589925,680,658.964589925,634,879,785.964589925,807.964589925,652,629.964589925,652,0.405444222209,-0.0154127331185,0.0497683530017,0.999999911466,-0.000145003738099,-0.000391408572867,-5.3303626429e-05,1793245380362259712
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.540058932,744.459941068,714,679.459941068,658.459941068,634,878.459941068,785.459941068,807.459941068,652,630,652,0.405031122182,-0.0154111405762,0.0497727207895,0.99999991185,-0.000148822534272,-0.000388963592533,-5.34670822915e-05,1793245380378926336
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.882461211,744.117538789,714,679.117538789,658.117538789,634,878,785.117538789,807.117538789,652,630,652,0.40463659299,-0.0154111434458,0.0497813800954,0.999999915245,-0.000154235657832,-0.000378013623127,-5.31732508928e-05,1793245380395593216
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.295900082,744.704099918,714,679.704099918,658.704099918,634,878,785.704099918,807.704099918,652,630,652,0.404299012917,-0.0154182859243,0.0498010718904,0.999999926633,-0.000167110698512,-0.00034079062763,-5.16754756765e-05,1793245380412260352
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.71285129,634,878,786,807.71285129,652,630,652,0.403974636949,-0.0154244259011,0.0498228660149,0.999999935749,-0.000179090647518,-0.000306505027784,-4.98224649827e-05,1793245380428927488
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.133378178,634,878,786,807.133378178,652,630,652,0.403663703104,-0.0154295453064,0.0498468003609,0.999999942916,-0.000190159370615,-0.00027520977084,-4.76078160038e-05,1793245380445593600
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.555449887,714,680,658.444550113,634,878.444550113,786,807.444550113,652.444550113,629.555449887,652,0.403366931329,-0.015430572677,0.0498512119,0.999999942179,-0.000196149701259,-0.0002736138269,-4.79917220379e-05,1793245380462260224
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744,713.978170995,679.978170995,659,634,878.978170995,785.978170995,808,652.978170995,629,652,0.403075229942,-0.0154303124155,0.0498493928551,0.999999939577,-0.000197917566457,-0.000281525378687,-4.91830087507e-05,1793245380478926592
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744,713.405622568,679.405622568,659,634,878.405622568,785.405622568,808,652.405622568,629,652,0.402804621304,-0.01542843367,0.0498376475664,0.999999943455,-0.000131464912379,-0.000305272572032,-5.11421904389e-05,1793245380495593216
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.172688203,713.172688203,679,658.827311797,634,878,785,807.827311797,652,629.172688203,652,0.402545614391,-0.0154273237451,0.0498258163336,0.999999941225,-8.73940034828e-05,-0.000327247181029,-5.31133914978e-05,1793245380512260096
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.76500113,713.76500113,679,658.23499887,634,878,785,807.23499887,652,629.76500113,652,0.402314799199,-0.0154280820208,0.049813776262,0.999999934225,-9.77097603444e-05,-0.000344914487775,-5.51137993276e-05,1793245380528926720
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878,785.349212092,807.349212092,652,630,652,0.402112121119,-0.0154289766852,0.0498065413167,0.999999929793,-0.000103490338155,-0.000355793054338,-5.58089831095e-05,1793245380545593344
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878,785.928094597,807.928094597,652,630,652,0.401927948282,-0.0154299610501,0.0498024666139,0.999999927206,-0.000106288212586,-0.0003622067923,-5.56457450847e-05,1793245380562259968
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.505741448,634,878,786,807.494258552,652.505741448,629.494258552,652,0.401789144745,-0.0154268212654,0.049808169982,0.999999936703,-5.9602713964e-05,-0.000348016516947,-4.38883866965e-05,1793245380578926848
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.08275778,659,634,878,786,807,652.91724222,629.08275778,652,0.4016593495,-0.0154223974164,0.0498147158413,0.999999944159,-1.19017873117e-05,-0.000332400682281,-3.23998651288e-05,1793245380595593472
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.657070239,659,634,878,786,807,652.342929761,629.657070239,652,0.401544839897,-0.015413820961,0.0498180284454,0.999999946447,1.43973742401e-07,-0.000325675014262,-3.22754309801e-05,1793245380612260352
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.762254182,714,679.762254182,659,634,878,785.762254182,807.237745818,652,629.762254182,652,0.401442023887,-0.0154116897346,0.0498218061408,0.999999949085,2.8420672374e-06,-0.00031748583807,-3.19970329282e-05,1793245380628926976
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.172147928,714,679.172147928,659,634,878,785.172147928,807.827852072,652,629.172147928,652,0.401356538829,-0.015419110911,0.0498262731424,0.999999952306,-8.31391430524e-06,-0.000307127613088,-3.14904466944e-05,1793245380645593600
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.409365633,714,679,658.590634367,634,878,785.409365633,807.590634367,652.409365633,629,652,0.401285001618,-0.0154248335105,0.0498304989996,0.999999954505,-1.98165818378e-05,-0.000299336790542,-3.15475672355e-05,1793245380662259968
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.987340037,714,679,658.012659963,634,878,785.987340037,807.012659963,652.987340037,629,652,0.401219209224,-0.0154298565029,0.0498346255347,0.99999995619,-3.14620414855e-05,-0.000292603425258,-3.18368663046e-05,1793245380678926336
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.5587949,786,807,653,629.5587949,652,0.40116652656,-0.0154341323337,0.0498340211597,0.999999955661,-4.066677892e-05,-0.000293209672122,-3.24521633831e-05,1793245380695592960
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.135028232,633.864971768,878.864971768,786,807.135028232,652.864971768,629.864971768,652,0.401117892874,-0.0154374532233,0.049833560936,0.999999955284,-4.78806316957e-05,-0.000293344369432,-3.29974582546e-05,1793245380712259328
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.727961207,633.272038793,878.272038793,786,807.727961207,652.272038793,629.272038793,652,0.401081994398,-0.0154375924791,0.0498339488393,0.999999955834,-4.85283967072e-05,-0.0002913225595,-3.32806055141e-05,1793245380728926208
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.686514779,679,658.686514779,633,878,785.686514779,807.686514779,652,629,652,0.40105446549,-0.0154370565231,0.0498354299292,0.999999956858,-4.962693317e-05,-0.000287562854933,-3.36082861603e-05,1793245380745593088
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.107271664,679,658.107271664,633,878,785.107271664,807.107271664,652,629,652,0.401034031899,-0.0154359481546,0.049837837771,0.999999958262,-5.11076123496e-05,-0.000282329845532,-3.39737201294e-05,1793245380762260224
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,658,633.471195874,878,785.471195874,807.471195874,652,629,652,0.401017780723,-0.0154368519006,0.0498392864432,0.999999958433,-5.30870318316e-05,-0.000281385329002,-3.37357426929e-05,1793245380778926848
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,713.049995624,679,658.049995624,634,878,786,807.950004376,652.049995624,629.049995624,652,0.401003305823,-0.015438196228,0.049840518939,0.999999958415,-5.52487557697e-05,-0.000281072181693,-3.34214786012e-05,1793245380795593472
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,713.634229334,679,658.634229334,634,878,786,807.365770666,652.634229334,629.634229334,652,0.40099765387,-0.015439361672,0.0498417709679,0.99999995935,-5.81472456115e-05,-0.000277090233444,-3.37575376088e-05,1793245380812259840
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878.21645129,786,807,652.78354871,630,652,0.400993707726,-0.0154392965765,0.0498429131321,0.999999960269,-5.87635657442e-05,-0.000273589517931,-3.40168030006e-05,1793245380828926208
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878.79530495,786,807,652.20469505,630,652,0.400992617601,-0.0154371712002,0.0498438713508,0.999999961182,-5.55588703173e-05,-0.000270894526129,-3.41474935406e-05,1793245380845592832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.373577309,659,634,879,785.626422691,807,652,630,652,0.400990567972,-0.0154366478819,0.0498445957124,0.999999961414,-5.57479338567e-05,-0.000269977335282,-3.43106171119e-05,1793245380862259968
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.95153163,659,634,879,785.04846837,807,652,630,652,0.400987993417,-0.0154370010192,0.0498451921352,0.999999961276,-5.77936582258e-05,-0.00027003274548,-3.44914841712e-05,1793245380878927360
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.472262147,679.472262147,658.472262147,633.472262147,879,785.527737853,807.527737853,652,630,652,0.400987251139,-0.015437677311,0.0498461381335,0.999999961655,-5.68518941676e-05,-0.000268890228416,-3.39906334619e-05,1793245380895593728
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,658.105926752,633.105926752,878.894073248,785.894073248,807.894073248,652,630,652,0.400986963855,-0.0154384162565,0.0498470125619,0.999999962073,-5.61185837187e-05,-0.000267543836826,-3.35536084327e-05,1793245380912260352
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,658.693865661,633.693865661,878.306134339,785.306134339,807.306134339,652,630,652,0.400987983766,-0.0154393056957,0.0498474157043,0.999999962458,-5.7578234224e-05,-0.00026576871322,-3.36909802445e-05,1793245380928926976
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.722663387,713.277336613,679,659,634,878.554673226,785.277336613,807,652.277336613,630,652,0.400987727616,-0.0154392603037,0.049847587643,0.9999999627,-5.74402380148e-05,-0.000264890305633,-3.3675747617e-05,1793245380945593344
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.144046063,713.855953937,679,659,634,879.711907875,785.855953937,807,652.855953937,630,652,0.400986085237,-0.0154381993712,0.0498475084167,0.999999962786,-5.55666610499e-05,-0.000264986032606,-3.34947353302e-05,1793245380962259712
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.433159538,714,679,659,634,879.566840462,786,807,653,629.566840462,652,0.40098483011,-0.0154390164955,0.0498472575487,0.999999962629,-5.74360097843e-05,-0.000265156223612,-3.36966269532e-05,1793245380978926336
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a822438bb06d5fa2fc5f3ae8d6958cdcc0458164
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,406 @@
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+339,5.650000000,pose2_to_pose3_retreat,0.587295119304,-0.0101222646284,1.04005102498,0.557866754853,-0.00144657114538,1.03971750947
+340,5.666666667,pose2_to_pose3_retreat,0.586645090999,-0.0101222660333,1.04005092871,0.557216725831,-0.00144657487615,1.03971741585
+341,5.683333333,pose2_to_pose3_retreat,0.586005550911,-0.0101220751448,1.04005123913,0.556577183812,-0.00144639044742,1.03971772861
+342,5.700000000,pose2_to_pose3_retreat,0.585379651792,-0.0101221192436,1.04005093563,0.555951283726,-0.00144643747882,1.0397174341
+343,5.716666667,pose2_to_pose3_retreat,0.584773755317,-0.0101220367505,1.04005104697,0.555345385689,-0.00144636041956,1.0397175419
+344,5.733333333,pose2_to_pose3_retreat,0.584189853889,-0.0101220994654,1.04005104303,0.55476148555,-0.00144641867329,1.03971754033
+345,5.750000000,pose2_to_pose3_retreat,0.583629510089,-0.0101221985131,1.04005095537,0.554201143848,-0.00144651077098,1.03971744823
+346,5.766666667,pose2_to_pose3_retreat,0.583089525319,-0.0101222522093,1.04005084332,0.553661160103,-0.00144656125275,1.03971732944
+347,5.783333333,pose2_to_pose3_retreat,0.582570969934,-0.0101223231732,1.04005066543,0.553142605053,-0.00144663080013,1.03971715871
+348,5.800000000,pose2_to_pose3_retreat,0.582072310437,-0.0101223062262,1.04005081221,0.552643944853,-0.00144661658405,1.03971729648
+349,5.816666667,pose2_to_pose3_retreat,0.581592922559,-0.0101222318049,1.0400509409,0.55216455747,-0.00144653977076,1.03971744401
+350,5.833333333,pose2_to_pose3_retreat,0.581133527067,-0.0101221435567,1.04005073162,0.551705160658,-0.00144645631998,1.03971722604
+351,5.850000000,pose2_to_pose3_retreat,0.580687418248,-0.0101222033076,1.04005090904,0.551259052241,-0.00144651496655,1.0397173969
+352,5.866666667,pose2_to_pose3_retreat,0.580254138077,-0.0101222006195,1.04005080168,0.550825771234,-0.00144651482446,1.03971729729
+353,5.883333333,pose2_to_pose3_retreat,0.579842316446,-0.0101222138056,1.04005080838,0.550413949862,-0.00144652716823,1.03971730294
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+355,5.916666667,pose2_to_pose3_retreat,0.579096091434,-0.0101221314339,1.04005080585,0.549667724947,-0.00144644455841,1.03971729832
+356,5.933333333,pose2_to_pose3_retreat,0.578766703726,-0.0101220648431,1.04005088076,0.549338335153,-0.00144638491627,1.03971737617
+357,5.950000000,pose2_to_pose3_retreat,0.578465848974,-0.0101222102725,1.04005091385,0.549037482959,-0.0014465219116,1.03971740322
+358,5.966666667,pose2_to_pose3_retreat,0.578184721927,-0.0101221656915,1.0400509456,0.548756355186,-0.00144647926853,1.03971744856
+359,5.983333333,pose2_to_pose3_retreat,0.577921099771,-0.0101222195612,1.04005100531,0.548492733858,-0.00144653064816,1.03971749989
+360,6.000000000,pose2_to_pose3_retreat,0.577668922636,-0.0101222465803,1.04005104514,0.548240556826,-0.00144655767519,1.03971753046
+361,6.016666667,pose2_to_pose3_retreat,0.577427898452,-0.0101222171136,1.04005107726,0.547999531847,-0.00144653082368,1.03971756485
+362,6.033333333,pose2_to_pose3_retreat,0.577200498812,-0.0101222039048,1.04005108937,0.547772132051,-0.00144651790135,1.03971758318
+363,6.050000000,pose2_to_pose3_retreat,0.576989131108,-0.0101221874748,1.04005098977,0.547560763956,-0.00144650288365,1.03971748134
+364,6.066666667,pose2_to_pose3_retreat,0.57679612346,-0.0101221445779,1.04005094287,0.547367755333,-0.00144646369777,1.03971742399
+365,6.083333333,pose2_to_pose3_retreat,0.576625239712,-0.0101221222798,1.0400508911,0.547196871739,-0.00144644043927,1.03971738349
+366,6.100000000,pose2_to_pose3_retreat,0.576476366307,-0.0101220732849,1.04005089088,0.547047998069,-0.00144639228229,1.039717385
+367,6.116666667,pose2_to_pose3_retreat,0.576347187273,-0.0101221332305,1.0400510039,0.546918820628,-0.00144644685765,1.03971749708
+368,6.133333333,pose2_to_pose3_retreat,0.576234998221,-0.010122203113,1.04005113132,0.546806632463,-0.00144651401592,1.03971761719
+369,6.150000000,pose2_to_pose3_retreat,0.576139428336,-0.0101222570008,1.04005109324,0.54671106317,-0.00144656594996,1.03971757824
+370,6.166666667,pose2_to_pose3_retreat,0.57605526764,-0.0101222409774,1.0400510252,0.546626902529,-0.00144654953942,1.03971751569
+371,6.183333333,pose2_to_pose3_retreat,0.575981960091,-0.0101222344744,1.04005095339,0.546553594645,-0.00144654402955,1.03971744738
+372,6.200000000,pose2_to_pose3_retreat,0.575919068964,-0.0101223483458,1.04005081141,0.546490703184,-0.00144665930189,1.03971729835
+373,6.216666667,pose2_to_pose3_retreat,0.575865542584,-0.0101221659517,1.04005091825,0.546437175006,-0.00144648311629,1.03971740219
+374,6.233333333,pose2_to_pose3_retreat,0.575820334103,-0.0101222709984,1.04005111372,0.546391967852,-0.00144658357613,1.0397175999
+375,6.250000000,pose2_to_pose3_retreat,0.575782590749,-0.0101223892017,1.04005100183,0.546354226566,-0.00144669471097,1.03971748941
+376,6.266666667,pose2_to_pose3_retreat,0.575752428175,-0.0101223435265,1.04005097085,0.546324063682,-0.0014466499178,1.03971746275
+377,6.283333333,pose2_to_pose3_retreat,0.575728408951,-0.0101222391934,1.04005099919,0.546300042525,-0.00144655195817,1.03971749588
+378,6.300000000,pose2_to_pose3_retreat,0.575710120812,-0.0101221845607,1.04005099613,0.546281752936,-0.00144650225758,1.0397174925
+379,6.316666667,pose2_to_pose3_retreat,0.575696760496,-0.010122146972,1.04005103067,0.546268392648,-0.00144646488378,1.03971751904
+380,6.333333333,pose2_to_pose3_retreat,0.575687480271,-0.010122215429,1.04005074983,0.546259112412,-0.00144653344425,1.03971723638
+381,6.350000000,pose2_to_pose3_retreat,0.575681233498,-0.0101221587351,1.04005079719,0.546252865427,-0.00144647731279,1.03971728792
+382,6.366666667,pose2_to_pose3_retreat,0.5756771993,-0.010122110661,1.04005089584,0.54624883138,-0.00144642860773,1.03971738968
+383,6.383333333,pose2_to_pose3_retreat,0.575675095211,-0.0101221732756,1.04005090444,0.546246728733,-0.00144648647647,1.03971739453
+384,6.400000000,pose2_to_pose3_retreat,0.575673665763,-0.0101222158138,1.04005091028,0.546245300265,-0.00144652579053,1.03971739783
+385,6.416666667,pose2_to_pose3_retreat,0.575672750581,-0.0101222268503,1.04005095681,0.54624438515,-0.00144653656521,1.03971744523
+386,6.433333333,pose2_to_pose3_retreat,0.575672127619,-0.0101222259816,1.04005101063,0.546243761945,-0.00144653645091,1.03971750093
+387,6.450000000,pose2_to_pose3_retreat,0.575671745768,-0.0101222254491,1.04005104361,0.546243379944,-0.00144653638085,1.03971753507
+388,6.466666667,pose2_to_pose3_retreat,0.575671489237,-0.0101222250914,1.04005106577,0.546243123312,-0.00144653633378,1.039717558
+389,6.483333333,pose2_to_pose3_retreat,0.575671163759,-0.0101222246375,1.04005109389,0.546242797707,-0.00144653627407,1.0397175871
+390,6.500000000,pose2_to_pose3_retreat,0.575670741852,-0.0101222170692,1.0400511205,0.546242375558,-0.00144652947515,1.03971761509
+391,6.516666667,pose2_to_pose3_retreat,0.575670499488,-0.0101221522418,1.04005105055,0.546242132385,-0.00144646732897,1.03971754679
+392,6.533333333,pose2_to_pose3_retreat,0.575670412846,-0.0101221290668,1.04005102554,0.546242045453,-0.0014464451125,1.03971752238
+393,6.550000000,pose2_to_pose3_retreat,0.575670318093,-0.0101221037224,1.04005099819,0.546241950384,-0.00144642081632,1.03971749568
+394,6.566666667,pose2_to_pose3_retreat,0.575670099134,-0.0101220451553,1.040050935,0.546241730693,-0.00144636467155,1.03971743398
+395,6.583333333,pose2_to_pose3_retreat,0.575669796279,-0.0101219890242,1.0400508482,0.546241427141,-0.00144631085665,1.0397173485
+396,6.600000000,pose2_to_pose3_retreat,0.575669749722,-0.0101220302246,1.04005083607,0.546241381104,-0.00144635034127,1.03971733508
+397,6.616666667,pose2_to_pose3_retreat,0.575669656473,-0.0101221127451,1.04005081177,0.546241288898,-0.00144642942515,1.03971730821
+398,6.633333333,pose2_to_pose3_retreat,0.5756695778,-0.0101221823664,1.04005079127,0.546241211104,-0.00144649614713,1.03971728554
+399,6.650000000,pose2_to_pose3_retreat,0.575669530445,-0.0101222242729,1.04005077893,0.546241164279,-0.00144653630839,1.0397172719
+400,6.666666667,pose2_to_pose3_retreat,0.575669529586,-0.010122225033,1.04005077871,0.546241163429,-0.00144653703688,1.03971727165
+401,6.683333333,pose2_to_pose3_retreat,0.575669519308,-0.0101222341289,1.04005077603,0.546241153266,-0.00144654575396,1.03971726869
+402,6.700000000,pose2_to_pose3_retreat,0.575669524115,-0.0101222337543,1.04005078324,0.546241158042,-0.00144654556663,1.03971727383
+403,6.716666667,pose2_to_pose3_retreat,0.575669549944,-0.0101222235385,1.0400508094,0.546241183653,-0.00144653633551,1.03971729351
+404,6.733333333,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.00144652634691,1.03971731481
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6328a121617e76d68a3217d0d4f0dd1823c6e076
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34b91c78b487499ae320faf8fa80bbce52e0cdd250d0e5192fe4f9eb717cd171
+size 25797973
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa4acca7faab6e4c637db07247487ed65808096e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/franka_data.csv
@@ -0,0 +1,408 @@
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+22,0.366666667,BASELINE,765,744.782271533,713.217728467,678.435456934,659,634,878,786,807,652.217728467,629,652,0.400985683371,-0.0154417663544,0.0498529282814,0.99999996458,-6.33526914525e-05,-0.000256259973648,-3.40109099229e-05,1793245381707009792
+23,0.383333333,BASELINE,765,745,713.357700939,678.357700939,659,634,878,785.642299061,807,652.357700939,629,652,0.40098534779,-0.0154422066911,0.0498527793359,0.999999964478,-6.35996436551e-05,-0.000256611606155,-3.38978702009e-05,1793245381723676672
+24,0.400000000,BASELINE,765,745,713.931912704,678.931912704,659,634,878,785.068087296,807,652.931912704,629,652,0.4009860273,-0.0154431073601,0.0498529277453,0.999999964656,-6.28716238354e-05,-0.00025613175993,-3.36272750596e-05,1793245381740343296
+25,0.416666667,BASELINE,765,745,714,679,659,634,878,785.521250971,807,652.478749029,629.521250971,652,0.400986486204,-0.0154432670098,0.0498528440208,0.999999964695,-6.28434638733e-05,-0.000255980731834,-3.36919091488e-05,1793245381757010176
+26,0.433333333,BASELINE,765,745,714,679,658.889910082,634,878,786,807,652,630,652,0.400986766651,-0.0154430737824,0.0498528899848,0.999999964759,-6.25062293692e-05,-0.00025580287367,-3.37685340157e-05,1793245381773676800
+27,0.450000000,BASELINE,765,745,714,679,658.311843645,634,878,786,807,652,630,652,0.400986414656,-0.0154418042803,0.0498536199821,0.99999996501,-6.04549453947e-05,-0.000255322928666,-3.37044277776e-05,1793245381790343936
+28,0.466666667,BASELINE,765,745,714,679,658.265045531,634,878,786,807.265045531,652.265045531,629.734954469,652,0.400986828243,-0.0154414942188,0.0498537471523,0.999999965162,-5.95297967451e-05,-0.00025496107575,-3.35591330788e-05,1793245381807010560
+29,0.483333333,BASELINE,765,745,714,679,658.840555669,634,878,786,807.840555669,652.840555669,629.159444331,652,0.400988138605,-0.0154423080111,0.0498531681928,0.999999965204,-5.99237618135e-05,-0.000254737551604,-3.33187372005e-05,1793245381823676672
+30,0.500000000,BASELINE,765,745,714,679,659,634,878,786,808,653,629.415413083,652,0.400988854885,-0.0154425814256,0.0498537886992,0.99999996538,-6.0626811996e-05,-0.000253876584726,-3.3336104783e-05,1793245381840343296
+31,0.516666667,BASELINE,765,745,714,679,659,634,878,786,808,653,629.990020348,652,0.400989343502,-0.015442647757,0.0498548688637,0.999999965606,-6.14483094537e-05,-0.000252771337697,-3.34522522235e-05,1793245381857009664
+32,0.533333333,BASELINE,765,745,714,679,658.417619872,634,878.582380128,786,807.417619872,652.417619872,629.417619872,652,0.400988248326,-0.015441933798,0.049854409078,0.999999965589,-6.02691273334e-05,-0.000253106046029,-3.35629625184e-05,1793245381873676544
+33,0.550000000,BASELINE,765,744.829484851,714,678.829484851,658,634,878.829484851,785.829484851,807,652,629,652,0.400987579138,-0.0154415855987,0.0498540225325,0.999999965573,-5.97145345621e-05,-0.000253300577725,-3.35836489432e-05,1793245381890343680
+34,0.566666667,BASELINE,765,744.252177338,714,678.252177338,658,634,878.252177338,785.252177338,807,652,629,652,0.400987992996,-0.015442142882,0.0498538756475,0.999999965568,-6.07343649671e-05,-0.000253099977329,-3.33897976382e-05,1793245381907010304
+35,0.583333333,BASELINE,765,744.322857762,714,678.645715524,658,634,878.322857762,785.322857762,807.322857762,652,629.322857762,652,0.400987887809,-0.0154429601298,0.0498536991466,0.999999965329,-6.24101051196e-05,-0.000253643741063,-3.33403694684e-05,1793245381923676928
+36,0.600000000,BASELINE,765,744.896130396,714,679.792260792,658,634,878.896130396,785.896130396,807.896130396,652,629.896130396,652,0.400987380039,-0.0154439790111,0.049853499675,0.999999964903,-6.45945819652e-05,-0.000254764848328,-3.34029587206e-05,1793245381940343552
+37,0.616666667,BASELINE,765,744.528733209,714,679.528733209,658.471266791,634,878.528733209,785.528733209,808,652,629.528733209,652,0.400988338791,-0.0154437737074,0.0498539060566,0.999999965288,-6.38485978056e-05,-0.000253433011753,-3.3455239706e-05,1793245381957010176
+38,0.633333333,BASELINE,765,744.04844207,713.95155793,679.04844207,658.95155793,634,878.04844207,785.04844207,808,652.04844207,629,652,0.400989441198,-0.0154433021217,0.0498543967439,0.999999965785,-6.24374789638e-05,-0.00025181626894,-3.34776287501e-05,1793245381973676800
+39,0.650000000,BASELINE,765,744.643987075,713.356012925,679.643987075,658.356012925,634,878.643987075,785.643987075,808,652.643987075,629,652,0.400988501007,-0.0154428825534,0.0498543254696,0.999999965566,-6.08379573078e-05,-0.000253112031114,-3.31881810681e-05,1793245381990343168
+40,0.666666667,BASELINE,765,745,713.231980126,679.768019874,658.231980126,634,879.231980126,785.768019874,807.768019874,653,629.231980126,651.768019874,0.400987426439,-0.0154427738404,0.0498539359952,0.999999965198,-6.06864770102e-05,-0.000254602987418,-3.31548519046e-05,1793245382007009792
+41,0.683333333,BASELINE,765,745,713.808748787,679.191251213,658.808748787,634,879.808748787,785.191251213,807.191251213,653,629.808748787,651.191251213,0.400986152147,-0.0154431271469,0.0498530735847,0.999999964608,-6.26871986796e-05,-0.000256384057714,-3.35021878214e-05,1793245382023676416
+42,0.700000000,BASELINE,765,744.618059182,714,679.381940818,659,634,879.618059182,785.381940818,807.381940818,652.618059182,630,651.381940818,0.400986644076,-0.0154423966683,0.0498533779657,0.99999996482,-6.21990498194e-05,-0.000255668635739,-3.35522139493e-05,1793245382040342784
+43,0.716666667,BASELINE,765,744.046641499,714,679.953358501,659,634,879.046641499,785.953358501,807.953358501,652.046641499,630,651.953358501,0.400988012209,-0.015441128535,0.0498542611799,0.999999965426,-6.04761981244e-05,-0.00025371472987,-3.34547477738e-05,1793245382057009664
+44,0.733333333,BASELINE,765,744.541591254,714,679.458408746,659,634,879,785.458408746,808,652,629.458408746,652,0.400988171816,-0.0154426135158,0.0498539182221,0.999999965341,-6.1280090896e-05,-0.000253843771818,-3.35688591884e-05,1793245382073676288
+45,0.750000000,BASELINE,765,745,714,679,659,634,879,785.129760132,807.870239868,652.129760132,629,652,0.400988159746,-0.0154437734208,0.0498536524112,0.999999965209,-6.22877116348e-05,-0.00025410726332,-3.36511044138e-05,1793245382090342912
+46,0.766666667,BASELINE,765,745,714,679,659,634,879,785.712488864,807.287511136,652.712488864,629,652,0.400987923338,-0.0154429443663,0.0498540363376,0.999999965131,-6.32225620818e-05,-0.00025419383874,-3.35564666668e-05,1793245382107009536
+47,0.783333333,BASELINE,765,745,714,679,659,634,878.709241441,786,807.290758559,653,629,652,0.400988005009,-0.0154425458539,0.0498543122273,0.99999996515,-6.36307917551e-05,-0.000254018158325,-3.35428544963e-05,1793245382123676416
+48,0.800000000,BASELINE,765,745,714,679,659,634,878.135314314,786,807.864685686,653,629,652,0.400988396455,-0.0154425666447,0.0498544829007,0.999999965264,-6.35261477279e-05,-0.00025358706804,-3.36081527916e-05,1793245382140343040
+49,0.816666667,BASELINE,765,745,714,679.439400504,659,634,878.439400504,786,808,653,629.439400504,652,0.400988639605,-0.0154429405973,0.0498541360777,0.999999965218,-6.36009275e-05,-0.000253755001062,-3.35870711708e-05,1793245382157009664
+50,0.833333333,BASELINE,765,745,714,679.985227828,659,634.014772172,879,786,807.985227828,652.985227828,629.985227828,652,0.400988813641,-0.0154434060357,0.0498536415944,0.999999965122,-6.37463177698e-05,-0.000254103252416,-3.35380643055e-05,1793245382173676288
+51,0.850000000,BASELINE,765,745,714,679.393696888,659,634.606303112,879,786,807.393696888,652.393696888,629.393696888,652,0.400988075464,-0.0154431895206,0.0498536152436,0.999999965033,-6.4487409477e-05,-0.000254276454779,-3.34392144557e-05,1793245382190342912
+52,0.866666667,BASELINE,765,745,714,679,659,634.806582156,878.806582156,786,807,652,629.193417844,652,0.400987449978,-0.0154428343874,0.0498535943617,0.999999964993,-6.45570964851e-05,-0.000254417466077,-3.34323641556e-05,1793245382207009792
+53,0.883333333,BASELINE,765,745,714,679,659,634.228255874,878.228255874,786,807,652,629.771744126,652,0.400987048748,-0.0154422033993,0.0498535843631,0.999999965049,-6.32906640442e-05,-0.000254494415991,-3.36085962612e-05,1793245382223676416
+54,0.900000000,BASELINE,765,745,714,679,659,634,878.347433659,786,807,652,629.652566341,652,0.400987911789,-0.0154421643763,0.0498541344397,0.999999965374,-6.30090984772e-05,-0.000253296577652,-3.35184651241e-05,1793245382240343040
+55,0.916666667,BASELINE,765,745,714,679,659,634,878.921403933,786,807,652,629.078596067,652,0.400989599171,-0.0154425113314,0.0498550497014,0.999999965872,-6.33696941381e-05,-0.000251267541155,-3.32546575793e-05,1793245382257009664
+56,0.933333333,BASELINE,765,745,714,679.510437447,659,634.510437447,879,786,807,652,629.510437447,652,0.400988966127,-0.0154430270551,0.0498549065876,0.999999965537,-6.45424247373e-05,-0.000252287468009,-3.33474458703e-05,1793245382273676288
+57,0.950000000,BASELINE,765.099559518,745,714,679.900440482,658.900440482,634.900440482,879,785.900440482,807,652.099559518,630,652,0.400988206652,-0.015443390302,0.0498545764592,0.999999965193,-6.51910801898e-05,-0.00025346432557,-3.34777020534e-05,1793245382290342912
+58,0.966666667,BASELINE,765.677620541,745,714,679.322379459,658.322379459,634.322379459,879,785.322379459,807,652.677620541,630,652,0.400988608966,-0.0154428920225,0.0498541545673,0.99999996545,-6.27016398924e-05,-0.000253070435726,-3.3516113905e-05,1793245382307009536
+59,0.983333333,BASELINE,765.745565464,745,714,679,658.254434536,634,878.745565464,785.254434536,807,653,629.745565464,652,0.400988900698,-0.0154421219308,0.0498543425778,0.999999965705,-6.11262052865e-05,-0.000252432608037,-3.36496243867e-05,1793245382323676160
+60,1.000000000,BASELINE,765.170323726,745,714,679,658.829676274,634,878.170323726,785.829676274,807,653,629.170323726,652,0.400989053004,-0.015441009121,0.0498552995917,0.99999996596,-6.07032067014e-05,-0.000251487207984,-3.39030412594e-05,1793245382340342784
+61,1.016666667,BASELINE,765,745,714,679,659,634,878,786,807.404147696,653,629,652,0.400988897867,-0.0154415552024,0.0498556931421,0.99999996587,-6.14047323161e-05,-0.000251716318716,-3.35763108867e-05,1793245382357009664
+62,1.033333333,BASELINE,765,745,714,679,659,634,878,786,807.978295059,653,629,652,0.400988613409,-0.0154427990757,0.0498558496787,0.999999965634,-6.25792749776e-05,-0.000252439472755,-3.30055488254e-05,1793245382373676288
+63,1.050000000,BASELINE,765,745,714,679.569931853,659,634,878,786,808,653,629.569931853,652,0.400988278648,-0.0154438913878,0.0498554616143,0.999999965588,-6.42420805306e-05,-0.000252199878009,-3.30557780575e-05,1793245382390342912
+64,1.066666667,BASELINE,765,745,714,679.841483971,659,634,878,786,807.841483971,652.841483971,630,652,0.400988465765,-0.0154445042958,0.0498553599176,0.999999965689,-6.51558830616e-05,-0.000251550140434,-3.31396923552e-05,1793245382407009536
+65,1.083333333,BASELINE,765,745,714,679.262812278,659,634,878,786,807.262812278,652.262812278,630,652,0.400990041386,-0.0154438622995,0.0498560739685,0.999999966169,-6.40335641556e-05,-0.000249913554795,-3.32482221108e-05,1793245382423676160
+66,1.100000000,BASELINE,765,745,714,679,659,634,878,786,807,652.313644847,630,652,0.400990185031,-0.0154431953445,0.0498559110086,0.999999966243,-6.28294742544e-05,-0.000249912242793,-3.33143511915e-05,1793245382440342784
+67,1.116666667,BASELINE,765,745,714,679,659,634,878,786,807,652.888259303,630,652,0.400989137192,-0.0154425076226,0.0498550183278,0.999999965981,-6.1557346484e-05,-0.000251271567672,-3.33452005943e-05,1793245382457009408
+68,1.133333333,BASELINE,765,745,714,679,659,634,878,786,807,653,630,652,0.400989363092,-0.0154422125389,0.049855604094,0.999999966101,-6.09292130032e-05,-0.000250951825698,-3.33065699125e-05,1793245382473676288
+69,1.150000000,BASELINE,765,745,714,679,659,634,878.057940102,786,807,653,630,652,0.40098982208,-0.0154421524013,0.049856417421,0.999999966271,-6.07838136673e-05,-0.000250315646114,-3.32544978897e-05,1793245382490342912
+70,1.166666667,BASELINE,765,745,714,679,659,634,878.640218054,786,807,653,630,652,0.400989607765,-0.0154433606701,0.0498560602128,0.999999966054,-6.36000928493e-05,-0.000250483980405,-3.32325757076e-05,1793245382507009536
+71,1.183333333,BASELINE,765,745,714,679,658.779491595,634,878.779491595,786,807,653,630,652,0.400988950558,-0.0154440586622,0.0498555074799,0.99999996575,-6.49164945114e-05,-0.000251356648715,-3.32372693997e-05,1793245382523676160
+72,1.200000000,BASELINE,765,745,714,679,658.202415155,634,878.202415155,786,807,653,630,652,0.400987577183,-0.0154439315233,0.0498546385785,0.999999965313,-6.38075542405e-05,-0.000253368244143,-3.32850016748e-05,1793245382540342784
+73,1.216666667,BASELINE,765.372448674,745,714,679,658.372448674,634,878.372448674,786,807,653,630,652,0.400987996949,-0.0154426039619,0.049854890501,0.999999965509,-6.24788987256e-05,-0.000252895328112,-3.35015452846e-05,1793245382557009408
+74,1.233333333,BASELINE,765.94611708,745,714,679,658.94611708,634,878.94611708,786,807,653,630,652,0.400989385479,-0.0154406278582,0.0498557479617,0.999999966045,-6.1031539559e-05,-0.000251080125721,-3.380929118e-05,1793245382573676032
+75,1.250000000,BASELINE,765.467388613,745,714,679,659,634,879,786,807,652.467388613,630,652,0.400987505916,-0.0154417334925,0.0498546853277,0.999999965591,-6.21321947994e-05,-0.000252610611051,-3.38422834513e-05,1793245382590343168
+76,1.266666667,BASELINE,765,745,714,679,658.880862963,634,878.880862963,786,807,652,630,652,0.400986231388,-0.0154428565739,0.0498538695373,0.99999996525,-6.31138410515e-05,-0.000253722414625,-3.3798740134e-05,1793245382607010304
+77,1.283333333,BASELINE,765,745,714,679,658.299375573,634,878.299375573,786,807,652,630,652,0.40098861966,-0.0154428075772,0.049854784161,0.999999965759,-6.26085644727e-05,-0.000251863411911,-3.35687090824e-05,1793245382623676928
+78,1.300000000,BASELINE,765,745,714,679.278871106,658,634,878.278871106,786,807.278871106,652.278871106,630,652,0.400989105952,-0.0154423456634,0.0498551412352,0.9999999659,-6.23414765874e-05,-0.000251369923524,-3.35600865988e-05,1793245382640343296
+79,1.316666667,BASELINE,765,745,714,679.853678723,658,634,878.853678723,786,807.853678723,652.853678723,630,652,0.400987573871,-0.0154414455645,0.049854906641,0.999999965653,-6.23271532896e-05,-0.000252325511684,-3.37864217066e-05,1793245382657009920
+80,1.333333333,BASELINE,765,745,714,679.563793029,658.436206971,634,878.563793029,786,807.563793029,653,630,652,0.400987650954,-0.0154428874,0.0498550596409,0.99999996563,-6.44136072902e-05,-0.000251908649517,-3.36548984832e-05,1793245382673676288
+81,1.350000000,BASELINE,765,745,714,679,658.978710475,634,878,785.978710475,807,653,629.978710475,652,0.400988241059,-0.0154450165584,0.0498553170502,0.999999965675,-6.69777981727e-05,-0.000251095173834,-3.34005234241e-05,1793245382690342912
+82,1.366666667,BASELINE,765,745,714,679,658.395796747,634,878,785.395796747,807,653,629.395796747,652,0.400987868788,-0.0154441802869,0.0498548371854,0.999999965655,-6.32200694445e-05,-0.000252182571744,-3.31290306765e-05,1793245382707009536
+83,1.383333333,BASELINE,765,745,714,679,658.184805227,634,878.184805227,785.184805227,807,653,629.184805227,652,0.400987585019,-0.0154433997433,0.0498545945114,0.999999965643,-6.11029650591e-05,-0.000252771444123,-3.29800844369e-05,1793245382723676416
+84,1.400000000,BASELINE,765,745,714,679,658.760517398,634,878.760517398,785.760517398,807,653,629.760517398,652,0.400987488451,-0.0154427370773,0.0498548535522,0.999999965673,-6.24561700937e-05,-0.000252305816818,-3.30903531155e-05,1793245382740343040
+85,1.416666667,BASELINE,765,744.664288269,714,679,659,634,879,786,807,652.664288269,630,652,0.400988127678,-0.0154431891829,0.0498552599301,0.999999965827,-6.3542555941e-05,-0.000251404759111,-3.32141974114e-05,1793245382757009920
+86,1.433333333,BASELINE,765,744.089462804,714,679,659,634,879,786,807,652.089462804,630,652,0.400989290983,-0.0154444352948,0.0498557712502,0.999999966069,-6.44388973144e-05,-0.000250193562168,-3.33477110579e-05,1793245382773676544
+87,1.450000000,BASELINE,765,744,714,679.496432121,659,634,879.496432121,786,807.496432121,652.496432121,629.503567879,652,0.400988599754,-0.015443685878,0.0498549954162,0.99999996584,-6.35512511434e-05,-0.000251300745606,-3.36060675789e-05,1793245382790342912
+88,1.466666667,BASELINE,765.083625438,744.083625438,714,679.916374562,659,634,879.916374562,786,807.916374562,653,629.083625438,652,0.400987938602,-0.0154428253535,0.0498543432824,0.999999965648,-6.25452710208e-05,-0.000252296748959,-3.37385408205e-05,1793245382807009536
+89,1.483333333,BASELINE,765.666390261,744.666390261,714,679.333609739,659,634,879.333609739,786,807.333609739,653,629.666390261,652,0.400989497266,-0.0154434970742,0.0498558455712,0.999999966215,-6.2795673612e-05,-0.000250078534898,-3.29822998502e-05,1793245382823676416
+90,1.500000000,BASELINE,765.754603554,744.754603554,714,679,658.754603554,634,878.754603554,786,807,653,629.754603554,652,0.400989830235,-0.0154432562506,0.0498562107566,0.999999966395,-6.19158634062e-05,-0.000249594639231,-3.2851383559e-05,1793245382840343296
+91,1.516666667,BASELINE,765.180630097,744.180630097,714,679,658.180630097,634,878.180630097,786,807,653,629.180630097,652,0.40098852204,-0.015441793563,0.0498550534014,0.999999966056,-5.95227389156e-05,-0.000251432933664,-3.35577545715e-05,1793245382857009920
+92,1.533333333,BASELINE,765,744.394330163,714,679.394330163,658,634,878,786,807.394330163,652.605669837,629.394330163,652,0.400987182766,-0.0154415594622,0.0498542904365,0.999999965728,-5.93004510942e-05,-0.00025276553141,-3.37142034036e-05,1793245382873677056
+93,1.550000000,BASELINE,765,744.969743633,714,679.969743633,658,634,878,786,807.969743633,652.030256367,629.969743633,652,0.40098582922,-0.0154418895499,0.0498537085824,0.999999965406,-6.00750492167e-05,-0.000253865904555,-3.36181184174e-05,1793245382890344704
+94,1.566666667,BASELINE,764.438808034,745,714,679.438808034,658.561191966,633.438808034,878.561191966,785.438808034,807.438808034,652,629.438808034,652,0.400988101974,-0.0154412823443,0.0498551061526,0.999999965963,-5.96781095364e-05,-0.00025172466021,-3.38748894193e-05,1793245382907010560
+95,1.583333333,BASELINE,764.149268614,745,714,679,659,633.149268614,878.850731386,785.149268614,807,652.149268614,629,652,0.400989668756,-0.0154412885432,0.0498560850591,0.999999966329,-6.00221720171e-05,-0.000250174155005,-3.3940551118e-05,1793245382923676672
+96,1.600000000,BASELINE,764.725165153,745,714,679,659,633.725165153,878.274834847,785.725165153,807,652.725165153,629,652,0.400988642554,-0.0154431966069,0.0498555533847,0.999999966021,-6.26699460604e-05,-0.000250826260478,-3.34040268254e-05,1793245382940343296
+97,1.616666667,BASELINE,765,745,714,679,658.69938706,634,878.30061294,786,807,652.69938706,629.30061294,652,0.400987750244,-0.015443397376,0.0498551218837,0.999999965794,-6.30723633318e-05,-0.000251659558815,-3.31964947428e-05,1793245382957010176
+98,1.633333333,BASELINE,765,745,714,679,658.124348968,634,878.875651032,786,807,652.124348968,629.875651032,652,0.400986980163,-0.0154420395807,0.0498547818296,0.999999965641,-6.14250271176e-05,-0.000252658265428,-3.32892948647e-05,1793245382973676800
+99,1.650000000,BASELINE,765,744.53673606,714,679,658,634,878.53673606,785.53673606,807,652.46326394,629.53673606,652,0.400987774084,-0.0154419580931,0.0498548526684,0.999999965708,-6.13580732027e-05,-0.000252411474219,-3.32698771967e-05,1793245382990343424
+100,1.666666667,BASELINE,765,744.053214161,714,679,658,634,878.053214161,785.053214161,807.053214161,652.946785839,629.053214161,652,0.400988845159,-0.0154423688499,0.0498550408098,0.999999965815,-6.18599323441e-05,-0.00025187189957,-3.32248231366e-05,1793245383007009792
+101,1.683333333,BASELINE,765,744.631982732,714,679,658,634,878.631982732,785.631982732,807.631982732,652.368017268,629.631982732,652,0.40098839167,-0.0154441632684,0.0498552678024,0.99999996571,-6.3673077328e-05,-0.000251834629246,-3.3232364369e-05,1793245383023676416
+102,1.700000000,BASELINE,765,745,714,679,658.209258828,634,879,786,807.790741172,652.209258828,630,652,0.40098852301,-0.0154447885871,0.0498554432669,0.999999965758,-6.41059065597e-05,-0.000251524026524,-3.33069792199e-05,1793245383040343040
+103,1.716666667,BASELINE,765,745,714,679,658.78392868,634,879,786,807.21607132,652.78392868,630,652,0.400989675588,-0.0154433724052,0.0498555287522,0.999999966075,-6.21284067335e-05,-0.000250736126515,-3.34987190677e-05,1793245383057009664
+104,1.733333333,BASELINE,765,745,714,679,659,634,879,786,807,653,630,652,0.400989171262,-0.0154440036569,0.049855374656,0.999999965853,-6.36579588604e-05,-0.00025123734243,-3.3497409839e-05,1793245383073676544
+105,1.750000000,BASELINE,765,745,714,679,659,634,879,786,807,653,630,652,0.400987668579,-0.0154458685771,0.0498550762015,0.999999965296,-6.73006637288e-05,-0.000252515307268,-3.33797800757e-05,1793245383090343680
+106,1.766666667,BASELINE,765,745,713.478255608,679,659,634,877.956511217,786,807,652.478255608,630,652,0.400986919377,-0.0154438692166,0.049854322611,0.99999996531,-6.41428045624e-05,-0.000253245860737,-3.36478377755e-05,1793245383107010560
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,808,652,630,652,0.400986574678,-0.0154426242608,0.049855262336,0.999999965851,-5.97390468037e-05,-0.000252247056589,-3.31880647354e-05,1793245383149312000
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.57453352,786,807.42546648,652.57453352,630,652,0.400988320012,-0.0154435320079,0.0498557950722,0.999999966167,-6.18380450348e-05,-0.000250488995949,-3.3140322983e-05,1793245383165978368
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.84746762,634,878.84746762,786,807,653,630,652,0.400989800032,-0.0154438171293,0.0498561425408,0.999999966363,-6.31473674819e-05,-0.000249355939218,-3.32828563186e-05,1793245383182644736
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.259577862,634,878.259577862,786,807,653,630,652,0.400990522797,-0.0154423251553,0.0498559612194,0.999999966237,-6.22028006007e-05,-0.000250006766019,-3.39684721236e-05,1793245383199310848
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.323173021,634,878,786,807,653,630,652,0.400990809374,-0.0154421493813,0.0498560452135,0.999999966209,-6.19630449498e-05,-0.000250176869124,-3.39605929425e-05,1793245383215977216
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.901860848,634,878,786,807,653,630,652,0.400990751084,-0.015443014253,0.0498563389778,0.999999966261,-6.22805441156e-05,-0.000249966890892,-3.34044060806e-05,1793245383232644096
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.479440434,745,714,679,659,634,878,785.520559566,807,653,629.520559566,652,0.400990135131,-0.0154433259715,0.0498566191486,0.999999966386,-6.31170290926e-05,-0.000249258960442,-3.33695557044e-05,1793245383249310976
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.943195946,745,714,679.056804054,659,634,878,785,807,652.943195946,629.056804054,652,0.400989476007,-0.0154435160099,0.0498567950593,0.999999966478,-6.4003008799e-05,-0.000248657064641,-3.34151309387e-05,1793245383265977600
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.36573731,745,714,679.63426269,659,634,878,785,807,652.36573731,629.63426269,652,0.40098946505,-0.0154436261843,0.0498560407865,0.999999966137,-6.43711742695e-05,-0.00024995916211,-3.32219979996e-05,1793245383282643968
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,785.215639589,807,652.215639589,630,652,0.40099608977,-0.015443959426,0.0498584390652,0.999999967158,-6.43322692398e-05,-0.000245892320817,-3.28867590825e-05,1793245383299310336
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,785.803785019,807,652.803785019,630,652,0.401014177267,-0.0154446780046,0.0498662832079,0.999999970416,-6.35901716758e-05,-0.000232550925176,-3.23060397149e-05,1793245383315976704
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.614496543,659,634,878,786,807,652.614496543,630,652,0.401050546543,-0.0154463337607,0.0498796383589,0.999999976289,-6.34144953488e-05,-0.000206000280384,-3.10539336669e-05,1793245383332643584
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.035995644,659,634,878,786,807,652.035995644,630,652,0.401096068362,-0.0154484587029,0.0498957525273,0.999999982612,-6.35223905449e-05,-0.000172836590316,-2.94657062706e-05,1793245383349310464
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.461676353,634,878,786,807,652.538323647,630,652,0.401163346503,-0.0154520865825,0.0499129274701,0.999999988031,-6.28471401275e-05,-0.000138725570058,-2.72517558943e-05,1793245383365977088
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.112194013,658.112194013,634,878.112194013,786,807.112194013,653,630,652,0.401233532109,-0.0154563120731,0.0499285938411,0.999999991683,-6.27486684882e-05,-0.000109864704343,-2.50268339245e-05,1793245383382643968
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.685360029,658.685360029,634,878.685360029,786,807.685360029,653,630,652,0.401309732536,-0.0154625832472,0.0499377727585,0.999999992322,-6.52335080163e-05,-0.000102833417442,-2.2927414252e-05,1793245383399310848
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.731660223,659,634,878.731660223,786,808,653,630,652,0.401394803589,-0.0154683016663,0.0499438188479,0.999999992871,-6.68891307583e-05,-9.65676651078e-05,-2.14059419069e-05,1793245383415977472
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.136736675,659,634,878.136736675,786,808,653,630,652,0.401490670663,-0.0154733473528,0.0499460521185,0.999999993346,-6.75355524532e-05,-9.12336094518e-05,-2.05878623026e-05,1793245383432643840
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.555179875,714,679.444820125,659,634,878.444820125,786,807.555179875,653,630,652,0.401603795241,-0.0154799351754,0.0499481120102,0.999999993374,-6.97105602889e-05,-8.95044651461e-05,-1.9547764163e-05,1793245383449310208
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.0223185,744.0223185,714,679.9776815,659,634,878.9776815,785.9776815,807,652.9776815,630,652.0223185,0.401722875482,-0.0154870919389,0.0499499011331,0.999999993243,-7.23526187573e-05,-8.91037739303e-05,-1.8453887129e-05,1793245383465977088
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.598096409,744.598096409,714,679.401903591,659,634,878.401903591,785.401903591,807,652.401903591,630,652.598096409,0.401861930913,-0.0154969448031,0.0499462587655,0.999999992502,-7.52643537078e-05,-9.49681002479e-05,-1.76694440449e-05,1793245383482643712
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.822086444,745,714,679.177913556,659,634,878,785.177913556,807,652,630,652.822086444,0.402009955264,-0.0155067553571,0.0499430883914,0.999999991692,-7.8786031453e-05,-0.00010062173661,-1.68311962786e-05,1793245383499310336
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.232932842,745,714,679.767067158,659,634,878,785.767067158,807,652,630,652.232932842,0.402178710893,-0.0155164681111,0.0499410090121,0.999999990774,-8.37175670994e-05,-0.000105788370783,-1.58685812579e-05,1793245383515977216
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.649808855,659,634,878,786,807,652,629.649808855,652,0.402379306004,-0.0155262680813,0.0499439395809,0.99999999105,-8.47683504061e-05,-0.000102545140287,-1.41299421632e-05,1793245383532643840
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.070627576,659,634,878,786,807,652,629.070627576,652,0.40260072098,-0.0155361250831,0.0499501461566,0.999999992062,-8.32815086597e-05,-9.38026963587e-05,-1.18838605135e-05,1793245383549310464
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.495999896,634,878,786,807,652,629.504000104,652,0.402850213105,-0.015544970801,0.0499553185838,0.999999993112,-7.9807964333e-05,-8.54976411432e-05,-9.83228666922e-06,1793245383565977600
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.921850894,714,679,658.078149106,634,878,785.921850894,807,652.078149106,630,652,0.403109569975,-0.0155533945565,0.0499604882843,0.9999999942,-7.56463978448e-05,-7.6287823165e-05,-7.54875382236e-06,1793245383582644736
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.346724068,714,679,658.653275932,634,878,785.346724068,807,652.653275932,630,652,0.403406863111,-0.0155600280553,0.0499665539893,0.999999995766,-6.88640748707e-05,-6.09380021277e-05,-3.61832513017e-06,1793245383599310592
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.235466254,714,679,659,634,878,785.235466254,807,653,629.764533746,652,0.403720254214,-0.0155577387742,0.0499737849265,0.999999997709,-5.02618366716e-05,-4.53240028729e-05,-8.49586005065e-07,1793245383615976960
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.828379196,714,679,659,634,878,785.828379196,807,653,629.171620804,652,0.40405808262,-0.0155419043748,0.0499827847301,0.999999999476,-1.3716519973e-05,-2.93089719675e-05,1.55664135033e-07,1793245383632643584
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.411819511,659,634,878.411819511,786,807,652.588180489,629,652,0.404422872399,-0.0155301717652,0.0499892211569,0.999999999753,1.66151371563e-05,-1.47370200535e-05,-8.24322163397e-07,1793245383649310464
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.99140097,659,634,878.99140097,786,807,652.00859903,629,652,0.40479864536,-0.0155201100925,0.0499946133468,0.99999999901,4.44155494579e-05,-7.52932231405e-07,-2.61302959603e-06,1793245383665977344
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.435459438,659,634,878.435459438,785.435459438,807.564540562,652,629.564540562,652,0.405204444342,-0.0155126290425,0.0499812731789,0.999999997035,7.23128858803e-05,-2.63818536847e-05,-2.37980284555e-06,1793245383682643456
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.141502465,659,634,878,785,807.858497535,652,629.858497535,652,0.405611150485,-0.0155070818051,0.0499653130602,0.999999993513,9.85137684479e-05,-5.71426112028e-05,-2.02961275048e-06,1793245383699310080
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.730869175,659,634,878,785,807.269130825,652,629.269130825,652,0.406019296545,-0.0155075322,0.0499419535311,0.99999998765,0.000119340642136,-0.000102257753834,-1.40560393407e-06,1793245383715976960
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.685196966,659,634,878.314803034,785.314803034,807.314803034,652.314803034,629.314803034,652,0.406473354331,-0.0155103198928,0.0499263693613,0.999999982107,0.000137896227801,-0.000129502075049,3.38648933055e-07,1793245383732643584
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.105828889,659,634,878.894171111,785.894171111,807.894171111,652.894171111,629.894171111,652,0.406965997043,-0.0155150718846,0.0499173197136,0.99999997801,0.000154542992453,-0.000141727503382,3.02437124519e-06,1793245383749310208
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.470829254,659.470829254,634.470829254,879,786,807.529170746,653,630,652,0.407531515609,-0.0155171488182,0.0499295686097,0.999999976843,0.000181512582514,-0.000115338791626,7.96673833914e-06,1793245383765977088
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.953697081,634.953697081,879,786,807.046302919,652.953697081,630,652,0.408115374735,-0.0155187518725,0.0499473489384,0.999999974619,0.000210325959941,-7.96457303711e-05,1.34614678793e-05,1793245383782643456
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.38475666,634.38475666,879,786,807.61524334,652.38475666,630,652,0.408722417406,-0.0155217540624,0.049973837795,0.999999971793,0.000233910958858,-3.63374081418e-05,1.94984039935e-05,1793245383799310080
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.80648346,659,634,879,785.80648346,807.80648346,652,630,652,0.409333274901,-0.0155252598271,0.0499931955677,0.999999966601,0.000257160909092,-6.57734664057e-06,2.49782595589e-05,1793245383815976704
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.208714284,659,634,879,785.208714284,807.208714284,652,630,652,0.40995210146,-0.0155298175505,0.0499976566305,0.999999960439,0.00027971094806,-5.11936528795e-06,2.92943834111e-05,1793245383832643584
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.37607051,659,634,879,785.37607051,807.37607051,652.37607051,630,652.37607051,0.410566402577,-0.0155305231202,0.0499792864498,0.9999999515,0.000306377257125,-4.62481868867e-05,3.1521632612e-05,1793245383849310976
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.95388962,659,634,879,785.95388962,807.95388962,652.95388962,630,652.95388962,0.411178275933,-0.0155291621449,0.0499486681099,0.999999937196,0.000335251798408,-0.000110223330235,3.26282737737e-05,1793245383865978368
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.470742936,659,634,878.470742936,786,807.470742936,653,630,652.470742936,0.411888970554,-0.01552913621,0.0499390332661,0.999999925794,0.000365346581468,-0.000116990992151,3.53234485125e-05,1793245383882644224
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.104219045,659,634,878.104219045,785.895780955,807,652.895780955,630,652,0.412620376025,-0.0155296708834,0.0499384655733,0.999999929147,0.000358458487352,-0.000108247103875,3.86897348534e-05,1793245383899310336
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.678311383,659,634,878.678311383,785.321688617,807,652.321688617,630,652,0.413406518996,-0.0155322110896,0.0499705730804,0.999999980669,0.000184355365789,-5.19363202184e-05,4.4460646916e-05,1793245383915976960
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785,807.261338263,652.261338263,630,652,0.414167577311,-0.01553923221,0.0499803174681,0.999999997606,4.63794300996e-05,-3.6859812375e-05,3.57608306283e-05,1793245383932643840
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785,807.8557523,652.8557523,630,652,0.414896665323,-0.0155519642586,0.049961560051,0.999999996162,-4.55524046541e-05,-7.43364073544e-05,8.61806433405e-06,1793245383949310464
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.435626158,808,652.564373842,630,652,0.415669280148,-0.0155579865413,0.0499426826545,0.999999994146,-3.88402139317e-05,-0.000100907812875,4.19557058674e-06,1793245383965977600
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.010856646,634,879,786,808,652,630,652,0.416457571582,-0.0155617617072,0.0499246086597,0.999999992446,-4.0558673891e-07,-0.00012270493996,7.13835707557e-06,1793245383982644736
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.586909956,634,879,786,808,652,630,652,0.417335888992,-0.0155604822215,0.04995036113,0.999999995897,4.39501625518e-05,-7.78702321081e-05,1.45050984708e-05,1793245383999311104
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.833959857,714,680,659.833959857,634,879,786,808,652,630,652,0.418198138859,-0.0155588435752,0.0499702556904,0.999999995133,8.45382358279e-05,-4.64772207989e-05,2.06721470306e-05,1793245384015977472
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.247030236,714,680,659.247030236,634,879,786,808,652,630,652,0.419019659608,-0.0155562945046,0.0499753012342,0.99999999183,0.000115575753728,-4.91571096412e-05,2.37981349293e-05,1793245384032644096
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.334931328,744.334931328,714,680,659,634,879,786,808,652,630,652.334931328,0.419863365564,-0.0155548141159,0.0499672198056,0.999999988461,0.000137638217251,-5.9610849922e-05,2.40866542226e-05,1793245384049310208
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.913282209,744.913282209,714,680,659,634,879,786,808,652,630,652.913282209,0.420723195126,-0.0155541104182,0.049949598028,0.999999985153,0.000153177838663,-7.57144271741e-05,2.23129735213e-05,1793245384065976832
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.508509424,744.508509424,714,680,659.491490576,634,879.491490576,786,808.982981153,652,630.491490576,652.508509424,0.421659060397,-0.0155571794014,0.0499699104145,0.999999986795,0.000157862259182,-3.05712074579e-05,2.35697611827e-05,1793245384082643712
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.069410497,714,680,660,634,880,786,809.930589503,652,630.930589503,652,0.42260345881,-0.0155601682282,0.0499920627651,0.999999987134,0.000157696381848,1.51583980314e-05,2.51850115931e-05,1793245384099310336
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.645408382,714,680,660,634,880,786,809.354591618,652,630.354591618,652,0.423512250749,-0.0155577152806,0.0499788094339,0.999999990319,0.000136105397817,-1.36783385349e-05,2.55152048629e-05,1793245384115977216
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.226371571,744.773628429,714,680,660,633.773628429,880,786,809,652,630.226371571,652.226371571,0.424425761528,-0.0155580831316,0.0499748331337,0.999999991119,0.000128742593652,-2.19607675092e-05,2.65701832437e-05,1793245384132644096
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.815286998,744.184713002,714,680,660,633.184713002,880,786,809,652,630.815286998,652.815286998,0.425346829876,-0.0155629686132,0.0499857143973,0.99999998919,0.000144166831333,2.67541107241e-06,2.87859363879e-05,1793245384149310976
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.398421691,714,680,660,633,880.398421691,786,809,652,630.601578309,653,0.426270367418,-0.0155672410796,0.0499990221155,0.999999986963,0.000157875513085,1.26501794691e-05,3.14440671116e-05,1793245384165977344
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.97891466,714,680,660,633,880.97891466,786,809,652,630.02108534,653,0.427195033282,-0.0155712334093,0.0500134386774,0.999999984698,0.000170800216873,1.59249554865e-05,3.43043560051e-05,1793245384182643712
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680.552501233,660,633,880.447498767,786.552501233,809.552501233,652,630,653,0.428056936138,-0.0155631864509,0.0499722170113,0.999999981225,0.000181944759919,-5.95611719688e-05,2.9988141334e-05,1793245384199310080
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680.871003887,659.871003887,633.128996113,879.871003887,786.871003887,810,652,630.128996113,653,0.428940269412,-0.0155568503473,0.0499405545609,0.999999976543,0.000182966123652,-0.0001128008689,2.67160086768e-05,1793245384215976704
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680.283239989,659.283239989,633.716760011,879.283239989,786.283239989,810,652,630.716760011,653,0.429908232192,-0.015558212681,0.0499503472865,0.999999985704,0.000148223575051,-7.63643806342e-05,2.81191127661e-05,1793245384232643584
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.299557319,634,879.299557319,786,810,652,630.700442681,653,0.430838944712,-0.0155570369916,0.0499499325268,0.999999986506,0.000144797596755,-7.21576330018e-05,2.8558901931e-05,1793245384249310464
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659.877735134,634,879.877735134,786,810,652,630.122264866,653,0.431735010434,-0.0155535006679,0.0499400237083,0.999999980275,0.000170499395922,-9.79280093995e-05,2.81027046487e-05,1793245384265977856
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.54213446,745,714,680,660,634,880.45786554,786,810,652,630.45786554,653,0.432644563359,-0.015551520404,0.0499381560096,0.999999977008,0.000188748785449,-9.78012464649e-05,2.81447751884e-05,1793245384282644224
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.037635395,744.962364605,713.962364605,680,660,633.962364605,880.962364605,786,810,652.037635395,631,653,0.433557681335,-0.015550227733,0.0499404046169,0.999999974858,0.000204130416463,-8.83172612211e-05,2.85475822284e-05,1793245384299310848
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.604960344,744.395039656,713.395039656,680,660,633.395039656,880.395039656,786,810,652.604960344,631,653,0.434470067976,-0.0155527392644,0.0499702369238,0.999999976994,0.000207278675323,-4.488293028e-05,3.21468329069e-05,1793245384315977216
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.818959605,744.181040395,713.181040395,680,660,633.181040395,880,786,810,652.818959605,631,653,0.435358874573,-0.0155529564373,0.0499839976217,0.999999978021,0.000204189304465,-3.27434730671e-05,3.45377972767e-05,1793245384332643840
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.222804527,744.777195473,713.777195473,680,660,633.777195473,880,786,810,652.222804527,631,653,0.436193613733,-0.0155479127854,0.0499609070971,0.999999977705,0.000186797426476,-9.23612616776e-05,3.41582349027e-05,1793245384349310464
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.362151712,660,634,880,786,810,652,631,653,0.437060989972,-0.0155472505095,0.0499551017134,0.999999977285,0.000188291241599,-9.3902074703e-05,3.40395719053e-05,1793245384365976832
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.94042478,660,634,880,786,810,652,631,653,0.437947842997,-0.0155492029086,0.0499596115883,0.99999997736,0.000201055477076,-6.07842747794e-05,3.40766059278e-05,1793245384382643712
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.483464379,660,633.483464379,880,786,810,652,630.483464379,653,0.438786999605,-0.0155488933822,0.0499687848606,0.999999978197,0.00019993603228,-5.04395275802e-05,3.29721836213e-05,1793245384399310336
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.092132696,744.907867304,714,680,660,633.092132696,880,786,810.092132696,652,630.092132696,652.907867304,0.439612349542,-0.0155489338835,0.0499740722697,0.99999997932,0.000195194981868,-4.74005224816e-05,3.18198720302e-05,1793245384415977216
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.666340964,744.333659036,714,680,660,633.666340964,880,786,810.666340964,652,630.666340964,652.333659036,0.440394121463,-0.0155521652195,0.0499562247091,0.99999998097,0.000179847895248,-6.89022042393e-05,3.11029649591e-05,1793245384432643840
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.751841678,744.248158322,714,680,660,633.751841678,880.248158322,786,810.751841678,652.248158322,631,652.248158322,0.441181174311,-0.0155573387657,0.0499518578637,0.999999982375,0.000170756289858,-7.12689041313e-05,3.18160896958e-05,1793245384449310208
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.159470015,744.840529985,714,680,660,633.159470015,880.840529985,786,810.159470015,652.840529985,631,652.840529985,0.441975552116,-0.0155652062963,0.0499661897359,0.999999983787,0.000170341485642,-4.70940139529e-05,3.45127708905e-05,1793245384465976832
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680.423856771,660,633,880.576143229,786,810.423856771,652.576143229,631,653,0.442717321843,-0.0155657972974,0.0499700220558,0.999999983,0.000176000811572,-4.20595907635e-05,3.54248495546e-05,1793245384482643456
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.003807361,745,714,680.996192639,659.996192639,633,880,786,810.996192639,652,631,653,0.443438849102,-0.0155637413728,0.049969577645,0.999999981462,0.000183847094126,-4.47821628363e-05,3.56519941073e-05,1793245384499310080
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.577125706,745,714,680.422874294,659.422874294,633,880,786,810.422874294,652,631,653,0.444031281386,-0.0155667059921,0.0499079601714,0.99999997082,0.00018412456355,-0.000153128952087,3.17609018861e-05,1793245384515976960
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.845564201,744.845564201,714,680.154435799,659,632.845564201,880.154435799,785.845564201,810,652,630.845564201,653,0.444636362183,-0.0155712267601,0.0498544256162,0.999999954069,0.000183393021248,-0.000239623424848,2.84661993209e-05,1793245384532644096
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.257033806,744.257033806,714,680.742966194,659,632.257033806,880.742966194,785.257033806,810,652,630.257033806,653,0.445276996086,-0.0155801216168,0.0498236108516,0.999999948439,0.000179825311893,-0.000264694522449,2.68478537291e-05,1793245384549311488
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.326005653,714,681,659,632,880.673994347,785,810.326005653,652,630.326005653,652.673994347,0.445912232819,-0.0155900429227,0.0498151238862,0.999999949535,0.000176192688519,-0.000262956412882,2.71894878909e-05,1793245384565978112
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.90478755,714,681,659,632,880.09521245,785,810.90478755,652,630.90478755,652.09521245,0.446543284692,-0.01560076011,0.0498239493131,0.999999955795,0.00017250973272,-0.000240431144877,2.90508391037e-05,1793245384582644480
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,880.480383806,784.519616194,810.519616194,652,630.519616194,652.480383806,0.447084982684,-0.0156086956366,0.0497995081488,0.999999946849,0.000169377728299,-0.000277076700668,2.90216315169e-05,1793245384599311360
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714.05520557,681.05520557,659,631.94479443,880.94479443,784,810,652.05520557,629.94479443,653,0.447605297999,-0.0156154860397,0.0497685809161,0.999999932677,0.000166829036321,-0.000325577492918,2.85102404416e-05,1793245384615977728
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714.628645037,681.628645037,659,631.371354963,880.371354963,784,810,652.628645037,629.371354963,653,0.448090041514,-0.0156166681766,0.0497382540984,0.999999914712,0.000168737767997,-0.000376000743413,2.69667884632e-05,1793245384632644096
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.209541727,745,715,682,659,631,880,784,810,653,629,653,0.448580086532,-0.0156207893316,0.0497210454906,0.999999903788,0.000166794297473,-0.000404843425532,2.65508808919e-05,1793245384649310720
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.804141913,745,715,682,659,631,880,784,810,653,629,653,0.44907987365,-0.0156303112904,0.0497279431956,0.999999909527,0.000157771936401,-0.000394029179316,2.82069738413e-05,1793245384665977088
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.612890578,745,715,682,659,631,880.387109422,784,810.387109422,652.612890578,629.387109422,653,0.449557060056,-0.0156379987611,0.0497423241687,0.999999922416,0.000124793931784,-0.000372392308973,3.03047671484e-05,1793245384682643712
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.035636872,745,715,682,659,631,880.964363128,784,810.964363128,652.035636872,629.964363128,653,0.450023145261,-0.0156447851504,0.0497603808491,0.9999999366,8.00491530546e-05,-0.000345439471876,3.26195193442e-05,1793245384699310592
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.10985895,745,714.89014105,681,659,630.89014105,881.10985895,783,811,652,629.89014105,652.10985895,0.450795894601,-0.015658996267,0.0497569430888,0.999999932036,2.32646254642e-05,-0.000366765988752,2.94841054982e-05,1793245384732644352
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.684541761,745,714.315458239,681,659,630.315458239,881.684541761,783,811,652,629.315458239,652.684541761,0.451127832529,-0.0156622601007,0.0497428970892,0.999999921942,-3.17559345465e-05,-0.000393693500616,1.06597441574e-05,1793245384749310976
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.73172908,745,714.26827092,681.26827092,659,630,881.46345816,783,811,652.26827092,629,653,0.451440536221,-0.0156669826717,0.0497257272993,0.999999906765,-5.98249946644e-05,-0.000427656161277,7.54276197032e-07,1793245384765977344
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.136991183,745,714.863008817,681.863008817,659,630,880.273982367,783,811,652.863008817,629,653,0.451729833171,-0.0156734804238,0.0497047560756,0.999999887946,-5.5095958131e-05,-0.000470180106155,1.70247985892e-06,1793245384782643968
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.554426241,682,659,629.554426241,880,783,810.554426241,653,629,653,0.452017733906,-0.0156783832381,0.0496991871748,0.999999886453,-4.86782018022e-05,-0.000474036934709,3.67266926267e-06,1793245384799310336
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.024249947,682,658.975750053,629.024249947,880,783,810.024249947,652.975750053,628.975750053,653,0.452303926234,-0.0156834385589,0.0496988639635,0.999999890694,-4.23333955794e-05,-0.000465597515061,6.27853090877e-06,1793245384815976960
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.597364822,682,658.402635178,629.597364822,880,783,810.597364822,652.402635178,628.402635178,653,0.452560908646,-0.0157027491942,0.0497129400961,0.999999901525,-4.90784929719e-05,-0.000440766153575,1.63494165638e-05,1793245384832643840
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,682.17540196,658,629.82459804,880,783,811,652.17540196,628,653,0.452802614405,-0.0157242953145,0.0497237395016,0.999999908697,-6.00368331883e-05,-0.000422328087499,2.5327082707e-05,1793245384849310464
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,682.765064304,658,629.234935696,880,783,811,652.765064304,628,653,0.453008240075,-0.0157511211498,0.049726800005,0.999999908445,-8.09459141843e-05,-0.000418989566081,3.1722806307e-05,1793245384865976832
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.349975438,745.349975438,715,682.650024562,658.349975438,629,880,782.650024562,810.650024562,653,628,653,0.453192392675,-0.0157607752737,0.049721879991,0.999999904934,-8.57802785133e-05,-0.000426189514911,3.37151774974e-05,1793245384882643456
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.931739901,745.931739901,715,682.068260099,658.931739901,629,880,782.068260099,810.068260099,653,628,653,0.453362323663,-0.0157590565617,0.0497116744739,0.999999899302,-7.99683466906e-05,-0.000440369101048,3.27912053575e-05,1793245384899310080
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.514128697,745.514128697,715,682.485871303,658.514128697,629,880.485871303,782.485871303,810.485871303,652.514128697,627.514128697,653,0.453497393381,-0.0157548537379,0.0497052104648,0.999999895985,-7.09504021485e-05,-0.000449370686318,3.2585719365e-05,1793245384915977472
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,683,658,629,880.96032799,782.96032799,811,652,627.03967201,653,0.453627245447,-0.0157507524199,0.0496995533111,0.999999893052,-6.20520350408e-05,-0.000457150794924,3.25333497562e-05,1793245384932644864
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,683,658,629,880.359223251,782.359223251,811,652,627.640776749,653,0.453748839362,-0.0157527607195,0.0496982761116,0.999999892992,-6.08770720171e-05,-0.000457385630181,3.32962414587e-05,1793245384949310720
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,682.762667177,658,629,880,782,811,652,627.762667177,653,0.453858567603,-0.0157541531229,0.0496987567723,0.999999893714,-6.02558580896e-05,-0.000455851881295,3.37635989549e-05,1793245384965977088
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,715,682.172866457,658,629,880,782,811,652,627.172866457,653,0.45395067388,-0.0157546308459,0.0497018480675,0.999999895589,-6.04570284976e-05,-0.000451691571405,3.3792052427e-05,1793245384982643968
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,811,652,627,653,0.454026731572,-0.0157570860824,0.0497007942784,0.999999894996,-6.15818660636e-05,-0.000452819329397,3.41988540096e-05,1793245384999310592
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,811,652,627,653,0.454096135306,-0.0157603612219,0.0496980218826,0.999999893374,-6.30896682074e-05,-0.000456139590161,3.47625237067e-05,1793245385015977216
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,628.435637804,880,782,811,652,627,653,0.454145162406,-0.0157616486214,0.0496961236053,0.999999891982,-6.53065567553e-05,-0.000458861980408,3.48878918333e-05,1793245385032644096
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.140226259,745,715,682,658,628.140226259,880.140226259,782,811,652,627,653.140226259,0.454189820022,-0.0157614380507,0.0496943533655,0.999999890752,-6.55794266467e-05,-0.000461499596867,3.48255723579e-05,1793245385049310720
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.713917744,745,715,682,658,628.713917744,880.713917744,782,811,652,627,653.713917744,0.454222332901,-0.0157567298556,0.0496929204801,0.999999890018,-5.9795574489e-05,-0.000463915128256,3.42123757525e-05,1793245385065977088
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.701734418,745,715,682.298265582,658,628.701734418,880.701734418,782,811,652.298265582,627,653.701734418,0.454248272718,-0.0157556165661,0.0496909320652,0.99999988869,-5.73226096605e-05,-0.000467087814853,3.40943729175e-05,1793245385082643712
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.10678673,745,715,682.89321327,658,628.10678673,880.10678673,782,811,652.89321327,627,653.10678673,0.454267674373,-0.0157580790964,0.0496883910701,0.999999886789,-5.81429541353e-05,-0.000471013637254,3.44689348212e-05,1793245385099310336
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,683,658,628,880,782,811,653,627,653,0.454282520564,-0.0157579803907,0.0496872256968,0.999999885708,-5.92418855478e-05,-0.000473176761544,3.43301542607e-05,1793245385115976960
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.046715108,745,715,683,658,628.046715108,880.046715108,782,811,653,627,653,0.45429578623,-0.0157571458619,0.0496863129025,0.999999884823,-6.00436547607e-05,-0.000474959062221,3.40860249267e-05,1793245385132643840
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.620337939,745,715,683,658,628.620337939,880.620337939,782,811,653,627,653,0.454302464831,-0.0157543313339,0.0496848548439,0.999999884144,-5.68063088017e-05,-0.000476795189429,3.39202460525e-05,1793245385149310720
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.800361822,745,715,682.800361822,658,628.800361822,880.800361822,782,811,653,627,653,0.454308632515,-0.015752540746,0.0496843068299,0.999999883787,-5.52132621589e-05,-0.000477750191161,3.36582583423e-05,1793245385165977600
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.209948565,745,715,682.209948565,658,628.209948565,880.209948565,782,811,653,627,653,0.454313800123,-0.0157527544354,0.0496855401524,0.999999884078,-5.68387944404e-05,-0.000476980463182,3.32079498731e-05,1793245385182643968
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,682.372963602,658,628.372963602,880,781.627036398,810.627036398,653,627,653,0.454313871312,-0.0157528309039,0.0496836609329,0.999999882499,-5.69436216623e-05,-0.000480269627839,3.3169801647e-05,1793245385199310336
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,715,682.951736489,658,628.951736489,880,781.048263511,810.048263511,653,627,653,0.45431113019,-0.0157528316508,0.0496800641463,0.999999879864,-5.6209291285e-05,-0.00048579857619,3.33590922635e-05,1793245385215976960
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.527457506,745,715,683,658,628.472542494,880.527457506,781.527457506,810.527457506,653,627,653,0.454313972305,-0.0157531574756,0.0496809871394,0.999999880942,-5.6224579132e-05,-0.000483548554157,3.36855225616e-05,1793245385232643584
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.894898969,745,715,683,658.105101031,628,880.894898969,782,810.894898969,653,627,653,0.454316401738,-0.0157527615022,0.0496817417275,0.999999881788,-5.59821387541e-05,-0.000481819889427,3.37588856956e-05,1793245385249310208
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.307152053,745,715,683,658.692847947,628,880.307152053,782,810.307152053,653,627,653,0.454314603482,-0.0157489150696,0.0496798346917,0.999999880028,-5.42429811264e-05,-0.000485735304253,3.26128172587e-05,1793245385265977088
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.276325748,745,715,683,658.723674252,628,880,782,810.276325748,652.723674252,627,653,0.454314371436,-0.0157475343622,0.0496789484515,0.999999879351,-5.31003914343e-05,-0.000487259979475,3.24947793058e-05,1793245385282644224
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.855130452,745,715,683,658.144869548,628,880,782,810.855130452,652.144869548,627,653,0.454315853837,-0.0157488527513,0.0496791796213,0.999999879875,-5.26108324067e-05,-0.000486167640939,3.35020709726e-05,1793245385299311104
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.566693383,745,715,683,658,628,880,782,811,652,627,653,0.454316366653,-0.0157496657391,0.0496786779288,0.999999879429,-5.40684497632e-05,-0.000486948074786,3.31632187765e-05,1793245385315977728
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.011219549,745,715,682.988780451,658,628.011219549,880,782,810.988780451,652.011219549,627,653,0.45431655298,-0.0157502911682,0.0496779450223,0.999999878669,-5.6134679176e-05,-0.000488324648436,3.23904169825e-05,1793245385332644096
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.58645005,745,715,682.41354995,658,628.58645005,880,782,810.41354995,652.58645005,627,653,0.454316598867,-0.0157499699972,0.0496778883857,0.999999878712,-5.61170015553e-05,-0.000488239035637,3.2394865558e-05,1793245385349310720
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.834331778,745,715,682,658.165668222,628.834331778,880.165668222,782,810,652.834331778,627,653,0.454316555339,-0.015749419346,0.0496778920922,0.99999987873,-5.60686328901e-05,-0.000488207536426,3.24074444316e-05,1793245385365977344
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.244913892,745,715,682,658.755086108,628.244913892,880.755086108,782,810,652.244913892,627,653,0.454316283104,-0.0157482817258,0.0496780501455,0.999999878684,-5.59417620265e-05,-0.000488314450089,3.2440819152e-05,1793245385382643712
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,682.338249252,658.661750748,628,881,782,810.338249252,652.338249252,627,653,0.454316631518,-0.015748183364,0.04967826364,0.999999878668,-5.50680856623e-05,-0.000488434924448,3.259360245e-05,1793245385399310592
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,682.916965768,658.083034232,628,881,782,810.916965768,652.916965768,627,653,0.454317421163,-0.0157488238291,0.0496785165487,0.999999878673,-5.36634923134e-05,-0.000488565039336,3.28312753765e-05,1793245385415977216
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.493174418,745,715,682.506825582,658,628,880.506825582,782,811,653,627,653,0.454318096114,-0.0157484749229,0.0496786842704,0.99999987917,-5.23313627499e-05,-0.000487697046363,3.27473854116e-05,1793245385432644096
+245,4.083333333,HOLD_POSE2,765,745,715,682,658,628,880,782,810,653,627,653,0.454315047047,-0.0157424292288,0.049676796235,0.999999877386,-5.0156421114e-05,-0.000491622023871,3.19246420195e-05,1793245385476278784
+246,4.100000000,HOLD_POSE2,765,745,715,682,658,628,880,782,810.590923563,652.409076437,627,653,0.454316573713,-0.0157445949173,0.0496767824197,0.99999987787,-5.29171580408e-05,-0.000490329324092,3.2216596291e-05,1793245385492944896
+247,4.116666667,HOLD_POSE2,765,745,715,682.178175305,658,628,880,781.821824695,811,652.178175305,627,653,0.454317623085,-0.0157460467838,0.0496768560311,0.999999878301,-5.46479970675e-05,-0.000489249075905,3.23566502407e-05,1793245385509611264
+248,4.133333333,HOLD_POSE2,765,745,715,682.757167169,658,628,880,781.242832831,811,652.757167169,627,653,0.454317598754,-0.0157458928636,0.0496771263143,0.999999878634,-5.40620165089e-05,-0.000488646750698,3.21549949161e-05,1793245385526277632
+249,4.150000000,HOLD_POSE2,765,745,715,682.666758937,658,628,880.333241063,781.333241063,811,653,627,653,0.454317097932,-0.0157458585916,0.0496770260829,0.999999878265,-5.52441649829e-05,-0.000489295063857,3.17477792454e-05,1793245385542944256
+250,4.166666667,HOLD_POSE2,765,745,715,682.092792948,658,628,880.907207052,781.907207052,811,653,627,653,0.454316252906,-0.0157459107505,0.0496766582011,0.999999877383,-5.77035652496e-05,-0.000490846806619,3.11920719842e-05,1793245385559610624
+251,4.183333333,HOLD_POSE2,765.480673214,745,715,682,658,628,880.519326786,782,811,653,627,653,0.454316691772,-0.0157444176688,0.049676389675,0.999999877656,-5.57342511711e-05,-0.000490514877819,3.12566759627e-05,1793245385576278272
+252,4.200000000,HOLD_POSE2,766,745,715,682.056125785,658,628,880.056125785,782,811,653,627,653,0.454317284379,-0.015742886643,0.049676149782,0.999999878052,-5.31715341083e-05,-0.000489981392132,3.1426490966e-05,1793245385592945408
+253,4.216666667,HOLD_POSE2,766,745,715,682.65159309,658,628,880.65159309,782,811,653,627,653,0.454316975084,-0.0157438545842,0.049676000917,0.999999877553,-5.31136602663e-05,-0.000491001805105,3.14577910242e-05,1793245385609611264
+254,4.233333333,HOLD_POSE2,765.760522358,745.239477642,714.760522358,682.521044715,658,628,880.760522358,782,811,653,627,653,0.454317286889,-0.0157447514579,0.0496761578828,0.999999877469,-5.31193995864e-05,-0.000491151608121,3.17952846715e-05,1793245385626277632
+255,4.250000000,HOLD_POSE2,765.183331124,745.816668876,714.183331124,681.366662248,658,628,880.183331124,782,811,653,627,653,0.454318474572,-0.0157455481115,0.049676746134,0.999999877968,-5.32148467823e-05,-0.00049007366882,3.25645753539e-05,1793245385642944000
+256,4.266666667,HOLD_POSE2,765.39073593,745.60926407,714.39073593,681.78147186,658,628,880.39073593,782,811,653,627,653,0.454318682353,-0.0157458191575,0.0496766605896,0.999999877652,-5.43670712622e-05,-0.00049059555439,3.25096704537e-05,1793245385659610880
+257,4.283333333,HOLD_POSE2,765.963348814,745.036651186,714.963348814,682.926697627,658,628,880.963348814,782,811,653,627,653,0.454318434017,-0.0157458455475,0.0496762614117,0.999999876953,-5.60111968489e-05,-0.000491862114851,3.20711249818e-05,1793245385676277504
+258,4.300000000,HOLD_POSE2,766,745,715,682.449029074,659.101941851,628.550970926,880.449029074,781.449029074,811,653,627,653,0.454318093489,-0.0157462311618,0.0496765345023,0.999999877219,-5.689074143e-05,-0.000491235739373,3.18207067773e-05,1793245385692944128
+259,4.316666667,HOLD_POSE2,765.862358874,745,715,682,659.724717748,628.862358874,880,781.137641126,811,653,627,653,0.454318018094,-0.0157467003428,0.0496768815289,0.999999877484,-5.72436213145e-05,-0.000490660181791,3.17367375115e-05,1793245385709611008
+260,4.333333333,HOLD_POSE2,765.282050929,745,715,682,658.564101859,628.282050929,880,781.717949071,811,653,627,653,0.454318815662,-0.015747359279,0.0496773184891,0.999999877536,-5.60708519115e-05,-0.000490664371166,3.21467089475e-05,1793245385726278144
+261,4.350000000,HOLD_POSE2,765,745,715,682,658,628,880,781.703387253,811,653,627,653,0.454318547163,-0.0157466516229,0.049676829762,0.999999877332,-5.51945283443e-05,-0.000491175380789,3.21783214617e-05,1793245385742945024
+262,4.366666667,HOLD_POSE2,765,745,715,682,658,628,880,781.126278537,811,653,627,653,0.454317270521,-0.0157446516297,0.0496754656458,0.999999876889,-5.4598542975e-05,-0.000492165672024,3.18521335743e-05,1793245385759611392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,628,880,782,811,652,627,653,0.454317051755,-0.0157420267276,0.0496751190589,0.999999876332,-5.01826660932e-05,-0.000493779164463,3.16281955228e-05,1793245385792392704
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.591974341,658,628,880,781.408025659,810.408025659,652.591974341,627,653,0.454317446691,-0.015744762119,0.0496756220168,0.99999987659,-5.41115083256e-05,-0.000492813845325,3.20284131476e-05,1793245385809058816
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.819891664,658,628,880.180108336,781,810.180108336,653,627,653,0.454317462472,-0.0157460911283,0.0496754330181,0.999999876566,-5.66903676873e-05,-0.00049257621273,3.19961847039e-05,1793245385825724928
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.24027602,658,628,880.75972398,781,810.75972398,653,627,653,0.454316637233,-0.0157443005715,0.0496737091559,0.999999875941,-5.62747632799e-05,-0.000493952697883,3.1004726084e-05,1793245385842391808
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.663907448,745,715,682.336092552,658,628,880.663907448,781,811,653,627,653,0.454317169531,-0.0157446177844,0.0496741670712,0.999999876171,-5.55406705033e-05,-0.000493545595875,3.14041343958e-05,1793245385859058944
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.089838062,745,715,682.910161938,658,628,880.089838062,781,811,653,627,653,0.454318663058,-0.0157464274446,0.0496761698364,0.999999877002,-5.45810658997e-05,-0.000491875590387,3.27883730072e-05,1793245385875726080
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.5037803,658,628,880,781.4962197,811,653,627,653,0.454318283469,-0.0157465035088,0.0496757229013,0.999999876858,-5.51643758856e-05,-0.000492116896501,3.25929196905e-05,1793245385892392192
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.083060541,745,715,682.083060541,658,628,880,781.916939459,810.916939459,653,627,653,0.454316557259,-0.0157460600387,0.0496744248551,0.999999876235,-5.57697406668e-05,-0.000493346045153,3.20857299833e-05,1793245385909058560
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.661309915,745,715,682.661309915,658,628,880,781.338690085,810.338690085,653,627,653,0.454308874592,-0.0157444367019,0.0496707622156,0.999999873827,-5.48000159899e-05,-0.000498350446437,3.14672896432e-05,1793245385925724928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.760702121,745,715,682.760702121,658,628,880,781.239297879,810,653,627,653,0.454294265043,-0.0157422100486,0.0496637791922,0.999999868374,-5.34159106401e-05,-0.000509386331198,3.04041229276e-05,1793245385942391552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.183083787,745,715,682.183083787,658,628,880,781.816916213,810,653,627,653,0.454269862239,-0.015739130424,0.0496521017949,0.999999858371,-5.14459520351e-05,-0.000528949554828,2.87122000369e-05,1793245385959058176
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.391971683,745,715,682,658,628,880,782,810.391971683,652.608028317,627,653,0.454227430124,-0.0157374918668,0.0496338224011,0.999999841658,-5.12176106746e-05,-0.000559739751825,2.74218332229e-05,1793245385975724800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.965837905,745,715,682,658,628,880,782,810.965837905,652.034162095,627,653,0.454176631502,-0.015736522037,0.0496124793486,0.999999820859,-5.17974669288e-05,-0.000595739829277,2.63178084128e-05,1793245385992391424
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.444253931,745,715,682.555746069,658,628,880,781.444253931,810.444253931,652.555746069,627,653,0.454112598793,-0.0157313293694,0.0495940458932,0.99999980744,-4.90388161453e-05,-0.000618179123683,2.38506541202e-05,1793245386009058560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658,628,880,781.143730286,810,652.856269714,627,653,0.454045452655,-0.0157263374918,0.0495786172725,0.999999796234,-4.72386355608e-05,-0.000636265242272,2.16201198538e-05,1793245386025725952
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,658,628,880,781.72281147,810,652.27718853,627,653,0.453971413418,-0.0157227634208,0.0495717322778,0.999999791376,-4.89816832329e-05,-0.000643765791811,2.03676403522e-05,1793245386042392064
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.300376475,628,880,781.699623525,810,652,627,653,0.453885321787,-0.0157176810471,0.0495680197414,0.999999788679,-4.73319414381e-05,-0.000648090228981,1.95095998761e-05,1793245386059058176
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.876549336,628,880,781.123450664,810,652,627,653,0.453788164024,-0.0157112137968,0.0495672200583,0.999999787989,-4.25670452139e-05,-0.000649498457598,1.9013721186e-05,1793245386075724800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.550166042,628,880.449833958,781.449833958,810,652.449833958,627,653,0.453675541683,-0.0157040099508,0.0495678765389,0.999999787577,-3.86462394049e-05,-0.000650396715352,1.8355988254e-05,1793245386092391424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.976857262,658,628,880.976857262,782,810,652.976857262,627,653,0.453557477546,-0.0156965274404,0.049569014694,0.999999787335,-3.48909968517e-05,-0.000650999522905,1.76701063498e-05,1793245386109057792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.383549602,658,628,880.383549602,782,810,652.383549602,627,653,0.453409237275,-0.0156871280414,0.049572237135,0.999999789623,-2.95440195215e-05,-0.000647749401384,1.73780766095e-05,1793245386125724672
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.204760451,745,715,682,658,628.204760451,880.204760451,782,810,652.204760451,627,653,0.45324916482,-0.0156769978237,0.0495746345535,0.999999790275,-2.44282409748e-05,-0.000646972923477,1.67106110844e-05,1793245386142391296
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.783932149,745,715,682,658,628.783932149,880.783932149,782,810,652.783932149,627,653,0.453067456841,-0.0156655312809,0.0495755233908,0.999999787969,-1.97352176281e-05,-0.000650719585004,1.53566488587e-05,1793245386159058432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.360351704,658,629,881,782,810,653,627,653,0.452864019164,-0.0156533050816,0.0495750423459,0.999999784929,-1.53275235199e-05,-0.000655520589982,1.41125838975e-05,1793245386175725312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.935133631,658,629,881,782,810,653,627,653,0.452647651035,-0.0156406268415,0.0495737461413,0.999999781428,-1.10896164536e-05,-0.000660948990975,1.29339140705e-05,1793245386192391936
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,628.478479924,880.478479924,782,810.521520076,652.478479924,627,653,0.452411548804,-0.0156283640047,0.04957836145,0.999999783402,-5.42819868487e-06,-0.000658043393584,1.20548044563e-05,1793245386209058048
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.10772594,715,683,658,628.10772594,880.10772594,782,810.89227406,652,627.10772594,653,0.452162295854,-0.0156166580341,0.049583097794,0.999999785287,-9.86848456351e-07,-0.000655212591581,1.09998149854e-05,1793245386225724672
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.686684578,715,683,658,628.686684578,880.686684578,782,810.313315422,652,627.686684578,653,0.451866498068,-0.0156071568395,0.049585074053,0.999999783904,-2.67464973655e-06,-0.000657346534276,9.00876812918e-06,1793245386242391296
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.735088373,745.735088373,715,682.735088373,658,629,880.735088373,782,810,652.264911627,628,653,0.451552763615,-0.0155984260029,0.0495846358049,0.999999781327,-6.73911585283e-06,-0.000661254091999,6.59242356966e-06,1793245386259058176
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.157724237,745.157724237,715,682.157724237,658,629,880.157724237,782,810,652.842275763,628,653,0.45121787361,-0.0155906037731,0.0495813497437,0.999999777287,-1.36067615406e-05,-0.000667253556465,3.67445775676e-06,1793245386275724800
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.581389886,682,658,629,880,782.418610114,810,652.581389886,628,653,0.450867622392,-0.015587107753,0.0495806474985,0.999999781135,-2.30061542559e-05,-0.000661210682015,1.42560280002e-06,1793245386292391680
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.005442598,682,658,629,880,782.994557402,810,652.005442598,628,653,0.450511597575,-0.0155852377656,0.0495809163963,0.999999787776,-3.33571194259e-05,-0.000650641620541,-5.71762681187e-07,1793245386309058816
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,629.583118694,880.583118694,783,810,652,628.583118694,653,0.450138488052,-0.0155807510654,0.0495994305972,0.999999808896,-4.11761749915e-05,-0.00061685512657,-1.4674155412e-06,1793245386325725440
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.169119603,682,658,629.830880397,880.830880397,782.830880397,810,652,629,653,0.449744065216,-0.0155740771967,0.0496169176407,0.999999827655,-4.72710755281e-05,-0.000585190529649,-2.84239814492e-06,1793245386342392064
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.748615538,682,658,629.251384462,880.251384462,782.251384462,810,652,629,653,0.449298320215,-0.0155621566403,0.0496314898743,0.999999842414,-4.92408468071e-05,-0.000559212281988,-5.40599955475e-06,1793245386359058432
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.67558977,681.67558977,658,629.32441023,880,782.32441023,810,652,629,653,0.44882637788,-0.0155511253998,0.0496390396756,0.999999848517,-5.44008873434e-05,-0.000547667651986,-8.14257458282e-06,1793245386375724800
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.102630745,681.102630745,658,629.897369255,880,782.897369255,810,652,629,653,0.448334364256,-0.0155407755126,0.0496412092007,0.999999848313,-6.20051715541e-05,-0.000547181419993,-1.10116746337e-05,1793245386392391680
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.483660795,745,714.483660795,681.483660795,658,630.483660795,880,783,810,652,629,653,0.447808584147,-0.0155304223213,0.0496348241648,0.999999844363,-6.88706026881e-05,-0.000553452014611,-1.48989005929e-05,1793245386409058048
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.928538177,745,714.928538177,682,658,631,880,783.071461823,810.071461823,652,629,653,0.447268422051,-0.0155200119865,0.0496264918103,0.999999839193,-7.58470980025e-05,-0.000561689676151,-1.91158763111e-05,1793245386425724672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.350656739,745,714.350656739,682,658,631,880,783.649343261,810.649343261,652,629,653,0.446678556072,-0.0155092018042,0.0496175881292,0.999999831714,-8.47531999854e-05,-0.000573418570798,-2.40952534662e-05,1793245386442392064
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.227987863,631,880,784.227987863,810.772012137,652,629.227987863,653,0.446078305871,-0.0154997128155,0.0496180150602,0.999999831795,-9.56233269074e-05,-0.000571383694976,-2.80337422441e-05,1793245386459059200
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.807810158,631,880,784.807810158,810.192189842,652,629.807810158,653,0.44546203061,-0.0154922627141,0.0496328411379,0.99999984333,-0.000109524367235,-0.000548108352769,-3.03659155159e-05,1793245386475725568
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.382229207,682,659,631.382229207,880,784.617770793,810,652,630,652.617770793,0.444851558053,-0.0154847886856,0.0496703499571,0.999999868065,-0.000120805506984,-0.000498377733164,-2.99199474949e-05,1793245386492391936
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.953969287,682,659,631.953969287,880,784.046030713,810,652,630,652.046030713,0.44424396252,-0.0154773027941,0.0497191049761,0.999999896209,-0.00013078768805,-0.000435530473206,-2.80965649974e-05,1793245386509058304
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,744.456786502,714.456786502,682,659,632,880,784.543213498,810,652,630,652.543213498,0.443570761075,-0.0154639178611,0.0497359243436,0.999999903748,-0.000136982174928,-0.000415719084918,-3.03007220995e-05,1793245386525724928
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,744.131362821,714,681.868637179,659,632.131362821,880,785.131362821,810,652,630,652.868637179,0.442880189393,-0.0154512074128,0.0497463108133,0.999999907905,-0.000145301209662,-0.000402448801788,-3.3345932604e-05,1793245386542391552
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.288511757,745,714,681,659.288511757,632.711488243,880,786,810,652.288511757,630,652,0.441420085748,-0.0154387042112,0.0497658950222,0.999999921839,-0.000164302084037,-0.000357377890041,-4.0098060965e-05,1793245386575724800
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,744,714,681.008892417,659.008892417,633,880.991107583,785.008892417,809,652,630,652,0.439113917982,-0.0154366586413,0.0498329776957,0.999999967373,7.38109139061e-06,-0.000251509379192,-4.40765654075e-05,1793245386625724928
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,744,714,681.603029694,659.603029694,633,880.396970306,785.603029694,809,652,630,652,0.438240454057,-0.0154322764341,0.0497911684023,0.999999946978,-2.53180980405e-05,-0.000320601686652,-5.11714229815e-05,1793245386642391552
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,744.191564511,714,682,659.808435489,633,880,786,809.191564511,652,630,652,0.437372178228,-0.0154294528441,0.0497660380215,0.999999930432,-5.84890607416e-05,-0.000364001755119,-5.67204680856e-05,1793245386659057920
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.768819462,714,682,659.231180538,633,880,786,809.768819462,652,630,652,0.436514348014,-0.0154297673291,0.0497744884829,0.99999993071,-9.26098763436e-05,-0.000355673812094,-5.91572191482e-05,1793245386675724544
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.497049894,745,714,681,659.502950106,633,880,786,809.497049894,652,630,652.497049894,0.433842246509,-0.0154113539612,0.0497761424152,0.999999934212,-4.72114552329e-05,-0.000357449329558,-3.97185491709e-05,1793245386725724928
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.906547055,633,880,786,809.093452945,652,630,652,0.43297658207,-0.0154059996993,0.0497746273741,0.999999937683,4.88031245315e-05,-0.000349373256463,-1.37746434307e-05,1793245386742391552
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.251104916,745,714,681,659,633,880.251104916,785.748895084,810,652,630,652,0.43119725958,-0.0154064884327,0.0498123146762,0.999999953772,7.91393949901e-06,-0.000303297865261,-2.0073065168e-05,1793245386775725312
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.830328645,745,714,681,659,633,880.830328645,785.169671355,810,652,630,652,0.430247879158,-0.0154033313719,0.0497937930795,0.999999946099,-1.98884719965e-05,-0.000326557213084,-2.76882747497e-05,1793245386792391680
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,633,880.5937187,785.4062813,809.5937187,652,630,652,0.429291445078,-0.015403816075,0.0497765499907,0.999999937714,-2.19018399299e-05,-0.000350574203716,-3.4500550364e-05,1793245386809058048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,633,880.019121237,785.980878763,809.019121237,652,630,652,0.428332088833,-0.0154058095056,0.0497598365694,0.999999928796,-1.32311976514e-05,-0.000374905072759,-4.09801821805e-05,1793245386825724672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.431707049,745,714,681,659,633,880,786,809.568292951,652,630,652,0.427414060702,-0.0154085675527,0.0497710095075,0.999999928084,-4.05353178801e-05,-0.000374831740352,-4.11187521377e-05,1793245386842391552
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.846079806,633.153920194,880,786,810,652.153920194,630,652,0.426496990155,-0.0154098488481,0.0497771677505,0.999999927386,-6.28507755126e-05,-0.000373600932164,-4.12372476638e-05,1793245386859057920
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.266612779,633.733387221,880,786,810,652.733387221,630,652,0.425578633892,-0.0154069745638,0.0497668077872,0.99999992781,-6.79502216312e-05,-0.000371492583392,-4.19037249208e-05,1793245386875724800
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.888741329,745,714,680.111258671,658.888741329,633.111258671,879.111258671,785.111258671,809.111258671,652.111258671,629.111258671,652,0.423827581278,-0.015413703363,0.0498196024053,0.99999995939,-8.98497082233e-05,-0.000267544767885,-3.95836083774e-05,1793245386909058304
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.537332158,745,714,680,658.537332158,633,879,785.462667842,809,652,629.462667842,652,0.422913688595,-0.015415381082,0.0498273545201,0.999999964514,-7.17917164172e-05,-0.000253456772081,-3.97252964943e-05,1793245386925724672
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.036909835,633.036909835,879,785.963090165,809,652.036909835,629.963090165,652,0.421988325313,-0.0154161314925,0.0498261246795,0.999999965335,-4.92680811124e-05,-0.00025547785458,-4.04307040248e-05,1793245386942391296
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.214972203,659,634,879,785.214972203,809,652.785027797,629,652,0.420190211521,-0.0154143446421,0.0497852484868,0.999999938632,-8.49181409913e-05,-0.000337032424696,-4.39837400091e-05,1793245386975724544
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.79755167,659,634,879,785.79755167,809,652.20244833,629,652,0.419357849259,-0.0154114461088,0.0498062954408,0.999999944831,-9.02161806319e-05,-0.000316865900572,-4.23726660353e-05,1793245386992391424
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.626886361,659,633.626886361,879,786,809,652,629.373113639,652,0.418472517162,-0.0154082356519,0.0497978772411,0.999999938304,-7.45588343079e-05,-0.000340519345649,-4.33502476556e-05,1793245387009058048
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.05506177,659,633.05506177,879,786,809,652,629.94493823,652,0.417558974711,-0.0154048590725,0.0497737666395,0.999999922734,-4.77411753201e-05,-0.000387510206025,-4.57064822183e-05,1793245387025724928
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.531166671,745,714,680,659,633.531166671,879,785.468833329,808.468833329,652,630,652,0.416759288944,-0.0154098015954,0.0497813760648,0.999999931588,-5.78326520436e-05,-0.000362473188516,-4.57496141069e-05,1793245387042391808
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.882105276,745,714,680,659.117894724,634,879,785.117894724,808,652,630,652,0.415974133108,-0.0154150147109,0.0497946785715,0.999999942482,-7.23191935504e-05,-0.000328260365917,-4.52788892446e-05,1793245387059058176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.299457862,745,714,680,659.700542138,634,879,785.700542138,808,652,630,652,0.415198431827,-0.015417800207,0.0498171002176,0.999999953606,-8.86283524753e-05,-0.000288129909028,-4.37540764856e-05,1793245387075724800
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.145188881,634,879.854811119,785.145188881,808,652,630,652,0.413626066158,-0.0154127686953,0.0497942186849,0.999999939572,-9.66157745398e-05,-0.000330734755551,-4.62174566308e-05,1793245387109058048
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.570729166,634,879.570729166,785,808,652.429270834,630,652,0.4128727728,-0.0154100799136,0.0497785092065,0.999999931372,-9.53983330031e-05,-0.00035465206422,-4.87549006161e-05,1793245387125724672
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.003578071,634,878.996421929,785,808,652.996421929,629.996421929,652,0.41213220995,-0.0154079814491,0.0497655874802,0.999999925107,-9.38849002855e-05,-0.000371930555369,-5.1369746438e-05,1793245387142391296
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.1827036,785,808,652.1827036,629.1827036,652,0.410783062703,-0.0154119150244,0.0498165398947,0.999999946105,-9.7952798974e-05,-0.00031016624148,-4.46362021263e-05,1793245387175725056
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.760020891,785,808,652.760020891,629.760020891,652,0.410107420191,-0.0154095175163,0.0498058539814,0.999999940594,-9.67004416224e-05,-0.000327662370157,-4.58094780508e-05,1793245387192391680
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,785,808,652.678233132,629.678233132,652,0.409474941497,-0.0154076991243,0.0497977912626,0.999999937141,-9.69889328392e-05,-0.000337853109264,-4.6553661981e-05,1793245387209058304
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,785,808,652.127564471,629.127564471,652,0.408873169159,-0.0154062927101,0.0497915946592,0.999999935285,-9.83735686977e-05,-0.000342846864902,-4.69925940124e-05,1793245387225724928
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.664141865,714,679.664141865,658.335858135,634,879,786,808,652.335858135,629,652,0.407241710144,-0.0154144134245,0.0498305428545,0.999999950304,-0.000121288659322,-0.000287569939338,-4.45512482107e-05,1793245387275724544
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.759058168,658.240941832,634,879,786,807.759058168,652.240941832,629,652,0.406714884855,-0.0154142310667,0.0498211445694,0.999999943365,-0.000127844884685,-0.000307874659144,-4.62441025123e-05,1793245387292391424
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.18390957,658.81609043,634,879,786,807.18390957,652.81609043,629,652,0.406190966596,-0.0154105494415,0.0497967225152,0.99999992815,-0.00012917115265,-0.000352895444395,-4.9797083193e-05,1793245387309058304
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.029852948,714,679,659,634,879,786,807.970147052,653,629,652,0.405251281166,-0.015413279169,0.0497666029255,0.999999910448,-0.000134815606939,-0.000397591203402,-5.33861777572e-05,1793245387342392064
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.559443654,714,679.559443654,659,634,879,786,808,653,629,652,0.404853649524,-0.0154130961406,0.0497746144878,0.999999914473,-0.000142048518023,-0.000384743881691,-5.33760975475e-05,1793245387359058176
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a2c31d91a5cabf133dcbb93cf4b91c3de1d9a9dc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2199021efb359e87aa501956c43d3f2ddba26ae
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdd1ebe2eb927a4baed46bb04744e5e24da7b2eda52c3ed47934013507720eeb
+size 25633449
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ea15c02b68ca608c1bfa8cb6bdaaaa10d74de74
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+6,0.100000000,BASELINE,765,744.496858544,714,679,658,634,879,786,807,652,630,652.503141456,0.401006612466,-0.0155037900926,0.0698376955506,0.999999983223,5.02532076457e-05,-0.000175858997099,1.0096903054e-05,1793245389827429632
+7,0.116666667,BASELINE,765,744.916177719,714,679,658,634,879,786,807.083822281,652.083822281,630,652.083822281,0.401007028105,-0.0155043979146,0.0698384062031,0.999999983497,4.86453369977e-05,-0.000174752745861,1.00238511323e-05,1793245389844096000
+8,0.133333333,BASELINE,765,744.333944411,714,679,658,634,879,786,807.666055589,652.666055589,630,652.666055589,0.40100478186,-0.0155030205623,0.0698373028818,0.999999982794,5.01895603329e-05,-0.000178307734145,1.00105192709e-05,1793245389860762624
+9,0.150000000,BASELINE,765,744.244975524,714,679,658.244975524,634,879,786,807.755024476,652.755024476,630,652.755024476,0.401003844955,-0.0155021826073,0.0698366961049,0.999999982452,5.13842407973e-05,-0.000179878683503,9.92572705812e-06,1793245389877428992
+10,0.166666667,BASELINE,765,744.819438981,714,679,658.819438981,634,879,786,807.180561019,652.180561019,630,652.180561019,0.401004669093,-0.0155020701324,0.0698367571718,0.999999982614,5.2108791895e-05,-0.000178781133816,9.7448218839e-06,1793245389894095616
+11,0.183333333,BASELINE,764.604406773,744.604406773,714,679,658.604406773,634,879,786,807.395593227,652.395593227,629.604406773,652,0.401004875178,-0.0155015147142,0.0698369426038,0.999999982561,5.33085025733e-05,-0.000178717890848,9.76314921969e-06,1793245389910762752
+12,0.200000000,BASELINE,764.027477436,744.027477436,714,679,658.027477436,634,879,786,807.972522564,652.972522564,629.027477436,652,0.401004797954,-0.0155007562549,0.0698371850435,0.99999998241,5.47260218721e-05,-0.000179128763983,9.87280279582e-06,1793245389927429888
+13,0.216666667,BASELINE,764.562119198,744,714,679,658,634,879,786,807.437880802,652.437880802,629,652.562119198,0.401005520188,-0.0155012221462,0.0698382439952,0.999999982685,5.44079748425e-05,-0.000177670461502,1.01303516071e-05,1793245389944096256
+14,0.233333333,BASELINE,765,744.149096767,714.149096767,679,658,634,879,786,807,652,629.149096767,653,0.401005523792,-0.0155012032957,0.0698386109815,0.999999982719,5.44976149841e-05,-0.000177446777562,1.02345624049e-05,1793245389960762880
+15,0.250000000,BASELINE,765,744.726726052,714.726726052,679,658,634,879,786,807,652,629.726726052,653,0.401003347007,-0.0154996152231,0.0698368717667,0.999999981995,5.60084870113e-05,-0.000181040287877,9.87679289557e-06,1793245389977429248
+16,0.266666667,BASELINE,765,744.69786177,715,678.69786177,658,634,879,786,807.30213823,652,630,653,0.401002899304,-0.015498963961,0.0698365082727,0.999999981854,5.68984291085e-05,-0.000181543237301,9.83922764348e-06,1793245389994095616
+17,0.283333333,BASELINE,765,744.124440316,715,678.124440316,658,634,879,786,807.875559684,652,630,653,0.401004004104,-0.0154991538402,0.0698373800081,0.999999982242,5.72308518874e-05,-0.000179271240355,1.00891667217e-05,1793245390010762240
+18,0.300000000,BASELINE,764.540084017,744,715,678.919831966,658,634,879,786,807.540084017,652.459915983,630,653,0.401005229438,-0.0155013835951,0.0698386262093,0.999999982678,5.52269949567e-05,-0.000177439538356,1.04892852876e-05,1793245390027429120
+19,0.316666667,BASELINE,764.046940766,744.046940766,714.953059234,679.953059234,658,634,879.046940766,786,807,652.953059234,630,652.953059234,0.401006404342,-0.0155037499213,0.0698398469493,0.999999983084,5.28934446484e-05,-0.000175833051119,1.08377242713e-05,1793245390044095744
+20,0.333333333,BASELINE,764.629829792,744.629829792,714.370170208,679.370170208,658,634,879.629829792,786,807,652.370170208,630,652.370170208,0.401006622029,-0.0155012203599,0.0698395919875,0.999999983097,5.41887727581e-05,-0.000175404647828,1.01208657667e-05,1793245390060762880
+21,0.350000000,BASELINE,765,744.790293179,714,679.209706821,658,634,879.790293179,786,807,652.209706821,630,652.209706821,0.401006532926,-0.015499618552,0.0698393229923,0.999999983035,5.49465531146e-05,-0.000175549720846,9.63569820437e-06,1793245390077429760
+22,0.366666667,BASELINE,765,744.215657643,714,679.784342357,658,634,879.215657643,786,807,652.784342357,630,652.784342357,0.401005909949,-0.0154996312075,0.0698390295767,0.999999982844,5.47689006742e-05,-0.000176692748918,9.55371587269e-06,1793245390094096384
+23,0.383333333,BASELINE,765,744,714,679.640081604,658.359918396,634,879,786,807,652.640081604,629.640081604,653,0.401005891872,-0.0155001786102,0.0698394124096,0.999999982858,5.43483693462e-05,-0.000176735810661,9.7457450745e-06,1793245390110762752
+24,0.400000000,BASELINE,765,744,714,679.063940496,658.936059504,634,879,786,807,652.063940496,629.063940496,653,0.401006237191,-0.015501047265,0.069840201502,0.999999982994,5.3781927339e-05,-0.00017611806244,1.01023880179e-05,1793245390127429120
+25,0.416666667,BASELINE,765,744,714,679,658.477935769,634,879,786,807,652,629,652.477935769,0.40100552699,-0.0155005750887,0.0698396767483,0.99999998283,5.44849263199e-05,-0.000176833160854,1.00621505867e-05,1793245390144096256
+26,0.433333333,BASELINE,765,744,714,679,658,634,878.891695213,786,807,652,629.108304787,652,0.401004929476,-0.0154999612561,0.0698390448108,0.999999982645,5.55513929696e-05,-0.000177554513184,9.94128503045e-06,1793245390160762624
+27,0.450000000,BASELINE,765,744,714,679,658,634,878.309807461,786,807,652,629.690192539,652,0.40100540088,-0.0154994599153,0.0698386613728,0.999999982533,5.75142484178e-05,-0.000177575659432,9.68450051456e-06,1793245390177429248
+28,0.466666667,BASELINE,765,744,714,679,658,634,878.267640597,786,807,652,630,652,0.401005105021,-0.0155002163133,0.0698383918355,0.999999982533,5.63512539835e-05,-0.000177943646569,9.7085925483e-06,1793245390194095872
+29,0.483333333,BASELINE,765,744,714,679,658,634,878.840033311,786,807,652,630,652,0.401003935508,-0.0155024048505,0.0698382519926,0.999999982649,5.16289736815e-05,-0.00017870656816,1.00525079856e-05,1793245390210763008
+30,0.500000000,BASELINE,764.576143792,744,714,679,658,634,878.576143792,785.576143792,807,652,629.576143792,652,0.401003924675,-0.0155024647998,0.0698382807599,0.99999998264,5.10818123562e-05,-0.000178914228435,9.99893152295e-06,1793245390227430144
+31,0.516666667,BASELINE,764.011914142,744,714.011914142,679.011914142,658,634,878.011914142,785.011914142,807,652,629,652,0.401004343158,-0.0155016964142,0.0698383672966,0.999999982587,5.21491205043e-05,-0.000178914759537,9.79433366164e-06,1793245390244096512
+32,0.533333333,BASELINE,764.590537378,744,714.590537378,679.590537378,658,634,878.590537378,785.590537378,807,652,629,652,0.4010038056,-0.0155007984353,0.0698380909452,0.999999982473,5.29822201047e-05,-0.000179307173168,9.73970327064e-06,1793245390260762624
+33,0.550000000,BASELINE,765,744,714.830569029,679.830569029,658,634,879,786,807,652,629,652.169430971,0.401004194564,-0.0155000369715,0.0698382609206,0.999999982509,5.39719715272e-05,-0.000178816079932,9.68632031407e-06,1793245390277428992
+34,0.566666667,BASELINE,765,744,714.251021105,679.251021105,658,634,879,786,807,652,629,652.748978895,0.401006826225,-0.01549960595,0.0698395112547,0.999999982901,5.53409071502e-05,-0.000176186409841,9.63595684879e-06,1793245390294095616
+35,0.583333333,BASELINE,765,744,714.326091083,679,658,634,879,785.673908917,807,652,629.326091083,653,0.401006974904,-0.0154995929719,0.0698397653482,0.999999982932,5.61590700588e-05,-0.000175753976122,9.64014627082e-06,1793245390310762240
+36,0.600000000,BASELINE,765,744,714.901342232,679,658,634,879,785.098657768,807,652,629.901342232,653,0.401005226385,-0.0154998994129,0.069839258233,0.999999982689,5.65563980335e-05,-0.000177000409139,9.68601852344e-06,1793245390327428864
+37,0.616666667,BASELINE,765,744,714.513141863,679,658,634,879,785.486858137,807,652.486858137,629.513141863,653,0.401006376128,-0.0155004287081,0.0698401429833,0.999999983074,5.39343113823e-05,-0.000175642276406,9.6203295511e-06,1793245390344095744
+38,0.633333333,BASELINE,765,744.073339802,714,679.073339802,658,634,879,786,807.073339802,652.926660198,629,652.926660198,0.401007745113,-0.0155009035905,0.0698411072144,0.999999983472,5.14663402105e-05,-0.000174114284428,9.58067357037e-06,1793245390360762624
+39,0.650000000,BASELINE,765,744.651837909,714,679.651837909,658,634,879,786,807.651837909,652.348162091,629,652.348162091,0.401006491754,-0.0155006859273,0.0698406343248,0.999999983138,5.43651064076e-05,-0.000175130011707,9.87939912406e-06,1793245390377429248
+40,0.666666667,BASELINE,765,745,714.229978838,680,658,634,879,786,807.770021162,652,629,652,0.401005399961,-0.0155006242863,0.0698399308434,0.999999982847,5.56993065332e-05,-0.000176366167385,9.89777168748e-06,1793245390394096128
+41,0.683333333,BASELINE,765,745,714.807579842,680,658,634,879,786,807.192420158,652,629,652,0.40100455238,-0.015500798479,0.0698388788133,0.99999998263,5.46686026024e-05,-0.000177935509301,9.49237953097e-06,1793245390410762496
+42,0.700000000,BASELINE,765,744.620355395,714.620355395,679.620355395,658,634,879,786,807.379644605,652.379644605,629,652.379644605,0.401004962779,-0.0155009147289,0.0698390063332,0.999999982691,5.44368321252e-05,-0.000177659206452,9.57738406854e-06,1793245390427429120
+43,0.716666667,BASELINE,765,744.051056322,714.051056322,679.051056322,658,634,879,786,807.948943678,652.948943678,629,652.948943678,0.401006001613,-0.015501002033,0.0698397231067,0.999999982891,5.46041752095e-05,-0.000176460897104,9.90737016845e-06,1793245390444095744
+44,0.733333333,BASELINE,764.457739661,744.542260339,714.542260339,679,658,634,879,785.457739661,808,652.457739661,629.542260339,652.457739661,0.401006267543,-0.0155001157791,0.0698398166447,0.999999982863,5.62205930728e-05,-0.000176123009446,9.65581997109e-06,1793245390460762624
+45,0.750000000,BASELINE,764.134225381,744.865774619,714.865774619,679.134225381,658,634,879,785.134225381,807.865774619,652,629.865774619,652,0.40100604448,-0.0154997431848,0.0698396728552,0.999999982807,5.68135601624e-05,-0.00017626261286,9.51067400781e-06,1793245390477428992
+46,0.766666667,BASELINE,764.713853482,744.286146518,714.286146518,679.713853482,658,634,879,785.713853482,807.286146518,652,629.286146518,652,0.401004451454,-0.0155013933485,0.0698389452818,0.999999982728,5.35366661274e-05,-0.000177705399806,9.9087241664e-06,1793245390494095872
+47,0.783333333,BASELINE,764.708894186,744,714,679.708894186,658,634,879,785.708894186,807,652,629.291105814,652,0.40100409554,-0.0155018328442,0.0698388155314,0.999999982694,5.29922460606e-05,-0.000178053276217,1.00595842914e-05,1793245390510762496
+48,0.800000000,BASELINE,764.133958178,744,714,679.133958178,658,634,879,785.133958178,807,652,629.866041822,652,0.401004945821,-0.0155010919305,0.0698392686625,0.999999982708,5.511200674e-05,-0.00017733360741,9.96943246042e-06,1793245390527429376
+49,0.816666667,BASELINE,764.45046592,744,714,679,658,634,879,785,807,652,629.54953408,652,0.401005218646,-0.0155005194929,0.069839463522,0.999999982696,5.62453746225e-05,-0.000177050736214,9.86906466041e-06,1793245390544096000
+50,0.833333333,BASELINE,764.96275388,744,714,679,658,634,879,785.03724612,807,652,629.03724612,652,0.40100532436,-0.0155000051529,0.0698395823817,0.999999982676,5.70230203833e-05,-0.00017692365464,9.75949328054e-06,1793245390560762624
+51,0.850000000,BASELINE,764.383627846,744,714,679,658,634,879,785.616372154,807,652,629.616372154,652,0.401005550917,-0.0154995914706,0.0698397369834,0.999999982643,5.69847749431e-05,-0.000177132664983,9.56117196705e-06,1793245390577429248
+52,0.866666667,BASELINE,764.194736464,744,714,679,658.194736464,634,879,786,807.194736464,652,630,652,0.401005594871,-0.015499042163,0.0698397821871,0.999999982553,5.74652153798e-05,-0.000177490958834,9.42840188906e-06,1793245390594095616
+53,0.883333333,BASELINE,764.771606,744,714,679,658.771606,634,879,786,807.771606,652,630,652,0.401005280502,-0.0154982267166,0.0698396127183,0.99999998235,5.89634776623e-05,-0.000178142193009,9.42426358708e-06,1793245390610762240
+54,0.900000000,BASELINE,764.651608538,744,714,679,658.651608538,633.651608538,879,785.651608538,808,652,629.651608538,652.348391462,0.401004480712,-0.015498620521,0.0698392229919,0.999999982281,5.81025845052e-05,-0.00017880711264,9.46352778327e-06,1793245390627428864
+55,0.916666667,BASELINE,764.074878201,744,714,679,658.074878201,633.074878201,879,785.074878201,808,652,629.074878201,652.925121799,0.401003362772,-0.015499806879,0.0698386889067,0.999999982297,5.56954797559e-05,-0.000179481001815,9.53123836428e-06,1793245390644095744
+56,0.933333333,BASELINE,764,744,714,679,658,633.511659785,879,785.511659785,808,652,629.511659785,652.488340215,0.401002510021,-0.0154987545212,0.0698380613664,0.999999982026,5.72492201758e-05,-0.000180509029435,9.35658714878e-06,1793245390660762624
+57,0.950000000,BASELINE,764,744,714,679.098663945,658,634,879,786,808,652,629.901336055,652,0.401002195891,-0.0154976596156,0.0698376993785,0.999999981835,5.90176334393e-05,-0.00018100721594,9.17888581447e-06,1793245390677429504
+58,0.966666667,BASELINE,764,744,714,679.680781802,658,634,879,786,808,652,629.319218198,652,0.401004327134,-0.0154979929493,0.069838706924,0.999999982263,5.89421739689e-05,-0.000178650267222,9.1634294346e-06,1793245390694096128
+59,0.983333333,BASELINE,764.25832547,744,714,680,658.25832547,634,878.74167453,785.74167453,807.74167453,652,629,652,0.401004835878,-0.0154985778159,0.0698390730774,0.999999982475,5.81075899488e-05,-0.000177730341192,9.27266621924e-06,1793245390710762496
+60,1.000000000,BASELINE,764.830315138,744,714,680,658.830315138,634,878.169684862,785.169684862,807.169684862,652,629,652,0.40100337455,-0.0154994680991,0.0698386604394,0.999999982426,5.63512609809e-05,-0.000178555277912,9.53330805551e-06,1793245390727428864
+61,1.016666667,BASELINE,764.594777129,744,714,679.189554259,658.594777129,634,878.405222871,785,807.405222871,652,629,652,0.401003570956,-0.0155010089041,0.0698391900328,0.999999982636,5.4457537866e-05,-0.000177948513819,9.83033388037e-06,1793245390744095488
+62,1.033333333,BASELINE,764.018638645,744,714,678.037277291,658.018638645,634,878.981361355,785,807.981361355,652,629,652,0.401004466565,-0.0155028240873,0.0698401170424,0.999999982952,5.2505864512e-05,-0.000176737884394,1.01427057921e-05,1793245390760762368
+63,1.050000000,BASELINE,764,744,714,679.140953108,658,634,879,785.570476554,807.429523446,652,629,652,0.401003295375,-0.0155000471323,0.0698387884897,0.999999982538,5.48350863964e-05,-0.000178403310151,9.42902229399e-06,1793245390777429248
+64,1.066666667,BASELINE,764.157269834,744,714.157269834,680,658,634,879,786,807,652,629.157269834,652,0.40100293199,-0.015497964824,0.0698381891469,0.999999982332,5.65279924781e-05,-0.000179052914738,8.96326268437e-06,1793245390794096128
+65,1.083333333,BASELINE,764.736666356,744,714.736666356,680,658,634,879,786,807,652,629.736666356,652,0.401004922294,-0.0154981590918,0.0698397494758,0.999999982767,5.6128817673e-05,-0.000176717876003,9.25502778458e-06,1793245390810762752
+66,1.100000000,BASELINE,765,744,714.686472517,679.686472517,658,634,879,786,807,652,629.686472517,652,0.401005488441,-0.015498068333,0.069840304319,0.999999982789,5.66020504627e-05,-0.000176435944502,9.36258686985e-06,1793245390827429376
+67,1.116666667,BASELINE,765,744,714.111723832,679.111723832,658,634,879,786,807,652,629.111723832,652,0.401004868023,-0.0154977400992,0.069840021423,0.999999982468,5.78021457473e-05,-0.000177864597267,9.31667130245e-06,1793245390844096000
+68,1.133333333,BASELINE,764.52547812,744,714,679,658,634,878.52547812,785.52547812,807,652,629.47452188,652,0.401004069938,-0.0154980046856,0.0698393758252,0.999999982348,5.73142506823e-05,-0.000178698529441,9.29808746089e-06,1793245390860762624
+69,1.150000000,BASELINE,764.062370789,744.062370789,714,679,658,634,878.062370789,785.062370789,807,652,630,652,0.401003381797,-0.0154982638799,0.0698387464582,0.999999982295,5.67100190208e-05,-0.000179188886741,9.26627674644e-06,1793245390877428992
+70,1.166666667,BASELINE,764.640535927,744.640535927,714,679,658,634,878.640535927,785.640535927,807,652,630,652,0.401003957401,-0.0154972955506,0.069838975065,0.999999982401,5.85119761836e-05,-0.000178024670218,9.07054376947e-06,1793245390894096128
+71,1.183333333,BASELINE,765,744.781210829,714,679,658,633.781210829,879,786,807,652,629.781210829,652,0.401004630581,-0.01549700464,0.0698393960284,0.999999982558,5.90887579431e-05,-0.000176952911995,9.00556155896e-06,1793245390910763008
+72,1.200000000,BASELINE,765,744.202812681,714,679,658,633.202812681,879,786,807,652,629.202812681,652,0.40100546414,-0.0154978271564,0.0698401331552,0.999999982802,5.76518019596e-05,-0.000176033121048,9.1554855179e-06,1793245390927429376
+73,1.216666667,BASELINE,764.620170758,744,714,679,658,633,879,785.620170758,807,652,629,652,0.401004375461,-0.0154995451685,0.0698393743585,0.999999982655,5.5472559166e-05,-0.000177552325765,9.34362650779e-06,1793245390944096000
+74,1.233333333,BASELINE,764.035237272,744,714,679,658,633,879,785.035237272,807,652,629,652,0.401002248791,-0.0155017467398,0.069837807777,0.999999982286,5.28924885106e-05,-0.000180388565422,9.55240432853e-06,1793245390960762368
+75,1.250000000,BASELINE,764.543730007,744,714.543730007,679,658,633.543730007,879,785,807,652,629,652.543730007,0.401002838643,-0.0154993363301,0.0698377936332,0.999999982001,5.73853706898e-05,-0.000180603961278,9.38568552737e-06,1793245390977428992
+76,1.266666667,BASELINE,765,744,714.877355429,679,658,634,879.122644571,785.122644571,807,652,629,652.877355429,0.401003519224,-0.0154973266481,0.0698380141141,0.999999981809,6.09756333031e-05,-0.000180495106849,9.20173278748e-06,1793245390994095360
+77,1.283333333,BASELINE,765,744,714.297210875,679,658,634,879.702789125,785.702789125,807,652,629,652.297210875,0.401003888663,-0.0154979146308,0.0698387385893,0.999999982024,5.9507552379e-05,-0.000179803409778,9.04328251657e-06,1793245391010761984
+78,1.300000000,BASELINE,765,744,714,679,658,634,879.719327389,786,807,652,629,652,0.401004269539,-0.0154983365176,0.0698393522022,0.999999982199,5.88083586475e-05,-0.000179055709426,9.12278971047e-06,1793245391027429120
+79,1.316666667,BASELINE,765,744,714,679,658,634,879.143819103,786,807,652,629,652,0.401004662429,-0.0154985839271,0.0698398493588,0.999999982333,5.89168511338e-05,-0.000178249179846,9.45226198671e-06,1793245391044096256
+80,1.333333333,BASELINE,765,744,714,679,658,634,879,786,807.439910673,652.439910673,629,652,0.401005553415,-0.0154989130763,0.0698401045252,0.999999982473,5.82795852257e-05,-0.00017767293988,9.51207658713e-06,1793245391060762880
+81,1.350000000,BASELINE,764.973974271,744,714,679,658,634,879,786,807.973974271,652.973974271,629.026025729,652.026025729,0.401006508369,-0.0154992093849,0.0698402646325,0.999999982601,5.74478296704e-05,-0.000177224910985,9.47158567831e-06,1793245391077428736
+82,1.366666667,BASELINE,764.395370907,744,714,679,658,634,879,786,807.395370907,652.395370907,629.604629093,652.604629093,0.401005298224,-0.0154982302362,0.0698401181673,0.99999998247,5.776181588e-05,-0.00017787009814,9.20884068112e-06,1793245391094095616
+83,1.383333333,BASELINE,764,744,714,679,658,634,879,785.816897812,807,652,630,653,0.401004261416,-0.0154978136602,0.0698397836883,0.999999982368,5.75576052049e-05,-0.000178519790902,9.06163238441e-06,1793245391110762496
+84,1.400000000,BASELINE,764,744,714,679,658,634,879,785.238705697,807,652,630,653,0.401003598626,-0.0154986109786,0.069839043521,0.999999982324,5.62352519149e-05,-0.00017917920579,9.16372409938e-06,1793245391127429120
+85,1.416666667,BASELINE,764,744,714,679,658,634,878.663229431,785,807,652,629.663229431,652.663229431,0.401003473116,-0.0154996251433,0.0698388500951,0.999999982361,5.59255144527e-05,-0.000179058196035,9.35645956397e-06,1793245391144095744
+86,1.433333333,BASELINE,764,744,714,679,658,634,878.089662816,785,807,652,629.089662816,652.089662816,0.401003725388,-0.0155007917806,0.0698390411039,0.999999982456,5.63277853207e-05,-0.000178388440341,9.61293004994e-06,1793245391160762368
+87,1.450000000,BASELINE,764.497857844,744.497857844,714,679,658,634,878.497857844,785,807.497857844,652,629.497857844,652,0.401004350298,-0.0155001411695,0.069839585931,0.999999982544,5.62496608898e-05,-0.000177933577607,9.40963326386e-06,1793245391177429248
+88,1.466666667,BASELINE,764.913609298,744.913609298,714,679,658,633.913609298,878.913609298,785,807.913609298,652,629.913609298,652,0.401004821861,-0.0154992673812,0.0698400489549,0.999999982591,5.61466940268e-05,-0.000177715253403,9.15397854882e-06,1793245391194095616
+89,1.483333333,BASELINE,764.334057923,744.334057923,714,679,658,633.334057923,878.334057923,785,807.334057923,652,629.334057923,652,0.401004023902,-0.015499041745,0.0698396707616,0.999999982415,5.6410042795e-05,-0.000178619908907,9.08574857597e-06,1793245391210762240
+90,1.500000000,BASELINE,764,744,714,679,658,633.243648005,878.243648005,785.243648005,807,652.243648005,629,652,0.401003979513,-0.0154993746617,0.0698395624696,0.999999982348,5.68348115381e-05,-0.000178857009703,9.17278594993e-06,1793245391227429120
+91,1.516666667,BASELINE,764,744,714,679,658,633.818842673,878.818842673,785.818842673,807,652.818842673,629,652,0.401004960552,-0.0155004676352,0.0698398214488,0.999999982428,5.74792342404e-05,-0.000178185728121,9.47110505492e-06,1793245391244096000
+92,1.533333333,BASELINE,764.402273929,744,714,679,658,634,878.597726071,785.597726071,807,652.597726071,629,652.402273929,0.401004231901,-0.0155004029096,0.0698393295992,0.999999982284,5.69939642976e-05,-0.000179148237452,9.4426693925e-06,1793245391260762368
+93,1.550000000,BASELINE,764.98949198,744,714,679,658,634,878.01050802,785.01050802,807,652.01050802,629,652.98949198,0.401002717225,-0.0154998059356,0.0698384925586,0.999999982034,5.59893219163e-05,-0.000180861876745,9.26400932174e-06,1793245391277428992
+94,1.566666667,BASELINE,765,744,714,679,658,634,878.569103442,785,807,652,629,652.430896558,0.401003436674,-0.0154990257874,0.0698388121744,0.999999982125,5.69787560719e-05,-0.000180052718339,9.23778705262e-06,1793245391294095872
+95,1.583333333,BASELINE,764.851782767,744,714,679,658,633.851782767,879,785.148217233,807,652,629,652,0.401004020967,-0.0154985266791,0.0698390912506,0.999999982207,5.75887886823e-05,-0.000179399682112,9.20521142351e-06,1793245391310762496
+96,1.600000000,BASELINE,764.273710215,744,714,679,658,633.273710215,879,785.726289785,807,652,629,652,0.401004095231,-0.0154988523141,0.0698391916339,0.999999982254,5.69931193045e-05,-0.000179332738757,9.1461546966e-06,1793245391327429120
+97,1.616666667,BASELINE,764.303296163,744,714,679,658,633.303296163,879,786,807.303296163,652,629.303296163,652,0.401003807012,-0.0154990166981,0.0698387977476,0.999999982199,5.60472326967e-05,-0.00017993785588,9.13293365655e-06,1793245391344095488
+98,1.633333333,BASELINE,764.879343704,744,714,679,658,633.879343704,879,786,807.879343704,652,629.879343704,652,0.401003192816,-0.0154990360704,0.0698379593693,0.99999998205,5.47863990722e-05,-0.000181147350656,9.16093222096e-06,1793245391360762368
+99,1.650000000,BASELINE,765,744,714,679,658,634,879,786,807.53587642,652,630,652.46412358,0.401003008004,-0.0154992068028,0.0698381789248,0.999999982039,5.6051252201e-05,-0.000180817710374,9.25159844286e-06,1793245391377429248
+100,1.666666667,BASELINE,765,744.050828677,714,679,658.101657353,634,879,785.949171323,807,652,629.949171323,652.949171323,0.401002987275,-0.0154994178304,0.0698386289441,0.999999982066,5.77765699075e-05,-0.000180116604988,9.3412617592e-06,1793245391394096128
+101,1.683333333,BASELINE,765,744.633469879,714,679,659.266939758,634,879,785.366530121,807,652,629.366530121,652.366530121,0.401003493002,-0.0154996308696,0.0698385575279,0.999999982151,5.73181011161e-05,-0.000179795615006,9.24670835803e-06,1793245391410762496
+102,1.700000000,BASELINE,764.786974809,744.786974809,714,679,659.573949618,634,879,785.213025191,807,652,629,652.213025191,0.401003954323,-0.015499690885,0.0698387478092,0.999999982233,5.72337362064e-05,-0.000179368935868,9.24066822649e-06,1793245391427429120
+103,1.716666667,BASELINE,764.212653306,744.212653306,714,679,658.425306613,634,879,785.787346694,807,652,629,652.787346694,0.401004340331,-0.0154994913679,0.0698393819361,0.999999982308,5.7783861339e-05,-0.000178763005181,9.38474893155e-06,1793245391444095744
+104,1.733333333,BASELINE,764.362257366,744,714.362257366,679,658,634,879,786,807,652,629,652.637742634,0.4010045918,-0.015498612185,0.0698396291078,0.999999982273,5.80795960981e-05,-0.000178863916197,9.38459396329e-06,1793245391460762368
+105,1.750000000,BASELINE,764.937514512,744,714.937514512,679,658,634,879,786,807,652,629,652.062485488,0.401004764163,-0.0154973333727,0.069839648758,0.999999982173,5.82257546721e-05,-0.000179380435348,9.29963143917e-06,1793245391477428992
+106,1.766666667,BASELINE,764.476042112,744,714.476042112,679,658,634,878.476042112,786,807,652,629.523957888,652.523957888,0.401003416243,-0.0154963249867,0.0698388644589,0.999999981931,5.97083392773e-05,-0.000180254182487,8.97941810115e-06,1793245391494095872
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785,807,652,629,652,0.401004282827,-0.0154973414196,0.0698405489165,0.999999982412,5.91853635233e-05,-0.000177738122942,9.03078959601e-06,1793245391536379392
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.576003479,634,878.423996521,785.576003479,807.576003479,652,629.576003479,652,0.401003916203,-0.0154993875763,0.0698398404247,0.999999982544,5.47930736325e-05,-0.000178400904102,9.1270775573e-06,1793245391553046016
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.844993778,744,714,679,659,634,878,785.844993778,807.844993778,652.155006222,630,652,0.401003467344,-0.0155007447152,0.0698393067269,0.999999982532,5.26532741386e-05,-0.000179100740295,9.26516187528e-06,1793245391569712128
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.257624987,744,714,679,659,634,878,785.257624987,807.257624987,652.742375013,630,652,0.401002789107,-0.0155001799607,0.0698392605859,0.999999982159,5.67963991133e-05,-0.000179903935138,9.51982979518e-06,1793245391586378240
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.324203667,744,714,679,658.675796333,634,878,785.324203667,807,652.675796333,629.675796333,652.324203667,0.401002573661,-0.0154997110606,0.069839071536,0.999999982027,5.79585955785e-05,-0.000180264297503,9.61178793422e-06,1793245391603044608
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.901703842,744,714,679,658.098296158,634,878,785.901703842,807,652.098296158,629.098296158,652.901703842,0.401002719787,-0.0154993170503,0.0698387708331,0.999999982091,5.67918274604e-05,-0.000180278680022,9.57662282267e-06,1793245391619711232
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.479669659,786,807,652,629.479669659,653,0.401003621568,-0.0154999804674,0.0698395985428,0.999999982312,5.67543043109e-05,-0.000179060741936,9.5594378967e-06,1793245391636378368
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.942377167,744,714,679.057622833,658,634,879,786,807,652,630,652.942377167,0.401004638421,-0.0155006463801,0.0698405848687,0.999999982457,5.69027790749e-05,-0.000178207336625,9.53054091288e-06,1793245391653045504
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.365398792,744,714,679.634601208,658,634,879,786,807,652,630,652.365398792,0.40100529537,-0.0154993798322,0.0698409146122,0.999999981623,5.66399256562e-05,-0.000182917766262,9.36284147122e-06,1793245391669712384
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679.784239116,658,634,879,785.784239116,807,652,629.784239116,652,0.401010355342,-0.0154986362107,0.0698433962839,0.999999981058,5.6951406434e-05,-0.000185878337984,9.48798971916e-06,1793245391686379008
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744,714,679.195858376,658,634,879,785.195858376,807,652,629.195858376,652,0.401023019352,-0.0154987956854,0.0698495943436,0.999999980988,5.8254764552e-05,-0.000185816898042,1.0118887043e-05,1793245391703045120
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,785.386194261,807,652,629,652.386194261,0.401054270175,-0.0155001835393,0.0698614422695,0.999999982783,5.83350468636e-05,-0.000175818712695,1.09018197618e-05,1793245391719711232
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,785.965089394,807,652,629,652.965089394,0.401094795334,-0.0155021843226,0.0698761093318,0.999999985322,5.78050463308e-05,-0.000160862350332,1.17606142349e-05,1793245391736377856
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.53998594,744,714,679,658,634,879,786,807,652,629.53998594,653,0.401156858844,-0.0155063057847,0.069890009996,0.999999988186,5.626989427e-05,-0.000142504436098,1.23942035645e-05,1793245391753044480
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.882783226,744,714,679,658,634,878.882783226,785.882783226,807,652,629.882783226,652.882783226,0.401222705401,-0.0155101974731,0.0699025188619,0.999999990468,5.52563771929e-05,-0.000125890726463,1.27192479576e-05,1793245391769711360
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.295154471,744,714,679,658,634,878.295154471,785.295154471,807,652,629.295154471,652.295154471,0.401298186854,-0.0155126208619,0.0699096395806,0.999999991466,5.65951501747e-05,-0.000117152883425,1.18640475632e-05,1793245391786377984
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679.287610339,658,634,878.287610339,785.287610339,807,652,629.287610339,652.287610339,0.401384070837,-0.0155147197959,0.0699145449104,0.999999992055,5.65866994838e-05,-0.00011214662874,1.05601338685e-05,1793245391803044864
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,679.865466598,658,634,878.865466598,785.865466598,807,652,629.865466598,652.865466598,0.401480452674,-0.0155164913018,0.0699172145496,0.999999992287,5.52186794681e-05,-0.000110906158155,8.80339504435e-06,1793245391819711744
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.445116336,744.445116336,714,679.554883664,658,634,879,786,807,652,630,653,0.401595118969,-0.0155185784498,0.0699180073574,0.99999999201,5.75435676204e-05,-0.000112368136054,6.49084133208e-06,1793245391836378368
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.974948071,786,807,652,629.974948071,653,0.401716871399,-0.0155208555103,0.0699182866624,0.999999991593,6.07909701989e-05,-0.000114467654293,3.97852874421e-06,1793245391853044736
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.400677362,786,807,652,629.400677362,653,0.40187232913,-0.0155251961135,0.0699197947982,0.999999991883,5.96941238408e-05,-0.000112564853587,7.8466713473e-07,1793245391869711360
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.177803654,744.822196346,714,679,658,634,878.177803654,786,807.177803654,652,629,653,0.402035684778,-0.0155288283106,0.0699219849633,0.999999992233,5.82021721794e-05,-0.000110185276767,-2.57115480172e-06,1793245391886377984
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.766002554,744.233997446,714,679,658,634,878.766002554,786,807.766002554,652,629,653,0.402217269881,-0.0155308254082,0.0699257493455,0.99999999273,5.57982633815e-05,-0.000106705235479,-6.30080296811e-06,1793245391903044608
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.649490615,744,714,679,658.350509385,633.649490615,879,785.649490615,808,652,629,652.649490615,0.402421581246,-0.0155319790968,0.0699285441095,0.999999993209,5.27174691964e-05,-0.000103384278124,-1.06899894973e-05,1793245391919711232
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.067422831,744,714,679,658.932577169,633.067422831,879,785.067422831,808,652,629,652.067422831,0.402640906369,-0.015532575601,0.069930698311,0.999999993653,4.91895013043e-05,-0.000100168416667,-1.55148898309e-05,1793245391936377856
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.493286057,633.506713943,879,785,807.493286057,652,629,652.506713943,0.402892331969,-0.0155272146117,0.0699327708023,0.999999994785,2.25411203847e-05,-9.74845952892e-05,-2.0446039516e-05,1793245391953044736
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.920264576,744,714,679,658.079735424,633.920264576,879,785,807,652,629.079735424,652.920264576,0.403156178701,-0.015521003431,0.0699360030918,0.999999995387,-1.1679799542e-06,-9.26602052643e-05,-2.52704195118e-05,1793245391969712128
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.347714207,744,714,679,658.652285793,633.347714207,879,785,807,652,629.652285793,652.347714207,0.403470803715,-0.0155143614004,0.069946469824,0.999999996746,1.20104349038e-05,-7.41749568767e-05,-2.93488664425e-05,1793245391986378496
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.233971414,744,714,679.233971414,658.766028586,633.233971414,879,785.233971414,807.233971414,652,630,652,0.403791523476,-0.0155137717008,0.0699538311127,0.999999997355,1.81174713738e-05,-6.30759999534e-05,-3.13431970311e-05,1793245392003044864
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.829784871,744,714,679.829784871,658.170215129,633.829784871,879,785.829784871,807.829784871,652,630,652,0.404121668881,-0.0155225420676,0.0699563897627,0.999999997448,1.32884616613e-05,-6.34001097272e-05,-3.01143946914e-05,1793245392019711232
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,714,679.587473465,658.412526535,634,879.412526535,786,807.587473465,652,630,652,0.404486914455,-0.015525522774,0.0699589323001,0.99999999773,9.90629769218e-06,-5.93698399401e-05,-3.02844775877e-05,1793245392036377856
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,714,679.009959789,658.990040211,634,879.990040211,786,807.009959789,652,630,652,0.404866198093,-0.0155261879454,0.0699614683932,0.999999998057,7.10278981147e-06,-5.35980660805e-05,-3.10140350115e-05,1793245392053044736
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.435168264,634,879.435168264,785.435168264,807,652,629.435168264,652.564831736,0.405283866235,-0.0155270427454,0.0699657352792,0.999999998283,-5.43501314243e-06,-4.78882887864e-05,-3.33231071061e-05,1793245392069711360
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785.143202798,807.143202798,652,629.143202798,652.856797202,0.405709219386,-0.0155271424958,0.0699667673652,0.999999998173,-1.21923248338e-05,-4.74148527907e-05,-3.54431389126e-05,1793245392086378240
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785.732882959,807.732882959,652,629.732882959,652.267117041,0.40615643263,-0.0155248777789,0.0699576193014,0.999999997318,-3.94638379444e-07,-6.32638790242e-05,-3.68873608216e-05,1793245392103045120
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.316464759,633.683535241,879,785.683535241,807.683535241,652,629.683535241,652,0.406626686046,-0.0155211714959,0.0699448753604,0.999999995831,3.38683619666e-06,-8.23063156348e-05,-3.93991502854e-05,1793245392119711744
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.894996522,633.105003478,879,785.105003478,807.105003478,652,629.105003478,652,0.40711601926,-0.0155162714404,0.0699291536438,0.999999993677,5.30022753651e-07,-0.000103993242701,-4.27950011514e-05,1793245392136378368
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744,714,679.471372397,658.528627603,633.471372397,879,785,807.471372397,652,629,652.471372397,0.407667299055,-0.015516987274,0.0699317683157,0.999999994756,3.5918009147e-06,-9.270387744e-05,-4.33768098672e-05,1793245392153044992
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,714.047098988,679.952901012,658,634,879,785,808,652,629.047098988,653,0.408236773554,-0.0155190598415,0.0699392693293,0.999999996375,6.96443923118e-06,-7.29407692358e-05,-4.33667329559e-05,1793245392169711360
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,714.620911214,679.379088786,658,634,879,785,808,652,629.620911214,653,0.408856105414,-0.0155223785153,0.0699559438826,0.999999998236,-8.63585893397e-07,-4.0190153044e-05,-4.37158552648e-05,1793245392186377728
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714.799716557,679,658.200283443,634,879,785.200283443,807.799716557,652,630,653,0.409471974388,-0.0155239424738,0.0699633042449,0.999999998701,-5.86773670397e-06,-2.44351967147e-05,-4.43435887629e-05,1793245392203044864
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714.209520112,679,658.790479888,634,879,785.790479888,807.209520112,652,630,653,0.410081101758,-0.0155220903419,0.0699525316837,0.999999998078,-5.37435168548e-06,-4.17674944274e-05,-4.55137242365e-05,1793245392219711744
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.374664631,786,807.374664631,652,630,652.625335369,0.410728691531,-0.0155188115837,0.0699485130147,0.999999997624,-2.30103286841e-06,-5.05817620759e-05,-4.67711899082e-05,1793245392236378624
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.955540581,786,807.955540581,652,630,652.044459419,0.411397450571,-0.0155147476258,0.0699482116144,0.999999997345,2.19225329626e-06,-5.47077985095e-05,-4.80767211314e-05,1793245392253046016
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,679.529625392,659,634,879.470374608,785.470374608,808,652,630,652,0.41213107592,-0.015517000432,0.0699738144855,0.99999999886,-7.29854252978e-07,-8.27924823881e-06,-4.70270395099e-05,1793245392269712384
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.103297487,714,680,659,634,879,785.103297487,808,652,630,652.103297487,0.412874566425,-0.0155195259438,0.0700008015079,0.999999998188,-5.85899247742e-06,3.87078433887e-05,-4.57371952948e-05,1793245392286379008
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.67765412,714,680,659,634,879,785.67765412,808,652,630,652.67765412,0.413638527024,-0.0155209075598,0.0700243097439,0.999999996465,-1.82499407698e-05,6.91343140875e-05,-4.42423371954e-05,1793245392303045376
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.740701226,714,679.740701226,659,634,879,785.740701226,808,652,630,652.740701226,0.414380457263,-0.015517884188,0.0700181248773,0.999999997476,-1.69747295856e-05,5.20669189049e-05,-4.5261120046e-05,1793245392319711744
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.149734416,714,679.149734416,659,634,879,785.149734416,808,652,630,652.149734416,0.415094208658,-0.0155092264141,0.0699739596838,0.999999998442,1.78081051798e-06,-2.57496883734e-05,-4.94950907329e-05,1793245392336378368
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,785.433043208,808,652,630,652.433043208,0.415862460349,-0.015505598567,0.0699364666492,0.999999994953,5.84073602906e-06,-8.38569924369e-05,-5.50297471844e-05,1793245392353044736
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,679.012842214,659,634,879,786,808,652,630,653,0.416650530069,-0.0155038318815,0.0699026822781,0.999999989276,4.81200831968e-06,-0.000133147959368,-6.07987224449e-05,1793245392369711360
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,679.58396671,659,634,879,786,808,652,630,653,0.417496119388,-0.0155087699807,0.0699316908294,0.999999994299,-6.34522483106e-07,-8.99346563904e-05,-5.75656445798e-05,1793245392386378496
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.160780936,714,680,659,634,879.160780936,786,808,652,630,653,0.418354035112,-0.0155129575723,0.0699601383705,0.999999997314,-8.18504177258e-06,-4.76257188441e-05,-5.51078118646e-05,1793245392403045376
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.752857867,714,680,659,634,879.752857867,786,808,652,630,653,0.419245016453,-0.0155151319216,0.0699870809962,0.999999998244,-2.13795246738e-05,-7.742750852e-06,-5.4729580112e-05,1793245392419712256
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.662926263,714,680,659.337073737,634,880,785.662926263,808,652,630,653,0.420143706776,-0.015517776868,0.0700107186238,0.99999999775,-2.82123022799e-05,2.89254457541e-05,-5.35430927564e-05,1793245392436378368
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.084342785,714,680,659.915657215,634,880,785.084342785,808,652,630,653,0.421047920464,-0.0155207589921,0.0700319882542,0.999999996192,-3.04869852349e-05,6.32902911712e-05,-5.17774988856e-05,1793245392453044480
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659.5071868,634,880,785,808.4928132,652,630,653,0.421914761899,-0.0155175363861,0.0700176926415,0.999999997313,-3.03853688184e-05,3.77910730157e-05,-5.49797260124e-05,1793245392469711104
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659.069218703,633.930781297,880,785.069218703,809,652,630,653,0.422766035096,-0.0155133870244,0.069989142073,0.999999997722,-3.02528295187e-05,-9.69525912768e-06,-5.9562545224e-05,1793245392486377984
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659.641936858,633.358063142,880,785.641936858,809,652,630,653,0.423550454957,-0.015510198487,0.0699010484035,0.99999998695,-3.28451124656e-05,-0.000142805998318,-6.80211679992e-05,1793245392503044608
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.222015289,714,680.222015289,660,633.222015289,880,786,809,652,630,653,0.424398857557,-0.0155089326191,0.0698524617113,0.999999973892,-3.67666722874e-05,-0.00021312096685,-7.37778955546e-05,1793245392519711488
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.814371393,714,680.814371393,660,633.814371393,880,786,809,652,630,653,0.425353989055,-0.0155108739309,0.06986977608,0.9999999803,-4.29055827636e-05,-0.000178687151893,-7.50276297868e-05,1793245392536378624
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.398118828,744.601881172,714,680.601881172,660,633.601881172,880,785.601881172,809,652,630,652.601881172,0.426313158118,-0.0155131321028,0.0699184648565,0.999999991018,-4.02308195582e-05,-0.000107500852979,-6.92077015982e-05,1793245392553045248
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.97793727,744.02206273,714,680.02206273,660,633.02206273,880,785.02206273,809,652,630,652.02206273,0.42727416985,-0.0155155348883,0.0699814727684,0.999999997437,-3.35335353282e-05,-1.95408896782e-05,-6.01612112689e-05,1793245392569712128
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.447750718,744,714,680.552249282,660,633.552249282,880,785,809,652,630,652.552249282,0.428226303887,-0.0155169430166,0.0700182790946,0.999999996976,-3.68931363417e-05,3.53890049736e-05,-5.85996551346e-05,1793245392586378496
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.129325296,744,714,681,660,634,880,785.129325296,809,652,630.129325296,653,0.429164074675,-0.01551827715,0.0700455385087,0.999999994443,-4.09630156025e-05,7.78489322933e-05,-5.81010074273e-05,1793245392603044864
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.716968581,744,714,681,660,634,880,785.716968581,809,652,630.716968581,653,0.430052187776,-0.0155194884867,0.0700426375111,0.999999993856,-4.61402463791e-05,8.07466292369e-05,-6.03199499823e-05,1793245392619711488
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.698047267,744.301952733,714,681.301952733,660,633.698047267,880,785.698047267,809,652,630.698047267,653,0.430896922286,-0.0155158934965,0.069997750799,0.999999996909,-4.45444545419e-05,4.23619621333e-06,-6.46593599294e-05,1793245392636378112
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.115533894,744.884466106,714,681.884466106,660,633.115533894,880,785.115533894,809,652,630.115533894,653,0.431701351346,-0.0155078326876,0.0699138528852,0.999999986144,-3.66554794306e-05,-0.000146056632501,-7.09690097781e-05,1793245392653044736
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.539861209,714,681.539861209,660,633,880,785.460138791,809,652,630,653,0.432568562162,-0.0155061216071,0.0698940123822,0.999999982296,-3.37240201438e-05,-0.00017001664733,-7.32493104106e-05,1793245392669711616
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744,714,681.034186961,660,633,880,785.965813039,809,652,630,653,0.433454384505,-0.0155062995641,0.0698943054798,0.999999984458,-3.30957261308e-05,-0.000156498502868,-7.41352461703e-05,1793245392686378496
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744,714,681.609309083,660,633,880,785.390690917,809,652,630,653,0.434388922702,-0.0155115103191,0.0699624052274,0.999999995422,-4.95029805631e-05,-4.45216672819e-05,-6.87319646053e-05,1793245392703045376
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633.189853887,880,785,809,652,630,653,0.435298800832,-0.0155161523679,0.0700154358512,0.999999995272,-5.9410852521e-05,4.25960331643e-05,-6.41316302647e-05,1793245392719711744
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633.781885971,880,785,809,652,630,653,0.436156440323,-0.0155195896953,0.0700365447129,0.999999993614,-5.55507201652e-05,7.70532455479e-05,-6.12322248179e-05,1793245392736378112
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633.634876844,880.365123156,785,809.365123156,652,630,653,0.436997605938,-0.0155218614935,0.070031729122,0.999999993299,-5.77711841615e-05,7.8788391122e-05,-6.21084080954e-05,1793245392753044736
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633.056769939,880.943230061,785,809.943230061,652,630,653,0.437829161955,-0.0155234534145,0.0700117912702,0.99999999397,-6.35385837036e-05,6.14360887352e-05,-6.51869691158e-05,1793245392769711360
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633,880.482159452,785.517840548,810,652,630,653,0.438547504282,-0.0155183451322,0.0699563901405,0.999999995063,-6.59216721814e-05,-2.4545413335e-05,-7.01848026942e-05,1793245392786377984
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744,714,681.905614803,660,633,880,785.905614803,809.905614803,651.905614803,630,653,0.439245948751,-0.0155141465793,0.0698979277959,0.999999987912,-6.83542398267e-05,-0.000117779088689,-7.50493007969e-05,1793245392803044864
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744,714,681.316947375,660,633,880,785.316947375,809.316947375,651.316947375,630,653,0.439904751832,-0.0155185329947,0.0698436574947,0.999999972266,-7.2975854097e-05,-0.000209855074771,-7.81210621452e-05,1793245392819711744
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7b74e9f763101e1f87fc547d91bcb0d3a0032847
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+391,6.516666667,pose2_to_pose3_retreat,0.575671179708,-0.0101222064489,1.06005095383,0.546242813965,-0.00144651692566,1.05971744983
+392,6.533333333,pose2_to_pose3_retreat,0.57567106025,-0.0101222123715,1.06005095968,0.546242694607,-0.00144652250397,1.0597174558
+393,6.550000000,pose2_to_pose3_retreat,0.575670813963,-0.0101222245822,1.06005097174,0.546242448526,-0.00144653400477,1.05971746812
+394,6.566666667,pose2_to_pose3_retreat,0.575670648777,-0.0101222256993,1.06005099509,0.546242283256,-0.00144653546768,1.05971748996
+395,6.583333333,pose2_to_pose3_retreat,0.575670411428,-0.0101222183842,1.06005104789,0.546242045504,-0.00144652968613,1.05971753847
+396,6.600000000,pose2_to_pose3_retreat,0.575670031612,-0.0101222066784,1.06005113237,0.546241665042,-0.00144652043424,1.0597176161
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+400,6.666666667,pose2_to_pose3_retreat,0.575669723833,-0.0101221846432,1.06005096942,0.546241356641,-0.00144650035754,1.05971745717
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+402,6.700000000,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.0014464664174,1.05971735668
+403,6.716666667,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641743,1.05971735668
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8ce9537892b8808fa341a439130d48f984e0454
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ecaefb0d0dbfc59cde57ba994157fca55a24a847f7b1874667f29006a9621af
+size 25633229
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e56bef90ee9bef6e80268f943f4f89c8efda6036
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+51,0.850000000,BASELINE,764.393587867,744,714,679,658.606412133,634,878.606412133,785,807,652,629.393587867,652,0.400957788115,-0.015364106592,0.0698180652424,0.999999931545,0.000228915010249,-0.000290604490391,7.50050431858e-06,1793245397499440896
+52,0.866666667,BASELINE,764.192576394,744,714,679,658.807423606,633.807423606,879,785,807,652,629.192576394,652.192576394,0.400957679186,-0.0153643258342,0.0698180959194,0.999999931683,0.000228498563668,-0.000290457582853,7.59691514182e-06,1793245397516107776
+53,0.883333333,BASELINE,764.770364582,744,714,679,658.229635418,633.229635418,879,785,807,652,629.770364582,652.770364582,0.400956905037,-0.0153636647178,0.0698173062238,0.999999931131,0.000230452887883,-0.000290820338949,7.26300095469e-06,1793245397532774400
+54,0.900000000,BASELINE,764.653536238,744,714,679.346463762,658,633.346463762,878.653536238,785,807,652,629.653536238,652.653536238,0.400956407991,-0.0153640996007,0.0698171526965,0.999999931321,0.000229197783489,-0.000291158741972,7.27671716785e-06,1793245397549440768
+55,0.916666667,BASELINE,764.078551119,744,714,679.921448881,658,633.921448881,878.078551119,785,807,652,629.078551119,652.078551119,0.400956093717,-0.0153652573852,0.0698174187745,0.999999931992,0.000225825796789,-0.000291481082123,7.5197242445e-06,1793245397566107136
+56,0.933333333,BASELINE,764,744,714,679.491499222,658,634,878.508500778,785,807,652,629.508500778,652,0.400956459598,-0.0153661767093,0.0698174115543,0.999999932256,0.000225109298843,-0.000291133943155,7.42760396549e-06,1793245397582774016
+57,0.950000000,BASELINE,764,744,714,679,658,634,878.90411759,785,807,652,629.90411759,652,0.400957070721,-0.0153668250038,0.0698174607053,0.999999932428,0.000225106323028,-0.000290545804094,7.33626138557e-06,1793245397599440896
+58,0.966666667,BASELINE,764,744,714,679,658,634,878.324702058,785,807,652,629.324702058,652,0.400958375856,-0.0153662967811,0.0698180122143,0.999999932461,0.000226582666201,-0.00028927652034,7.5162571685e-06,1793245397616107520
+59,0.983333333,BASELINE,764,744,714,679,658,634,878,785,807,652,629.253658341,652,0.400958375328,-0.015365874946,0.0698177463429,0.999999932245,0.000227005628315,-0.000289695459693,7.42112192649e-06,1793245397632774144
+60,1.000000000,BASELINE,764,744,714,679,658,634,878,785,807,652,629.830673765,652,0.400956710374,-0.0153655887309,0.0698164384959,0.999999931708,0.000226085767742,-0.000292266501962,6.97525680492e-06,1793245397649441024
+61,1.016666667,BASELINE,764,744,714,679,658,634,878.405090709,785.405090709,807,652,629.594909291,652,0.400956093462,-0.0153649241824,0.0698158694228,0.999999931498,0.000225763363698,-0.000293240809652,6.75593126681e-06,1793245397666107648
+62,1.033333333,BASELINE,764,744,714,679,658,634,878.978428387,785.978428387,807,652,629.021571613,652,0.400955911834,-0.0153641025002,0.0698156071859,0.999999931424,0.000225689102281,-0.000293551942873,6.63069480119e-06,1793245397682774016
+63,1.050000000,BASELINE,764.569776715,744,714,679,658,634,878.430223285,785.430223285,807,652,629,652,0.400956671376,-0.0153651227071,0.0698164474454,0.999999931333,0.000226591844017,-0.000293153878553,7.16322058744e-06,1793245397699441152
+64,1.066666667,BASELINE,764.841898142,744,714,679,658.158101858,634,878.158101858,785,807,652,629.158101858,652.158101858,0.400957556754,-0.0153655736231,0.069817300922,0.999999931396,0.000227546016197,-0.000292189662104,7.5237698616e-06,1793245397716108032
+65,1.083333333,BASELINE,764.263482123,744,714,679,658.736517877,634,878.736517877,785,807,652,629.736517877,652.736517877,0.400958678845,-0.0153643196398,0.0698180749474,0.999999931868,0.00022853537079,-0.000289794039839,7.35875417311e-06,1793245397732774144
+66,1.100000000,BASELINE,764.313188187,744,714,679,658.686811813,634,878.686811813,785,807.313188187,652,630,652.686811813,0.400958709489,-0.0153638338899,0.0698182101096,0.99999993192,0.000228957903497,-0.000289284226219,7.24508708271e-06,1793245397749440512
+67,1.116666667,BASELINE,764.888397963,744,714,679,658.111602037,634,878.111602037,785,807.888397963,652,630,652.111602037,0.400957826998,-0.0153639908647,0.0698178107818,0.999999931623,0.000228906217851,-0.000290352130509,7.17437960683e-06,1793245397766107136
+68,1.133333333,BASELINE,764.526152541,744,714,679,658,634,878.473847459,785,807.526152541,652,630,652.473847459,0.400957061826,-0.0153649801073,0.069817955435,0.999999931839,0.000227496260453,-0.000290712877031,7.30514390092e-06,1793245397782774016
+69,1.150000000,BASELINE,764.06087268,744,714,679,658,634,879,785,807,652,630,652.93912732,0.400956360635,-0.0153661839676,0.0698181479951,0.999999932156,0.000225873891183,-0.000290882256585,7.489399117e-06,1793245397799441152
+70,1.166666667,BASELINE,764.640322115,744,714,679,658,634,879,785,807,652,630,652.359677885,0.4009559639,-0.0153675093918,0.0698176331094,0.999999932303,0.000225227449558,-0.000290871574928,7.71617787425e-06,1793245397816107776
+71,1.183333333,BASELINE,765,744,714,679.21852568,658,634,879,785.21852568,807.21852568,652,630,652,0.400956061727,-0.0153676689564,0.0698174159183,0.999999932365,0.000224895049668,-0.000290916907618,7.65639526373e-06,1793245397832774144
+72,1.200000000,BASELINE,765,744,714,679.79469035,658,634,879,785.79469035,807.79469035,652,630,652,0.400956968955,-0.0153659204763,0.069817685934,0.999999932289,0.000225076610181,-0.000291053913346,7.12762653722e-06,1793245397849440768
+73,1.216666667,BASELINE,764.630718812,744,714,679.630718812,658,634,878.630718812,785.630718812,807.261437624,652,630,652.369281188,0.400957619185,-0.0153652497928,0.069818081423,0.999999931991,0.000226980649068,-0.00029060030414,7.05598120834e-06,1793245397866107136
+74,1.233333333,BASELINE,764.0569993,744,714,679.0569993,658,634,878.0569993,785.0569993,806.113998599,652,630,652.9430007,0.400958127139,-0.01536517579,0.0698185463755,0.999999931563,0.000229838271833,-0.000289819723684,7.23740469549e-06,1793245397882774016
+75,1.250000000,BASELINE,764,744,714,679,658,634,878.533066524,785,806.533066524,652,630,652.466933476,0.400957950811,-0.0153639156821,0.0698181458376,0.99999993168,0.000228783283577,-0.000290258642462,6.94334869524e-06,1793245397899440896
+76,1.266666667,BASELINE,764,744,714,679,658,634,879,785,807,652,630,652,0.400957746948,-0.0153629262676,0.0698177540139,0.999999931782,0.000227794984388,-0.00029068889952,6.7177507126e-06,1793245397916107264
+77,1.283333333,BASELINE,764,744,714,679,658,634,879,785,807,652,630,652,0.400957722288,-0.0153634375391,0.0698177515755,0.999999931612,0.000228668986232,-0.00029058401965,6.94403404662e-06,1793245397932774144
+78,1.300000000,BASELINE,764,744,714,679,658,634,879,785.27900655,807,652,630,652.27900655,0.400957543587,-0.0153640709218,0.0698175275049,0.99999993144,0.000229043069634,-0.000290877509761,7.02728117554e-06,1793245397949440768
+79,1.316666667,BASELINE,764,744,714,679,658,634,879,785.852994338,807,652,630,652.852994338,0.400957202024,-0.0153648334072,0.0698170691123,0.999999931268,0.000228888611405,-0.000291592178771,6.95930246082e-06,1793245397966107648
+80,1.333333333,BASELINE,764,744,714,679.428385112,658,634,879,785.571614888,807,652,630,653,0.400957240656,-0.0153657427601,0.0698168134249,0.999999931448,0.000227973389185,-0.000291690741722,6.97346546211e-06,1793245397982774272
+81,1.350000000,BASELINE,764.004377224,744,714,680,658,634,879.004377224,785,807,652,629.995622776,653,0.400957418179,-0.0153666823671,0.0698166374007,0.999999931748,0.000226819615396,-0.000291561088459,7.01679463485e-06,1793245397999440640
+82,1.366666667,BASELINE,764.596241179,744,714,680,658,634,879.596241179,785,807,652,629.403758821,653,0.400958668651,-0.0153648959512,0.0698177865761,0.99999993196,0.000228802692703,-0.000289270976066,7.17898400792e-06,1793245398016107264
+83,1.383333333,BASELINE,765,744.183603975,714,679.816396025,658,634,879.632792049,785.183603975,806.816396025,652,629,652.816396025,0.400959217603,-0.0153638009194,0.0698184339286,0.999999932171,0.000229257081235,-0.000288180223864,7.15867624857e-06,1793245398032773888
+84,1.400000000,BASELINE,765,744.761305359,714,679.238694641,658,634,878.477389282,785.761305359,806.238694641,652,629,652.238694641,0.400958260778,-0.0153641899114,0.069818004142,0.999999932389,0.000226430210672,-0.000289663842191,6.74664689922e-06,1793245398049440768
+85,1.416666667,BASELINE,764.663560197,744.663560197,714,679.336439803,658,634,878.336439803,785.663560197,806.672879606,652,629,652,0.400958416001,-0.015364613239,0.069818100721,0.99999993254,0.000225371086179,-0.000289969292794,6.72865770985e-06,1793245398066107392
+86,1.433333333,BASELINE,764.09023317,744.09023317,714,679.90976683,658,634,878.90976683,785.09023317,807.819533661,652,629,652,0.400959354217,-0.0153650607424,0.0698185679138,0.999999932648,0.000225556631652,-0.000289445195553,6.98811217475e-06,1793245398082774528
+87,1.450000000,BASELINE,764,744,714,679.504720199,658,634,878.504720199,785,807.504720199,652,629,652,0.400958759338,-0.0153649392112,0.0698181297876,0.999999932701,0.000225201102562,-0.000289545778298,6.82168723705e-06,1793245398099440896
+88,1.466666667,BASELINE,764,744,714,679,658,634,878,785,807,652,629.082279636,652,0.40095788165,-0.015364839544,0.0698175291902,0.999999932716,0.000224726733342,-0.000289865504555,6.62244900671e-06,1793245398116107776
+89,1.483333333,BASELINE,764,744,714,679,658,634,878,785,807,652,629.664484064,652,0.400957025504,-0.0153655185026,0.0698169688525,0.999999932573,0.00022414435111,-0.000290807798049,6.70715846178e-06,1793245398132774144
+90,1.500000000,BASELINE,764,744,714,679,658.244097261,634,878.244097261,785,807,652,629.755902739,652,0.400957166398,-0.0153660195374,0.0698171039094,0.999999932632,0.000224051379915,-0.000290672927274,6.82918265171e-06,1793245398149440512
+91,1.516666667,BASELINE,764,744,714,679,658.820186133,634,878.820186133,785,807,652,629.179813867,652,0.400958663346,-0.0153662785819,0.069818184758,0.999999932966,0.000224624046544,-0.00028907302769,7.00195782996e-06,1793245398166107136
+92,1.533333333,BASELINE,764,744.392856471,714,679,658.607143529,634,879,785,807.392856471,652,629.392856471,652,0.400958994375,-0.0153660905012,0.069818830556,0.999999933111,0.000224715616021,-0.000288500200683,6.98900917028e-06,1793245398182774016
+93,1.550000000,BASELINE,764,744.963975664,714,679,658.036024336,634,879,785,807.963975664,652,629.963975664,652,0.400958796356,-0.0153656995328,0.0698192789452,0.999999933171,0.000224588882695,-0.000288393418434,6.89178639678e-06,1793245398199440896
+94,1.566666667,BASELINE,764.553846734,744.446153266,714,679.553846734,658,634,879,785,807.446153266,652,629.446153266,652,0.400958693933,-0.0153658444799,0.069818722891,0.999999932825,0.000225086995452,-0.000289202430415,6.94239709789e-06,1793245398216107264
+95,1.583333333,BASELINE,765,744,714,679.857625231,658,634,879,785,807,652,629.142374769,652,0.4009586368,-0.0153662241831,0.0698183184513,0.999999932674,0.00022525369877,-0.000289591315141,7.01963706253e-06,1793245398232773888
+96,1.600000000,BASELINE,765,744,714,679.27711498,658,634,879,785,807,652,629.72288502,652,0.400958699233,-0.0153672152817,0.069818588678,0.99999993321,0.000224271089449,-0.000288497594834,7.14819669358e-06,1793245398249440768
+97,1.616666667,BASELINE,764.699621407,744,714,679,658,634,878.699621407,785,807,652,629.699621407,652,0.400958245963,-0.0153665458017,0.0698183341033,0.999999933103,0.000224573943454,-0.000288636613039,7.04373031861e-06,1793245398266107136
+98,1.633333333,BASELINE,764.12488324,744,714,679,658,634,878.12488324,785,807,652,629.12488324,652,0.400957321659,-0.0153643595837,0.0698176001857,0.999999932406,0.000226050913051,-0.000289901589091,6.726422817e-06,1793245398282773760
+99,1.650000000,BASELINE,764,744,714,679,658,634,878,785,807,652,629,652,0.400957380036,-0.0153649447519,0.0698173352481,0.999999932038,0.00022725225859,-0.000290236541874,6.63630978164e-06,1793245398299440384
+100,1.666666667,BASELINE,764,744,714,679.042997273,658,634,878.042997273,785.042997273,806.957002727,652,629,652,0.400957767999,-0.0153662498763,0.0698172933721,0.999999931849,0.000228141117684,-0.000290188432438,6.6411084676e-06,1793245398316107264
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+102,1.700000000,BASELINE,764,744.210216417,714,679.789783583,658,634,879,786,806.210216417,651.789783583,629,652.210216417,0.400959257991,-0.0153670037443,0.0698187760527,0.999999932998,0.000225553083536,-0.000288233597775,7.18689289786e-06,1793245398349440512
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+108,1.800000000,POSE1_TO_POSE2_PRESS,764.159481832,744,714,679,658,633.159481832,879,785,807,652,629.159481832,652.159481832,0.400959044788,-0.0153696766554,0.0698189212387,0.999999934312,0.000220332057775,-0.000287707266706,7.43043801374e-06,1793245398463015424
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714,679.902835659,658,634,879,785,807,652,630,652.097164341,0.400960252203,-0.0153659250919,0.0698203818975,0.999999932773,0.000228667573818,-0.000286554085899,7.23288478978e-06,1793245398513014784
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.516854638,744,714,679.516854638,658.483145362,634,878.516854638,785,807,652,630,652.483145362,0.400959781216,-0.0153654358582,0.0698194799537,0.99999993279,0.000226789985781,-0.000287989479592,6.88368934572e-06,1793245398529680896
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.062205378,744,714,679.062205378,658.937794622,634,878,785.062205378,807,652,630,653,0.40095877024,-0.015365014148,0.0698182507723,0.999999932781,0.000224228391993,-0.000290030978237,6.512089186e-06,1793245398546347520
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.643226932,744,714,679.643226932,658.356773068,634,878,785.643226932,807,652,630,653,0.400959908248,-0.0153650752092,0.0698194634055,0.999999932938,0.000225819449225,-0.00028824007172,6.87819926438e-06,1793245398563014400
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,714,679.778608291,658,634,878.221391709,785.778608291,807,652,629.778608291,652.778608291,0.400962803156,-0.0153652133852,0.0698210601979,0.999999933371,0.000226890160008,-0.000285881993062,7.16030283808e-06,1793245398579681024
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,714,679.204988619,658,634,878.795011381,785.204988619,807,652,629.204988619,652.204988619,0.400968493243,-0.0153654742484,0.0698232681764,0.999999934241,0.000227133014123,-0.0002826215597,7.30875439773e-06,1793245398596347904
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785,807,652,629.376987296,652.376987296,0.400990425999,-0.0153668338498,0.0698328157071,0.999999938633,0.000226767611654,-0.000266918195483,8.01821986208e-06,1793245398613014784
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785,807,652,629.96361001,652.96361001,0.401021390993,-0.0153688044386,0.0698464446223,0.999999944567,0.000226063969269,-0.000244295555191,9.03965443008e-06,1793245398629681408
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785.54397133,807,652,630,652.45602867,0.40107779016,-0.0153706064115,0.0698652478332,0.999999951414,0.000227097275772,-0.000213293068794,1.0281602154e-05,1793245398646347776
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.876650589,786,807.123349411,652,629.876650589,652.123349411,0.401137564856,-0.0153727753737,0.0698824330685,0.999999956729,0.000227474698783,-0.000186203656363,1.1229238264e-05,1793245398663014400
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.299366811,786,807.700633189,652,629.299366811,652.700633189,0.401203571485,-0.0153763359208,0.0698924047083,0.999999959213,0.00022501568113,-0.000175554136556,1.10401183534e-05,1793245398679681024
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714.277106509,679,658,634,878,785.722893491,808,652,629.277106509,653,0.401276930884,-0.0153798774244,0.0698994508619,0.99999996113,0.000222875860744,-0.000167219081665,1.0246538946e-05,1793245398696347648
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714.852706785,679,658,634,878,785.147293215,808,652,629.852706785,653,0.401358210542,-0.0153833984146,0.0699033457377,0.999999962502,0.000221079873636,-0.00016137712423,8.8018474825e-06,1793245398713014272
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,714.562089362,679,658,634,878.437910638,785.437910638,808,652,630,652.562089362,0.401458606642,-0.0153889377911,0.0699058973364,0.999999963251,0.000220308008561,-0.000157829134956,7.19774614126e-06,1793245398729681152
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.026009434,634,879,786,807.973990566,652,630,652,0.401566735996,-0.0153950833932,0.0699079389276,0.999999963823,0.000219716102609,-0.000155077276835,5.48688458529e-06,1793245398746347776
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.605433814,634,879,786,807.394566186,652,630,652,0.401699529772,-0.0153993589223,0.0699089579334,0.99999996516,0.000215459521302,-0.000152479551165,2.67087602402e-06,1793245398763014400
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.816718786,744.183281214,714,679,658.816718786,634,879,785.816718786,807,652,629.816718786,652,0.40184165254,-0.0154043812371,0.0699105734184,0.99999996664,0.000210757026612,-0.000149333734881,-3.56739989802e-07,1793245398779681024
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.24223741,744.75776259,714,679,658.24223741,634,879,785.24223741,807,652,629.24223741,652,0.40200368733,-0.0154109975099,0.0699134620436,0.999999968444,0.000205102763408,-0.000145018060148,-3.83601606363e-06,1793245398796347648
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.33997991,745,714.33997991,679,658,634,879,785,807,652,629.33997991,652,0.402185908232,-0.015418393192,0.0699159072489,0.999999970627,0.000197018605294,-0.000140949087006,-7.92713785508e-06,1793245398813014784
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.927837528,745,714.927837528,679,658,634,879,785,807,652,629.927837528,652,0.402382846748,-0.0154263571382,0.0699180291592,0.999999973015,0.000187162821954,-0.000137059982343,-1.24643537596e-05,1793245398829682688
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.49174477,714.49174477,679.50825523,658,634,879,785,807,652,630,652.50825523,0.402612831165,-0.0154358737942,0.0699202785369,0.99999997622,0.000174683848221,-0.000129434992022,-1.70876319419e-05,1793245398846348800
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,679.912618659,658,634,879,785,807,652,629.912618659,652.912618659,0.402854994616,-0.015445795341,0.0699238468733,0.999999980996,0.000152649150076,-0.000119323640043,-2.16334692781e-05,1793245398863014400
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679.334898032,658,634,879,785,807,652,629.334898032,652.334898032,0.403139552053,-0.0154567696989,0.06993471644,0.999999991725,7.90524251904e-05,-9.81936234732e-05,-2.56771714819e-05,1793245398879681024
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.759113315,744,714,679,658,634,878.759113315,785,807,652,629.240886685,652,0.40343350449,-0.0154668850724,0.0699432074315,0.999999995493,3.48976805208e-05,-8.29988953834e-05,-3.01351647679e-05,1793245398896347648
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.185998617,744,714,679,658,634,878.185998617,785,807,652,629.814001383,652,0.403740414383,-0.0154758157442,0.0699484179202,0.999999996003,3.13489649761e-05,-7.59900475037e-05,-3.51645432455e-05,1793245398913014272
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.399347545,744,714,679.399347545,658.399347545,634,878,785,807,652,630,652,0.404078640618,-0.0154831848049,0.0699508382077,0.999999996025,2.71461662664e-05,-7.6128632188e-05,-3.76426684678e-05,1793245398929681152
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.990570572,744,714,679.990570572,658.990570572,634,878,785,807,652,630,652,0.404431913484,-0.0154898035542,0.0699519178803,0.999999995811,2.26290987371e-05,-7.97013613031e-05,-3.88949867166e-05,1793245398946348032
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.430288538,634,878.569711462,785,807,652,630,652,0.404830972195,-0.0154819592107,0.0699586273512,0.99999999607,4.88647208334e-05,-6.59854810551e-05,-3.34482480111e-05,1793245398963014656
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.851955633,744,714,679.851955633,658.148044367,634,879,785,807,652,629.851955633,652,0.405237832708,-0.0154735020044,0.0699629567221,0.999999995568,6.92579930559e-05,-5.60257880314e-05,-3.04688274817e-05,1793245398979681536
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.275394742,744,714,679.275394742,658.724605258,634,879,785,807,652,629.275394742,652,0.405665127635,-0.0154639493646,0.0699601327488,0.99999999518,7.12977987966e-05,-5.77494933307e-05,-3.49453675593e-05,1793245398996347648
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.306214263,744.306214263,714,679,659,634,879.306214263,785,807,652,629,652.306214263,0.406095708243,-0.0154631412499,0.0699493356182,0.999999993922,6.91150025769e-05,-7.69628680877e-05,-3.81583131365e-05,1793245399013014272
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.892439471,744.892439471,714,679,659,634,879.892439471,785,807,652,629,652.892439471,0.406529293419,-0.0154703293739,0.0699312476078,0.999999990911,6.30709403662e-05,-0.000112169289309,-4.02157927928e-05,1793245399029681152
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.526461574,744.526461574,714,679.473538426,658.526461574,634,879.526461574,785,807,652,629,652.526461574,0.407047439982,-0.0154757799434,0.0699217335312,0.999999990372,5.32634639403e-05,-0.000120929148601,-4.2363484718e-05,1793245399046347776
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.053101864,744,714,680,658,634,879,785,807,652,629.053101864,652.053101864,0.407589892094,-0.0154804592101,0.0699164901987,0.999999990834,4.35130736675e-05,-0.000120293484662,-4.43644820401e-05,1793245399063014400
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.628889873,744,714,680,658,634,879,785,807,652,629.628889873,652.628889873,0.408184550273,-0.0154813896666,0.0699343200298,0.999999994421,4.26486323547e-05,-8.56723282669e-05,-4.47220186358e-05,1793245399079682048
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.795599663,744,714,679.795599663,658,634,879.204400337,785,807.204400337,652,630,652.795599663,0.408784461835,-0.0154817254403,0.0699477864614,0.999999996374,4.32378221344e-05,-5.78406732912e-05,-4.51406322817e-05,1793245399096349184
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.22059246,744,714,679.22059246,658,634,879.77940754,785,807.77940754,652,630,652.22059246,0.409393898492,-0.0154809829698,0.0699533414286,0.999999996982,4.64626518325e-05,-4.23193516988e-05,-4.56699873519e-05,1793245399113015296
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.364140464,744,714,679,658.364140464,634,879.635859536,785,807.635859536,652,630,652.364140464,0.410003912181,-0.0154797985507,0.0699489189647,0.999999996736,4.48403271512e-05,-4.80325757775e-05,-4.70092380017e-05,1793245399129681664
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.954926786,744,714,679,658.954926786,634,879.045073214,785,807.045073214,652,630,652.954926786,0.410614284999,-0.0154783390569,0.0699382864152,0.999999995757,4.02010691379e-05,-6.69624634114e-05,-4.88525783773e-05,1793245399146348032
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.535474684,714,679.535474684,659,634,879.535474684,785,807,652,629.464525316,653,0.411321497547,-0.0154816468675,0.0699470823734,0.999999996707,3.38396069664e-05,-5.55476885275e-05,-4.85335339071e-05,1793245399163014656
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.885773069,744.885773069,714,680,659,634,880,785,807.114226931,652,629,652.885773069,0.412046500108,-0.0154856975907,0.0699630618568,0.999999997935,2.90563367707e-05,-3.19155029578e-05,-4.76122366278e-05,1793245399179681024
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.31085249,744.31085249,714,680,659,634,880,785,807.68914751,652,629,652.31085249,0.412810993124,-0.0154911565122,0.0700015415457,0.999999998024,3.12118403931e-05,3.08829062535e-05,-4.49822960963e-05,1793245399196347904
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.269666096,744,714,679.730333904,659,634,880,785,808.269666096,652,629.269666096,652,0.413557682175,-0.0154927723732,0.0700235471661,0.999999996473,2.99023523945e-05,6.50581228284e-05,-4.38916121552e-05,1793245399213014528
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.856774554,744,714,679.143225446,659,634,880,785,808.856774554,652,629.856774554,652,0.414283413062,-0.015489864306,0.0700261600414,0.999999996557,2.45139867109e-05,6.55390345348e-05,-4.46128919963e-05,1793245399229681408
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,679.437091413,659,634,880,785,808.562908587,652,630,652.437091413,0.415002869713,-0.0154837426727,0.0699841288774,0.999999998385,2.60194957184e-05,-8.62432812178e-06,-4.97785878094e-05,1793245399246348032
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,880,785.015229202,808,652,630,653,0.415723664637,-0.015476896588,0.0699289064182,0.999999992505,2.94805083966e-05,-0.000104661397535,-5.62663299385e-05,1793245399263014656
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,880,785.593824752,808,652,630,653,0.416568857675,-0.0154816089213,0.0699185841128,0.99999999095,2.29939794815e-05,-0.000118894317243,-5.86105532714e-05,1793245399279681280
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,680.171344536,659,634,879.828655464,785.828655464,808,652,630,653,0.417418179065,-0.015486528123,0.0699215104308,0.999999991719,1.65170658044e-05,-0.000113038768022,-5.92619066447e-05,1793245399296347648
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714,680.746330077,659,634,879.253669923,785.253669923,808,652,630,653,0.418277225671,-0.0154919346502,0.0699556468932,0.999999996594,1.00628033708e-05,-5.98602628638e-05,-5.59253197962e-05,1793245399313014272
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714.328562861,680.671437139,659,633.671437139,879.328562861,785.328562861,808.328562861,652,630,652.671437139,0.419142658873,-0.0154966048954,0.0699853283408,0.99999999843,3.96292567318e-06,-1.46668672214e-05,-5.39437440569e-05,1793245399329681152
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714.916517118,680.083482882,659,633.083482882,879.916517118,785.916517118,808.916517118,652,630,652.083482882,0.420013134077,-0.0155006938659,0.0700114926745,0.999999998299,-1.85717465067e-06,2.42225001933e-05,-5.30319127269e-05,1793245399346347776
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714.502161687,680,659.497838313,633.497838313,880,785.502161687,808.502161687,652,630,652.497838313,0.420919013229,-0.0155030907806,0.0700294284887,0.999999997262,-1.08030358518e-05,5.07789026373e-05,-5.27375737493e-05,1793245399363014400
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.077581558,714,680,660,634,880,785,808.077581558,652,630,653,0.421821591664,-0.0155041765298,0.070036513333,0.999999996607,-1.81598444353e-05,6.00722171104e-05,-5.33531843673e-05,1793245399379681280
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.65423501,714,680,660,634,880,785,808.65423501,652,630,653,0.422665247389,-0.0154986289997,0.0699825549759,0.99999999777,-1.19669590139e-05,-2.85565977292e-05,-5.9165029613e-05,1793245399396347904
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.769766655,744.769766655,714,680,660.230233345,634,880,785,809,652,630,653,0.423504909944,-0.0154947764823,0.0699231951886,0.999999990465,-1.45912095083e-05,-0.000120401459942,-6.60420518044e-05,1793245399413014272
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.1947493,744.1947493,714,680,660.8052507,634,880,785,809,652,630,653,0.424338592689,-0.0154934623161,0.0698557465265,0.999999973203,-3.04194869001e-05,-0.00021706249994,-7.45142217909e-05,1793245399429681152
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.390093129,744.390093129,714,680.390093129,660.609906871,634,879.609906871,785,809,652,630,653,0.425245090878,-0.0154962114898,0.0698651911152,0.999999977623,-2.839069915e-05,-0.000196226781663,-7.37771117096e-05,1793245399446347776
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.979967306,744.979967306,714,680.979967306,660.020032694,634,879.020032694,785,809,652,630,653,0.426188880486,-0.0155010416496,0.0699140155716,0.99999999088,-1.72166501476e-05,-0.000115216643103,-6.83235897078e-05,1793245399463014656
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.441041458,714,680.441041458,660,633.441041458,879.558958542,785.558958542,809,652,630,653,0.427154502462,-0.0155007428477,0.0699665027845,0.999999996537,-2.01076028113e-05,-4.93660190141e-05,-6.39111612082e-05,1793245399479681024
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.136419187,714,680.136419187,660,633.136419187,880,786,809,652,630,653,0.428125074174,-0.0155022043367,0.0700146547538,0.999999997771,-2.4650903996e-05,1.56027314801e-05,-6.00602317844e-05,1793245399496348160
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.710199296,714,680.710199296,660,633.710199296,880,786,809,652,630,653,0.429109054076,-0.0155098873993,0.0700484950794,0.999999994626,-3.29064265244e-05,7.9452763893e-05,-5.78921351225e-05,1793245399513015552
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764.688431949,745,713.311568051,683,656,629,880,777.311568051,810,652,628.311568051,653,0.452728506453,-0.0157303039672,0.0695969890842,0.999999754734,-0.000334025590454,-0.000611894639304,-6.74051954015e-05,1793245400546347520
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764.438492897,745,713.438492897,682.438492897,656.561507103,629,880.438492897,777.561507103,810,652,628,653,0.45272983497,-0.0157280280476,0.0695962177208,0.999999756203,-0.000327670756094,-0.000613031234286,-6.64678844007e-05,1793245400596347648
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.405427576,745,714,683,656,628.405427576,880.405427576,777,810,652,628.594572424,653,0.452731608246,-0.0157275683398,0.0695963037617,0.999999756073,-0.000329599722251,-0.000612181435248,-6.671503846e-05,1793245400629682176
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+244,4.066666667,HOLD_POSE2,765,745,714,683,656,629,880,778,811,652,628,653,0.45273571932,-0.0157278768434,0.0695980011449,0.999999757936,-0.000329606832224,-0.000609237183405,-6.57072078561e-05,1793245400756411392
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.605515059,658,634,878.605515059,785.605515059,807.394484941,652,629,652,0.405743885639,-0.0153631267963,0.0698080132894,0.999999922926,0.000223919851362,-0.000322056734972,1.69658995213e-05,1793245402577062400
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.666442374,744,714,679.333557626,658,634,878.333557626,785.666442374,807,652,629,652.333557626,0.401486680044,-0.0153575951384,0.0697984219381,0.999999923867,0.000209236313279,-0.000329327905353,5.42467322844e-06,1793245402843729408
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.418009376,657.418009376,634,878.581990624,785,807,652,629.418009376,653,0.401226290311,-0.0153585032419,0.0697982366027,0.999999919504,0.000234869021221,-0.000325287918319,3.95577286779e-06,1793245402893729536
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,744,714,679,658,634,879,785.799252503,807,652,629.799252503,652.799252503,0.400960124292,-0.0153548099396,0.0698096116303,0.999999924978,0.000240008189446,-0.000303953403428,7.17003848117e-06,1793245403077062656
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.441496069,744,714,679.558503931,658.558503931,633.441496069,878.441496069,785,807,652,629,652.441496069,0.400958274049,-0.015357568124,0.0698142872002,0.999999927642,0.000237268239387,-0.000297270702029,7.06649482982e-06,1793245403210396160
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.598522323,658,634,879,785,807,652,629,652.401477677,0.400958277474,-0.0153571102718,0.0698150533337,0.999999927916,0.000236870725321,-0.000296671990013,6.73229601898e-06,1793245403243729152
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.823668405,658,634,878.823668405,785,807,652,629,652.176331595,0.400957915836,-0.0153564441926,0.0698151180659,0.999999927598,0.000238121966045,-0.000296747821034,6.60170287867e-06,1793245403260396032
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.237504878,658,634,878.237504878,785,807,652,629,652.762495122,0.400956889055,-0.0153567831953,0.069814702398,0.999999927866,0.000236456736092,-0.000297178501476,6.45360921305e-06,1793245403277062656
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.235748148,714,679,658,633.764251852,878.764251852,785.764251852,807.764251852,652,630,652.764251852,0.400953373497,-0.0153587616135,0.0698134677742,0.99999992772,0.000235371319574,-0.000298521050729,6.76851078303e-06,1793245403377062656
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a88b5266975951a23942feec28d6337b8c94a81
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+365,6.083333333,pose2_to_pose3_retreat,0.57644551784,-0.0101222322391,1.06005098248,0.547017152106,-0.00144654269903,1.05971747762
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+367,6.116666667,pose2_to_pose3_retreat,0.576207354174,-0.0101221583804,1.0600509765,0.546778986299,-0.0014464761189,1.05971747128
+368,6.133333333,pose2_to_pose3_retreat,0.576110815671,-0.0101222165077,1.060051023,0.546682448632,-0.00144653175926,1.05971750887
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+372,6.200000000,pose2_to_pose3_retreat,0.575842642419,-0.0101221059203,1.06005096543,0.546414274294,-0.0014464248035,1.05971745303
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+374,6.233333333,pose2_to_pose3_retreat,0.575767053947,-0.0101222537355,1.06005073656,0.54633868815,-0.0014465645884,1.05971722756
+375,6.250000000,pose2_to_pose3_retreat,0.575740604946,-0.0101222627488,1.06005100424,0.54631223874,-0.00144657515349,1.05971749095
+376,6.266666667,pose2_to_pose3_retreat,0.57571994925,-0.0101222253853,1.06005088498,0.546291582609,-0.001446538969,1.05971737945
+377,6.283333333,pose2_to_pose3_retreat,0.575704318132,-0.0101221960192,1.06005097608,0.54627595211,-0.00144650766375,1.05971746644
+378,6.300000000,pose2_to_pose3_retreat,0.575692477125,-0.010122234177,1.06005089944,0.546264110975,-0.00144654647045,1.05971738417
+379,6.316666667,pose2_to_pose3_retreat,0.575684107342,-0.0101222372652,1.06005087776,0.546255740968,-0.00144655040801,1.05971736029
+380,6.333333333,pose2_to_pose3_retreat,0.575679005872,-0.0101221644385,1.06005102654,0.546250639675,-0.00144647690944,1.059717511
+381,6.350000000,pose2_to_pose3_retreat,0.575675865979,-0.0101222163445,1.0600509491,0.546247500596,-0.00144652590612,1.05971743737
+382,6.366666667,pose2_to_pose3_retreat,0.575674182068,-0.0101222510868,1.0600508955,0.546245817171,-0.00144655890999,1.05971738601
+383,6.383333333,pose2_to_pose3_retreat,0.575673343406,-0.0101222626486,1.06005092234,0.546244978685,-0.00144656990823,1.05971741183
+384,6.400000000,pose2_to_pose3_retreat,0.575673005194,-0.0101222644249,1.06005096007,0.546244640513,-0.00144657160926,1.05971744808
+385,6.416666667,pose2_to_pose3_retreat,0.575672527289,-0.010122266935,1.06005101339,0.546244162662,-0.00144657401288,1.05971749932
+386,6.433333333,pose2_to_pose3_retreat,0.575672191943,-0.0101222686962,1.0600510508,0.546243827355,-0.0014465756995,1.05971753526
+387,6.450000000,pose2_to_pose3_retreat,0.575672122443,-0.0101222690613,1.06005105856,0.546243757864,-0.00144657604905,1.05971754271
+388,6.466666667,pose2_to_pose3_retreat,0.575672040151,-0.0101222694935,1.06005106774,0.546243675581,-0.00144657646294,1.05971755153
+389,6.483333333,pose2_to_pose3_retreat,0.575671960946,-0.0101222699095,1.06005107658,0.546243596385,-0.0014465768613,1.05971756003
+390,6.500000000,pose2_to_pose3_retreat,0.575671709598,-0.0101222712296,1.06005110462,0.546243345066,-0.00144657812545,1.05971758697
+391,6.516666667,pose2_to_pose3_retreat,0.57567149649,-0.0101222723489,1.06005112839,0.546243131983,-0.00144657919728,1.05971760981
+392,6.533333333,pose2_to_pose3_retreat,0.575671383236,-0.0101222729437,1.06005114103,0.546243018742,-0.00144657976689,1.05971762195
+393,6.550000000,pose2_to_pose3_retreat,0.575671226502,-0.0101222737669,1.06005115852,0.546242862025,-0.00144658055518,1.05971763876
+394,6.566666667,pose2_to_pose3_retreat,0.575671170491,-0.0101222741257,1.06005116222,0.546242806019,-0.00144658091042,1.05971764221
+395,6.583333333,pose2_to_pose3_retreat,0.575671130016,-0.0101222745308,1.06005115915,0.546242765541,-0.00144658133284,1.05971763895
+396,6.600000000,pose2_to_pose3_retreat,0.57567107455,-0.0101222750859,1.06005115494,0.54624271007,-0.00144658191172,1.05971763448
+397,6.616666667,pose2_to_pose3_retreat,0.575670820016,-0.0101222776331,1.06005113563,0.546242455518,-0.00144658456819,1.05971761399
+398,6.633333333,pose2_to_pose3_retreat,0.5756704436,-0.0101222814002,1.06005110709,0.546242079075,-0.00144658849669,1.05971758369
+399,6.650000000,pose2_to_pose3_retreat,0.575670160206,-0.0101222842363,1.06005108559,0.54624179566,-0.00144659145436,1.05971756088
+400,6.666666667,pose2_to_pose3_retreat,0.575670011786,-0.0101222745714,1.06005105789,0.546241646953,-0.00144658271961,1.05971753424
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..561a82146882288161e48dbaec8a9355b1746dcd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85a9734130a6eb958465a9ec875f3516b97a6d23e5a472caf550567ac2f4b2b5
+size 25748262
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..004b2ff55e85c3a0b2d8bb576d691b0fbe5722ac
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+38,0.633333333,BASELINE,764.047056502,744,714,679,658,634,878,785,807,651.952943498,629.952943498,652,0.400952683088,-0.0153598105964,0.0698157856695,0.999999928359,0.000236950605293,-0.000295119444981,6.36331640282e-06,1793245404204796672
+39,0.650000000,BASELINE,764.641268638,744,714,679,658,634,878,785,807,651.358731362,629.358731362,652,0.400954236624,-0.0153601047452,0.0698163047819,0.999999929218,0.000235235247314,-0.000293578040555,6.38168970212e-06,1793245404221463296
+40,0.666666667,BASELINE,765,744,714,679,658,634,878,785,807,651.228820727,629.228820727,652,0.400954880598,-0.0153608689351,0.0698166511365,0.999999929865,0.000233646800279,-0.000292638547982,6.40079481243e-06,1793245404238129920
+41,0.683333333,BASELINE,765,744,714,679,658,634,878,785,807,651.806226868,629.806226868,652,0.400954138943,-0.0153623491856,0.0698167343122,0.999999930197,0.000232251689433,-0.000292616007805,6.42101476231e-06,1793245404254796544
+42,0.700000000,BASELINE,764.618571296,744,714.381428704,679.381428704,658,634,878,785,807,652,629.618571296,652,0.400954792432,-0.0153619502498,0.0698169783668,0.999999930358,0.000232047125344,-0.00029222676457,6.48629979808e-06,1793245404271463168
+43,0.716666667,BASELINE,764.044482873,744,714.955517127,679.955517127,658,634,878,785,807,652,629.044482873,652,0.40095615061,-0.0153606021367,0.0698173036814,0.999999930433,0.000232443906717,-0.000291652299544,6.57434721771e-06,1793245404288129792
+44,0.733333333,BASELINE,764,744,714.471054929,680,658,634,878,785,807,652,629.528945071,652.528945071,0.400955742439,-0.0153606522093,0.0698169469731,0.999999930497,0.000231811631318,-0.000291946139927,6.04372331807e-06,1793245404304796416
+45,0.750000000,BASELINE,764,744,714,679.893595171,658,634,878,785.106404829,807,652,630,653,0.400955193195,-0.0153608489044,0.0698165349484,0.999999930531,0.000231110206072,-0.000292393173548,5.61034773867e-06,1793245404321463040
+46,0.766666667,BASELINE,764,744,714,679.297318307,658,634,878,785.702681693,807,652,630,653,0.400954677504,-0.0153611799647,0.0698161319862,0.999999930434,0.000230488350156,-0.000293209721989,5.86392244191e-06,1793245404338129664
+47,0.783333333,BASELINE,764,744,714,679,658,634,878,786,807,652,629.712221152,652.712221152,0.400954379471,-0.0153608934546,0.0698163491264,0.99999993015,0.000231724295966,-0.000293201861544,5.98445734935e-06,1793245404354796544
+48,0.800000000,BASELINE,764,744,714,679,658,634,878,786,807,652,629.138242299,652.138242299,0.400954297903,-0.0153599927623,0.069817182967,0.999999929673,0.000234807850952,-0.000292374115275,5.9726823887e-06,1793245404371463424
+49,0.816666667,BASELINE,764,744,714,679,658,634,878.438204889,785.561795111,807,652,629.438204889,652,0.400955309015,-0.0153596193906,0.069817433273,0.999999929895,0.000234719167194,-0.000291682283398,6.12654917691e-06,1793245404388130304
+50,0.833333333,BASELINE,764,744,714,679,658,634,878.984657241,785,807.015342759,652,630,652,0.400956613155,-0.0153594447057,0.0698175042442,0.999999930339,0.00023359478375,-0.000291058525274,6.32476339477e-06,1793245404404796928
+51,0.850000000,BASELINE,764,744,714,679,658,634,878.410882095,785,807.589117905,652,630,652,0.400955965103,-0.0153604124707,0.0698177862441,0.999999930766,0.000231405001481,-0.000291342997495,6.22436621949e-06,1793245404421463296
+52,0.866666667,BASELINE,764.168610489,744,714,679,658,633.831389511,878,785,807.831389511,652,629.831389511,652,0.400955858942,-0.0153607370076,0.069817986169,0.999999930987,0.000230587202537,-0.000291235133294,6.1319933383e-06,1793245404438129920
+53,0.883333333,BASELINE,764.762524725,744,714,679,658,633.237475275,878,785,807.237475275,652,629.237475275,652,0.400957119646,-0.0153594390633,0.0698179790677,0.999999930694,0.000233230099763,-0.000290137638178,6.05986097356e-06,1793245404454796544
+54,0.900000000,BASELINE,764.653726897,744,714,679,658,633.346273103,878.346273103,785,807,652,629,652.346273103,0.400956853028,-0.0153599259544,0.0698177893527,0.999999930586,0.000233298579131,-0.000290448845463,6.29433857842e-06,1793245404471463424
+55,0.916666667,BASELINE,764.076751484,744,714,679,658,633.923248516,878.923248516,785,807,652,629,652.923248516,0.400955568839,-0.0153616019811,0.0698174779726,0.999999930602,0.000231651868437,-0.000291698592043,6.73309317968e-06,1793245404488130048
+56,0.933333333,BASELINE,764,744,714,679,658,634,879,785,807,652,629.493695944,652.506304056,0.400955655901,-0.0153625711599,0.069817096863,0.999999930591,0.00023130078342,-0.00029201689446,6.68458030875e-06,1793245404504796672
+57,0.950000000,BASELINE,764,744,714,679,658,634,878.933655357,785,807,652,630,652,0.40095587382,-0.0153631137363,0.0698167288189,0.999999930533,0.000231256505618,-0.000292251480592,6.55125056822e-06,1793245404521463552
+58,0.966666667,BASELINE,764,744,714,679,658,634,878.335324542,785,807,652,630,652,0.400955453946,-0.0153611052372,0.0698165513299,0.999999930137,0.000232078339757,-0.000292960756491,6.33730785486e-06,1793245404538130176
+59,0.983333333,BASELINE,764.253453494,744,714,679,658,634,878,785,807,652,630,652,0.400955856208,-0.0153606072174,0.0698170107548,0.999999930232,0.000232272209092,-0.000292483806864,6.29745860126e-06,1793245404554796544
+60,1.000000000,BASELINE,764.830052124,744,714,679,658,634,878,785,807,652,630,652,0.400957306665,-0.0153620350103,0.0698182822246,0.999999930951,0.000231665443407,-0.000290494457557,6.47957293685e-06,1793245404571463168
+61,1.016666667,BASELINE,765,744,714,679,658,634,878.405561041,785,807,652,629.594438959,652.405561041,0.400956858147,-0.0153609601392,0.0698184529967,0.999999930575,0.000233399309716,-0.000290403321777,6.31826082276e-06,1793245404588129792
+62,1.033333333,BASELINE,765,744,714,679,658,634,878.98061451,785,807,652,629.01938549,652.98061451,0.400955616009,-0.0153588393525,0.0698181637642,0.999999929736,0.000236111375047,-0.000291105489186,6.01342361313e-06,1793245404604796416
+63,1.050000000,BASELINE,764.444553569,744,714,679,658,634,878.444553569,785,807,652,629,652.444553569,0.400957335197,-0.01535951746,0.0698184086905,0.9999999305,0.000235310763408,-0.000289121423596,6.06134611907e-06,1793245404621463040
+64,1.066666667,BASELINE,764.134102036,744,714,679,658,634,878,785,807,652,629,652,0.400958807113,-0.0153605442903,0.0698188093533,0.999999931318,0.000233967207096,-0.000287378222249,6.1314345059e-06,1793245404638129920
+65,1.083333333,BASELINE,764.725832456,744,714,679,658,634,878,785,807,652,629,652,0.400959082654,-0.0153624279354,0.0698196778796,0.999999932136,0.000231189024582,-0.000286776782675,6.23516784286e-06,1793245404654796800
+66,1.100000000,BASELINE,764.69703314,744,714,679,658,634,878.30296686,785,807,652,629.30296686,652,0.400958046854,-0.015363297997,0.069819477932,0.999999932112,0.000229945603863,-0.000287856095003,6.36893826655e-06,1793245404671463424
+67,1.116666667,BASELINE,764.132500221,744,714,679,658,634,878.867499779,785,807,652,629.867499779,652,0.40095587891,-0.0153632929825,0.0698183555187,0.99999993136,0.000230027217968,-0.00029038648242,6.52864116619e-06,1793245404688130304
+68,1.133333333,BASELINE,764.449954722,744,714,679,658,634,879,785,807,651.550045278,629.550045278,652.449954722,0.400956232678,-0.0153618149772,0.0698179940926,0.999999930792,0.000232157272961,-0.000290650276352,6.43965368577e-06,1793245404704796672
+69,1.150000000,BASELINE,764.961754902,744,714,679,658,634,879,785.038245098,807,651.038245098,629.038245098,652.961754902,0.400957263865,-0.0153600358374,0.0698178720453,0.999999930313,0.000234682427488,-0.000290274765829,6.28216766206e-06,1793245404721463296
+70,1.166666667,BASELINE,764.368547175,744,714,679,658,634,879,785.631452825,807,651.631452825,629.631452825,652.368547175,0.400956902547,-0.0153604422598,0.0698178369401,0.999999930388,0.000233824596145,-0.000290709499002,6.23746430735e-06,1793245404738129920
+71,1.183333333,BASELINE,764.218289571,744,714,679,658,634,879,785.781710429,807,652,630,652,0.400956837286,-0.0153605377299,0.0698178294088,0.99999993037,0.000233707688965,-0.000290864671607,6.13385079485e-06,1793245404754796288
+72,1.200000000,BASELINE,764.794675056,744,714,679,658,634,879,785.205324944,807,652,630,652,0.400957257696,-0.0153601230943,0.0698178671115,0.999999930202,0.00023480624015,-0.00029056123558,5.93359735482e-06,1793245404771463168
+73,1.216666667,BASELINE,764.630316066,744,714,678.630316066,658.369683934,634,878.630316066,785,807,652,630,652,0.400956854365,-0.0153608121244,0.0698178301252,0.999999930454,0.000233572603886,-0.0002906876269,5.96489819146e-06,1793245404788130048
+74,1.233333333,BASELINE,764.056068961,744,714,678.056068961,658.943931039,634,878.056068961,785,807,652,630,652,0.40095599522,-0.0153621118637,0.0698177518102,0.999999930934,0.000231048460686,-0.000291051861531,6.12432870006e-06,1793245404804796928
+75,1.250000000,BASELINE,764,744,714,678.517115706,658.482884294,634,878,785,807,652,630,652.517115706,0.400956489384,-0.0153615236096,0.0698179920422,0.999999930778,0.000232805323601,-0.000290181466728,6.33461737169e-06,1793245404821463552
+76,1.266666667,BASELINE,764,744,714,679,658,634,878.094087615,785,807,652,629.905912385,653,0.400956973812,-0.0153610006226,0.06981825186,0.999999930658,0.000234188519971,-0.00028947599686,6.51769485566e-06,1793245404838130432
+77,1.283333333,BASELINE,764,744,714,679,658,634,878.691953264,785,807,652,629.308046736,653,0.400956622045,-0.0153619209305,0.0698184319929,0.99999993112,0.000231090721515,-0.000290368890533,6.52560881008e-06,1793245404854797056
+78,1.300000000,BASELINE,764,744,714,678.720705962,658,634,879,785,807,652,629.279294038,653,0.400956110802,-0.0153618511815,0.0698182069322,0.999999931147,0.000230477140829,-0.000290768146822,6.33413994878e-06,1793245404871463680
+79,1.316666667,BASELINE,764,744,714,678.144552048,658,634,879,785,807,652,629.855447952,653,0.400955430053,-0.0153607291072,0.0698175511939,0.999999930717,0.000232504019779,-0.000290642718989,5.93074834661e-06,1793245404888130304
+80,1.333333333,BASELINE,764,744,714,678.42882076,658,634,878.57117924,785,807,652,630,652.57117924,0.400955451241,-0.0153623918446,0.0698177313266,0.999999931321,0.000230436481507,-0.000290205877852,6.09466597701e-06,1793245404904796672
+81,1.350000000,BASELINE,764,743.99869831,714,679,658,634,878,785,806.99869831,652,630,652,0.400955705668,-0.0153649771133,0.0698181890738,0.999999932258,0.000227010908093,-0.000289669368804,6.44720851961e-06,1793245404921463552
+82,1.366666667,BASELINE,764,743.408330547,714,679,658,634,878,785,806.408330547,652,630,652,0.400955121521,-0.0153629656367,0.0698175899537,0.999999931218,0.000229589123325,-0.000291228407307,6.17603435633e-06,1793245404938130176
+83,1.383333333,BASELINE,764,743.178750142,714.178750142,679,658,634,878.178750142,785,806.178750142,652,629.821249858,652,0.400954801278,-0.0153620245645,0.0698174045537,0.999999930642,0.000231095724992,-0.000292016579685,6.14120599687e-06,1793245404954796800
+84,1.400000000,BASELINE,764,743.758457657,714.758457657,679,658,634,878.758457657,785,806.758457657,652,629.241542343,652,0.400955072999,-0.0153634845335,0.0698181471754,0.99999993112,0.000230198573215,-0.000291075609936,6.63652873054e-06,1793245404971463424
+85,1.416666667,BASELINE,764,744,714.664495072,679,658,634,879,785.335504928,807,652,629.335504928,652,0.400955571555,-0.0153625005994,0.0698182767111,0.999999930822,0.000231796310396,-0.000290837162351,6.40653252252e-06,1793245404988130304
+86,1.433333333,BASELINE,764,744,714.089347977,679,658,634,879,785.910652023,807,652,629.910652023,652,0.400956232133,-0.0153597710508,0.0698179683358,0.99999992996,0.000235176079864,-0.000291100507547,5.65846042802e-06,1793245405004796928
+87,1.450000000,BASELINE,764,744,714,679.495548121,658,634,878.504451879,785.504451879,807,652,629.504451879,652,0.400957112764,-0.0153609454727,0.0698191116118,0.999999930536,0.000234513704744,-0.000289643963134,6.14689264439e-06,1793245405021463552
+88,1.466666667,BASELINE,764.081284202,744,714,679.918715798,658,634,878.081284202,785,807,652,629.081284202,652.081284202,0.400957798435,-0.015362618503,0.0698201782138,0.9999999313,0.000233034681334,-0.000288182217975,6.71541982633e-06,1793245405038129920
+89,1.483333333,BASELINE,764.661174181,744,714,679.338825819,658,634,878.661174181,785,807,652,629.661174181,652.661174181,0.400957039939,-0.0153629456603,0.0698191367631,0.999999931621,0.000231106526831,-0.000288628919365,6.38025599356e-06,1793245405054796544
+90,1.500000000,BASELINE,764.761415234,744,714,679.238584766,658,634,878.761415234,785,807,652,629.761415234,653,0.400956634027,-0.0153628361563,0.0698185601371,0.999999931527,0.000230778112168,-0.000289223060683,6.09490983343e-06,1793245405071463424
+91,1.516666667,BASELINE,764.18748959,744,714,679.81251041,658,634,878.18748959,785,807,652,629.18748959,653,0.400956723686,-0.0153621129065,0.0698186368418,0.999999930851,0.000232698199006,-0.000290024434953,5.87958452669e-06,1793245405088130048
+92,1.533333333,BASELINE,764,744,714,679.610623749,658,633.610623749,878.389376251,785,807,652,629.389376251,652.610623749,0.400957227,-0.0153612288839,0.0698189749388,0.999999930876,0.000233594171169,-0.000289215295085,6.00837904224e-06,1793245405104796928
+93,1.550000000,BASELINE,764,744,714,679.032331345,658,633.032331345,878.967668655,785,807,652,629.967668655,652.032331345,0.400957931008,-0.0153602668581,0.0698194398572,0.99999993124,0.000233993267267,-0.00028762477189,6.30413234338e-06,1793245405121463552
+94,1.566666667,BASELINE,764,744,714,679,658,633.556232605,878.443767395,785,807,652,630,652.556232605,0.400957002335,-0.0153606473267,0.0698182691537,0.999999930991,0.000232822482624,-0.000289441813382,5.98963567482e-06,1793245405138129920
+95,1.583333333,BASELINE,764.143004813,744,714,679,658,634,878,785,807,652,630,653,0.400956210738,-0.0153612019386,0.0698174737193,0.999999930801,0.000231882278049,-0.000290851793075,5.81310427474e-06,1793245405154796288
+96,1.600000000,BASELINE,764.722452454,744,714,679,658,634,878,785,807,652,630,653,0.400956132571,-0.0153620453928,0.0698181191971,0.999999930918,0.000231929521011,-0.000290403581711,6.16792785724e-06,1793245405171462912
+97,1.616666667,BASELINE,765,744,714,679,658,634,878,785.298956011,807,652,630,653,0.400955909131,-0.0153629551114,0.06981817823,0.999999930791,0.000232102252503,-0.000290697429866,6.44848796094e-06,1793245405188129536
+98,1.633333333,BASELINE,765,744,714,679,658,634,878,785.872752931,807,652,630,653,0.400955552138,-0.0153639257493,0.0698176981232,0.999999930438,0.000232390350066,-0.00029167347979,6.66077498217e-06,1793245405204796416
+99,1.650000000,BASELINE,764.542065477,744,714,679.457934523,658,633.542065477,878,785.542065477,807,652,630,652.542065477,0.400954813443,-0.0153623885963,0.0698171185011,0.999999930028,0.000233159209697,-0.000292476101047,6.1835502152e-06,1793245405221463296
+100,1.666666667,BASELINE,764,744,714,680,658,633.045656222,878,785,807,652,629.954343778,652,0.400954180319,-0.015360381668,0.0698166625376,0.999999929731,0.000233821125269,-0.000292975153039,5.58096467163e-06,1793245405238129664
+101,1.683333333,BASELINE,764,744,714,680,658,633.625146218,878,785,807,652,629.374853782,652,0.400956053338,-0.0153612374625,0.0698179840173,0.999999930961,0.000231630779853,-0.000290502568461,5.80994432613e-06,1793245405254796544
+102,1.700000000,BASELINE,764,743.795708258,714,680,658,634,878.204291742,785,807,652,629,652,0.400957133467,-0.0153618450415,0.0698188133884,0.999999931756,0.000230256361275,-0.000288850988519,5.97915139118e-06,1793245405271463168
+103,1.716666667,BASELINE,764,743.217193806,714,680,658,634,878.782806194,785,807,652,629,652,0.400956761175,-0.0153619979379,0.0698187413117,0.99999993177,0.000230376562111,-0.000288703329562,6.03886668045e-06,1793245405288129792
+104,1.733333333,BASELINE,764,743.345484077,714,679.654515923,658,634,878.654515923,785,807,652,629.345484077,652,0.400957958971,-0.0153620670322,0.06981947023,0.999999931988,0.000231164408569,-0.000287310114875,6.2714948842e-06,1793245405304796416
+105,1.750000000,BASELINE,764,743.898642476,714,679.101357524,658,634,878.101357524,785,807,652,629.898642476,652,0.400960100565,-0.015362085752,0.0698206806352,0.999999932324,0.00023235358425,-0.000285168182763,6.60806297043e-06,1793245405321463040
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633,879,785,807,652,629,652,0.400955547299,-0.0153634416952,0.069817596705,0.999999931136,0.000230060046212,-0.000291136989659,6.31355471352e-06,1793245405353621760
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.378633846,633.621366154,879,785,807,652,629.621366154,652,0.40095515576,-0.0153630023161,0.069817420091,0.999999930584,0.000232556106103,-0.0002910499434,6.30787345142e-06,1793245405370288640
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.775203933,785,806.775203933,651.775203933,629.775203933,652,0.400955298216,-0.0153623170778,0.0698175338916,0.999999930433,0.000233839444345,-0.000290540422338,6.199250229e-06,1793245405386955776
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.199752358,785,806.199752358,651.199752358,629.199752358,652,0.400956273641,-0.015361248328,0.0698181007048,0.999999930916,0.000233231079393,-0.000289371890106,5.93004961789e-06,1793245405403622656
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,806.372385265,651.372385265,629,652,0.400956531951,-0.0153609904802,0.0698180790785,0.999999930654,0.000233730389163,-0.000289871741024,6.07895997724e-06,1793245405420289024
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,806.942760888,651.942760888,629,652,0.400956408984,-0.0153611637741,0.0698177445897,0.999999929994,0.000234818629128,-0.000291258640465,6.45017222086e-06,1793245405436955392
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629,652,0.400956734215,-0.0153618819163,0.0698180335344,0.999999930168,0.000234234897145,-0.000291130247385,6.46875893199e-06,1793245405453621760
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629,652,0.400957113954,-0.0153623464068,0.0698184269648,0.999999930477,0.000233454768347,-0.000290694460767,6.43304571638e-06,1793245405470288384
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629,652,0.400957509922,-0.0153616797652,0.0698189461005,0.999999930939,0.00023263905216,-0.000289760911342,6.34349552118e-06,1793245405486955264
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.279150193,744,714,679,658,634,878,785,807,652,629,652.279150193,0.40095986617,-0.0153614010297,0.069820102923,0.999999931522,0.000232382006851,-0.000287948061011,6.31835291356e-06,1793245405503622144
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.854266341,744,714,679,658,634,878,785,807,652,629,652.854266341,0.400964300783,-0.0153615335675,0.0698219358458,0.999999932231,0.000232717286313,-0.000285202941517,6.36149775585e-06,1793245405520288768
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.560203967,744,714,679,658,634,878,785,807,652,629.439796033,652.560203967,0.40098102524,-0.0153633536515,0.0698294865264,0.999999935807,0.000231655272366,-0.000273252656916,7.3807137406e-06,1793245405536955648
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679.028410492,658,634,878,785,807,652,630,652,0.401003465771,-0.0153657531897,0.0698394631769,0.999999940394,0.000230110540221,-0.000257264702315,8.70868015663e-06,1793245405553622272
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744,714,679.60829647,658,634,878,785,807,652,630,652,0.401055893623,-0.0153682827046,0.0698588608626,0.999999948884,0.000228401346328,-0.000223546582445,9.5992969455e-06,1793245405570288896
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.187676369,744,714,679.812323631,658,634,878,785,807,652,629.812323631,652,0.401111782423,-0.0153703799643,0.0698764983361,0.999999954609,0.000228452346908,-0.000196174456594,1.03564765563e-05,1793245405586955264
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.766002968,744,714,679.233997032,658,634,878,785,807,652,629.233997032,652,0.401174875228,-0.0153715774812,0.0698904719139,0.999999956426,0.000232167209892,-0.000182011574567,1.08359055366e-05,1793245405603622144
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.658524106,744,714,679,658,634,878,785.341475894,807,652,629,652,0.401245409672,-0.0153748923839,0.0698989673372,0.999999958647,0.000230898106413,-0.000171123385255,1.04494317901e-05,1793245405620288768
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.084990493,744,714,679,658,634,878,785.915009507,807,652,629,652,0.401321001247,-0.0153796462042,0.0699037399551,0.999999961166,0.000226242034808,-0.000162460588807,9.47451409778e-06,1793245405636955392
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.501649997,744,714,679,658,633.498350003,878.501649997,785.498350003,807,652,629,652,0.401414006983,-0.015383742289,0.0699062855706,0.999999961995,0.000225630869372,-0.000158252760545,7.52280691375e-06,1793245405653622272
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.910861811,744,714,679,658,633.089138189,879,785,807,652,629.089138189,652,0.401514204932,-0.0153877636948,0.0699081012143,0.999999962549,0.000225159937322,-0.000155491857811,5.27058917044e-06,1793245405670288640
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.331255514,744,714,679,658,633.668744486,879,785,807,652,629.668744486,652,0.401637307562,-0.0153920037926,0.0699080320526,0.999999963212,0.00022158872756,-0.000156428012268,2.29987003772e-06,1793245405686955520
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.753125562,785,807,652,629.753125562,652,0.401773442733,-0.0153971860874,0.0699094020725,0.999999964421,0.000217971870853,-0.000153773921188,-4.75078211412e-07,1793245405703622144
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.176964837,785,807,652,629.176964837,652,0.40192696097,-0.0154036251038,0.0699126917029,0.999999966328,0.000214294129578,-0.000146331085441,-2.98890292366e-06,1793245405720288768
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629,652,0.4021021548,-0.0154111002859,0.0699160957753,0.999999968482,0.000207846233989,-0.000140695893753,-6.44474100218e-06,1793245405736955392
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629,652,0.402286957507,-0.0154190348044,0.0699195505803,0.999999970683,0.000200170319302,-0.00013586203613,-1.03181770058e-05,1793245405753621760
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785.564250291,807,652,629.564250291,652,0.402502434237,-0.0154292973721,0.0699212312562,0.999999973776,0.000187843413812,-0.000130210935708,-1.44350905398e-05,1793245405770288640
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.151738754,785.848261246,807,652,630,652,0.402733018907,-0.0154393397831,0.0699237699902,0.999999977411,0.000172277129922,-0.000123031129559,-1.90399920312e-05,1793245405786955520
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.730664511,785.269335489,807,652,630,652,0.403002114704,-0.015448457139,0.0699289570231,0.999999982473,0.000148200927839,-0.000111654745507,-2.49867920642e-05,1793245405803622144
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.306983617,744,714,679.306983617,658,634,879,785,807,652,630,652.306983617,0.403288792123,-0.0154574091901,0.069936389052,0.999999989386,0.000103540699317,-9.80008252689e-05,-3.00392382188e-05,1793245405820289280
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.881034971,744,714,679.881034971,658,634,879,785,807,652,630,652.881034971,0.403590765079,-0.01546621743,0.0699457741687,0.99999999518,4.0972906117e-05,-8.23655083963e-05,-3.43136194019e-05,1793245405836956416
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.533281975,744,714,679.533281975,658,633.533281975,878.533281975,785,807,652,630,652.533281975,0.40391097428,-0.0154743756904,0.0699474563891,0.99999999578,1.99440429021e-05,-8.0483643781e-05,-3.95529379372e-05,1793245405853623040
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.054531467,744,714,679,658.054531467,633.054531467,878.054531467,785,807,652,629.945468533,652,0.404241992564,-0.01548169792,0.0699480127336,0.999999995695,1.27596070311e-05,-8.069370885e-05,-4.3987286194e-05,1793245405870289664
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.633589197,744,714,679,658.633589197,633.633589197,878.633589197,785,807,652,629.366410803,652,0.404631126685,-0.0154826129018,0.069957108187,0.999999996473,3.42935069498e-05,-6.64430141562e-05,-3.82525003567e-05,1793245405886955776
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.78836803,634,878.78836803,785,807.21163197,651.78836803,629.21163197,652.21163197,0.405033103667,-0.0154776130698,0.0699629735376,0.99999999625,5.57427471092e-05,-5.70897778014e-05,-3.36595771772e-05,1793245405903622144
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.212074183,634,878.212074183,785,807.787925817,651.212074183,629.787925817,652.787925817,0.405457210072,-0.0154624214544,0.0699632731151,0.999999994973,7.70461083e-05,-5.61753263257e-05,-3.10341918427e-05,1793245405920288768
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.639758342,744,714,679,658,634,878.360241658,785,807.639758342,651.360241658,630,652.639758342,0.405887578406,-0.015458469666,0.0699551389751,0.999999993557,8.31110817121e-05,-6.96163240129e-05,-3.36485996195e-05,1793245405936955648
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.069758718,744,714,679,658,634,878.930241282,785,807.069758718,651.930241282,630,652.069758718,0.406321592915,-0.0154610624917,0.0699420941331,0.999999991824,8.03031987794e-05,-9.14160711423e-05,-3.93139822629e-05,1793245405953622272
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.4780905,785,807,652,629.4780905,652.5219095,0.406797407591,-0.0154691079613,0.0699272130997,0.999999991056,6.11498682589e-05,-0.000111246577048,-4.21081575304e-05,1793245405970288896
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.113920059,744.113920059,714,679,658,634,878.113920059,785,807,651.886079941,629,653,0.407298621805,-0.0154769054003,0.0699172450348,0.999999990642,4.39697640424e-05,-0.000121800612712,-4.41244197737e-05,1793245405986956032
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.694944706,744.694944706,714,679,658,634,878.694944706,785,807,651.305055294,629,653,0.407880080751,-0.0154805681032,0.0699284714392,0.999999993473,4.42265332583e-05,-9.54444766181e-05,-4.45927336478e-05,1793245406003622656
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.727753741,714,679,658.272246259,633.727753741,879,785,807,651.272246259,629.272246259,653,0.408482964607,-0.0154822343855,0.0699412136283,0.999999995733,4.40758530683e-05,-6.75739697908e-05,-4.49983652949e-05,1793245406020289024
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.154567712,714,679,658.845432288,633.154567712,879,785,807,651.845432288,629.845432288,653,0.409109531427,-0.0154816938335,0.0699556313582,0.999999997304,4.3474780151e-05,-3.80294860677e-05,-4.53347082639e-05,1793245406036955648
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,679.419288122,658.580711878,633.419288122,879,785,807.419288122,652,629.580711878,652.580711878,0.409715987771,-0.015479595395,0.0699505671765,0.999999997003,4.23224938486e-05,-4.48075239519e-05,-4.68621472709e-05,1793245406053622272
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,679.993391258,658.006608742,633.993391258,879,785,807.993391258,652,629.006608742,652.006608742,0.410315018649,-0.0154769217335,0.0699383096298,0.999999995856,4.09666813778e-05,-6.49970363306e-05,-4.88293782337e-05,1793245406070288896
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.412922706,744,714,679.412922706,658,633.412922706,879,785,808,652,629.587077294,652.587077294,0.410969387464,-0.0154795754571,0.0699400828479,0.999999995746,3.86009253626e-05,-6.78860241836e-05,-4.90814696662e-05,1793245406086955264
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.175648836,744,714,679,658.175648836,633.175648836,879,785,807.824351164,652,630,653,0.411654264895,-0.0154826500583,0.0699508752291,0.999999996765,3.58561931132e-05,-5.30153283918e-05,-4.87258822488e-05,1793245406103621888
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.75203155,744,714,679,658.75203155,633.75203155,879,785,807.24796845,652,630,653,0.412407275843,-0.0154865433289,0.0699818715945,0.999999998371,3.22736788788e-05,1.91353208961e-06,-4.70294751269e-05,1793245406120289024
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,679.325599507,658.674400493,633.674400493,879,785,807,652,629.674400493,652.674400493,0.413172269143,-0.0154893964921,0.0700073539504,0.999999997892,2.24586169835e-05,4.0077593654e-05,-4.58808363558e-05,1793245406136955648
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,714,679.897042249,658.102957751,633.102957751,879,785,807,652,629.102957751,652.102957751,0.413946309773,-0.0154914643246,0.0700286729682,0.999999996799,7.93768253396e-06,6.5583434287e-05,-4.51457888106e-05,1793245406153622272
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.472984285,633,879,785,807.472984285,652,629.472984285,652,0.414664905278,-0.0154861115201,0.069995536682,0.999999998669,1.81427209897e-05,5.36268771136e-06,-4.79909492031e-05,1793245406170288896
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.051635389,714,680,659,633.051635389,879,785,808,652,630,652.051635389,0.415377484713,-0.0154797181768,0.069951438394,0.99999999563,3.20777219369e-05,-7.0901206809e-05,-5.17986169741e-05,1793245406186955264
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.648449918,714,680,659,633.648449918,879,785,808,652,630,652.648449918,0.416155198054,-0.0154795571049,0.0699179564065,0.999999991037,2.80214680408e-05,-0.000117636219112,-5.74613127438e-05,1793245406203621888
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.763853048,714,680,659,634,879,785.236146952,808,652,630.236146952,653,0.416968467046,-0.0154831596775,0.0699105543255,0.999999989953,2.00616347109e-05,-0.00012704147027,-5.95954545966e-05,1793245406220288512
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.18922462,714,680,659,634,879,785.81077538,808,652,630.81077538,653,0.417832699716,-0.015492156874,0.0699405339069,0.999999994933,6.50660207998e-06,-8.29400673596e-05,-5.66719397964e-05,1793245406236955136
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.614039805,879.385960195,785.614039805,808,651.614039805,630.614039805,653,0.41872121011,-0.015496786925,0.0699685848539,0.999999997679,-2.46196423979e-07,-4.06388065639e-05,-5.46863278218e-05,1793245406253622272
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.038581832,879.961418168,785.038581832,808,651.038581832,630.038581832,653,0.419621640294,-0.0154992728056,0.0699956888839,0.99999999858,-3.65925052823e-06,7.78623650389e-07,-5.31612050903e-05,1793245406270289408
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633,880.552620828,785,808,651.552620828,630,653,0.420521134029,-0.0155059063723,0.0700211035437,0.999999997775,-1.31130603593e-05,4.01605509156e-05,-5.16228281539e-05,1793245406286955776
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.141281364,714,680,659.141281364,633.141281364,880.717437272,785,808,651.858718636,630,653,0.421409712365,-0.0155113758272,0.0700349591219,0.999999996695,-2.14303978439e-05,5.94883213642e-05,-5.11143174256e-05,1793245406303622144
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.718603856,714,680,659.718603856,633.718603856,879.562792289,785,808,651.281396144,630,653,0.422264809684,-0.0155123325105,0.0700135142309,0.999999998093,-2.49003949009e-05,1.73737718261e-05,-5.3787255405e-05,1793245406320288512
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.70589359,714,680,660,634,879.29410641,785.29410641,808.29410641,651.29410641,630,653,0.423092462295,-0.0155110118592,0.0699583114033,0.999999995371,-2.87993821473e-05,-6.99212109659e-05,-5.94933781566e-05,1793245406336955392
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.132121545,714,680,660,634,879.867878455,785.867878455,808.867878455,651.867878455,630,653,0.423894017847,-0.0155075256918,0.0698710081686,0.999999977099,-3.31062960261e-05,-0.00020017824908,-6.80837543998e-05,1793245406353622016
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,660,633.54577719,879.54577719,785.54577719,809,652,630,653,0.42481068233,-0.0155191729828,0.0698631415513,0.999999975975,-4.62779503062e-05,-0.000203396290746,-6.73685130031e-05,1793245406370288384
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,680,660,633,879.043558419,785.043558419,809,652,630,653,0.425763230626,-0.0155352895168,0.0698825312798,0.999999982467,-6.2102185652e-05,-0.000164861854475,-6.34868738428e-05,1793245406386955264
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,680,660,633,879.623416535,785.623416535,809,652,630,653,0.426733613985,-0.0155506920462,0.0699449220736,0.999999992242,-7.7934532752e-05,-8.01782643556e-05,-5.489477705e-05,1793245406403622144
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,680.201724666,660,633,880,786,809,652,630,653,0.427699915727,-0.0155614809132,0.0699978901677,0.99999999487,-8.86547038438e-05,-5.4557252932e-06,-4.8694556975e-05,1793245406420289024
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744,714,680.777161286,660,633,880,786,809,652,630,653,0.428658655871,-0.0155637225805,0.0700334019123,0.999999993567,-8.99041376242e-05,5.08131209709e-05,-4.69254912175e-05,1793245406436955904
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.352535523,714,681,660,633,880,786,808.647464477,652,630,653,0.429592154763,-0.0155622452888,0.0700440864496,0.999999992595,-8.78469720905e-05,6.97079582644e-05,-4.72599983965e-05,1793245406453622528
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.927870313,714,681,660,633,880,786,808.072129687,652,630,653,0.430509701375,-0.0155584176485,0.0700390804147,0.999999993189,-8.3700065718e-05,6.49827572692e-05,-4.89239448098e-05,1793245406470288640
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,879.482895466,785.482895466,808.517104534,651.482895466,630,653,0.4313153743,-0.0155509033042,0.0699628568376,0.999999993443,-7.54143816295e-05,-6.65313961428e-05,-5.47731095952e-05,1793245406486955008
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,879.106037954,785.106037954,809.106037954,651.106037954,630,653,0.432127662124,-0.0155449561237,0.0698924352097,0.999999978536,-6.86139585615e-05,-0.000186012045716,-6.01707407703e-05,1793245406503621632
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,879.684749265,785.684749265,809.684749265,651.684749265,630,653,0.433040918195,-0.0155483503437,0.0698933809487,0.999999981027,-7.1078707814e-05,-0.00017084011184,-6.08814673956e-05,1793245406520288256
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.739828664,714,681.260171336,660,633,880,785.739828664,809.739828664,651.739828664,630,653,0.4339634834,-0.0155526139697,0.0699246464124,0.999999988686,-8.09862085028e-05,-0.000112251343413,-5.88971749377e-05,1793245406536955392
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.168342345,714,681.831657655,660,633,880,785.168342345,809.168342345,651.168342345,630,653,0.434897187818,-0.015557917907,0.0699921917552,0.999999993577,-9.97995324872e-05,-1.71099503443e-06,-5.36880847402e-05,1793245406553622528
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633,880,785.417483061,809,651,630,653,0.435806378519,-0.0155619376274,0.0700236363841,0.999999991749,-0.000106282219543,5.0878623577e-05,-5.11540325875e-05,1793245406570289152
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633.009100769,880,786,809,651,630.009100769,653,0.436704156945,-0.0155654179045,0.0700394258337,0.999999989882,-0.000107659659471,7.85316325087e-05,-4.97872638135e-05,1793245406586955776
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633.588481233,880,786,809,651,630.588481233,653,0.437528248007,-0.0155686984261,0.0700188415586,0.999999990627,-0.000111775655423,5.99455041262e-05,-5.15697685316e-05,1793245406603622144
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744,714,681.833476885,660,634,880,786,809.166523115,651.166523115,630.833476885,653,0.438319401243,-0.0155690326526,0.0699846071388,0.999999991947,-0.000113766191285,1.44509944546e-05,-5.4357610525e-05,1793245406620288512
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744,714,681.258716619,660,634,880,786,809.741283381,651.741283381,630.258716619,653,0.439029806211,-0.0155621439349,0.0699169089202,0.999999987408,-0.000110546087423,-9.70103382657e-05,-5.96100709965e-05,1793245406636955136
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.684749392,879.684749392,785.684749392,810,652,630,653,0.439736543924,-0.0155604202213,0.069862422181,0.999999974408,-0.000111328048389,-0.000186254352641,-6.40198834955e-05,1793245406653621760
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.111431382,879.111431382,785.111431382,810,652,630,653,0.440440279549,-0.0155629246336,0.0698187504985,0.999999957944,-0.000115386141453,-0.000257311035756,-6.77398956138e-05,1793245406670288384
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764.930124053,744.930124053,714,682,659.930124053,632.930124053,880,784.930124053,809.069875947,651.930124053,630.930124053,653,0.442016456386,-0.0155905103162,0.0698798046582,0.999999973515,-0.000149756632135,-0.000163050030686,-6.29106726596e-05,1793245406703622400
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+191,3.183333333,POSE1_TO_POSE2_PRESS,764.382354477,745,713.382354477,682,659,632,880.382354477,784,810,651,630,653,0.444567263394,-0.0156261760404,0.0697889743435,0.999999918913,-0.000212479395168,-0.000335302390424,-6.78091620888e-05,1793245406770288384
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.971758606,745,713.971758606,682,659,632,880.971758606,784,810,651,630,653,0.445138157326,-0.0156301869913,0.0697446418539,0.999999894018,-0.000215112392652,-0.000401063140055,-6.95557900481e-05,1793245406786955008
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+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,714,682.294368058,658.294368058,631,880,783.294368058,810,651.294368058,630,653,0.446803443657,-0.0156500917623,0.0697065514466,0.999999862405,-0.000246416946024,-0.000457274877304,-7.32641854331e-05,1793245406836955904
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.281365521,745,714,682,658,631,880,782.718634479,810,651.281365521,630,653,0.44729947893,-0.0156564239749,0.0696944978582,0.999999848666,-0.00025484934028,-0.000482027289323,-7.32783832975e-05,1793245406853622528
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.556501045,744.556501045,714,682,657.556501045,631,880.443498955,782,810,651.556501045,629.556501045,653,0.448242736827,-0.0156682892771,0.0696789738836,0.999999834707,-0.000259691837258,-0.000507973515013,-7.14804394011e-05,1793245406886956032
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82df503de7b206094710f425971ccae1d1251f20
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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+371,6.183333333,pose2_to_pose3_retreat,0.57603332329,-0.0101222834127,1.06005089908,0.546604957691,-0.00144659381591,1.05971738465
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+374,6.233333333,pose2_to_pose3_retreat,0.575845791038,-0.0101222243548,1.06005124286,0.54641742596,-0.00144653265791,1.05971773675
+375,6.250000000,pose2_to_pose3_retreat,0.575802669114,-0.0101221652459,1.06005103333,0.546374302997,-0.00144647720493,1.05971752373
+376,6.266666667,pose2_to_pose3_retreat,0.575767796578,-0.0101221310857,1.06005082372,0.546339429645,-0.00144644581536,1.05971731406
+377,6.283333333,pose2_to_pose3_retreat,0.57574160593,-0.0101221918317,1.06005086116,0.546313239145,-0.00144650607999,1.05971735093
+378,6.300000000,pose2_to_pose3_retreat,0.575720999103,-0.0101221838561,1.06005079084,0.546292631183,-0.00144650202695,1.05971727876
+379,6.316666667,pose2_to_pose3_retreat,0.575705385434,-0.0101221860681,1.06005097379,0.546277018394,-0.0014465011573,1.05971746426
+380,6.333333333,pose2_to_pose3_retreat,0.575694431236,-0.0101222022673,1.06005091125,0.546266064082,-0.00144651755789,1.05971740659
+381,6.350000000,pose2_to_pose3_retreat,0.575686739052,-0.0101222110472,1.0600509152,0.546258372886,-0.00144652294537,1.05971741166
+382,6.366666667,pose2_to_pose3_retreat,0.575680812314,-0.0101222061378,1.06005109724,0.546252449286,-0.00144650758279,1.05971758872
+383,6.383333333,pose2_to_pose3_retreat,0.57567682119,-0.0101222052306,1.06005093362,0.546248456417,-0.00144651284818,1.05971741849
+384,6.400000000,pose2_to_pose3_retreat,0.575674822676,-0.0101222050411,1.0600508201,0.546246456605,-0.0014465172077,1.0597173013
+385,6.416666667,pose2_to_pose3_retreat,0.575673406743,-0.0101221854394,1.06005081713,0.546245040488,-0.00144649793108,1.05971730611
+386,6.433333333,pose2_to_pose3_retreat,0.575672526366,-0.0101221700209,1.06005082814,0.546244160118,-0.00144648223381,1.05971732368
+387,6.450000000,pose2_to_pose3_retreat,0.575672277494,-0.0101221656622,1.06005083126,0.546243911247,-0.00144647779637,1.05971732864
+388,6.466666667,pose2_to_pose3_retreat,0.575672271333,-0.0101221655543,1.06005083133,0.546243905087,-0.00144647768652,1.05971732876
+389,6.483333333,pose2_to_pose3_retreat,0.575672075194,-0.0101221621192,1.06005083379,0.54624370895,-0.00144647418933,1.05971733268
+390,6.500000000,pose2_to_pose3_retreat,0.575672025833,-0.0101221612548,1.0600508344,0.546243659589,-0.00144647330921,1.05971733366
+391,6.516666667,pose2_to_pose3_retreat,0.57567184767,-0.0101221581345,1.06005083663,0.546243481427,-0.00144647013254,1.05971733722
+392,6.533333333,pose2_to_pose3_retreat,0.575671797115,-0.0101221572491,1.06005083726,0.546243430873,-0.00144646923114,1.05971733823
+393,6.550000000,pose2_to_pose3_retreat,0.575671695014,-0.0101221554609,1.06005083854,0.546243328772,-0.00144646741065,1.05971734027
+394,6.566666667,pose2_to_pose3_retreat,0.575671372747,-0.0101221479837,1.06005086492,0.546243006422,-0.0014464602687,1.05971736534
+395,6.583333333,pose2_to_pose3_retreat,0.575671069057,-0.0101221393827,1.06005090874,0.546242702579,-0.00144645235462,1.05971740477
+396,6.600000000,pose2_to_pose3_retreat,0.575670768387,-0.0101221308673,1.06005095212,0.546242401758,-0.00144644451926,1.05971744381
+397,6.616666667,pose2_to_pose3_retreat,0.575670697651,-0.010122128864,1.06005096233,0.546242330986,-0.0014464426759,1.059717453
+398,6.633333333,pose2_to_pose3_retreat,0.57567055875,-0.0101221249301,1.06005098237,0.546242192016,-0.00144643905618,1.05971747103
+399,6.650000000,pose2_to_pose3_retreat,0.575670408588,-0.0101221206773,1.06005100404,0.546242041778,-0.00144643514301,1.05971749053
+400,6.666666667,pose2_to_pose3_retreat,0.575670356749,-0.0101221192092,1.06005101152,0.546241989913,-0.00144643379209,1.05971749726
+401,6.683333333,pose2_to_pose3_retreat,0.575669915759,-0.0101221217109,1.0600510149,0.546241548556,-0.00144643747986,1.05971750212
+402,6.700000000,pose2_to_pose3_retreat,0.575669753997,-0.010122124763,1.06005100756,0.54624138664,-0.00144644099393,1.05971749645
+403,6.716666667,pose2_to_pose3_retreat,0.575669549645,-0.0101221530912,1.06005086554,0.546241183248,-0.0014464658557,1.05971735988
+404,6.733333333,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641743,1.05971735668
+405,6.750000000,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641744,1.05971735668
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b62ff24588224a0bf502dca1f7e6e35352706e7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80ed35fafae627f511997164c8293497def32bb77098277083ffc9e697fe313d
+size 25755262
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40af971859541d975ac1ebe414dddde0dc28e9ea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+16,0.266666667,BASELINE,764,744,714,679.297708777,658.702291223,634,878,785,807,652,629.702291223,652,0.40095759755,-0.0153586358095,0.0698160707854,0.999999929463,0.000234339480947,-0.00029347135083,5.78785058785e-06,1793245410789066496
+17,0.283333333,BASELINE,764,744,714,679.872179961,658.127820039,634,878,785,807,652,629.127820039,652,0.400960453473,-0.0153578009216,0.0698182390794,0.99999993044,0.000235025864132,-0.000289565966265,5.82101136452e-06,1793245410805732864
+18,0.300000000,BASELINE,764.45591853,744,714.45591853,680,658,634,878.45591853,785,807,652,629.45591853,652,0.400959360987,-0.0153588592466,0.069817913809,0.99999993045,0.00023433286059,-0.00029009473957,5.82415814277e-06,1793245410822399488
+19,0.316666667,BASELINE,764.957900132,744,714.957900132,679.957900132,658,634,879,785,807,652,629.957900132,652,0.400957370497,-0.0153603485887,0.0698170071265,0.999999930233,0.000233303103024,-0.000291665724568,5.83198931859e-06,1793245410839066368
+20,0.333333333,BASELINE,764.374410438,744,714.374410438,679.374410438,658,634,879,785,807,652,629.374410438,652,0.40095836251,-0.0153604134482,0.0698178002564,0.99999993069,0.000233019088102,-0.000290321040885,6.01051480781e-06,1793245410855732992
+21,0.350000000,BASELINE,764.206120702,744,714,679,658,634,879,785,807,652,629,652,0.400958796435,-0.0153610004563,0.0698183588876,0.999999931178,0.000231885229598,-0.000289545247559,6.0858530145e-06,1793245410872399872
+22,0.366666667,BASELINE,764.781353725,744,714,679,658,634,879,785,807,652,629,652,0.400958230955,-0.015362522506,0.0698184975882,0.99999993172,0.000229229506838,-0.000289788199399,5.9764077385e-06,1793245410889067776
+23,0.383333333,BASELINE,765,744,714,679,658,633.645789453,878.645789453,785,807,651.645789453,629.354210547,652,0.400958334834,-0.0153621963454,0.0698186290016,0.999999931292,0.000230989514402,-0.000289865768844,6.06505256537e-06,1793245410905734400
+24,0.400000000,BASELINE,765,744,714,679,658,633.074389577,878.074389577,785,807,651.074389577,629.925610423,652,0.40095884914,-0.0153607369281,0.0698187559466,0.999999930256,0.000235457090725,-0.000289841931696,6.27515919781e-06,1793245410922400512
+25,0.416666667,BASELINE,765,744,714,679,658,633.517680306,878.517680306,785,807.517680306,651.517680306,630,652,0.400957767874,-0.0153607559169,0.0698176469426,0.999999929893,0.000235051240225,-0.000291417944019,6.41955702627e-06,1793245410939066880
+26,0.433333333,BASELINE,765,744,714,679,658,634,878.890249788,785,808,652,630,652,0.400956757976,-0.0153608453786,0.0698165782621,0.999999929735,0.000234081588964,-0.000292737037624,6.45934558963e-06,1793245410955733504
+27,0.450000000,BASELINE,765,744,714,679,658,634,878.31140303,785,808,652,630,652,0.400957073869,-0.0153602902611,0.0698164726186,0.999999930033,0.000233819855406,-0.000291934516826,6.09404774093e-06,1793245410972399872
+28,0.466666667,BASELINE,765,744,713.734936631,679,658,634,878,785,807.734936631,651.734936631,629.734936631,652,0.400957460964,-0.0153603843647,0.0698168184557,0.999999930309,0.000233631382798,-0.000291139625644,5.99873250131e-06,1793245410989066496
+29,0.483333333,BASELINE,765,744,713.161241883,679,658,634,878,785,807.161241883,651.161241883,629.161241883,652,0.400957930965,-0.0153612344007,0.0698176899826,0.99999993056,0.000233528212927,-0.000290353618191,6.21777646991e-06,1793245411005733376
+30,0.500000000,BASELINE,765,744,713.422744786,679,658,634,878,785,807,651.422744786,629,652,0.400957490594,-0.0153617694568,0.0698180226025,0.999999930495,0.000233568343457,-0.000290543117134,6.30116151298e-06,1793245411022400000
+31,0.516666667,BASELINE,765,744,714,679,658,634,878.0106088,785,807,652,629.0106088,652,0.400956716032,-0.0153621323486,0.0698181336365,0.999999930308,0.000233672445085,-0.000291101777265,6.32090139006e-06,1793245411039066624
+32,0.533333333,BASELINE,765,744,714,679,658,634,878.590630782,785,807,652,629.590630782,652,0.400957106462,-0.0153598637279,0.0698176591485,0.999999930216,0.000234203257137,-0.000291005752848,5.77108490678e-06,1793245411055733248
+33,0.550000000,BASELINE,764.830438115,744,714,679,658,633.830438115,878.830438115,785,807,652,630,652.169561885,0.400957291922,-0.015358313031,0.0698173652327,0.999999930122,0.000234545274153,-0.000291056966326,5.46808254274e-06,1793245411072401664
+34,0.566666667,BASELINE,764.254123943,744,714,679,658,633.254123943,878.254123943,785,807,652,630,652.745876057,0.40095698569,-0.0153584845205,0.0698175044813,0.999999930029,0.000234434401502,-0.000291461380367,5.75714850458e-06,1793245411089073408
+35,0.583333333,BASELINE,764,744.319536475,714,679,658,633.319536475,878.319536475,785,807,652,629.680463525,652.680463525,0.400957081721,-0.0153590790482,0.0698178910439,0.999999930142,0.000234348266418,-0.000291140391701,5.89120753743e-06,1793245411105739520
+36,0.600000000,BASELINE,764,744.891103834,714,679,658,633.891103834,878.891103834,785,807,652,629.108896166,652.108896166,0.400957495032,-0.0153600072426,0.0698184726727,0.999999930417,0.000234281642807,-0.000290247249658,5.90300658876e-06,1793245411122401024
+37,0.616666667,BASELINE,764.480568026,744.519431974,714,679,658,633.519431974,879,785,807,652,629.480568026,652,0.4009582574,-0.0153594255859,0.0698185566406,0.99999993054,0.000234703446468,-0.000289479607455,5.95300240015e-06,1793245411139066624
+38,0.633333333,BASELINE,765,744,714,679.072399189,658,633.072399189,878.927600811,785.072399189,807,652,629.927600811,652.072399189,0.400959030554,-0.0153587845277,0.0698185926646,0.999999930626,0.00023514150351,-0.000288823680883,6.03819917678e-06,1793245411155733248
+39,0.650000000,BASELINE,765,744,714,679.651320482,658,633.651320482,878.348679518,785.651320482,807,652,629.348679518,652.651320482,0.4009593044,-0.0153602140991,0.0698191127413,0.999999930708,0.000234888998065,-0.000288742687345,6.30677317719e-06,1793245411172400128
+40,0.666666667,BASELINE,764.771505003,744,714,679.771505003,658,634,878,785.771505003,807,652,629,652.771505003,0.400959199205,-0.0153612087834,0.0698191712339,0.999999930656,0.000234887373927,-0.000288918124166,6.50163698961e-06,1793245411189066752
+41,0.683333333,BASELINE,764.196975855,744,714,679.196975855,658,634,878,785.196975855,807,652,629,652.196975855,0.400958519987,-0.015361544872,0.0698185307007,0.999999930403,0.000235265685914,-0.000289481900617,6.58487364885e-06,1793245411205733376
+42,0.700000000,BASELINE,764,744,714,679,658,634,878,785,806.623115067,652,629.376884933,652,0.400958420559,-0.0153611742618,0.0698185691976,0.999999930665,0.000234130672191,-0.000289503331218,6.39793410587e-06,1793245411222400256
+43,0.716666667,BASELINE,764,744,714,679,658,634,878,785,806.04960299,652,629.95039701,652,0.400958623616,-0.0153604349551,0.0698189619557,0.999999931191,0.000232206131243,-0.000289241810946,6.07003913819e-06,1793245411239067136
+44,0.733333333,BASELINE,764,744,714,679,658,634,878,785,806.541864332,652,629.458135668,652.541864332,0.400957571312,-0.0153603961471,0.0698183454605,0.999999930784,0.000232635081475,-0.000290306963639,5.87004402877e-06,1793245411255733760
+45,0.750000000,BASELINE,764,744.131856037,714,679,658,633.868143963,878.131856037,785,807,652,629.131856037,652.868143963,0.400957227507,-0.0153606362742,0.0698181056224,0.999999930608,0.000232840963939,-0.000290751773198,5.78335878197e-06,1793245411272400128
+46,0.766666667,BASELINE,764,744.711073446,714,679,658,633.288926554,878.711073446,785,807,652,629.711073446,652.288926554,0.400959690756,-0.0153615977545,0.0698194679052,0.999999931514,0.000231534019553,-0.000288665719768,6.04002672767e-06,1793245411289066496
+47,0.783333333,BASELINE,764,744.712040719,714,679,658,633.287959281,878.712040719,785.287959281,807,652,630,652,0.400959810176,-0.0153616509166,0.0698194690922,0.999999931441,0.000231962350642,-0.000288573730384,6.05904348254e-06,1793245411305733120
+48,0.800000000,BASELINE,764,744.13747543,714,679,658,633.86252457,878.13747543,785.86252457,807,652,630,652,0.400957596781,-0.0153608000293,0.06981811558,0.999999930392,0.000234117802068,-0.000290466433631,5.84152592648e-06,1793245411322399744
+49,0.816666667,BASELINE,764.446752738,744,714,679,658,634,878,786,807,652,630,652.446752738,0.400956914355,-0.0153612611695,0.0698178714945,0.999999930663,0.000233045107513,-0.00029039450756,5.99784760167e-06,1793245411339066624
+50,0.833333333,BASELINE,765,744,714,679.033545645,658,634,878.033545645,785.966454355,807,652,629.966454355,652.966454355,0.400956783417,-0.0153620887374,0.0698180037159,0.999999931313,0.000231057179096,-0.000289736189358,6.249491211e-06,1793245411355733504
+51,0.850000000,BASELINE,765,744,714,679.612623127,658,634,878.612623127,785.387376873,807,652,629.387376873,652.387376873,0.40095779019,-0.0153621643807,0.0698185809572,0.999999931439,0.000230697060864,-0.000289590651494,6.13914068626e-06,1793245411372400384
+52,0.866666667,BASELINE,764.808926147,744,714.191073853,680,658,634,878.808926147,785,807,652,629.191073853,652.191073853,0.400958189104,-0.0153620841073,0.0698189302311,0.999999931549,0.000230072422077,-0.00028971105815,5.96044024716e-06,1793245411389067008
+53,0.883333333,BASELINE,764.231741964,744,714.768258036,680,658,634,878.231741964,785,807,652,629.768258036,652.768258036,0.400957359693,-0.015361688767,0.0698188188424,0.999999931626,0.000228913256383,-0.000290368869198,5.64362249745e-06,1793245411405733632
+54,0.900000000,BASELINE,764,744,714.656699996,679.656699996,658,634,878.343300004,785,807,652,630,653,0.40095756696,-0.0153614155342,0.0698188975004,0.999999931633,0.000229392106688,-0.000289967440152,5.72269191067e-06,1793245411422400000
+55,0.916666667,BASELINE,764,744,714.08309517,679.08309517,658,634,878.91690483,785,807,652,630,653,0.400958469686,-0.015361224218,0.0698191036523,0.999999931589,0.000230969829686,-0.000288855413645,6.06734456366e-06,1793245411439066624
+56,0.933333333,BASELINE,764,744,714,679,658,634,879,785,807,652,630,652.496044504,0.400958388729,-0.0153602341406,0.0698189285144,0.999999931355,0.000232573010441,-0.000288381666752,5.96100940844e-06,1793245411455733248
+57,0.950000000,BASELINE,764,744,714,679,658,634,879,785.092111538,807,652,629.907888462,652,0.400957864988,-0.0153593744381,0.0698185350272,0.999999930992,0.000233934241355,-0.000288542302492,5.82261476224e-06,1793245411472399872
+58,0.966666667,BASELINE,764,744,714,679,658,634,879,785.674032895,807,652,629.325967105,652,0.400955872842,-0.0153599275602,0.069817323928,0.999999930121,0.000233985952699,-0.000291501334388,5.92000375514e-06,1793245411489066496
+59,0.983333333,BASELINE,764,744,714,679,658,634,878.747862598,785.747862598,807,652,629.252137402,652,0.40095555372,-0.0153609843015,0.0698168052619,0.999999930227,0.000232507522197,-0.000292323068295,5.82718225845e-06,1793245411505733376
+60,1.000000000,BASELINE,764,744,714,679,658,634,878.174618909,785.174618909,807,652,629.825381091,652,0.400957365254,-0.0153626824206,0.069817168435,0.999999931573,0.000229080399592,-0.000290422874742,5.49212069704e-06,1793245411522400000
+61,1.016666667,BASELINE,764.399649818,744,714,679,658,633.600350182,878.399649818,785,807.399649818,652,629.600350182,652.399649818,0.400957891091,-0.015362498198,0.0698180980909,0.999999931491,0.000230350837768,-0.000289696793268,5.71499086777e-06,1793245411539066368
+62,1.033333333,BASELINE,764.974367531,744,714,679,658,633.025632469,878.974367531,785,807.974367531,652,629.025632469,652.974367531,0.400957853725,-0.0153614894096,0.0698192758964,0.999999930777,0.000233679057854,-0.000289485035505,6.18226485988e-06,1793245411555732992
+63,1.050000000,BASELINE,765,744,714,679,658,633.56912939,878.43087061,785,807.43087061,652,629.56912939,652.43087061,0.400958543019,-0.0153634332614,0.0698203323548,0.999999932107,0.000229985693937,-0.000287845207726,6.08458864625e-06,1793245411572399616
+64,1.066666667,BASELINE,764.841036781,744,714,679,658,634,878.158963219,785,807,652,630,652,0.400958924826,-0.0153640998603,0.0698206393491,0.999999932695,0.000228269362635,-0.000287172006771,5.898698102e-06,1793245411589066240
+65,1.083333333,BASELINE,764.26653124,744,714,679,658,634,878.73346876,785,807,652,630,652,0.400958414159,-0.0153610673068,0.0698190019936,0.99999993112,0.000232577999003,-0.000289199912695,5.55114968189e-06,1793245411605732864
+66,1.100000000,BASELINE,764,744,714,679,658,634,878.691142693,785,807.308857307,652,629.691142693,652,0.400958280155,-0.0153604888619,0.0698184796526,0.999999930502,0.000234358228628,-0.000289898958923,5.62059490699e-06,1793245411622399488
+67,1.116666667,BASELINE,764,744,714,679,658,634,878.114989994,785,807.885010006,652,629.114989994,652,0.40095847213,-0.0153620342844,0.0698189222822,0.999999930725,0.000233950290694,-0.000289447965645,6.05092032811e-06,1793245411639066368
+68,1.133333333,BASELINE,764.472742825,744,714,679.472742825,658,634,878,785,807.527257175,652,629.472742825,652,0.400957380103,-0.0153614543257,0.0698183700813,0.999999930611,0.000233275216829,-0.00029038968098,5.83472285423e-06,1793245411655733248
+69,1.150000000,BASELINE,764.937877407,744,714,680,658,634,878.062122593,785,807,652,629.937877407,652,0.400956373145,-0.0153606088995,0.0698178659894,0.999999930516,0.000232692356175,-0.000291188448575,5.55297070506e-06,1793245411672399872
+70,1.166666667,BASELINE,764.358820688,744,714,680,658,634,878.641179312,785,807,652,629.358820688,652,0.400958738211,-0.0153619643625,0.0698198263687,0.999999931291,0.000233431093076,-0.000287908026206,6.06717848135e-06,1793245411689066496
+71,1.183333333,BASELINE,764.218373206,744,714,679.781626794,658,634,879,785.218373206,807,652,629,652,0.400959518409,-0.015362816012,0.0698203489027,0.999999931681,0.000232955392858,-0.000286934942661,6.2140899223e-06,1793245411705733120
+72,1.200000000,BASELINE,764.792532174,744,714,679.207467826,658,634,879,785.792532174,807,652,629,652,0.400957716454,-0.0153628468207,0.0698185288193,0.999999931449,0.000230501064324,-0.000289721103227,5.76258184477e-06,1793245411722399744
+73,1.216666667,BASELINE,765,744,714,679,658,634,878.624445063,785.624445063,807,652,629,652.375554937,0.400957035775,-0.0153625106303,0.069818319775,0.999999931291,0.000230509244545,-0.00029026126377,5.64185551765e-06,1793245411739066368
+74,1.233333333,BASELINE,765,744,714,679,658,634,878.036407345,785.036407345,807,652,629,652.963592655,0.400956989495,-0.0153619667978,0.06981902223,0.999999931178,0.000231910671697,-0.000289530674433,5.70828006861e-06,1793245411755732992
+75,1.250000000,BASELINE,765,744,714,679,658,634,878,785,807.543777054,652,629,652.456222946,0.400957070976,-0.0153611757791,0.0698188386291,0.999999930649,0.000233597081196,-0.000290006794884,5.60858182722e-06,1793245411772399872
+76,1.266666667,BASELINE,765,744,714,679.122468062,658,634,878.122468062,785,807.877531938,652,629.122468062,652,0.400956922101,-0.0153608532577,0.0698184731631,0.999999930366,0.000234172144123,-0.000290516715854,5.53690777007e-06,1793245411789066496
+77,1.283333333,BASELINE,765,744,714,679.697555342,658,634,878.697555342,785,807.302444658,652,629.697555342,652,0.400955890711,-0.0153623225099,0.0698176516857,0.999999931104,0.000230570362916,-0.000290857214156,5.60932690521e-06,1793245411805733120
+78,1.300000000,BASELINE,765,744,714,679.726079722,658,634,879,785,807,652,630,652,0.400956088962,-0.0153628233069,0.0698179407704,0.999999931452,0.000229731691237,-0.000290320073648,5.77898900279e-06,1793245411822399744
+79,1.316666667,BASELINE,765,744,714,679.148297509,658,634,879,785,807,652,630,652,0.400957651263,-0.0153622497888,0.0698194618105,0.999999931374,0.000231958159084,-0.000288809361435,6.05652348397e-06,1793245411839066368
+80,1.333333333,BASELINE,765,744,714.437720529,679,658,634,878.562279471,785,807,652,630,652,0.400958498215,-0.0153617153722,0.0698198269415,0.999999931015,0.000233996866117,-0.00028840598805,6.14021546209e-06,1793245411855733760
+81,1.350000000,BASELINE,764.973863129,744,714.973863129,679,658,634,878.026136871,785,807.026136871,652,629.973863129,652.026136871,0.400959053382,-0.0153611843988,0.0698197765275,0.999999930571,0.000235894407364,-0.000288398847936,6.14331742351e-06,1793245411872401152
+82,1.366666667,BASELINE,764.3948703,744,714.3948703,679,658,634,878.6051297,785,807.6051297,652,629.3948703,652.6051297,0.400958661305,-0.015360440674,0.0698193788061,0.999999930423,0.000236177312438,-0.000288685267458,5.85752478737e-06,1793245411889067008
+83,1.383333333,BASELINE,764,744,714,679,658,634,878.816705829,785.183294171,807.816705829,652,629,652.816705829,0.400958044565,-0.0153600401104,0.0698190155516,0.999999930439,0.000235453573096,-0.00028922684334,5.64778325563e-06,1793245411905733376
+84,1.400000000,BASELINE,764,744,714,679,658,634,878.240317753,785.759682247,807.240317753,652,629,652.240317753,0.400956946009,-0.0153603754925,0.0698187262151,0.999999930798,0.000232570977456,-0.000290315629309,5.60114137682e-06,1793245411922400000
+85,1.416666667,BASELINE,764,744,714,679,658,634,878,786,807,652,629.332802835,652,0.400956858366,-0.0153604825412,0.0698190162795,0.999999931074,0.000232041562322,-0.000289786373116,5.64348132488e-06,1793245411939066624
+86,1.433333333,BASELINE,764,744,714,679,658,634,878,786,807,652,629.903586868,652,0.400957493609,-0.0153604263128,0.0698197206629,0.999999931293,0.000233194863536,-0.000288100084616,5.74945054638e-06,1793245411955733248
+87,1.450000000,BASELINE,764.494479841,744,714,679,658,634,878,785.505520159,807,652,630,652,0.400957726909,-0.0153613903991,0.069819405482,0.999999931593,0.000231965605106,-0.000288048776054,5.83808513691e-06,1793245411972399616
+88,1.466666667,BASELINE,764.913226044,744,714,679.086773956,658,634,878,785,807,652,629.913226044,652.086773956,0.400957983142,-0.015362176614,0.0698191106753,0.999999931797,0.000230917201506,-0.000288181231011,5.90108978278e-06,1793245411989066496
+89,1.483333333,BASELINE,764.336109334,744,714,679.663890666,658,634,878,785,807,652,629.336109334,652.663890666,0.400958830586,-0.0153607858871,0.0698201019613,0.999999931371,0.000233627127486,-0.000287474334165,5.83917330569e-06,1793245412005733120
+90,1.500000000,BASELINE,764,744,714,680,657.760075231,634,878.479849539,785,807,652,629.239924769,652.760075231,0.400959301968,-0.0153603685761,0.0698208001702,0.999999931445,0.000234180893324,-0.000286765362196,5.87577666639e-06,1793245412022399744
+91,1.516666667,BASELINE,764,744,714,680,657.18555098,634,879.628898041,785,807,652,629.81444902,652.18555098,0.400959248893,-0.0153613087926,0.0698210896533,0.99999993222,0.000231727674426,-0.000286053496319,6.04977596146e-06,1793245412039066368
+92,1.533333333,BASELINE,764,744,714,679.610502954,657.389497046,634,879.610502954,785,807,652,629.610502954,652,0.400958830593,-0.0153620568245,0.069820795791,0.99999993238,0.000230251411358,-0.000286682241659,6.11995668425e-06,1793245412055733248
+93,1.550000000,BASELINE,764,744,714,679.035205023,657.964794977,634,879.035205023,785,807,652,629.035205023,652,0.40095823807,-0.0153627131791,0.0698202236567,0.999999932248,0.00022924118308,-0.000287950495639,6.14061308622e-06,1793245412072399872
+94,1.566666667,BASELINE,764,744,714,679,658,634,878.442124394,785,807,652,629.557875606,652,0.400958990206,-0.0153615806476,0.069819973912,0.999999931925,0.00023079812338,-0.00028782923677,5.9996034194e-06,1793245412089066240
+95,1.583333333,BASELINE,764,744,714,679.147800178,658,634,878,785,807,652,630,652,0.40095935016,-0.0153609658657,0.069819679058,0.999999931733,0.000231692887024,-0.000287782214871,5.86446554278e-06,1793245412105733376
+96,1.600000000,BASELINE,764,744,714,679.725182749,658,634,878,785,807,652,630,652,0.400958315482,-0.0153621948416,0.0698191920153,0.999999931959,0.000230176664638,-0.0002882142144,5.77702259338e-06,1793245412122400000
+97,1.616666667,BASELINE,764.298996011,744,714,679.701003989,658,634,878.298996011,785,807,652,629.701003989,652,0.400957914381,-0.0153623062418,0.0698191922398,0.999999931797,0.000230701286857,-0.000288357461115,5.74864890097e-06,1793245412139067136
+98,1.633333333,BASELINE,764.869567268,744,714,679.130432732,658,634,878.869567268,785,807,652,629.130432732,652,0.400958088751,-0.0153614025584,0.0698196350445,0.99999993128,0.000233079588996,-0.000288238436357,5.77392726057e-06,1793245412155734784
+99,1.650000000,BASELINE,764.569028454,744,714,679,658,634,879,785,807,652,629.430971546,652,0.40095804005,-0.0153610717805,0.0698196572868,0.999999931102,0.00023370839986,-0.000288342348982,5.84940119277e-06,1793245412172400896
+100,1.666666667,BASELINE,764.010340772,744,714,679,658,634,879,785,807,652,629.989659228,652,0.400957925243,-0.0153609107801,0.0698195548977,0.999999931027,0.000233818758205,-0.000288512327922,5.93975031666e-06,1793245412189066496
+101,1.683333333,BASELINE,764,744,714,679.605100715,658,634,878.394899285,785,807,652,629.394899285,652,0.400958430022,-0.0153609383466,0.0698200681567,0.99999993169,0.000232304485662,-0.000287437831792,5.87030416223e-06,1793245412205733120
+102,1.700000000,BASELINE,764,744,714,679.793038182,658,634,878,785,807,652,629,652,0.400959084604,-0.0153613287244,0.0698206810007,0.999999932253,0.000231134108498,-0.000286420663795,5.93069882958e-06,1793245412222400000
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+104,1.733333333,BASELINE,764.358000076,744,714,679.358000076,658,634,878.358000076,785,807,652,629.358000076,652,0.400958994257,-0.0153628202011,0.0698207802483,0.999999932174,0.000230941157762,-0.000286844772433,6.18770337533e-06,1793245412255733760
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+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878,786,807,652,630,652,0.400958640022,-0.0153618556651,0.0698214097686,0.999999932126,0.000231582637065,-0.000286500786374,5.95580059439e-06,1793245412331382528
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744,714,679.426854838,658,634,878.573145162,785.426854838,807,652,630,652.573145162,0.400956998427,-0.0153602960787,0.0698197460957,0.99999993106,0.000233378453488,-0.000288758899515,5.70935469307e-06,1793245412348048896
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.849151572,785.150848428,807,652,630,652.849151572,0.400956211019,-0.0153595055818,0.069818718244,0.999999930477,0.000234321985505,-0.000290012378119,5.64039201563e-06,1793245412364715264
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.32629561,744,714,679,658,634,878.32629561,785.67370439,807,652,630,652,0.400958054982,-0.0153621709983,0.0698197816356,0.999999931674,0.000231550886979,-0.00028809091026,6.24496989207e-06,1793245412398049024
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.905652214,744,714,679,658,634,878.905652214,785.094347786,807,652,630,652,0.400956979406,-0.0153631952985,0.0698195589907,0.999999931651,0.000230567818353,-0.000288959764157,6.1732146622e-06,1793245412414715648
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.517917073,744,714,679,658,634,878.517917073,785,807,652,630,652.482082927,0.400957878907,-0.0153625002101,0.0698200419233,0.999999931626,0.000231263994789,-0.000288491116579,6.11291432896e-06,1793245412431382016
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.057749053,744,714,678.942250947,658,634,878.057749053,785,807,652,629.942250947,652.942250947,0.400959369146,-0.0153616960461,0.0698207380801,0.999999931706,0.000232013507596,-0.000287614059463,6.07206217091e-06,1793245412448048384
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+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,679.609319138,658,634,879,785,807,652,629,652,0.400993452175,-0.0153650592006,0.0698356004351,0.999999938333,0.000231526816866,-0.000263963649847,7.2255382951e-06,1793245412498048256
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679.613751243,658,634,878.613751243,785,807,652,629.386248757,652,0.401034034938,-0.0153661664875,0.0698513469748,0.999999945081,0.00023176398644,-0.000236758948644,8.31048424337e-06,1793245412514714880
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679.037498722,658,634,878.037498722,785,807,652,629.962501278,652,0.401084220775,-0.0153673201564,0.069870274417,0.999999952516,0.000231287101715,-0.00020342809577,9.57859954119e-06,1793245412531382016
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.461432951,744,714,679,658,634,878,785.538567049,807.538567049,652,630,652,0.401146566131,-0.0153712785249,0.0698837189711,0.999999955488,0.000230622942831,-0.00018903053872,1.02661554884e-05,1793245412548048640
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.11722723,785.88277277,807.88277277,652,629.88277277,652,0.401212190711,-0.0153754213872,0.0698954707812,0.999999958099,0.000229363425013,-0.000176298032326,1.06180241284e-05,1793245412564715264
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.706384415,785.293615585,807.293615585,652,629.293615585,652,0.401287609563,-0.0153795210909,0.0699019443261,0.999999960862,0.000225759603555,-0.000164963438982,9.7811681876e-06,1793245412581382144
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.709444819,785,807,652,629,652,0.401372443339,-0.0153832877929,0.0699058297368,0.999999962111,0.000224724994808,-0.000158767296575,8.32692743648e-06,1793245412598049024
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.130228008,785,807,652,629,652,0.401466630678,-0.0153867236633,0.06990714388,0.999999961957,0.000226242855413,-0.000157676118441,6.25932543228e-06,1793245412614715136
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629.445698109,652.445698109,0.401581707295,-0.015390766356,0.0699086899458,0.99999996305,0.000223192303269,-0.000155152767755,3.59705212308e-06,1793245412631381504
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+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744,714,679.862023962,658,634,879,785.862023962,807,652,629.137976038,652.137976038,0.405675719551,-0.0154564427642,0.0699611295023,0.999999992552,0.000104068103134,-5.80367780256e-05,-2.6400295791e-05,1793245412881382144
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744,714,679.27012398,658,634,879,785.27012398,807,652,629.72987602,652.72987602,0.406121897289,-0.0154571115416,0.0699516767388,0.999999992211,9.33281442261e-05,-7.54143983637e-05,-3.43607646145e-05,1793245412898048512
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.68514981,785,807,652,630,652.68514981,0.40658975437,-0.0154654492709,0.0699376197437,0.999999992157,6.94888743053e-05,-9.63691791689e-05,-3.96324607298e-05,1793245412914715136
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.105989644,785,807,652,630,652.105989644,0.407075810843,-0.0154802249206,0.0699196975942,0.999999991251,3.46530127099e-05,-0.000120326911214,-4.2646990708e-05,1793245412931382016
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.468452721,744,714,679.468452721,658.468452721,634,878.468452721,785,807,652,629.531547279,652.468452721,0.407623614706,-0.0154840022709,0.069923527203,0.999999992735,3.44314587587e-05,-0.000106957350668,-4.36325056386e-05,1793245412948049152
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.957053631,744,714,680,658.957053631,633.957053631,879,785,807,652,629,652.957053631,0.408189547773,-0.0154852977548,0.0699325527079,0.99999999458,4.12598500958e-05,-8.47886953921e-05,-4.41381459514e-05,1793245412964716032
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.368481773,744,714,680,658.368481773,633.368481773,879,785,807,652,629,652.368481773,0.408810084807,-0.0154863612493,0.0699456885772,0.999999996624,3.91488990745e-05,-5.70575413678e-05,-4.43213689823e-05,1793245412981382912
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.216857441,744.216857441,714,679.783142559,658,633,879,785,807,652,629,652,0.409425402831,-0.0154862608391,0.069950748344,0.999999997272,3.76163302244e-05,-4.51283266815e-05,-4.47821349858e-05,1793245412998049792
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.796784425,744.796784425,714,679.203215575,658,633,879,785,807,652,629,652,0.410031982985,-0.0154842117833,0.0699422868452,0.99999999649,3.70521071439e-05,-5.96552171406e-05,-4.57075721853e-05,1793245413014716160
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.625400588,744.625400588,714,679,658.374599412,633,879,785,807.374599412,652,629,652.374599412,0.410675346446,-0.0154862782104,0.0699403160049,0.999999996126,3.39598522849e-05,-6.66824430776e-05,-4.63437225526e-05,1793245413031382528
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.048724929,744.048724929,714,679,658.951275071,633,879,785,807.951275071,652,629,652.951275071,0.411338552505,-0.0154905647195,0.0699418465262,0.999999996042,2.95038601924e-05,-6.9664002672e-05,-4.68238181964e-05,1793245413048049152
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744,714,679.522566457,659,633,878.477433543,785,807.477433543,652,629,652.477433543,0.412070434051,-0.015495695382,0.0699707724547,0.999999998618,2.1209814161e-05,-1.68567624696e-05,-4.50551394092e-05,1793245413064715776
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.097211618,744,714,680,659,633.097211618,878.097211618,785.097211618,807,652,629.097211618,652,0.412815192671,-0.0155002457692,0.0700005194629,0.999999998334,1.26924558666e-05,3.60313673051e-05,-4.32825437108e-05,1793245413081382400
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.691548434,744,714,680,659,633.691548434,878.691548434,785.691548434,807,652,629.691548434,652,0.413593390306,-0.0155014303095,0.0700215357918,0.999999997098,4.84452526867e-06,6.3003038203e-05,-4.25512510152e-05,1793245413098048768
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.278449209,714,680,658.721550791,633.721550791,879,785.721550791,807,652,630,652.278449209,0.414340663893,-0.0154987108996,0.0700141251053,0.999999998075,7.09794506905e-06,4.31349669208e-05,-4.40299698564e-05,1793245413114715392
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.857327049,714,680,658.142672951,633.142672951,879,785.142672951,807,652,630,652.857327049,0.415054572533,-0.0154917793808,0.069976043516,0.999999998276,2.02500656617e-05,-2.72701444022e-05,-4.78931475496e-05,1793245413131382528
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.566815061,714,680,658.433184939,633,879,785.433184939,807.433184939,652,630,652.566815061,0.415817134055,-0.0154916898152,0.0699378709363,0.999999994676,2.09407215206e-05,-8.64150181737e-05,-5.23556794428e-05,1793245413148049152
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.008075885,713.991924115,679.991924115,659,633.008075885,879,785.991924115,808,651.991924115,630,652,0.416596660115,-0.0154939066105,0.0699006019627,0.999999988353,1.7353620122e-05,-0.000140542518984,-5.69192764996e-05,1793245413164715520
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.584434062,713.415565938,679.415565938,659,633.584434062,879,785.415565938,808,651.415565938,630,652,0.417450164312,-0.0155009442913,0.0699290118073,0.999999993421,-4.39935808813e-07,-0.000100771546111,-5.48000472038e-05,1793245413181381888
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.835218768,713.164781232,679.164781232,659.164781232,634,879,785,808,651.164781232,630,652.164781232,0.418314523119,-0.015507022165,0.0699566783158,0.99999999663,-1.46747481212e-05,-6.10414408911e-05,-5.29002131909e-05,1793245413198048512
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.244562125,713.755437875,679.755437875,659.755437875,634,879,785,808,651.755437875,630,652.755437875,0.419206935505,-0.0155106194264,0.0699824236775,0.999999998247,-1.97120227829e-05,-2.14169604332e-05,-5.15674043527e-05,1793245413214715136
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,680,660,633.661575544,879.338424456,785,808,652,630,653,0.420111472143,-0.0155153548963,0.0700085090966,0.999999998259,-2.49538540957e-05,1.91306965121e-05,-4.9933421628e-05,1793245413231381504
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,680,660,633.084008913,879.915991087,785,808,652,630,653,0.421024576152,-0.0155208946626,0.0700348348107,0.999999996564,-3.03402318318e-05,6.03306995026e-05,-4.80866192701e-05,1793245413248048128
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.509706775,744,714,680,660,633,879.509706775,785,808.490293225,652,630,653,0.421892719127,-0.0155231407583,0.0700209216365,0.999999997545,-3.65898374894e-05,3.27782977474e-05,-4.99701197236e-05,1793245413264715520
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.065167311,744,714,680,659.934832689,633,879.065167311,785,809,652,630,652.934832689,0.422744043887,-0.0155242563609,0.0699928894953,0.999999997561,-4.22038311303e-05,-1.66729946303e-05,-5.3098874388e-05,1793245413281382912
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.649015908,744,714,680,659.350984092,633,879.649015908,785,809,652,630,652.350984092,0.423522419032,-0.0155208362048,0.0699069948442,0.999999986424,-4.15893866889e-05,-0.000147280348196,-6.10852695281e-05,1793245413298049280
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744,714,680.233680693,659.233680693,633.233680693,880,785,808.766319307,652,630,652.233680693,0.42438232314,-0.0155236616236,0.0698599355821,0.999999973784,-4.75404532195e-05,-0.000214194932403,-6.55192352599e-05,1793245413314715648
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680.819575762,659.819575762,633.819575762,880,785,808.180424238,652,630,652.819575762,0.425365111597,-0.015535900662,0.0698714108064,0.999999978772,-6.33873630502e-05,-0.000185108844143,-6.45988170995e-05,1793245413331381760
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.602421301,880,785,808.397578699,652,630,653,0.426336579932,-0.0155482052004,0.0699193221465,0.99999998881,-7.50946960242e-05,-0.000115443367243,-5.84228001099e-05,1793245413348048384
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.027930196,880,785,808.972069804,652,630,653,0.427303011042,-0.0155605388839,0.0699834466304,0.999999994761,-8.49600211934e-05,-2.77210958463e-05,-4.99081750414e-05,1793245413364715264
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.45215194,744,714,680.45215194,660,633,879.45215194,785,809,652,630,653,0.42827460374,-0.0155608640374,0.0700215008617,0.999999994776,-8.45159190387e-05,3.21724577533e-05,-4.76469259165e-05,1793245413381381888
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.127009383,744,714,680.127009383,660,633,879.127009383,785.127009383,809,652,630.127009383,653,0.429232357605,-0.0155604380687,0.0700495266751,0.999999992325,-8.43419653052e-05,7.79992261871e-05,-4.64059747739e-05,1793245413398048256
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.718296914,744,714,680.718296914,660,633,879.718296914,785.718296914,809,652,630.718296914,653,0.430138559887,-0.0155595095989,0.0700457639066,0.999999992058,-8.70813355126e-05,7.76037902044e-05,-4.77265528563e-05,1793245413414714880
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.30315414,714,680.69684586,660,633,879.69684586,786,809,652,630.69684586,653,0.430996313558,-0.0155552372093,0.069999337834,0.999999995178,-8.33768766501e-05,-2.97073324808e-06,-5.180552131e-05,1793245413431381504
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.882160144,714,680.117839856,660,633,879.117839856,786,809,652,630.117839856,653,0.431809981885,-0.0155479220558,0.0699140907445,0.999999983325,-7.38089228028e-05,-0.000156503359689,-5.83944565762e-05,1793245413448048128
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.54244458,680.91511084,660,633,879.45755542,786,809,652,630.45755542,653,0.432704745618,-0.0155483111611,0.0698993370788,0.999999980928,-7.36043590406e-05,-0.000170489140079,-6.0491150978e-05,1793245413464714752
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.967200526,713.032799474,681.967200526,660.032799474,633,880,786,809,652,630.967200526,652.967200526,0.433620847971,-0.0155507630203,0.0699059579151,0.999999984793,-7.65830263294e-05,-0.000144272886315,-6.11102246409e-05,1793245413481381632
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.378892145,713.621107855,681.378892145,660.621107855,633,880,786,809,652,630.378892145,652.378892145,0.434547393093,-0.0155548088885,0.0699695127623,0.999999993259,-9.29524297168e-05,-4.10935012416e-05,-5.61446924542e-05,1793245413498048000
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,714,681.206211687,660.793788313,633,880,785.793788313,809,651.793788313,630,652.206211687,0.435465748207,-0.0155585169166,0.0700171029629,0.99999999261,-0.000103488434557,3.65843567949e-05,-5.22709145621e-05,1793245413514714624
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,681.7855177,660.2144823,633,880,785.2144823,809,651.2144823,630,652.7855177,0.436369285475,-0.0155616136985,0.0700358086858,0.999999991058,-0.00010347020238,6.81228728971e-05,-5.03724240279e-05,1793245413531380992
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,681.636236573,660,633,879.636236573,785,809.363763427,651.363763427,630,653,0.437241259276,-0.0155635293059,0.0700276002277,0.999999991077,-0.000103733530537,6.71007876337e-05,-5.08310437186e-05,1793245413548047872
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,681.05861423,660,633,879.05861423,785,809.94138577,651.94138577,630,653,0.438094676652,-0.015564750493,0.0700035687439,0.999999992086,-0.000104162389877,4.69361083098e-05,-5.2675424165e-05,1793245413564714752
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744,714,681.51604319,660,633,880.032086379,785.51604319,809.48395681,652,630.51604319,653,0.438821797071,-0.0155611664578,0.0699387945251,0.999999991113,-0.000104348455232,-5.96930808922e-05,-5.76368357002e-05,1793245413581381376
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744,714,681.907261122,660,633,881,785.907261122,809.092738878,652,631,653,0.439534036222,-0.0155582832141,0.0698738750264,0.999999978284,-0.000105648629228,-0.000168322358522,-6.27509790968e-05,1793245413598048256
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744,714,681.31785616,660,633,881,785.31785616,809.68214384,652,631,653,0.440242966122,-0.0155620594125,0.0698328198072,0.999999963679,-0.000113062303169,-0.000235367056174,-6.67978199684e-05,1793245413614714624
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.733112766,744.266887234,714,681,660,632.733112766,881,784.733112766,810,652,630.733112766,653,0.440997073691,-0.0155710519511,0.0698294138978,0.999999960491,-0.000125062068262,-0.00024257560671,-6.73325831325e-05,1793245413631381248
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.153825922,744.846174078,714,681,660,632.153825922,881,784.153825922,810,652,630.153825922,653,0.441804063044,-0.015586150374,0.0698700776517,0.99999997167,-0.000142429991866,-0.000179744125762,-6.37563524846e-05,1793245413648047616
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.421486991,744.578513009,714,681.421486991,660,632,881,784.421486991,810,651.578513009,630,653,0.442542182081,-0.0155974345537,0.0698849579801,0.999999971494,-0.00015957204619,-0.000166412477445,-6.20944421579e-05,1793245413664714496
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.995363172,744.004636828,714,681.995363172,660,632,881,784.995363172,810,651.004636828,630,653,0.443255401027,-0.0156073396899,0.0698905162796,0.999999967916,-0.000176632438692,-0.000170977555327,-6.11246566761e-05,1793245413681381120
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.428946691,744.571053309,714,682,659.428946691,632,880.428946691,784.428946691,810,651.571053309,630,653,0.443878968655,-0.0156171493495,0.0698453016093,0.99999994807,-0.00019295507908,-0.000250124859374,-6.37716539948e-05,1793245413698047744
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.150952532,745,714,682,659,632,880,783.849047468,810,652,630,653,0.444492504598,-0.0156257992003,0.0698007634329,0.999999923913,-0.00020707824922,-0.00032383720196,-6.65029111752e-05,1793245413714714368
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.743111076,745,714,682,659,632,880,783.256888924,810,652,630,653,0.445078854391,-0.0156310614225,0.0697594113252,0.999999902367,-0.000214790350533,-0.000379888520722,-6.93943365555e-05,1793245413731381248
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.674971313,632,880,783,810,652,630,653,0.445661674292,-0.0156371039444,0.0697339784221,0.999999887949,-0.000221811175488,-0.000412061528064,-7.14667207567e-05,1793245413748048384
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.100900504,632,880,783,810,652,630,653,0.446241789501,-0.015643744344,0.069720743068,0.999999880569,-0.000228302333439,-0.000425938592636,-7.29115425843e-05,1793245413764716288
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.523037839,745,714,682.476962161,658,631.523037839,880,783,809.523037839,651.523037839,630,653,0.446785082725,-0.0156502092575,0.0697073755523,0.999999863335,-0.000242989675381,-0.000457000963844,-7.37349975299e-05,1793245413781382912
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.056523577,745,714,682.943476423,658,631,880,782.943476423,809.056523577,651,630,653,0.447316284065,-0.0156565704201,0.0696942595648,0.999999844043,-0.000257816996301,-0.000489823582693,-7.42800092149e-05,1793245413798049280
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.644453905,745,714,682.355546095,658,631,880,782.355546095,809.644453905,651,630,653,0.447807624598,-0.0156623079828,0.0696837732809,0.99999983676,-0.000257528540272,-0.000504741908329,-7.34529585109e-05,1793245413814715904
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.770795491,745,714,682.229204509,658,631,880,782,810,651.229204509,629.770795491,653,0.448299913066,-0.0156691898953,0.0696835300285,0.999999837038,-0.000260676506308,-0.00050287612978,-7.13291027865e-05,1793245413831382272
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c78cc7de20beb05fb60b3e294363d8964e5c2dfd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de94d0f016eeaad1695bf3413eb753c8fea4104f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+oid sha256:d09f61ad51f78d08fbef4a2d46b842755d9b7cf0ef60d537e18f01b0f67ccede
+size 25881467
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5d6fd3e23cee0a14fac016fbe51eee586e58f0d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/franka_data.csv
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+2,0.033333333,BASELINE,764.157073127,744,713.842926873,679,658,633.842926873,878,785,807,652,629.157073127,653,0.400961250717,-0.0153625776807,0.0698186593905,0.999999931548,0.000229524213422,-0.000290139071565,6.49547142924e-06,1793245417505961984
+3,0.050000000,BASELINE,764.729587623,744,713.270412377,679,658,633.270412377,878,785,807,652,629.729587623,653,0.400960824691,-0.015361628399,0.0698191888626,0.999999931431,0.000230621313445,-0.000289682065756,6.05190295308e-06,1793245417522629376
+4,0.066666667,BASELINE,764.688878071,744,713.311121929,679.311121929,658,633.311121929,878,785,807,652,629.688878071,652.688878071,0.400960583241,-0.0153616266014,0.0698193247214,0.999999931522,0.000230539126023,-0.000289435198127,5.98203051824e-06,1793245417539296000
+5,0.083333333,BASELINE,764.099270144,744,713.900729856,679.900729856,658,633.900729856,878,785,807,652,629.099270144,652.099270144,0.400960507007,-0.0153624728992,0.0698191082559,0.999999931799,0.000229401355474,-0.000289376425724,6.24665434743e-06,1793245417555962112
+6,0.100000000,BASELINE,764,744,714,679.518453565,658.481546435,634,878,785,807,652,629.481546435,652.481546435,0.400959134458,-0.0153630612292,0.0698181965863,0.999999931729,0.00022831055006,-0.000290483757871,6.0030212735e-06,1793245417572628224
+7,0.116666667,BASELINE,764,744,714,679,658.939770914,634,878,785,807,652,630,653,0.400957942309,-0.0153633818245,0.0698174333517,0.999999931592,0.000227616537852,-0.000291501353627,5.72381202236e-06,1793245417589294848
+8,0.133333333,BASELINE,764,744,714,679,658.364118511,634,878,785,807,652,630,653,0.40096053989,-0.0153618581596,0.0698191448439,0.999999931505,0.00023023679997,-0.000289730698411,6.02072297726e-06,1793245417605961472
+9,0.150000000,BASELINE,764.211458487,744,714,679,658,634,878,785,807,652,629.788541513,652.788541513,0.400961853357,-0.015361409956,0.0698200522076,0.999999931698,0.00023087437025,-0.000288553330902,6.1171934063e-06,1793245417622628096
+10,0.166666667,BASELINE,764.786905631,744,714,679,658,634,878,785,807,652,629.213094369,652.213094369,0.400960956446,-0.0153628129706,0.0698195754052,0.999999932382,0.0002280990844,-0.000288397204197,5.86864063442e-06,1793245417639295232
+11,0.183333333,BASELINE,764.62805895,744,714,679,658,634,878,785.37194105,807,652,629.37194105,652,0.400959665802,-0.0153632515992,0.0698188005844,0.999999932302,0.000226853213852,-0.000289658389629,5.64379598189e-06,1793245417655962112
+12,0.200000000,BASELINE,764.03738475,744,714,679,658,634,878,785.96261525,807,652,629.96261525,652,0.400958143609,-0.0153631230866,0.0698178505032,0.999999931773,0.000226506770044,-0.000291753075804,5.43289370758e-06,1793245417672628992
+13,0.216666667,BASELINE,764,744,714,679,658,634,878,785.457295411,807.542704589,652,630,652,0.400959374002,-0.0153636176745,0.0698189897925,0.999999932075,0.000227159583504,-0.00029020445139,5.53567167338e-06,1793245417689295616
+14,0.233333333,BASELINE,764.120995597,744,714,679,658,633.879004403,878,785,807.879004403,652,629.879004403,652,0.400960409457,-0.0153638571518,0.0698199565615,0.999999932219,0.000228251588437,-0.000288843278252,5.71511760765e-06,1793245417705961984
+15,0.250000000,BASELINE,764.69522946,744,714,679,658,633.30477054,878,785,807.30477054,652,629.30477054,652,0.400960018005,-0.0153629832995,0.0698197482575,0.999999931571,0.000230735847962,-0.000289106416332,6.10236092484e-06,1793245417722628608
+16,0.266666667,BASELINE,764.729438918,744,714,679,658,633.270561082,878.270561082,785,807,652,629.270561082,652,0.400959321323,-0.0153625334177,0.0698191233201,0.999999931253,0.000231295368976,-0.000289757005336,6.06254350595e-06,1793245417739295232
+17,0.283333333,BASELINE,764.152865735,744,714,679,658,633.847134265,878.847134265,785,807,652,629.847134265,652,0.400958279417,-0.0153625630585,0.0698180271586,0.999999931313,0.00022967795711,-0.000290845812087,5.5397085064e-06,1793245417755961856
+18,0.300000000,BASELINE,764,744,714,679,658,634,878.566622705,785,807,652,630,652,0.400958897467,-0.0153636362845,0.069818820413,0.999999932147,0.000227706725823,-0.000289519636135,5.75495147047e-06,1793245417772628480
+19,0.316666667,BASELINE,764.02263413,744,714,679,658,634,878,785,807,652,630,652.02263413,0.400960064476,-0.0153649401377,0.0698202364526,0.999999933184,0.000225762688436,-0.000287445056146,6.20387563423e-06,1793245417789295104
+20,0.333333333,BASELINE,764.600246964,744,714,679,658,634,878,785,807,652,630,652.600246964,0.400960007435,-0.0153626671043,0.0698202087629,0.999999932496,0.000227615388395,-0.000288383355,5.85337564482e-06,1793245417805961984
+21,0.350000000,BASELINE,764.822949376,744,714,679,658,634,878.177050624,785,807,651.822949376,630,653,0.400959195246,-0.0153608487044,0.0698196426471,0.999999931601,0.000229583009554,-0.000289929061976,5.58932265131e-06,1793245417822628864
+22,0.366666667,BASELINE,764.247964476,744,714,679,658,634,878.752035524,785,807,651.247964476,630,653,0.400956685808,-0.0153600521268,0.0698178663791,0.999999930239,0.000231808924297,-0.000292839963179,5.5195656761e-06,1793245417839295488
+23,0.383333333,BASELINE,764.335999573,744,714,679,658,634,878.664000427,785.335999573,807,651.335999573,630,652.664000427,0.400957492128,-0.0153602341232,0.0698179919406,0.999999930251,0.000232439596503,-0.000292297684015,5.68730024428e-06,1793245417855962112
+24,0.400000000,BASELINE,764.926772156,744,714,679,658,634,878.073227844,785.926772156,807,651.926772156,630,652.073227844,0.400960812633,-0.0153611581272,0.0698195595717,0.999999931302,0.000231860669953,-0.00028913701742,6.03511371161e-06,1793245417872629248
+25,0.416666667,BASELINE,764.492459044,744.507540956,714,679.507540956,658,634,878.507540956,785.492459044,807,652,630,652,0.40096042004,-0.0153626228539,0.069819683437,0.99999993199,0.000229224607145,-0.000288860274332,5.98947122092e-06,1793245417889295360
+26,0.433333333,BASELINE,764,744.913627029,714,679.913627029,658,634,879,785,807,652,630,652.086372971,0.400959793165,-0.0153639564565,0.0698197912696,0.999999932523,0.0002271066289,-0.000288686788821,5.97579948304e-06,1793245417905961984
+27,0.450000000,BASELINE,764,744.337749393,714,679.337749393,658,634,879,785,807,652,630,652.662250607,0.400960815976,-0.0153641133434,0.0698209659607,0.999999932504,0.000229574377499,-0.00028678594916,6.45881967738e-06,1793245417922628352
+28,0.466666667,BASELINE,764,744,714,679.242279418,658,634,878.757720582,785,807,652,630,652.757720582,0.400960925591,-0.0153649205499,0.0698213137483,0.999999932627,0.000229474381625,-0.000286432528007,6.69579943443e-06,1793245417939295232
+29,0.483333333,BASELINE,764,744,714,679.828196016,658,634,878.171803984,785,807,652,630,652.171803984,0.400959739975,-0.0153666501378,0.0698204886967,0.99999993295,0.00022573242344,-0.000288273889086,6.58380753671e-06,1793245417955961856
+30,0.500000000,BASELINE,764.409675195,744,714,680,658,633.590324805,878,785,807,652,630,652,0.400958792909,-0.0153661126674,0.0698196683191,0.999999932511,0.000225667457962,-0.000289851387375,6.27266974865e-06,1793245417972628480
+31,0.516666667,BASELINE,764.989313396,744,714,680,658,633.010686604,878,785,807,652,630,652,0.400957944811,-0.0153646346566,0.0698188498806,0.999999931756,0.000227127976028,-0.00029131941618,5.87891179404e-06,1793245417989295104
+32,0.533333333,BASELINE,764.431980842,744,714.568019158,679.431980842,658,633.568019158,878,785,807,652,630,652.568019158,0.400960081456,-0.0153638425336,0.0698198285366,0.999999932394,0.000227534125618,-0.000288797662866,6.06081271166e-06,1793245418005961472
+33,0.550000000,BASELINE,764,744,714.854488785,679,658,634,878,785,807,652,630,652.854488785,0.40096143837,-0.0153634419657,0.0698206390858,0.999999932872,0.000227842635333,-0.000286887257007,6.22614707846e-06,1793245418022628096
+34,0.566666667,BASELINE,764,744,714.280519025,679,658,634,878,785,807,652,630,652.280519025,0.400960334288,-0.0153641564003,0.0698208552518,0.999999932822,0.000227921957349,-0.000286997628615,6.31086339579e-06,1793245418039294976
+35,0.583333333,BASELINE,764,744,714,679,658,633.698803174,878.301196826,785,807,652,630,652.301196826,0.400960413893,-0.0153645578141,0.0698210612093,0.999999932913,0.000227921696476,-0.00028667842603,6.35311684519e-06,1793245418055961600
+36,0.600000000,BASELINE,764,744,714,679,658,633.109682517,878.890317483,785,807,652,630,652.890317483,0.400961625021,-0.0153646600012,0.0698212574082,0.99999993314,0.000227845359741,-0.000285948579532,6.35477866949e-06,1793245418072628480
+37,0.616666667,BASELINE,764,744,714,679,658,633,878.529010314,785.470989686,807,652,629.529010314,652.529010314,0.400960984271,-0.0153632468184,0.0698204152165,0.99999993268,0.000228432667376,-0.000287092137664,5.99703540392e-06,1793245418089294848
+38,0.633333333,BASELINE,764,744,714,679,657.950526553,633,878.049473447,785.950526553,807,652,629,652,0.400959989188,-0.0153617163669,0.0698194676592,0.999999932144,0.000229053325701,-0.00028847109493,5.60848268503e-06,1793245418105961472
+39,0.650000000,BASELINE,764,744,714,679,657.374762096,633,878.625237904,785.374762096,807,652,629,652,0.400959731587,-0.0153626263119,0.0698199263203,0.999999932484,0.000228413684178,-0.000287794977174,5.76685056571e-06,1793245418122628096
+40,0.666666667,BASELINE,764,744,714,679,657.201295811,633.201295811,878.798704189,785,807,652,629,652,0.400959782078,-0.0153630299428,0.0698203551929,0.999999932558,0.000228857118364,-0.000287180098877,5.92350398493e-06,1793245418139294976
+41,0.683333333,BASELINE,764,744,714,679,657.77790081,633.77790081,878.22209919,785,807,652,629,652,0.400960406993,-0.0153624895684,0.0698207285257,0.999999932135,0.000231319910371,-0.000286679399505,6.07696083957e-06,1793245418155961856
+42,0.700000000,BASELINE,764.362684353,744,714,679.362684353,658,634,878,785,807,652,629.362684353,652,0.400960325557,-0.0153627606345,0.069820294786,0.999999932135,0.000230557580413,-0.000287292808332,5.93353983898e-06,1793245418172628480
+43,0.716666667,BASELINE,764.952591762,744,714,679.952591762,658,634,878,785,807,652,629.952591762,652,0.40095980159,-0.0153635400709,0.0698193554123,0.999999932397,0.000227774699812,-0.000288604209985,5.60412378485e-06,1793245418189295104
+44,0.733333333,BASELINE,764.467384973,744,714,679.467384973,658,634,878,785,807,652,630,652,0.400959428099,-0.015362793423,0.0698197469669,0.999999931882,0.000230450712055,-0.000288262333788,5.80571264218e-06,1793245418205961728
+45,0.750000000,BASELINE,764,744,714,679.110680824,658,634,878.110680824,785,807,652,629.889319176,652,0.400959293743,-0.0153622226507,0.0698201732392,0.999999931563,0.000232386540747,-0.00028781073665,5.98838300808e-06,1793245418222628352
+46,0.766666667,BASELINE,764,744,714,679.684173127,658,634,878.684173127,785,807,652,629.315826873,652,0.400960104349,-0.0153629449562,0.0698202583419,0.999999932379,0.000229232531807,-0.000287504474595,5.89790849241e-06,1793245418239294976
+47,0.783333333,BASELINE,764,744,714,679.741481963,658,634,878.741481963,785,807,652,629.258518037,652,0.400960668447,-0.0153631202771,0.0698203742636,0.99999993278,0.000227854078785,-0.000287209777974,5.70649779731e-06,1793245418255962112
+48,0.800000000,BASELINE,764,744,714,679.166091915,658,634,878.166091915,785,807,652,629.833908085,652,0.400960930393,-0.0153626251452,0.0698205279609,0.99999993268,0.000228651968556,-0.000286929257356,5.39136709524e-06,1793245418272629504
+49,0.816666667,BASELINE,764,744,714.421329216,679,658,634,878,785,806.578670784,652,630,652,0.400960951291,-0.0153617698827,0.0698207429689,0.999999932472,0.000229644863289,-0.000286857805175,5.56296118269e-06,1793245418289295872
+50,0.833333333,BASELINE,764,744,714.986668117,679,658,634,878,785,806.013331883,652,630,652,0.400960874966,-0.0153608302984,0.0698209622661,0.999999932233,0.000230642198159,-0.000286885736297,5.92219297148e-06,1793245418305961472
+51,0.850000000,BASELINE,764,744,714.407425485,679,658,634,878,785,806.592574515,652,630,652,0.400960823785,-0.0153625147586,0.0698203075357,0.999999932547,0.000228469003968,-0.000287531029181,5.86230716396e-06,1793245418322628352
+52,0.866666667,BASELINE,764,744,714,679.169386948,658,634,878.338773896,785.169386948,807,652,630,652.169386948,0.40096103308,-0.015363892014,0.0698202009822,0.999999932925,0.000226867987186,-0.000287482189954,5.84421071978e-06,1793245418339294976
+53,0.883333333,BASELINE,764,744,714,679.740436678,658,634,879.480873357,785.740436678,807,652,630,652.740436678,0.400961860034,-0.0153645408028,0.0698213943059,0.999999933466,0.000226623759667,-0.000285787373602,5.9252082896e-06,1793245418355961856
+54,0.900000000,BASELINE,764.322455687,744,714,680,658,634,879.677544313,785.677544313,807,652,630,652.677544313,0.400961242147,-0.0153643873312,0.0698211885885,0.999999933159,0.00022747964037,-0.000286179160164,6.04338697655e-06,1793245418372628992
+55,0.916666667,BASELINE,764.913615425,744,714,680,658,634,879.086384575,785.086384575,807,652,630,652.086384575,0.400959420267,-0.0153635653317,0.0698198170426,0.999999932141,0.000229252247158,-0.000288309724196,6.19254888351e-06,1793245418389296128
+56,0.933333333,BASELINE,765,744.494821196,714.494821196,679.505178804,658,634,879,785,807,652,629.505178804,652,0.40096137485,-0.0153634403752,0.0698212428534,0.999999932837,0.000229230076604,-0.000285907510062,6.05204138666e-06,1793245418405962496
+57,0.950000000,BASELINE,764.926263232,744.926263232,714.926263232,679,657.926263232,634,878.926263232,785.073736768,807,652,629.073736768,652.073736768,0.400963438923,-0.0153634693003,0.0698227642589,0.99999993366,0.00022877568357,-0.000283385335386,5.90479730143e-06,1793245418422629120
+58,0.966666667,BASELINE,764.35133595,744.35133595,714.35133595,679,657.35133595,634,878.35133595,785.64866405,807,652,629.64866405,652.64866405,0.400961854384,-0.0153637333576,0.0698216815181,0.999999933406,0.000227471161914,-0.000285320346443,6.04871000599e-06,1793245418439295488
+59,0.983333333,BASELINE,764.223713467,744,714,679.223713467,657.223713467,634,878.223713467,785.776286533,807,652,630,653,0.400961498247,-0.0153635253218,0.0698212987535,0.999999933342,0.000227071202751,-0.000285863704235,6.01442670229e-06,1793245418455961856
+60,1.000000000,BASELINE,764.798954888,744,714,679.798954888,657.798954888,634,878.798954888,785.201045112,807,652,630,653,0.400963072338,-0.0153625754713,0.0698220158832,0.99999993358,0.000228092610675,-0.000284220314102,5.70013846962e-06,1793245418472628480
+61,1.016666667,BASELINE,764.615635212,744,714,679.615635212,658,633.615635212,878.615635212,785,807,651.615635212,629.615635212,652.615635212,0.400962954248,-0.0153630071755,0.0698219880979,0.999999933663,0.000227446269014,-0.000284446505677,5.72793293388e-06,1793245418489295104
+62,1.033333333,BASELINE,764.02476211,744,714,679.02476211,658,633.02476211,878.02476211,785,807,651.02476211,629.02476211,652.02476211,0.400961926998,-0.0153641811498,0.0698215600908,0.99999993366,0.000225903892678,-0.000285677170647,5.93951876089e-06,1793245418505961728
+63,1.050000000,BASELINE,764,744,714,679,658,633.552784415,878,785,807,651.552784415,629,652,0.400961328531,-0.0153646915454,0.0698212581101,0.999999933501,0.000226008792525,-0.000286148064237,6.07260254398e-06,1793245418522628864
+64,1.066666667,BASELINE,764,744,714,679,658,634,878,785,807,652,629.12960023,652,0.400961156139,-0.0153651346628,0.0698212188011,0.999999933484,0.000226187352789,-0.000286066648443,6.15100484235e-06,1793245418539296000
+65,1.083333333,BASELINE,764,744,714,679,658,634,878,785,807,652,629.705906596,652,0.400962387695,-0.0153654459309,0.0698220658685,0.999999933976,0.000226371453254,-0.000284196079751,6.05276637269e-06,1793245418555962624
+66,1.100000000,BASELINE,764,744,714,679,658,634,878.28749038,785,807,652,630,652,0.400962772659,-0.0153647051696,0.0698222602118,0.999999933819,0.000227505877241,-0.000283844659269,5.97029886759e-06,1793245418572628992
+67,1.116666667,BASELINE,764,744,714,679,658,634,878.874573711,785,807,652,630,652,0.400962275393,-0.0153628680913,0.0698217743531,0.999999932983,0.000229630630795,-0.000285076339156,5.90426624827e-06,1793245418589295360
+68,1.133333333,BASELINE,764,744,714,679,658,634,878.544069624,785,807,652,629.544069624,652,0.400961217579,-0.0153622719066,0.0698214021764,0.999999932657,0.000230035985926,-0.000285896408103,5.6834788613e-06,1793245418605961984
+69,1.150000000,BASELINE,764,744,714,679.035582995,658,634,878.035582995,785,807,652,629.035582995,652.035582995,0.40096019006,-0.0153621203074,0.0698211538721,0.999999932542,0.000229858661275,-0.000286444083512,5.45810649405e-06,1793245418622628352
+70,1.166666667,BASELINE,764,744,714,679.612978568,658,634,878.612978568,785,807,652,629.612978568,652.612978568,0.40096194277,-0.0153636048316,0.0698223214471,0.999999933525,0.00022792202049,-0.000284546891688,5.80312617357e-06,1793245418639295232
+71,1.183333333,BASELINE,764,744,714,680,658,634,878.810797001,785,807,652,629.810797001,652.810797001,0.400962393464,-0.0153645139533,0.0698225665825,0.999999933944,0.000226567017958,-0.000284154031745,5.9359447983e-06,1793245418655962112
+72,1.200000000,BASELINE,764,744,714,680,658,634,878.236953343,785,807,652,629.236953343,652.236953343,0.40096019722,-0.0153642533094,0.0698209364424,0.999999933224,0.000226394457865,-0.000286819406323,5.63736887691e-06,1793245418672629504
+73,1.216666667,BASELINE,764,744,714,679.653205082,658,633.653205082,878,785,807.346794918,652,629.346794918,652,0.400960251568,-0.0153637335576,0.0698209641445,0.999999933417,0.000226402240466,-0.000286142246459,5.60852370319e-06,1793245418689295872
+74,1.233333333,BASELINE,764,744,714,679.062490408,658,633.062490408,878,785,807.937509592,652,629.937509592,652,0.400961888881,-0.015363031561,0.0698221578973,0.999999934247,0.000226536867916,-0.00028311409989,5.7693948746e-06,1793245418705962240
+75,1.250000000,BASELINE,764,744,714.519072881,679.519072881,658.519072881,633.519072881,878.519072881,785,807.480927119,652,629.480927119,652.519072881,0.400962179963,-0.0153637192421,0.0698220470266,0.999999934205,0.000226671605185,-0.00028315544212,5.79238157967e-06,1793245418722628608
+76,1.266666667,BASELINE,764,744,714.900281674,679.900281674,658.900281674,634,878.900281674,785,807,652,629,652.900281674,0.400962104773,-0.0153646639587,0.0698217895252,0.999999934059,0.000226584147295,-0.0002837404985,5.81869906254e-06,1793245418739295232
+77,1.283333333,BASELINE,764,744,714.318840171,679.318840171,658.318840171,634,878.318840171,785,807,652,629,652.318840171,0.400961029553,-0.0153660561688,0.0698215692691,0.999999933906,0.000225423237617,-0.00028519793212,5.93990821184e-06,1793245418755962112
+78,1.300000000,BASELINE,764,744,714,679,658,634,878.2554572,785,807,652,629.2554572,652,0.400961016993,-0.0153664439371,0.0698218502074,0.999999933871,0.0002251919776,-0.000285501440017,6.02412680042e-06,1793245418772628480
+79,1.316666667,BASELINE,764,744,714,679,658,634,878.821080408,785,807,652,629.821080408,652,0.400962294673,-0.0153656121518,0.0698227396762,0.999999933981,0.000226089461438,-0.000284403896936,6.0634329076e-06,1793245418789295104
+80,1.333333333,BASELINE,764,744,714,679,658.405628591,634,879,785,807,652,630,652,0.400962557724,-0.0153652767957,0.0698224930082,0.999999933817,0.000226937692988,-0.000284304352075,6.02025025284e-06,1793245418805961984
+81,1.350000000,BASELINE,764,744,714,679,658.998933013,634,879,785,807,652,630,652,0.400962351328,-0.015365171127,0.0698217206738,0.999999933527,0.000227763136616,-0.000284666559936,5.93890178363e-06,1793245418822629120
+82,1.366666667,BASELINE,764,744,714,679,658.422382521,634,879,785,807,652,629.422382521,652,0.400959801088,-0.0153643970387,0.0698206578778,0.999999932823,0.000227972786034,-0.000286960552753,5.95970315852e-06,1793245418839295488
+83,1.383333333,BASELINE,764,744,714,679,658.155284689,634,878.844715311,785,807,652,629.155284689,652,0.40095846026,-0.0153637299044,0.0698199575604,0.999999932409,0.000228068702093,-0.000288328083155,5.85876999661e-06,1793245418855961600
+84,1.400000000,BASELINE,764,744,714,679,658.730273775,634,878.269726225,785,807,652,629.730273775,652,0.400960399653,-0.0153633551006,0.0698202383666,0.999999932788,0.000227860217558,-0.000287182159149,5.42831458504e-06,1793245418872628224
+85,1.416666667,BASELINE,764.305129561,744,714,679,658.694870439,634,878,785,807,652,630,652,0.400961727289,-0.0153637691877,0.0698208838477,0.999999933394,0.000227014996862,-0.000285739204282,5.42010735123e-06,1793245418889295104
+86,1.433333333,BASELINE,764.879867529,744,714,679,658.120132471,634,878,785,807,652,630,652,0.400962514384,-0.0153648803284,0.0698218515505,0.999999934196,0.000225607164602,-0.000284033796977,5.78499299819e-06,1793245418905961728
+87,1.450000000,BASELINE,764.546713901,744,714,679,658,633.546713901,878,785.453286099,806.546713901,652,629.546713901,652.453286099,0.400963184232,-0.0153644500647,0.0698223213808,0.999999934199,0.000226298668089,-0.000283471025651,5.88028918256e-06,1793245418922628352
+88,1.466666667,BASELINE,764.027447826,744,714,679,658,633.027447826,878,785.972552174,806.027447826,652,629.027447826,652.972552174,0.400963746042,-0.0153636483993,0.0698226490972,0.999999934004,0.000227487482472,-0.000283208890956,5.89564173446e-06,1793245418939294976
+89,1.483333333,BASELINE,764.624257746,744,714,679,658,633.624257746,878,785.375742254,806.624257746,652,629.624257746,652.375742254,0.400962709443,-0.0153635919275,0.0698227580146,0.999999934087,0.000227484539802,-0.000282919532789,5.73046717946e-06,1793245418955961600
+90,1.500000000,BASELINE,765,744,714.213417046,679.213417046,658,634,878.213417046,785,807,652,630,652,0.400961605759,-0.0153635419096,0.069822265272,0.999999933894,0.000227583149903,-0.000283524501612,5.56955397389e-06,1793245418972628480
+91,1.516666667,BASELINE,765,744,714.789572753,679.789572753,658,634,878.789572753,785,807,652,630,652,0.400960388054,-0.0153635028614,0.0698207499054,0.999999933229,0.000227854366254,-0.000285649531681,5.41588367515e-06,1793245418989295104
+92,1.533333333,BASELINE,764.6267178,744,714.6267178,679.6267178,658,634,879,785,807,651.6267178,629.6267178,652,0.400960244722,-0.0153633748313,0.0698204905724,0.999999932772,0.000228915973404,-0.000286397366281,5.42497687275e-06,1793245419005961728
+93,1.550000000,BASELINE,764.038662142,744,714.038662142,679.038662142,658,634,879,785,807,651.038662142,629.038662142,652,0.400960719546,-0.0153631956041,0.0698209539168,0.999999932436,0.000230432343665,-0.000286352811209,5.52771845121e-06,1793245419022628352
+94,1.566666667,BASELINE,764,744,714,679.542432759,658,634,879,785,807,651.542432759,629,652.542432759,0.400962195121,-0.0153628643033,0.0698223766521,0.999999933083,0.000230078209252,-0.000284369756034,5.66853114581e-06,1793245419039295232
+95,1.583333333,BASELINE,764.121620981,744,714,679.878379019,658,633.878379019,879,785,807.121620981,652,629.121620981,652.878379019,0.400962926209,-0.0153626504433,0.0698232879445,0.99999993347,0.000229875128629,-0.000283168754106,5.7784731402e-06,1793245419055961600
+96,1.600000000,BASELINE,764.695540282,744,714,679.304459718,658,633.304459718,879,785,807.695540282,652,629.695540282,652.304459718,0.400960626705,-0.0153629131351,0.0698220461418,0.999999932645,0.000230723332484,-0.000285383465741,5.76364604916e-06,1793245419072628224
+97,1.616666667,BASELINE,764.729202735,744,714,679,658,633.270797265,879,785,807.729202735,652,629.729202735,652.270797265,0.400959702549,-0.0153629707769,0.0698218608705,0.999999932484,0.000230603442363,-0.000286042828059,5.7251404209e-06,1793245419089294848
+98,1.633333333,BASELINE,764.152434353,744,714,679,658,633.847565647,879,785,807.152434353,652,629.152434353,652.847565647,0.400960332386,-0.0153627967349,0.0698228693633,0.999999933077,0.000229389712505,-0.000284944816631,5.65988065152e-06,1793245419105961728
+99,1.650000000,BASELINE,764,744,714,679,658,634,878.56372211,785,807,652,629.43627789,652.56372211,0.400960920768,-0.0153624464618,0.0698224661443,0.999999932918,0.00022986860815,-0.00028511784563,5.6881303816e-06,1793245419122628352
+100,1.666666667,BASELINE,764,744,714,679.028428159,658,634,878,785,807,652,629.971571841,652,0.400961482332,-0.0153620869412,0.0698215862156,0.99999993252,0.00023083812502,-0.000285727325955,5.74490723356e-06,1793245419139294976
+101,1.683333333,BASELINE,764,744,714,679.6041643,658,634,878,785,807,652,629.3958357,652,0.400961814299,-0.0153627682083,0.0698212919863,0.999999932754,0.000229546958336,-0.000285948929301,5.70418111448e-06,1793245419155961600
+102,1.700000000,BASELINE,764,744,714,679.82076834,658,634,878.17923166,785,807,652,629.17923166,652.17923166,0.400962152909,-0.0153631336353,0.0698213085858,0.999999932992,0.000228842945007,-0.000285683103082,5.61903817114e-06,1793245419172628480
+103,1.716666667,BASELINE,764,744,714,679.247172574,658,634,878.752827426,785,807,652,629.752827426,652.752827426,0.400962506133,-0.015362804118,0.0698220091032,0.99999993324,0.000229430847614,-0.000284344783707,5.43616472547e-06,1793245419189295104
+104,1.733333333,BASELINE,764,744,714,679,658,634,878.662974862,785,807.337025138,652,630,652.662974862,0.400961810197,-0.0153625237302,0.0698219073395,0.999999932801,0.000230805263521,-0.0002847758051,5.44193728027e-06,1793245419205961984
+105,1.750000000,BASELINE,764,744,714,679,658,634,878.070749132,785,807.929250868,652,630,652.070749132,0.400960319819,-0.015362280544,0.0698211980764,0.999999931838,0.000232775239395,-0.000286546598255,5.59055545388e-06,1793245419222628352
+106,1.766666667,BASELINE,764.508775551,744,714.508775551,679.508775551,658,634,878,785,807.491224449,652,630,652.508775551,0.400960289751,-0.0153627718169,0.0698215046999,0.999999932118,0.000231986619277,-0.000286202345468,5.78717191091e-06,1793245419239295232
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,785,807,651,630,652,0.400962492101,-0.0153634174123,0.0698230123385,0.999999934086,0.00022797726712,-0.000282524827861,5.91641463227e-06,1793245419282402816
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.586872099,744,714,678.413127901,658,634,878.413127901,785,807,651.586872099,630,652,0.400963143856,-0.0153658501108,0.0698234169364,0.999999934714,0.000225506784009,-0.000282279473869,6.0448919346e-06,1793245419299069440
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.671110285,744.328889715,714,679,658,634,878,785,807,651.328889715,629.328889715,652,0.400964005843,-0.015363553986,0.0698239134327,0.999999933532,0.000231403541411,-0.00028168715055,6.41537962459e-06,1793245419349069568
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.518225173,714,679.481774827,658,633.518225173,878,785,807,652,630,652.481774827,0.400964886383,-0.0153636663802,0.0698244991018,0.999999934058,0.000229591820588,-0.000281309344823,6.00206184324e-06,1793245419382402816
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+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744,714,679.553404549,658,634,878,785,807,652,630,652.553404549,0.401501572512,-0.0153897083553,0.0699072252754,0.999999962478,0.000222712282472,-0.000159431093395,5.06531754722e-06,1793245419582402816
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.022193945,744,714,679.022193945,658,634,878,785,807.022193945,652,629.977806055,652,0.40161399646,-0.0153955063704,0.0699099604297,0.999999964311,0.000218139211992,-0.000154229397927,2.70375190399e-06,1793245419599069696
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.610035127,744,714,679.610035127,658,634,878,785,807.610035127,652,629.389964873,652,0.40175223248,-0.0154005528377,0.0699104074839,0.999999965728,0.000212144482701,-0.000153423854438,-1.77759903588e-07,1793245419615736320
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.804322743,744,714,679.804322743,658,634,878,785,807.804322743,652,629,652,0.401901570424,-0.0154068388316,0.0699117280813,0.999999967464,0.000205910644243,-0.000150541728294,-3.23533662645e-06,1793245419632402688
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.223014464,744,714,679.223014464,658,634,878,785,807.223014464,652,629,652,0.402072787472,-0.0154155676223,0.0699147702141,0.999999969831,0.000199205582019,-0.000143567176257,-6.63989300174e-06,1793245419649069312
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785.354450623,807,652,629.354450623,652,0.402261075095,-0.0154222587448,0.0699163117486,0.99999997136,0.000193746714064,-0.000140101955879,-1.06715110956e-05,1793245419665735936
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785.929523631,807,652,629.929523631,652,0.402459988054,-0.0154276815527,0.0699169192589,0.999999972378,0.000189063520074,-0.00013882106479,-1.50934345238e-05,1793245419682402560
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.505324571,744,714,679,658,634,878,785.494675429,807,652,629.494675429,652,0.402697378575,-0.0154378126475,0.0699218379392,0.999999976098,0.000175814158584,-0.000128414915335,-2.0097493079e-05,1793245419699069184
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.082969172,785,807.082969172,652,629,652.082969172,0.40294769833,-0.015448671621,0.0699281828256,0.99999998192,0.000149499353715,-0.0001148180359,-2.50481843285e-05,1793245419715736320
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.671222797,785,807.671222797,652,629,652.671222797,0.403244029077,-0.0154599585952,0.0699395463247,0.999999994269,5.09019100311e-05,-8.95513400596e-05,-2.91787132204e-05,1793245419732402944
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.743039039,744,714,679,658.256960961,634,879,785,808,652,629,652.743039039,0.403543576765,-0.0154696678807,0.0699469526978,0.999999996602,-2.18475760038e-06,-7.51588055021e-05,-3.3800670093e-05,1793245419749069312
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.160488196,744,714,679,658.839511804,634,879,785,808,652,629,652.160488196,0.403847200553,-0.015477378109,0.0699493450784,0.999999996456,2.39433724068e-06,-7.45446965522e-05,-3.90453051775e-05,1793245419765735936
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.414322288,744,714,679,658.585677712,633.585677712,879,785,807.585677712,652,629,652.414322288,0.404196354971,-0.0154826990092,0.0699510156587,0.999999996214,-2.47494775979e-06,-7.44902672294e-05,-4.49222963889e-05,1793245419782402816
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.98618951,744,714,679,658.01381049,633.01381049,879,785,807.01381049,652,629,652.98618951,0.404562822281,-0.0154871113738,0.0699524117764,0.999999995851,-1.09369538199e-05,-7.46486545834e-05,-5.10397391889e-05,1793245419799069440
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,679.560278622,658,633,879,785,807,652,629.560278622,652.439721378,0.404961632813,-0.0154835849902,0.0699584156382,0.99999999652,3.95308467595e-05,-6.50295853044e-05,-3.41971189277e-05,1793245419815736064
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.139465864,714,680,658.139465864,633.139465864,878.860534136,785,807,652,629.860534136,652.139465864,0.405371384031,-0.0154776208856,0.0699625952578,0.999999994652,8.28238525102e-05,-5.78588624757e-05,-2.20863501646e-05,1793245419832402944
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.735150032,714,680,658.735150032,633.735150032,878.264849968,785,807,652,629.264849968,652.735150032,0.405814305856,-0.0154643252209,0.0699604344338,0.999999993068,9.78762112526e-05,-5.94886496229e-05,-2.73130324609e-05,1793245419849069312
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.681097707,744.681097707,714,679.681097707,659,633.681097707,878,785,807,652,629,653,0.406260709115,-0.0154635641671,0.0699475796943,0.999999992498,8.56982331239e-05,-8.08421576236e-05,-3.3532225115e-05,1793245419865735936
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.106897496,744.106897496,714,679.106897496,659,633.106897496,878,785,807,652,629,653,0.406709899491,-0.0154728377219,0.0699261639173,0.99999999088,5.17209515249e-05,-0.00011798553294,-4.05459745813e-05,1793245419882402560
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.530553016,633.469446984,878.469446984,785.469446984,807,652,629.469446984,653,0.407230417472,-0.0154796497859,0.0699201064365,0.99999999087,4.40041525187e-05,-0.000120497522223,-4.24833265063e-05,1793245419899069440
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.047361128,744,714,679,658.047361128,633.952638872,878.952638872,785.952638872,807,652,630,652.952638872,0.407771879479,-0.0154855709437,0.0699193089118,0.999999991854,4.17652622035e-05,-0.00011260165811,-4.32189497985e-05,1793245419915736320
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.637646593,744,714,679,658.637646593,633.362353407,878.362353407,785.362353407,807,652,630,652.362353407,0.408366389594,-0.0154877340307,0.069938534453,0.999999995591,3.34588644742e-05,-7.62100982481e-05,-4.34905198517e-05,1793245419932402944
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.776737877,744,714,679.223262123,659,633.223262123,878.223262123,785,807.223262123,652,630,652.223262123,0.408971599339,-0.0154886462302,0.0699497509377,0.999999997221,2.9661899314e-05,-5.23171140698e-05,-4.4054710933e-05,1793245419949069568
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.198546378,744,714,679.801453622,659,633.801453622,878.801453622,785,807.801453622,652,630,652.801453622,0.40959381871,-0.01548756984,0.0699482350806,0.999999997272,3.30337731584e-05,-4.82936542627e-05,-4.50840942795e-05,1793245419965735936
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.376364595,744.376364595,714,680,659,634,879,785,807.623635405,652,630,653,0.41022111913,-0.0154872074254,0.0699445633222,0.999999996835,3.50535939747e-05,-5.4845671699e-05,-4.57457705666e-05,1793245419982402816
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.949559903,744.949559903,714,680,659,634,879,785,807.050440097,652,630,653,0.410851076811,-0.0154872184051,0.069939764073,0.999999996031,3.6366319576e-05,-6.69284399272e-05,-4.62151438101e-05,1793245419999069696
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.461918777,744.461918777,714,680,659,634,879,785,807,652,629.461918777,653,0.41154233756,-0.0154904424706,0.0699528306652,0.999999997618,2.51152825164e-05,-4.45972798475e-05,-4.63053132551e-05,1793245420015736320
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.125733631,744.125733631,714,680,659,634,879,785.125733631,807,652,629.125733631,653,0.412256578426,-0.0154944070374,0.0699722307702,0.999999998762,1.54515733614e-05,-1.18887480351e-05,-4.57823397732e-05,1793245420032402688
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.704919035,744.704919035,714,680,659,634,879,785.704919035,807,652,629.704919035,653,0.41303236334,-0.0154999240853,0.0700082553578,0.999999997871,1.58844497694e-05,4.62697879409e-05,-4.31800545731e-05,1793245420049069568
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.716942109,714,680,659,634,879,785.716942109,807,652,630,653,0.413797782262,-0.0155010567706,0.0700222119706,0.999999996892,1.51867070533e-05,6.44431687934e-05,-4.27974346267e-05,1793245420065736192
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.139890164,714,680,659,634,879,785.139890164,807,652,630,653,0.414552434788,-0.0154976357009,0.0700132479999,0.999999998067,1.3314662955e-05,4.10865442689e-05,-4.47202382011e-05,1793245420082402560
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879.435660492,785.435660492,807.435660492,652,630,653,0.415281123961,-0.0154916883345,0.0699645401136,0.999999997676,1.73092470076e-05,-4.26484626721e-05,-5.02925145285e-05,1793245420099071744
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.98900239,744,714,680,659,634,879.98900239,785.98900239,808,652,630,653,0.416003455369,-0.015485202704,0.0699044003427,0.99999998782,2.28095430933e-05,-0.000143531951786,-5.69131272052e-05,1793245420115741696
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.399628511,744,714,680,659,634,879.399628511,785.399628511,808,652,630,653,0.41682836345,-0.0154929240884,0.0699118936835,0.999999989851,8.7676796844e-06,-0.000130168048108,-5.72501223593e-05,1793245420132404992
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,879,785,808,652,630,653,0.4176710311,-0.0154995999749,0.0699279477574,0.999999993017,-2.63649430373e-06,-0.000103748932273,-5.65249237582e-05,1793245420149069568
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,879,785,808,652,630,653,0.418551102665,-0.0155040739061,0.0699620318506,0.999999997288,-8.48534975974e-06,-4.98338388249e-05,-5.35626065808e-05,1793245420165736192
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.341495324,744,714,680,659,633.658504676,879,785,808,652,630,653,0.419457133705,-0.0155076931802,0.0699919757612,0.999999998591,-1.1172653775e-05,-5.29950222302e-06,-5.16184890669e-05,1793245420182402560
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.915414467,744,714,680,659,633.084585533,879,785,808,652,630,653,0.420380832887,-0.0155107307693,0.0700191018365,0.999999998123,-1.17081861938e-05,3.28502313281e-05,-5.03673646423e-05,1793245420199069184
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,680.501071163,659.501071163,633.501071163,880.002142326,785.501071163,808,652,630,653,0.421265130321,-0.0155135349564,0.0700292782712,0.999999997358,-2.13382368558e-05,4.79271975879e-05,-5.03203477465e-05,1793245420215735808
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,714.087563945,680.912436055,659.912436055,634,880.912436055,785.912436055,808,651.912436055,630,653,0.422133015985,-0.0155152536376,0.0700253637186,0.999999997391,-3.01980852062e-05,4.06313832175e-05,-5.15317131218e-05,1793245420232402944
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744,714.667351117,680.332648883,659.332648883,634,880.332648883,785.332648883,808,651.332648883,630,653,0.422946932104,-0.0155110971581,0.0699587092916,0.999999995494,-2.58913360024e-05,-7.00089724104e-05,-5.86468032447e-05,1793245420249069568
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.246050354,714.753949646,680.246050354,659.246050354,634,880,785.246050354,808,651,630,653,0.423789065468,-0.0155072295398,0.0698985965594,0.999999984481,-2.81490995482e-05,-0.000160973374299,-6.58203062635e-05,1793245420265736192
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.823285307,714.176714693,680.823285307,659.823285307,634,880,785.823285307,808,651,630,653,0.42466917945,-0.0155037507291,0.0698472889609,0.999999971145,-3.92427188689e-05,-0.000225453892879,-7.3072434819e-05,1793245420282403072
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.601458982,714,681,659.601458982,633.601458982,879.601458982,785.601458982,808.398541018,651.398541018,630,653,0.425633313121,-0.0155077128896,0.0698758189523,0.999999980609,-3.73781428303e-05,-0.000180349169659,-6.97033473023e-05,1793245420299069440
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.027076572,714,681,659.027076572,633.027076572,879.027076572,785.027076572,808.972923428,651.972923428,630,653,0.4266345173,-0.0155149581019,0.0699395743121,0.999999993881,-2.9796244447e-05,-8.6894031873e-05,-6.16480426066e-05,1793245420315736064
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,680.438422143,659.561577857,633.561577857,879,785.561577857,809,651.438422143,630.561577857,653,0.427597283928,-0.0155162233927,0.0699915403768,0.999999997604,-3.20475546948e-05,-1.97471989453e-05,-5.8088417203e-05,1793245420332403456
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.14826515,714,680.14826515,660.14826515,634,879.14826515,786,809,651.14826515,630.85173485,653.14826515,0.428559255299,-0.0155175554091,0.0700356813682,0.999999996946,-3.53858478352e-05,4.20301235835e-05,-5.55790583145e-05,1793245420349070592
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.727187695,714,680.727187695,660.727187695,634,879.727187695,786,809,651.727187695,630.272812305,653.727187695,0.429524440156,-0.0155199405539,0.0700587874296,0.999999993411,-4.04684078893e-05,9.19914297078e-05,-5.54743212467e-05,1793245420365736448
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.694975345,714,680.694975345,660.694975345,633.694975345,880,786,809,652,630,653.694975345,0.430419254973,-0.0155187377325,0.0700352845699,0.999999996012,-4.16122762206e-05,5.37294875738e-05,-5.7944926594e-05,1793245420382402816
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.118105914,714,680.118105914,660.118105914,633.118105914,880,786,809,652,630,653.118105914,0.43125135439,-0.0155143372354,0.0699702427989,0.999999995269,-3.92458939961e-05,-6.31589844622e-05,-6.27107340436e-05,1793245420399069440
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744,714,680.457168779,660,633,880,786,809,652,630,652.542831221,0.432117730312,-0.0155112586926,0.0699168866882,0.999999986239,-3.74601418854e-05,-0.000146767389506,-6.76635023411e-05,1793245420415736576
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744,714,681.032906803,660,633,879.967093197,785.967093197,809.032906803,652,630,652.032906803,0.432997708667,-0.0155089077943,0.0698728795465,0.999999974442,-3.65050156259e-05,-0.000211148126467,-7.21168324158e-05,1793245420432403456
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744,714,681.623452979,660,633,879.376547021,785.376547021,809.623452979,652,630,652.623452979,0.433958656582,-0.0155131203535,0.069936319833,0.999999992125,-4.70926092549e-05,-9.48856387282e-05,-6.7291023292e-05,1793245420449069824
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.209958507,714,681.790041493,660,633.209958507,879.209958507,785.209958507,809.790041493,652,630.209958507,653,0.434902883256,-0.0155164547871,0.06998959768,0.999999996672,-5.18081717151e-05,-1.70664663608e-06,-6.30009003738e-05,1793245420465736448
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.789354318,714,681.210645682,660,633.789354318,879.789354318,785.789354318,809.210645682,652,630.789354318,653,0.435817687847,-0.0155182440957,0.0700249939838,0.999999995861,-4.61914696705e-05,5.08552689208e-05,-5.96533567986e-05,1793245420482402816
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.366034886,660.366034886,633.633965114,880,786,809,652,630.633965114,653,0.43670702299,-0.0155220667246,0.0700344941038,0.999999994185,-5.33808620465e-05,7.22540792288e-05,-5.96680855604e-05,1793245420499069440
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.941164356,660.941164356,633.058835644,880,786,809,652,630.058835644,653,0.437581808856,-0.0155270508719,0.070029201228,0.999999992922,-6.78856367464e-05,7.58512046766e-05,-6.16034865271e-05,1793245420515736320
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.485770228,633.514229772,880,785.485770228,809.514229772,652,630,653,0.438378783166,-0.0155254608126,0.0699808496845,0.999999995456,-6.92303328397e-05,6.72475998787e-06,-6.51893509798e-05,1793245420532402944
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682.090208374,660,633.909791626,880,785,810,652,630.090208374,653,0.439152297318,-0.0155230711909,0.0699251734722,0.999999992217,-6.90339639773e-05,-7.75597846939e-05,-6.91793386284e-05,1793245420549069824
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682.683754162,660,633.316245838,880,785,810,652,630.683754162,653,0.439844386979,-0.0155204004577,0.0698560065979,0.999999974845,-6.86067467709e-05,-0.000200180855442,-7.43747712943e-05,1793245420565736960
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+246,4.100000000,POSE1_TO_POSE2_PRESS,764,745,714,683,656,628,880.661191673,775.661191673,810,652,628,653,0.454197158812,-0.0157459768831,0.0695983349477,0.999999744002,-0.000356402514144,-0.00061699134818,-6.55341959005e-05,1793245421599069440
+247,4.116666667,HOLD_POSE2,764,745,714,683,656,628,880,776,810,652,628,653,0.454199406815,-0.0157483677332,0.0696002494813,0.999999743508,-0.000361935389428,-0.000614653589173,-6.47089521746e-05,1793245421637484288
+248,4.133333333,HOLD_POSE2,764.573586132,745,713.426413868,683,656,628.573586132,880,775.426413868,810,652,628,653,0.45419832106,-0.0157476284182,0.0695991921365,0.999999744029,-0.000357872670074,-0.00061619618193,-6.45822343234e-05,1793245421654150912
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+250,4.166666667,HOLD_POSE2,764.276548628,745,713.723451372,682.276548628,655.276548628,628.276548628,880,775,810,652,628,653,0.454199630103,-0.0157437001236,0.069599422094,0.999999745888,-0.00035406908277,-0.000615361249848,-6.47277409502e-05,1793245421687484416
+251,4.183333333,HOLD_POSE2,764,745,714,682.308808998,655.308808998,628,880.308808998,775,810,652,628,653,0.454199462785,-0.0157441290484,0.0695993453517,0.999999745109,-0.000355321800039,-0.00061590683904,-6.47070757302e-05,1793245421704151040
+252,4.200000000,HOLD_POSE2,764,745,714,682.903066608,655.903066608,628,880.903066608,775,810,652,628,653,0.4541975841,-0.0157474398345,0.0695984502894,0.99999974251,-0.000358308666703,-0.000618414517903,-6.44909750958e-05,1793245421720817664
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+256,4.266666667,HOLD_POSE2,764,745,714,682,655.212962676,628,880,775,810,652,628,653.787037324,0.454200027636,-0.0157423421996,0.0695988165672,0.999999745679,-0.000353065334825,-0.000616238369059,-6.50862288886e-05,1793245421787484160
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+262,4.366666667,HOLD_POSE2,764,745,713.309758439,682,656.309758439,628.309758439,879.309758439,775,810,651.309758439,628,653,0.454202105265,-0.0157458891396,0.069599760886,0.999999745532,-0.000354877792392,-0.000615530691948,-6.41796790113e-05,1793245421887484416
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.265351581,745,714,683,656,628,880,775,810,651.265351581,628,653,0.454201680644,-0.015744255392,0.069598310107,0.999999743811,-0.000357079361522,-0.00061700367754,-6.46416436111e-05,1793245421974776320
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,683,655.093439364,628,880,775,810,651.906560636,628,653,0.454200947376,-0.0157451351055,0.0695978692522,0.999999743754,-0.000356011888608,-0.000617768017693,-6.41123785023e-05,1793245422008109824
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.377387004,656,628,880.622612996,775,810,651.377387004,628,653,0.454168629593,-0.0157404751368,0.0695835951607,0.99999973169,-0.000350960126074,-0.000639672484161,-6.53094102437e-05,1793245422108109568
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,713.125466957,682,655.125466957,628,880,775,810,651.874533043,628,653,0.454034596881,-0.0157345841468,0.0695377473682,0.999999684193,-0.000349668205852,-0.000710426809164,-6.81131257408e-05,1793245422158109696
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745,713.451153776,682.548846224,655,628,880,775,810,652,628,653,0.453735565331,-0.015718894563,0.0695226497722,0.999999679415,-0.000342209547163,-0.000720970994627,-6.52898478292e-05,1793245422224776448
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,744.512083814,714,682,656,628,880,776,810,651.487916186,628,653,0.452609109706,-0.0156655158084,0.069500010372,0.999999661144,-0.000306401547049,-0.000762510701102,-4.90658100229e-05,1793245422341443328
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..548e2304a065238a4ef01558f50a820f55368bc0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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+382,6.366666667,pose2_to_pose3_retreat,0.575696817041,-0.0101222859834,1.0600508974,0.546268452723,-0.00144659168532,1.05971739204
+383,6.383333333,pose2_to_pose3_retreat,0.575687711417,-0.0101222416847,1.06005088279,0.546259346281,-0.00144655028986,1.0597173742
+384,6.400000000,pose2_to_pose3_retreat,0.575681485675,-0.0101221724273,1.06005089829,0.546253119356,-0.00144648519611,1.05971738578
+385,6.416666667,pose2_to_pose3_retreat,0.575677767532,-0.0101221467395,1.0600508971,0.546249401065,-0.00144645996776,1.05971738549
+386,6.433333333,pose2_to_pose3_retreat,0.575675388569,-0.0101221466169,1.06005086229,0.54624702225,-0.00144645930953,1.05971735158
+387,6.450000000,pose2_to_pose3_retreat,0.575673953701,-0.0101221605061,1.06005081216,0.546245587677,-0.00144647216554,1.05971730226
+388,6.466666667,pose2_to_pose3_retreat,0.575672970046,-0.0101221700277,1.06005077779,0.546244604225,-0.0014464809788,1.05971726845
+389,6.483333333,pose2_to_pose3_retreat,0.575672257229,-0.0101221663505,1.0600508218,0.546243891419,-0.00144647726928,1.05971731233
+390,6.500000000,pose2_to_pose3_retreat,0.575671642756,-0.0101221505313,1.06005094216,0.546243276793,-0.00144646199744,1.05971743195
+391,6.516666667,pose2_to_pose3_retreat,0.575671362453,-0.010122143315,1.06005099706,0.54624299642,-0.00144645503091,1.05971748651
+392,6.533333333,pose2_to_pose3_retreat,0.57567133184,-0.0101221425269,1.06005100306,0.5462429658,-0.00144645427008,1.05971749247
+393,6.550000000,pose2_to_pose3_retreat,0.575671195533,-0.0101221390178,1.06005102976,0.546242829459,-0.00144645088236,1.059717519
+394,6.566666667,pose2_to_pose3_retreat,0.575670964689,-0.0101221330749,1.06005107497,0.546242598557,-0.00144644514507,1.05971756394
+395,6.583333333,pose2_to_pose3_retreat,0.575670734099,-0.0101221271385,1.06005112014,0.54624236791,-0.00144643941409,1.05971760883
+396,6.600000000,pose2_to_pose3_retreat,0.575670538278,-0.0101221417198,1.06005111903,0.546242172092,-0.00144645400489,1.05971760719
+397,6.616666667,pose2_to_pose3_retreat,0.57567044574,-0.0101221615728,1.06005109244,0.54624207959,-0.00144647375334,1.05971758017
+398,6.633333333,pose2_to_pose3_retreat,0.575670323346,-0.010122187831,1.06005105727,0.546241957243,-0.0014464998733,1.05971754442
+399,6.650000000,pose2_to_pose3_retreat,0.575670155216,-0.0101222239015,1.06005100895,0.546241789178,-0.00144653575388,1.05971749531
+400,6.666666667,pose2_to_pose3_retreat,0.575670131224,-0.0101222290487,1.06005100205,0.546241765195,-0.00144654087396,1.0597174883
+401,6.683333333,pose2_to_pose3_retreat,0.57567011638,-0.0101222322332,1.06005099779,0.546241750357,-0.00144654404174,1.05971748396
+402,6.700000000,pose2_to_pose3_retreat,0.575669992875,-0.0101222587299,1.0600509623,0.546241626899,-0.00144657039889,1.05971744789
+403,6.716666667,pose2_to_pose3_retreat,0.575669956401,-0.0101222665548,1.06005095182,0.54624159044,-0.00144657818259,1.05971743724
+404,6.733333333,pose2_to_pose3_retreat,0.5756697831,-0.010122275251,1.06005090532,0.546241416929,-0.00144658757727,1.05971739115
+405,6.750000000,pose2_to_pose3_retreat,0.575669686511,-0.0101222094966,1.06005088762,0.546241319534,-0.00144652442861,1.0597173767
+406,6.766666667,pose2_to_pose3_retreat,0.575669605777,-0.010122168305,1.06005087294,0.546241238741,-0.00144648332538,1.05971736496
+407,6.783333333,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641742,1.05971735668
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74ca0987b11b46643b1ff4b497781b359fc6e2c4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f7a48ec7a3454ad97bc46fe45cfe0fe416a463a2ec9a39cae879f665b58421f
+size 25648965
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..422e005f819a90560550cafc3dda2d0fad542553
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+44,0.733333333,BASELINE,764,744,714,679,658,633.531763889,878.531763889,785.468236111,807,651.531763889,629,653,0.401036293808,-0.0154983499685,0.0798679829434,0.999999981954,0.00011578591609,-0.000144740322686,4.16725253922e-05,1793245426305872384
+45,0.750000000,BASELINE,764,744,714,679,658,634,878.892793725,785.107206275,807,651.892793725,629,653,0.401037376655,-0.0154980575272,0.07986867369,0.999999981838,0.000118437505001,-0.000143394553464,4.16545273498e-05,1793245426322539264
+46,0.766666667,BASELINE,764,744,714,679,658,634,878.317769427,785.682230573,807,651.317769427,629,653,0.401035789335,-0.0154980864654,0.0798672773907,0.999999981777,0.000116883890282,-0.000145131012397,4.14784307427e-05,1793245426339205888
+47,0.783333333,BASELINE,764,744,714,679,658,634,878,785.734126986,807,651.265873014,629,652.734126986,0.401035142442,-0.0154985488093,0.0798668598714,0.999999981782,0.000115906147323,-0.00014586895243,4.15118041129e-05,1793245426355872256
+48,0.800000000,BASELINE,764,744,714,679,658,634,878,785.13983906,807,651.86016094,629,652.13983906,0.401035657195,-0.0154995465098,0.0798676513725,0.999999981873,0.000115639739501,-0.000145373489984,4.1803921523e-05,1793245426372539136
+49,0.816666667,BASELINE,763.560669175,744.439330825,714,679,658.439330825,634,878,785,807,652,629,652,0.401035144273,-0.0154987009026,0.0798673889717,0.9999999817,0.000116292442562,-0.000146058131362,4.17482559018e-05,1793245426389205760
+50,0.833333333,BASELINE,763.013888482,745,714,679,658.986111518,634,878,785,807,652,629.013888482,652,0.401034337593,-0.0154973009544,0.0798668094273,0.999999981452,0.00011718997739,-0.00014708267285,4.15777795553e-05,1793245426405872640
+51,0.850000000,BASELINE,763.590057394,745,714,679,658.409942606,634,878,785,807,652,629.590057394,652,0.401034440563,-0.0154964218692,0.0798665195115,0.999999981535,0.00011654951331,-0.00014716669324,4.109176182e-05,1793245426422539264
+52,0.866666667,BASELINE,764,745,714.170391592,679,658,634,878,785,807,652,630,652,0.401035253439,-0.0154959377755,0.07986676967,0.999999981671,0.000116519499047,-0.000146323590752,4.08649123097e-05,1793245426439205888
+53,0.883333333,BASELINE,764,745,714.760998064,679,658,634,878,785,807,652,630,652,0.401037817067,-0.0154964277988,0.079868351744,0.999999981934,0.00011799495873,-0.000143194044294,4.12772161048e-05,1793245426455872512
+54,0.900000000,BASELINE,764,745,714.656637682,679,658,634,878,785.343362318,807,652,629.656637682,652,0.40103796545,-0.0154968421401,0.0798687451003,0.999999981972,0.000117832800171,-0.000142996866717,4.15213158552e-05,1793245426472539136
+55,0.916666667,BASELINE,764,745,714.079876071,679,658,634,878,785.920123929,807,652,629.079876071,652,0.401036472078,-0.0154972050369,0.0798683304299,0.999999981857,0.000116557476479,-0.000144792956404,4.1651079498e-05,1793245426489205760
+56,0.933333333,BASELINE,764,745,714,679,658,634,878,785.503525736,807,652,629.496474264,652.496474264,0.401035497851,-0.015497178543,0.0798676475497,0.999999981871,0.000115139250736,-0.000145923538568,4.13235389685e-05,1793245426505872384
+57,0.950000000,BASELINE,764,744.92576646,714,679,658,633.92576646,878,785,807,652,630,652.92576646,0.40103466758,-0.015497015676,0.0798669088453,0.999999981849,0.00011420008168,-0.000146917075363,4.09374294685e-05,1793245426522539264
+58,0.966666667,BASELINE,764,744.337799343,714,679,658,633.337799343,878,785,807,652,630,652.337799343,0.401034256007,-0.015496342233,0.0798660821917,0.999999981452,0.000116735205315,-0.000147702562397,4.06547419821e-05,1793245426539205632
+59,0.983333333,BASELINE,764,744.246341151,714,679.246341151,658,633.246341151,878.246341151,785,807,652,630,652.246341151,0.401034398735,-0.0154964170439,0.0798660641418,0.999999981357,0.000117479748049,-0.000147722487415,4.07846661693e-05,1793245426555872512
+60,1.000000000,BASELINE,764,744.825314672,714,679.825314672,658,633.825314672,878.825314672,785,807,652,630,652.825314672,0.401035289933,-0.0154975022158,0.0798671379425,0.999999981673,0.000115806484913,-0.000146708680635,4.1471736366e-05,1793245426572539136
+61,1.016666667,BASELINE,764,745,714,679.596879274,658.403120726,634,878.596879274,785,807,652,629.596879274,653,0.401035033078,-0.0154975225619,0.0798669615698,0.999999981619,0.000115990448223,-0.000146914543431,4.15296838823e-05,1793245426589205760
+62,1.033333333,BASELINE,764,745,714,679.019577694,658.980422306,634,878.019577694,785,807,652,629.019577694,653,0.401034280171,-0.0154970828167,0.0798662450207,0.999999981405,0.000116976884111,-0.00014764740248,4.13157993278e-05,1793245426605872640
+63,1.050000000,BASELINE,764,745,714,679,658.44348082,633.44348082,878,785,807,652,629,652.44348082,0.401034717023,-0.015497630029,0.0798670998938,0.999999981556,0.000116746818279,-0.000146750549361,4.1507848358e-05,1793245426622539008
+64,1.066666667,BASELINE,764,745,714,679,658,633.135376423,878,785,807,651.864623577,629.135376423,652.135376423,0.401035018993,-0.0154979554933,0.0798676853023,0.999999981704,0.000116203505365,-0.00014615604601,4.15631717246e-05,1793245426639205888
+65,1.083333333,BASELINE,764,745,714,679,658,633.723608981,878,785,807,651.276391019,629.723608981,652.723608981,0.401034730048,-0.0154974232816,0.0798671847837,0.999999981801,0.000114755177441,-0.000146764320316,4.11134588795e-05,1793245426655872512
+66,1.100000000,BASELINE,764,744.692834875,714,679,658,633.692834875,878,785.307165125,807,651.307165125,629.692834875,653,0.401035048559,-0.0154975635262,0.0798670199244,0.999999981858,0.000114175727907,-0.000146868207802,4.09686071974e-05,1793245426672539136
+67,1.116666667,BASELINE,764,744.113423553,714,679,658,633.113423553,878,785.886576447,807,651.886576447,629.113423553,653,0.401035905469,-0.0154982997814,0.0798671525663,0.999999981881,0.000114366381616,-0.000146525047783,4.10939596901e-05,1793245426689205760
+68,1.133333333,BASELINE,764,744,714,679,658,633,878,786,807,652,629.462629185,652.537370815,0.401035110156,-0.015498011826,0.0798666852364,0.999999981559,0.00011619158834,-0.000147231983134,4.12831657966e-05,1793245426705872640
+69,1.150000000,BASELINE,764,744,714,679,658.037841976,633.037841976,878.037841976,785.962158024,807,651.962158024,630,652.037841976,0.401033984491,-0.0154975256702,0.0798661328107,0.999999981182,0.000118236467736,-0.000148104458113,4.14868363109e-05,1793245426722539008
+70,1.166666667,BASELINE,764,744,714,679,658.612735525,633.612735525,878.612735525,785.387264475,807,651.387264475,630,652.612735525,0.401033877917,-0.0154977646829,0.0798664452441,0.999999981291,0.000117752551431,-0.000147698827624,4.16752097593e-05,1793245426739205888
+71,1.183333333,BASELINE,764,744,714,678.806969932,658.806969932,634,878.806969932,785.193030068,807,651.193030068,630,653,0.40103407504,-0.0154979394846,0.0798668628231,0.999999981438,0.000117208568451,-0.000147109940061,4.17701281521e-05,1793245426755872512
+72,1.200000000,BASELINE,764,744,714,678.21552768,658.21552768,634,878.21552768,785.78447232,807,651.78447232,630,653,0.401034898993,-0.0154979817557,0.0798674974211,0.999999981662,0.000116540608347,-0.000146142811608,4.1672156254e-05,1793245426772539136
+73,1.216666667,BASELINE,764,744,714,678.367445682,658,633.632554318,878,785.632554318,807,652,630,653,0.401034619892,-0.0154980960337,0.0798670707987,0.999999981604,0.000116270396164,-0.000146780354293,4.15891606112e-05,1793245426789205760
+74,1.233333333,BASELINE,764,744,714,678.945563436,658,633.054436564,878,785.054436564,807,652,630,653,0.401033708363,-0.0154982515962,0.0798660357338,0.999999981382,0.000116228229642,-0.000148337922531,4.15147514915e-05,1793245426805872384
+75,1.250000000,BASELINE,764,744.519959147,714,679,658,633,878,785,807,651.480040853,629.480040853,652.480040853,0.401034283941,-0.0154981486509,0.0798662928416,0.999999981597,0.000115229897585,-0.000147732252724,4.12818170055e-05,1793245426822539264
+76,1.266666667,BASELINE,764,744.903500927,714,679,658.096499073,633,878,785,807,651.096499073,629.096499073,652.096499073,0.401034788506,-0.0154978785145,0.0798666594129,0.999999981769,0.000114627053862,-0.000147087441738,4.10792874805e-05,1793245426839205632
+77,1.283333333,BASELINE,764,744.314030633,714,679,658.685969367,633,878,785,807,651.685969367,629.685969367,652.685969367,0.401034140588,-0.0154968915489,0.0798668989969,0.9999999815,0.000116552341913,-0.000147391428249,4.11162658301e-05,1793245426855872512
+78,1.300000000,BASELINE,764,744.270533293,714,679,658.729466707,633.270533293,878,785,807,651.729466707,630,653,0.401034785819,-0.0154966856111,0.0798675132845,0.9999999816,0.000116848435315,-0.000146467405427,4.11619957706e-05,1793245426872539136
+79,1.316666667,BASELINE,764,744.849503395,714,679,658.150496605,633.849503395,878,785,807,651.150496605,630,653,0.401036905377,-0.0154973701285,0.0798685547741,0.999999982116,0.000115287072917,-0.000144143320967,4.12177034558e-05,1793245426889205760
+80,1.333333333,BASELINE,764,745,714,679,658,634,878,785,807,651.427016694,629.572983306,652.572983306,0.401036497939,-0.0154973996912,0.0798681605785,0.999999981942,0.000115990448445,-0.000144798644706,4.11654649892e-05,1793245426905872640
+81,1.350000000,BASELINE,764,744.996009543,714.003990457,679.003990457,658,634,877.996009543,785,807,652,629.003990457,652.003990457,0.401035201635,-0.0154972036588,0.0798672614914,0.999999981525,0.000117473666397,-0.00014650279441,4.10759318424e-05,1793245426922539264
+82,1.366666667,BASELINE,764,744.42301382,714.57698618,679.57698618,658,634,877.42301382,785,807,652,629.57698618,652.57698618,0.401033721917,-0.0154976422324,0.0798662735742,0.999999981311,0.000116729320174,-0.00014854081526,4.10748377083e-05,1793245426939206144
+83,1.383333333,BASELINE,764,744,714.845090059,679.845090059,658,634,877.154909941,785,807,652,630,653,0.40103279789,-0.015497827309,0.0798657670961,0.999999981213,0.00011624338063,-0.000149593553389,4.10366257808e-05,1793245426955872768
+84,1.400000000,BASELINE,764,744,714.253266961,679.253266961,658,634,877.746733039,785,807,652,630,653,0.401033441149,-0.0154972974146,0.0798666184848,0.999999981447,0.000116486259721,-0.000147867367801,4.08937255926e-05,1793245426972539392
+85,1.416666667,BASELINE,764,744,714,679,658,634,878,785,807,651.66953788,630,653,0.401033964103,-0.0154976917628,0.0798671251834,0.999999981643,0.000115946836023,-0.000146963461932,4.08959446304e-05,1793245426989206016
+86,1.433333333,BASELINE,764,744,714,679,658,634,878,785,807,651.091863803,630,653,0.401034397059,-0.0154987775181,0.0798673740265,0.99999998181,0.000114822187585,-0.000146674686818,4.10067244033e-05,1793245427005872640
+87,1.450000000,BASELINE,763.515785228,743.515785228,714,679,658,633.515785228,877.515785228,785.484214772,807,651,630,652.515785228,0.401034375512,-0.0154987053604,0.0798668898265,0.999999981858,0.0001141147702,-0.000147033240216,4.05333879606e-05,1793245427022539264
+88,1.466666667,BASELINE,763.061289677,743.061289677,714,679,658,633.061289677,877.061289677,785.938710323,807,651.061289677,629.938710323,652.061289677,0.401034172247,-0.0154984182629,0.0798663152683,0.999999981849,0.000113611586544,-0.00014761037889,4.00714737332e-05,1793245427039205888
+89,1.483333333,BASELINE,763.64952456,743.64952456,714,679,658,633.64952456,877.64952456,785.35047544,807,651.64952456,629.35047544,652.64952456,0.401033145553,-0.0154981656817,0.0798661555957,0.999999981552,0.000114186009722,-0.000149014430779,4.06573948268e-05,1793245427055872512
+90,1.500000000,BASELINE,764,744,714,679,658,634,878,785,807,652,629.234036964,653,0.401033261613,-0.0154982033648,0.0798665348912,0.999999981477,0.000114830394783,-0.000148910208895,4.10608562061e-05,1793245427072539136
+91,1.516666667,BASELINE,764,744,714,679,658,634,878,785,807,652,629.813062098,653,0.401035062177,-0.0154986689192,0.0798677086663,0.999999981729,0.000115577908902,-0.000146582677361,4.11953581255e-05,1793245427089205760
+92,1.533333333,BASELINE,764,744,714,679,658,634,878,785,807,652,630,652.610434353,0.401036116301,-0.0154978807151,0.0798684430376,0.999999981747,0.000117341733921,-0.000145066562622,4.11509853396e-05,1793245427105873152
+93,1.550000000,BASELINE,764,744,714,679,658,634,878,785,807,652,630,652.035132986,0.40103681454,-0.0154964947484,0.0798689679116,0.999999981649,0.000119590112096,-0.000143937312084,4.10213293209e-05,1793245427122541056
+94,1.566666667,BASELINE,763.457857735,744,714,679,658,634,878,785.542142265,807,652,629.457857735,652,0.40103560957,-0.0154968219189,0.0798678797636,0.999999981598,0.000118334655668,-0.000145349204125,4.09104812444e-05,1793245427139207424
+95,1.583333333,BASELINE,763.121909689,744,714,679,658.243819377,634,878,785.878090311,807,652,629.121909689,652.121909689,0.401034540105,-0.015497311795,0.0798669453547,0.999999981572,0.000116917918317,-0.000146683103528,4.08615287914e-05,1793245427155873536
+96,1.600000000,BASELINE,763.710730532,744,714,679,659.421461064,634,878,785.289269468,807,652,629.710730532,652.710730532,0.401034463722,-0.0154979980791,0.0798670015742,0.999999981641,0.00011575630021,-0.000147085282889,4.10449498989e-05,1793245427172540160
+97,1.616666667,BASELINE,764,744,714,678.705539829,659.411079658,634,878.294460171,785,807,652,630,653,0.401034522966,-0.0154975451769,0.0798670458755,0.999999981611,0.000115994206772,-0.000147090381538,4.10774073112e-05,1793245427189206784
+98,1.633333333,BASELINE,764,744,714,678.126726676,658.253453353,634,878.873273324,785,807,652,630,653,0.40103471318,-0.0154959921903,0.0798670786677,0.999999981486,0.000117583600131,-0.000146712029038,4.09640827657e-05,1793245427205873152
+99,1.650000000,BASELINE,764,744.449693952,714,678.449693952,658,634,879,785,807,652,629.550306048,653,0.401034630887,-0.0154962778698,0.0798673416833,0.999999981429,0.000117913704155,-0.000146761197116,4.12280036495e-05,1793245427222539776
+100,1.666666667,BASELINE,764,745,714,679,658,634,878.974039633,785.025960367,807,652,629.025960367,652.974039633,0.401034394422,-0.0154970451661,0.0798675675741,0.999999981379,0.000117867333666,-0.000147045148372,4.15620612573e-05,1793245427239206400
+101,1.683333333,BASELINE,764,745,714,679,658,634,878.386603221,785.613396779,807,652,629.613396779,652.386603221,0.401032475651,-0.0154970816646,0.0798655947471,0.999999981051,0.000117313205109,-0.000149815103402,4.11259197978e-05,1793245427255872768
+102,1.700000000,BASELINE,764.198009044,745,714,679,658,634,878,785.801990956,807,652,630,652,0.401032056703,-0.0154971260253,0.0798649234716,0.999999981012,0.000116900298213,-0.000150461234098,4.08898371173e-05,1793245427272539392
+103,1.716666667,BASELINE,764.777184767,745,714,679,658,634,878,785.222815233,807,652,630,652,0.401034524913,-0.0154971855207,0.0798667576782,0.999999981534,0.000116759242555,-0.00014701901047,4.10388668988e-05,1793245427289206272
+104,1.733333333,BASELINE,764.289935685,745,714,679,658,634,878,785.355032157,807,652,629.644967843,652.355032157,0.401035248416,-0.0154978395231,0.0798670025434,0.99999998184,0.000115000528314,-0.00014632038963,4.10573237653e-05,1793245427305873152
+105,1.750000000,BASELINE,763.13590188,745,714,679,658,634,878,785.93204906,807,652,629.06795094,652.93204906,0.401034881037,-0.0154988652425,0.0798662536691,0.999999982008,0.000112230368981,-0.000147337212962,4.09941396041e-05,1793245427322540032
+106,1.766666667,BASELINE,763.507756131,744.492243869,714.507756131,679,658,634,878,786,807,652,629,653,0.401034430509,-0.0154975271922,0.0798662728517,0.999999981619,0.000115437875689,-0.000147534679926,4.08537535611e-05,1793245427339206400
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,715,679,658,634,878,785,807,651,629,653,0.401034246509,-0.0154975063251,0.0798669867654,0.999999981881,0.000113635757888,-0.000147154856159,4.08613529373e-05,1793245427381768960
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744,715,679,658,634,878.579707959,785,806.420292041,651.579707959,629,653,0.401035239739,-0.0154975311915,0.0798675076147,0.999999981964,0.000114811744138,-0.000145662389151,4.09070560232e-05,1793245427398436096
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.841942015,744,715,679.158057985,658,634,879,785,806.158057985,651.841942015,629.158057985,652.841942015,0.401035680333,-0.0154973402965,0.0798677898567,0.999999981918,0.000116152142938,-0.000144906370302,4.09295189153e-05,1793245427415103232
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.267171981,744,715,679.732828019,658,634,879,785,806.732828019,651.267171981,629.732828019,652.267171981,0.401034663929,-0.015496580557,0.0798674430223,0.999999981539,0.000117926007538,-0.000146091960206,4.0890710198e-05,1793245427431770112
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.30823854,744,714.69176146,679.69176146,658.30823854,634,878.69176146,785,807,651.30823854,630,652,0.401034646839,-0.0154966701823,0.0798672634488,0.999999981391,0.000118708823482,-0.000146483596697,4.0858537584e-05,1793245427448436736
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.884205338,744,714.115794662,679.115794662,658.884205338,634,878.115794662,785,807,651.884205338,630,652,0.401035497728,-0.0154974975445,0.0798672291537,0.999999981445,0.000118630839333,-0.000146185625108,4.08321289251e-05,1793245427465103104
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.527640795,744.472359205,714,678.527640795,658.527640795,634,878,785,807,652,630,652.472359205,0.401034224738,-0.0154972477771,0.0798664774141,0.999999981331,0.000117949437235,-0.000147512510558,4.08140936173e-05,1793245427481769728
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.062087536,745,714,678.062087536,658,634,878,785.062087536,807.062087536,651.937912464,629.937912464,653,0.40103264366,-0.0154968015341,0.0798656963593,0.999999981162,0.000117137467907,-0.000149294999366,4.08114369583e-05,1793245427498436096
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.639432231,745,714,678.639432231,658,634,878,785.639432231,807.639432231,651.360567769,629.360567769,653,0.401032941051,-0.0154969741077,0.0798661702432,0.999999980906,0.000116502039474,-0.000151465337538,4.09189200333e-05,1793245427515102464
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744.783928622,714.216071378,679,658,633.783928622,878,785.783928622,807.783928622,651.216071378,629.216071378,652.783928622,0.401035448625,-0.015497133415,0.0798679044751,0.999999980659,0.000116389302153,-0.00015315152081,4.09990704329e-05,1793245427531769088
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.208463079,714.791536921,679,658,633.208463079,878,785.208463079,807.208463079,651.791536921,629.791536921,652.208463079,0.401041632426,-0.0154972706565,0.0798717350593,0.999999980434,0.000117145963413,-0.000154032403104,4.10337580492e-05,1793245427548435968
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.375840356,714.624159644,679,658,633.375840356,878,785.375840356,807,652,630,652.375840356,0.401061252032,-0.0154973603981,0.0798794968693,0.999999981124,0.000118266836575,-0.000148474655008,4.14805692855e-05,1793245427565102848
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.965163907,714.034836093,679,658,633.965163907,878,785.965163907,807,652,630,652.965163907,0.401088503385,-0.0154974231592,0.0798894916773,0.999999982263,0.000119594587851,-0.000139259664322,4.21614731774e-05,1793245427581769728
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.454818124,744.454818124,714,679,658,634,878,785.454818124,807,652,629.454818124,653,0.401141387987,-0.0155010420549,0.0799041739301,0.999999984749,0.000117699995409,-0.000121868663376,4.23937427344e-05,1793245427598436352
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.123671153,744,714,679,658,634,878,785,807,651.876328847,629.123671153,653,0.401200577579,-0.0155044851272,0.0799189162788,0.999999987,0.000116074491131,-0.000103569651242,4.24163003956e-05,1793245427615103232
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.698714974,744,714,679,658,634,878,785,807,651.301285026,629.698714974,653,0.401276901315,-0.0155064710611,0.0799328031361,0.999999988866,0.000116169983612,-8.38313532495e-05,4.1776327552e-05,1793245427631769600
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.273535074,744,714,679,658,633.726464926,878,785,807,651.273535074,629.726464926,652.726464926,0.401361279646,-0.0155096544556,0.0799431485984,0.999999990202,0.000115235241299,-6.84254419345e-05,4.04242235888e-05,1793245427648435968
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.848108926,744,714,679,658,633.151891074,878,785,807,651.848108926,629.151891074,652.151891074,0.40145452245,-0.0155141557139,0.0799495965807,0.999999991194,0.000113166675045,-5.77875360285e-05,3.828838442e-05,1793245427665102592
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.564012996,744,714.435987004,679,658,633.435987004,878,785,807,652,629,652,0.401558078433,-0.0155168382475,0.0799524479093,0.999999991611,0.000111696397796,-5.5419011761e-05,3.5093475467e-05,1793245427681769216
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744,714.97222935,679.02777065,658,634,878,785,807,652,629,652.02777065,0.401666934175,-0.0155189141203,0.0799540343484,0.999999991843,0.00011050355865,-5.57888327678e-05,3.14882642092e-05,1793245427698435840
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744,714.397679506,679.602320494,658,634,878,785,807,652,629,652.602320494,0.401807168822,-0.0155219133732,0.0799561635827,0.999999992188,0.000110540164183,-5.1566025303e-05,2.72977825622e-05,1793245427715102976
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744,714,679.822369006,658,634,878.177630994,785,807,652,629.177630994,652.822369006,0.401956362678,-0.0155243904377,0.0799588382805,0.999999992659,0.000109455695578,-4.6692117051e-05,2.28282444267e-05,1793245427731769856
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744,714,679.245348307,658,634,878.754651693,785,807,652,629.754651693,652.245348307,0.402125700612,-0.0155256934011,0.079962739411,0.999999993426,0.00010585057752,-4.0354259054e-05,1.77312696878e-05,1793245427748435712
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658.329614831,633.670385169,878.670385169,785,807,651.670385169,629.670385169,652.329614831,0.402306022539,-0.0155254940748,0.0799627939451,0.999999994047,9.95103693587e-05,-4.32529774348e-05,1.15615414068e-05,1793245427765102336
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.903055989,633.096944011,878.096944011,785,807,651.096944011,629.096944011,652.903055989,0.402494469683,-0.0155241834583,0.0799600030328,0.999999994432,9.11469297216e-05,-5.29842775368e-05,4.59826348278e-06,1793245427781769984
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.504107434,633.495892566,878,785.495892566,807,651.495892566,629.495892566,653,0.402709976543,-0.0155228872701,0.0799547315765,0.999999996413,5.4476971749e-05,-6.47461277341e-05,-3.75280947117e-06,1793245427798436352
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.089238486,785.910761514,807,652,630,652.910761514,0.402939949935,-0.0155212651004,0.0799498022999,0.999999996947,1.80007190211e-05,-7.50432283929e-05,-1.22726015653e-05,1793245427815102464
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.663890763,785.336109237,807,652,630,652.336109237,0.403218667937,-0.0155178537824,0.0799494794713,0.999999996878,1.39042642998e-05,-7.51256504427e-05,-2.01743069535e-05,1793245427831769344
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744.238644116,714,679,658,633.761355884,878.761355884,785.238644116,807,652,630,652.238644116,0.403511791742,-0.0155149375451,0.0799492461339,0.999999996715,1.26198993183e-05,-7.63010992194e-05,-2.42558482402e-05,1793245427848435712
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744.813539851,714,679,658,633.186460149,878.186460149,785.813539851,807,652,630,652.813539851,0.403825213429,-0.015512718881,0.0799491388903,0.999999996498,1.5297793303e-05,-7.90166320908e-05,-2.2954744857e-05,1793245427865102336
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,678.602659654,658.397340346,633.397340346,878,786,807,652,630,652.602659654,0.404166954473,-0.0155136088592,0.0799514854118,0.999999996872,1.44022781439e-05,-7.37872897102e-05,-2.45581542518e-05,1793245427881769216
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,678.014584637,658.985415363,633.985415363,878,786,807,652,630,652.014584637,0.404522289603,-0.0155159910741,0.0799550098104,0.999999997455,1.17914248467e-05,-6.4744181077e-05,-2.75558124549e-05,1793245427898436096
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.433231925,714,678.566768075,658.433231925,634,878.566768075,786,807,652,630,652.566768075,0.404934677423,-0.0155187429885,0.079956451327,0.999999997853,2.51723669517e-06,-5.85047195479e-05,-2.94226526231e-05,1793245427915102720
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.146525308,714,679.146525308,658,634,878.853474692,786,807,652,630,653,0.405356497191,-0.0155211012356,0.0799553242235,0.999999997801,-6.3745467847e-06,-5.77098336221e-05,-3.20452080907e-05,1793245427931769344
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744.722111107,714,679.722111107,658,634,878.277888893,786,807,652,630,653,0.40580168719,-0.0155222792012,0.0799468307074,0.999999996585,-1.3650346247e-05,-7.26491592509e-05,-3.6964885841e-05,1793245427948435712
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.701909958,658.298090042,634,878,785.701909958,807,652,629.701909958,652.701909958,0.406260636761,-0.0155216561053,0.0799384062685,0.999999995447,-6.67383426463e-06,-8.76315758396e-05,-3.71677442518e-05,1793245427965102848
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679.125563978,658.874436022,634,878,785.125563978,807,652,629.125563978,652.125563978,0.406732430429,-0.0155193517858,0.0799300463096,0.999999994095,1.36066780725e-05,-0.000102654217939,-3.29676282817e-05,1793245427981770496
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679.462301271,658.537698729,634,878,785,807,652,629.462301271,652.462301271,0.407227370047,-0.0155162177452,0.0799256642348,0.999999992934,1.60425847725e-05,-0.000112274022029,-3.56192210256e-05,1793245427998437632
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679.947942116,658.052057884,634,878,785.052057884,807,652,630,652.947942116,0.407734119924,-0.0155131702695,0.079921893884,0.999999991797,1.30322581198e-05,-0.000120996999348,-3.99404064325e-05,1793245428015103744
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679.371455472,658.628544528,634,878,785.628544528,807,652,630,652.371455472,0.408294896995,-0.0155133230984,0.0799131237898,0.999999989883,5.23003307428e-06,-0.000135846130933,-4.18546219585e-05,1793245428031770368
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.795383302,714,679.204616698,659,633.795383302,878,786,807.204616698,652,630,652.204616698,0.408891799459,-0.015514139796,0.0799168704264,0.999999990565,-2.66563833075e-07,-0.000130486230464,-4.29341382994e-05,1793245428048437248
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744.220062071,714,679.779937929,659,633.220062071,878,786,807.779937929,652,630,652.779937929,0.409554150346,-0.015516159226,0.0799432936529,0.999999995178,-1.58604856134e-06,-8.85135799367e-05,-4.25014280919e-05,1793245428065103872
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714,679.646707727,659,633.353292273,878.353292273,786,808,652,630,652.646707727,0.410227945447,-0.015518947517,0.0799712715131,0.999999998197,-2.82201148534e-06,-4.39693890813e-05,-4.07929632669e-05,1793245428081770240
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744,714,679.074571775,659,633.925428225,878.925428225,786,808,652,630,652.074571775,0.410908829539,-0.0155222120718,0.0800002123762,0.999999999256,-4.00623753657e-06,2.16771747104e-06,-3.82942438448e-05,1793245428098436096
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744.516749888,714,679.516749888,659,633.483250112,878.483250112,785.483250112,808.516749888,652,630,652.516749888,0.411559016871,-0.0155202761291,0.0799838789062,0.999999998753,-4.36782135314e-06,-2.71164498504e-05,-4.17014186915e-05,1793245428115102720
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714.108215512,679.891784488,659.108215512,633.108215512,878.108215512,785.108215512,808.891784488,652,629.891784488,653,0.412216107328,-0.0155175852345,0.0799588142184,0.999999996627,-5.39139525508e-06,-6.77228779995e-05,-4.61593113606e-05,1793245428131769600
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714.687783528,679.312216472,659.687783528,633.687783528,878.687783528,785.687783528,808.312216472,652,629.312216472,653,0.412923304334,-0.0155150009069,0.0799252743061,0.999999992757,-9.83541104064e-06,-0.000108410295988,-5.13384156818e-05,1793245428148435968
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714.735919095,679,659.735919095,634,879,785.735919095,808,652,629.264080905,653,0.413670188215,-0.0155139601303,0.0799141618,0.999999991729,-1.16661150455e-05,-0.00011608508706,-5.41379102332e-05,1793245428165102336
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714.163441137,679,659.163441137,634,879,785.163441137,808,652,629.836558863,653,0.414463419029,-0.0155147219319,0.0799292403007,0.999999994849,-1.04449607734e-05,-8.52073163062e-05,-5.41584668295e-05,1793245428181769216
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,679.423720822,659,634,879,785,808,651.576279178,630,653,0.415252791319,-0.0155149767351,0.0799488767235,0.9999999969,-1.40535569153e-05,-5.63555517843e-05,-5.31690490561e-05,1793245428198435840
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,808,651.016281601,630,653,0.416040338791,-0.0155149890551,0.0799691777902,0.999999998013,-1.943015433e-05,-3.00543288023e-05,-5.18868753134e-05,1793245428215102464
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,808,651.592723482,630,653,0.416818149884,-0.0155136286715,0.0799496869887,0.999999996309,-1.92384236712e-05,-6.36512373617e-05,-5.44168950217e-05,1793245428231769088
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,744.830563848,714,680,659,633.830563848,879,785,808,652,630,653,0.417634422175,-0.0155139208776,0.0799457573196,0.999999996059,-1.95497793551e-05,-6.63854586294e-05,-5.56199667014e-05,1793245428248435712
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744.253199273,714,680,659,633.253199273,879,785,808,652,630,653,0.418543292225,-0.0155181917996,0.0799792920777,0.999999998327,-2.10723477314e-05,5.18422522631e-06,-5.36283255186e-05,1793245428265102336
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.329709643,744.329709643,714,680.329709643,659.329709643,633.329709643,879,785,808,652,630,653,0.419419029656,-0.0155182702074,0.0799897332716,0.999999997898,-2.2867954739e-05,2.80452612559e-05,-5.37924065377e-05,1793245428281768960
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.916949108,744.916949108,714,680.916949108,659.916949108,633.916949108,879,785,808,652,630,653,0.420268887796,-0.0155150739234,0.0799821365278,0.99999999806,-2.48768269245e-05,1.28609117312e-05,-5.56402806903e-05,1793245428298435584
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.502422054,744.502422054,714,681,659.502422054,633.502422054,879,785,808,651.502422054,630,653,0.421140466365,-0.0155160001385,0.079971892686,0.999999998051,-2.42807846628e-05,-4.58675247083e-06,-5.7330434036e-05,1793245428315101952
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.076555719,744.076555719,714,680.923444281,659.076555719,633.076555719,879,785.076555719,808,651.076555719,630,653,0.422020650181,-0.0155178634127,0.0799667266755,0.999999997934,-2.30619978039e-05,-1.44248458673e-05,-5.82477059122e-05,1793245428331768576
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.651870828,744.651870828,714,680.348129172,659.651870828,633.651870828,879,785.651870828,808,651.651870828,630,653,0.422933587144,-0.0155214075084,0.0799974834283,0.999999997929,-2.05815311976e-05,2.77422119267e-05,-5.42989253376e-05,1793245428348435456
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.226989484,680.226989484,660,633.773010516,879,785.773010516,808,651.773010516,630,653,0.42382453863,-0.0155218205653,0.0800071498735,0.999999997996,-1.46650475406e-05,3.18374470039e-05,-5.27258128734e-05,1793245428365102080
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.801807192,680.801807192,660,633.198192808,879,785.198192808,808,651.198192808,630,653,0.424681800725,-0.0155174357635,0.0799844985078,0.999999998242,-3.48336934926e-06,-2.24068179485e-05,-5.47930641347e-05,1793245428381768704
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.612898444,745,714.612898444,681,660,633.387101556,879,785.387101556,808,651,630,652.612898444,0.425564250202,-0.0155166190521,0.0799502310534,0.999999995725,-6.19363697382e-06,-7.10153438092e-05,-5.88961104064e-05,1793245428398435328
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.022090943,745,714.022090943,681,660,633.977909057,879,785.977909057,808,651,630,652.022090943,0.426459954082,-0.0155176799909,0.0799098508213,0.999999991011,-1.62143174552e-05,-0.000116658149629,-6.40704607633e-05,1793245428415101696
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.44260426,879,786,808,651,630,652.55739574,0.427371485035,-0.0155182891076,0.0799080761822,0.999999991004,-1.97699516254e-05,-0.00011618187236,-6.40503585364e-05,1793245428431768576
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879,785.864709493,808,651.135290507,630,653,0.428282662947,-0.0155188120268,0.0799129637724,0.999999991738,-2.28219632999e-05,-0.000109422943904,-6.34748153733e-05,1793245428448435712
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879,785.290552281,808,651.709447719,630,653,0.429190701319,-0.0155191122626,0.079934598409,0.999999993899,-2.50549023593e-05,-8.80950045262e-05,-6.17520070968e-05,1793245428465103360
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,681.290474114,660,633.290474114,879.290474114,785,808.290474114,652,630,653,0.430128604146,-0.01552241359,0.0799709591411,0.999999997177,-2.60699071416e-05,-3.86093433389e-05,-5.89491545375e-05,1793245428481770496
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,681.878537927,660,633.878537927,879.878537927,785,808.878537927,652,630,653,0.431097102944,-0.0155287895251,0.0800224067045,0.999999997363,-2.58371423365e-05,3.97238027087e-05,-5.50398003009e-05,1793245428498436864
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,744.540417432,714,681.540417432,660,634,879.540417432,785.459582568,808.540417432,652,630.459582568,653,0.431978722703,-0.0155275728649,0.0800241828588,0.999999997636,-1.34044679361e-05,3.80908763523e-05,-5.56505777809e-05,1793245428515102976
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,744,714,681,660,633.961427343,879.038572657,785.961427343,808.038572657,651.961427343,630.961427343,653,0.43283443261,-0.0155242746001,0.0800092508776,0.99999999827,2.58599881155e-07,1.11055669474e-05,-5.77595816638e-05,1793245428531768832
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,744,714,681,660,633.38560482,879.61439518,785.38560482,808.61439518,651.38560482,630.38560482,653,0.433644259332,-0.0155195116403,0.0799416970165,0.999999994718,-1.31742468584e-05,-7.90617432775e-05,-6.43476525827e-05,1793245428548435456
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,744.191250208,714,681.382500416,660,633.191250208,879.808749792,785,808.808749792,651,630,653,0.434476131962,-0.0155170306577,0.0799025585943,0.999999989142,-2.45982969908e-05,-0.000128315328907,-6.81581453108e-05,1793245428565102080
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,744.770198408,714,682.540396816,660,633.770198408,879.229801592,785,808.229801592,651,630,653,0.435352695695,-0.0155191756459,0.0799210232794,0.999999992812,-3.19501637809e-05,-9.46295769539e-05,-6.63379979096e-05,1793245428581768704
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.353748959,745,714,682.646251041,660.353748959,633.646251041,879.353748959,785,808.353748959,651,630,653,0.436216892534,-0.0155227317573,0.0799501558717,0.999999995565,-3.8070657546e-05,-5.77645116345e-05,-6.39083533652e-05,1793245428598435328
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.940328653,745,714,682.059671347,660.940328653,633.059671347,879.940328653,785,808.940328653,651,630,653,0.437072949672,-0.0155272166427,0.0799863098735,0.999999997017,-4.33806848893e-05,-1.88068856258e-05,-6.10775496331e-05,1793245428615101952
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.479371706,744.479371706,714,682,660.479371706,633,880,785,808.479371706,651,630,653,0.437894151317,-0.0155369088425,0.0799976768544,0.999999996616,-5.49381865693e-05,6.34412400976e-07,-6.12302229524e-05,1793245428631768832
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.099684813,744.099684813,714,682,660,633,880,785,808.099684813,651,630,653,0.438693924855,-0.0155460263941,0.0799971405588,0.999999995839,-6.65858457712e-05,2.19316723885e-06,-6.23237434809e-05,1793245428648435200
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.676196966,744.676196966,714,682,660,633,880,785,808.676196966,651,630,653,0.439410081635,-0.0155495743723,0.0799530939814,0.999999992433,-7.52804708601e-05,-7.12144459138e-05,-6.63015006142e-05,1793245428665102080
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.748143861,745,714,682,659.748143861,633,880,785,809.251856139,651,630,653,0.440079272099,-0.0155520302326,0.0798858853253,0.999999978522,-8.14580597053e-05,-0.000176758105268,-7.12576946797e-05,1793245428681768960
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.173577681,745,714,682,659.173577681,633,880,785,809.826422319,651,630,653,0.440688283304,-0.0155530867325,0.0797889984786,0.999999941118,-8.44105008468e-05,-0.000323478537312,-7.74675852752e-05,1793245428698435328
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,744.588317282,714,682,659,632.588317282,880,784.588317282,810,651,630,653.411682718,0.441332256732,-0.0155594896847,0.0797231545083,0.999999904014,-0.000101389421924,-0.000418015472053,-8.33995582103e-05,1793245428715101696
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.001543815,744.001543815,714,682,659.001543815,632,880,784,809.998456185,651,630,653.998456185,0.441991535193,-0.0155682650419,0.0796710446976,0.999999868457,-0.000124456592791,-0.000489536785699,-8.91682231562e-05,1793245428731768832
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713.685498407,681.685498407,658.685498407,632,880,783.685498407,809.314501593,651.314501593,630,653,0.444623692135,-0.015666746073,0.0798023404732,0.999999924523,-0.000226158632085,-0.000308791413014,-6.67453418637e-05,1793245428798435328
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+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713.482039448,681,657.517960552,631.517960552,880,783,809.517960552,651.517960552,629.517960552,653,0.445704126541,-0.0156705322891,0.0797589501271,0.999999901666,-0.000229159464447,-0.000373090208239,-7.04085456235e-05,1793245428831768832
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,714,681.062753483,657.062753483,631,880,782.937246517,809,651,629,653,0.44623910253,-0.0156734388346,0.0797401252155,0.999999892415,-0.00023067618047,-0.000395939491576,-7.20484561722e-05,1793245428848435456
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,714,681.641214652,657.641214652,631,880,782.358785348,809,651,629,653,0.446736882089,-0.015679255686,0.0797296216702,0.999999887709,-0.000245231465206,-0.000398853191428,-7.32100412839e-05,1793245428865102080
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713.208120592,682.791879408,658,631,880,782,809,651,629,653,0.447644775423,-0.0156908127339,0.07970748049,0.999999872965,-0.000261245808189,-0.000424582954506,-7.44946701607e-05,1793245428898435328
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.947900443,777,809.947900443,651,629,653,0.452234355397,-0.0157575389358,0.0796345728544,0.999999782083,-0.000355174578067,-0.000551843504878,-7.17831085714e-05,1793245429365102848
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.373232612,777,809.373232612,651,629,653,0.452236574495,-0.0157540926838,0.0796328535608,0.999999781272,-0.000353709297661,-0.000554237838647,-7.18783876556e-05,1793245429381769472
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.202005073,777,809,651,628.797994927,653,0.452237992763,-0.0157521444038,0.0796311777708,0.999999780013,-0.000353009389872,-0.000556958888074,-7.18004878687e-05,1793245429398436096
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.778298586,777,809,651,628.221701414,653,0.452237927201,-0.0157529716664,0.0796295825874,0.999999777929,-0.000353727615486,-0.000560285297865,-7.14017107407e-05,1793245429415102720
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.888557139,776,809.888557139,651,628.111442861,653,0.452241902091,-0.0157515066785,0.0796289932262,0.999999778683,-0.000348976653565,-0.000561990452694,-7.08298452087e-05,1793245429481768960
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879,776,809,651,629,653,0.452243309285,-0.0157513669695,0.0796269822706,0.999999777697,-0.00034865880566,-0.00056399884191,-7.03473078661e-05,1793245429531769088
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.253893492,745,713.746106508,683.253893492,657.746106508,629,879.746106508,776,809,651,629,653,0.452246068726,-0.0157505715539,0.0796261087138,0.99999977865,-0.000345623475792,-0.000564199773912,-7.0165888433e-05,1793245429615102464
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,714,683,657.671629121,629,880,776.328370879,809,651,628.671629121,653,0.452246220841,-0.0157518250716,0.079626105603,0.999999778309,-0.000346704077861,-0.000564164083591,-6.99847197325e-05,1793245429631769088
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+244,4.066666667,HOLD_POSE2,764,745,714,683,657,629,880,776,809,651,628,653,0.452243404765,-0.0157536247298,0.0796246256901,0.999999774303,-0.000352145624227,-0.000567900098424,-6.9831529982e-05,1793245429679554048
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,683,656.789127552,628.789127552,879,776,810,651,629,652.789127552,0.452232047473,-0.0157469276193,0.0796157322252,0.999999769584,-0.000345307174139,-0.00058025576478,-6.99841353309e-05,1793245430145503744
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,744.425759584,714,680,658,633.574240416,879.574240416,785,807.425759584,651,629.425759584,652.425759584,0.410112362725,-0.0153702209944,0.0797839855847,0.99999990574,0.000256238845077,-0.000348263531794,3.96647562477e-05,1793245431362170880
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,744,713.257626804,680,658,633.257626804,878.515253609,785,807,651,629.742373196,652,0.408928982051,-0.0153724496468,0.0798199574106,0.999999925019,0.000258207335884,-0.000285245964564,4.38885267795e-05,1793245431395505152
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,744.482268535,714,679.482268535,658,633.482268535,878,785,807,651.482268535,630,652,0.407187932772,-0.0153656189551,0.0797980147043,0.999999908395,0.000265490173227,-0.000333114648037,4.19547479917e-05,1793245431445504512
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.206703493,744,713.206703493,679.206703493,658,633.206703493,878,784.206703493,807.793296507,651,629.206703493,652,0.405731184812,-0.0153655031145,0.0797739845405,0.999999899848,0.000263058768676,-0.000359977796423,3.89884822948e-05,1793245431495503872
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.801906101,744,713.801906101,679.801906101,658,633.801906101,878,784.801906101,807.198093899,651,629.801906101,652,0.405320654174,-0.0153652991998,0.0797896829794,0.99999991146,0.000261917303102,-0.000327061948216,3.88608659473e-05,1793245431512171264
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.035039212,744,714,680,658,634,878,785,806.035039212,651.964960788,630,652,0.404523957749,-0.0153645913451,0.0798221036605,0.999999921526,0.000270002835249,-0.000286683381372,4.31240262591e-05,1793245431545505280
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,744,714,680,658.539932379,633.460067621,878,785,806.539932379,652,629.460067621,652.539932379,0.404167263639,-0.0153641277461,0.0798269906411,0.999999919623,0.000279427490646,-0.000283907226107,4.55089414215e-05,1793245431562171648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,744,714,679.885682569,658.885682569,633.114317431,878,785,807.114317431,651.885682569,629.114317431,653,0.403819498865,-0.0153629629229,0.0798295317532,0.999999918154,0.000283789946325,-0.000284638591549,4.62128624594e-05,1793245431578838016
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,744,714,679.31266165,658.31266165,633.68733835,878,785,807.68733835,651.31266165,629.68733835,653,0.403497421881,-0.0153590050221,0.0798256142071,0.999999919933,0.000266716146614,-0.000295598526481,4.02228339688e-05,1793245431595504128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.269697869,658.269697869,634,878.269697869,785,807.730302131,651.269697869,630,652.730302131,0.403202600718,-0.0153577331086,0.0798248814665,0.999999920535,0.000260008505078,-0.000299817872411,3.7879267094e-05,1793245431612170496
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,744,714,680,658.554043405,634,879,785,807,652,629.554043405,652.445956595,0.402690969934,-0.0153582661052,0.0798291731804,0.999999918097,0.000272251376846,-0.00029654164079,4.180875575e-05,1793245431645503744
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.974894967,658,634,878.974894967,785,807,651.974894967,629.025105033,653,0.402447649915,-0.0153559258166,0.0798299039616,0.999999915729,0.000278822205698,-0.000298161130856,4.35831060399e-05,1793245431662170624
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,744,714,679.401796094,658,634,878.401796094,785,807,651.401796094,629.598203906,653,0.402258133813,-0.0153555554856,0.0798327554889,0.999999916433,0.000281925005821,-0.000292823053135,4.36675122118e-05,1793245431678837760
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.239622557,744,714,679,658,633.239622557,878,785,807,651.760377443,630,653,0.401927131708,-0.0153556189075,0.0798366101469,0.999999918572,0.000285120777194,-0.000282231610508,4.36757600661e-05,1793245431712171008
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,744,714,679,658,633,878,785.345436052,807,651.654563948,629.654563948,652.654563948,0.401788281411,-0.0153557173658,0.0798399830315,0.999999920926,0.000283978523814,-0.000274947075385,4.36746873799e-05,1793245431728837632
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,744,714,679,658,633,878,785.930259334,807,651.069740666,629.069740666,652.069740666,0.4016589172,-0.0153557116956,0.0798447033845,0.999999923975,0.00028150026967,-0.000266268447869,4.37000431475e-05,1793245431745504256
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.50501544,744,714,679,658,633.50501544,878.50501544,785.49498456,807,651.50501544,629.50501544,652.50501544,0.401546061326,-0.01535613197,0.0798455983445,0.999999924006,0.000281183887716,-0.000266581589614,4.30975312586e-05,1793245431762170880
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,744.669658113,714,679.669658113,658,633.330341887,879,785,807,651.330341887,630,653,0.401348898003,-0.0153536144849,0.079839201697,0.999999919533,0.000284566973339,-0.000279858840647,4.04309489285e-05,1793245431795504128
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,744.745625887,714,679.745625887,658,633,878.745625887,785.254374113,807,651,629.745625887,652.745625887,0.401269020634,-0.0153534044054,0.07983454504,0.999999917115,0.000285673299591,-0.00028743976866,3.92311873014e-05,1793245431812170752
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,744.166508741,714,679.166508741,658,633,878.166508741,785.833491259,807,651,629.166508741,652.166508741,0.40120135012,-0.0153562167883,0.0798314928761,0.999999916394,0.000284369635212,-0.000291271494678,3.88279597653e-05,1793245431828837376
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.435081858,745,714,679.564918142,658.435081858,633.435081858,878.435081858,785,807,652,630,652.435081858,0.401073851463,-0.0153565694855,0.079830414537,0.999999917327,0.000282489280842,-0.000289886435418,3.88849555661e-05,1793245431878837504
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,744.855375075,714,680,658,633.144624925,878,785,807,652,630,652,0.401043788148,-0.0153559781176,0.0798300479098,0.99999991703,0.000282530067205,-0.000290920487162,3.84858118089e-05,1793245431895503872
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,744.268411725,714,680,658,633.731588275,878,785,807,652,630,652,0.401022561774,-0.0153558784867,0.0798295997737,0.999999915784,0.000285259667858,-0.00029250170637,3.87521952953e-05,1793245431912170496
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,744,714,679.106794056,658,634,878.893205944,785,807,651.106794056,630,652.893205944,0.400996033852,-0.0153588823537,0.0798298175857,0.999999917221,0.000280402141219,-0.000292235021516,3.91317037603e-05,1793245431945503744
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,744,714,679.79104183,659,633.20895817,877.79104183,785.20895817,807.79104183,651.79104183,630,653,0.400980326735,-0.0153596352144,0.0798323461485,0.999999918662,0.000280781563227,-0.000286974055321,3.85154716866e-05,1793245432028837632
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b22de055d5187c407d7c7a71162f13259602558
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..544782621bd30d630dd89fbdbea328def0d1af26
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac13b25e023ea74668367bd16a33df4bd0ea3e9fe963fe6b2e6d5ae3c0be06c6
+size 25650195
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ece97b314daa8c55178961fc6fbb25446a96f8b6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+22,0.366666667,BASELINE,764,744,714,679.226004976,658,634,878,785,807,651.226004976,630,652.773995024,0.400982224328,-0.0153652520075,0.0798413067285,0.9999999254,0.000272849780991,-0.000270819399901,3.75439585261e-05,1793245432861201152
+23,0.383333333,BASELINE,764,744,714,679.352855068,658,634,878,785,807,651,630,652.647144932,0.400981260464,-0.0153646718834,0.0798403965124,0.999999924436,0.000274798501654,-0.00027239279245,3.7625198508e-05,1793245432877867520
+24,0.400000000,BASELINE,764,744,714,679.931407114,658,634,878,785,807,651,630,652.068592886,0.400977759684,-0.0153639126401,0.0798378009267,0.999999921869,0.000279213392722,-0.000277275730218,3.76726381664e-05,1793245432894533888
+25,0.416666667,BASELINE,764,744,714,680,658,634,878,785.507004048,807,651,630,652,0.400977116346,-0.0153641274778,0.0798369007261,0.999999922128,0.000276922867785,-0.000278678242562,3.73623276489e-05,1793245432911200512
+26,0.433333333,BASELINE,764,744,714,680,658,634,877.915990881,786,807.084009119,651.084009119,629.915990881,652,0.400976893848,-0.015364519939,0.0798363221064,0.999999922757,0.00027392343708,-0.000279423098443,3.70799118142e-05,1793245432927867136
+27,0.450000000,BASELINE,764,744,714,680,658,634,877.328156796,786,807.671843204,651.671843204,629.328156796,652,0.400976890221,-0.0153651918922,0.079836304473,0.999999923363,0.000272081579878,-0.000279031375942,3.7253374657e-05,1793245432944533760
+28,0.466666667,BASELINE,764.255947853,744,714,680,658.255947853,634,877.255947853,785.744052147,807.744052147,651.744052147,629.255947853,652.255947853,0.400976857789,-0.0153654302392,0.0798368064419,0.999999923718,0.000271361716969,-0.000278448519405,3.7324933104e-05,1793245432961200384
+29,0.483333333,BASELINE,764.835339541,744,714,680,658.835339541,634,877.835339541,785.164660459,807.164660459,651.164660459,629.835339541,652.835339541,0.400976788958,-0.0153651206339,0.0798379650373,0.99999992376,0.000272059729464,-0.000277624124918,3.72677139467e-05,1793245432977867008
+30,0.500000000,BASELINE,764.586343236,744,714,680,658.586343236,634,878.413656764,785,807,651.413656764,630,653,0.400977765966,-0.0153658023472,0.0798386381364,0.99999992405,0.000272005778648,-0.000276630193772,3.72661381337e-05,1793245432994533888
+31,0.516666667,BASELINE,764.008452621,744,714,680,658.008452621,634,878.991547379,785,807,651.991547379,630,653,0.400979158204,-0.015366877643,0.0798391184791,0.999999924438,0.000271653276355,-0.000275568951627,3.72866543595e-05,1793245433011200768
+32,0.533333333,BASELINE,764,744,714,679.434162908,658,634,878.434162908,785,806.434162908,651.434162908,630,653,0.400977785127,-0.0153658910491,0.0798380592078,0.999999923744,0.000272715501917,-0.000277048798389,3.71802889206e-05,1793245433027867136
+33,0.550000000,BASELINE,764,744.143528712,714,679,658,633.856471288,878,785,806.143528712,651,629.856471288,653,0.400976426497,-0.015364898123,0.0798371751054,0.999999923048,0.00027388064413,-0.000278422049431,3.70656817819e-05,1793245433044533760
+34,0.566666667,BASELINE,764,744.731930245,714,679,658,633.268069755,878,785,806.731930245,651,629.268069755,653,0.400975239878,-0.0153639804355,0.0798369047821,0.999999922405,0.000275299690196,-0.000279347989859,3.69313668832e-05,1793245433061200384
+35,0.583333333,BASELINE,764,744.68298885,714,679.31701115,658,633.31701115,878,785,807,651,629.31701115,653,0.400976559593,-0.0153637995132,0.0798378359853,0.999999922874,0.000275429309668,-0.00027751957706,3.70661446046e-05,1793245433077868032
+36,0.600000000,BASELINE,764,744.100686751,714,679.899313249,658,633.899313249,878,785,807,651,629.899313249,653,0.400979976735,-0.015364235153,0.0798397726867,0.99999992426,0.000274479871956,-0.000273386182386,3.74261126135e-05,1793245433094536192
+37,0.616666667,BASELINE,764,744.474094836,714,679.525905164,658,634,878,785,807,651.474094836,630,653,0.400979490283,-0.0153643209901,0.0798395710865,0.999999924382,0.000273808930998,-0.000273629717898,3.73138817685e-05,1793245433111201792
+38,0.633333333,BASELINE,764,744.951363085,714,679,658.048636915,634,878,785,807,652,630,653,0.400978309698,-0.0153643200808,0.0798389865729,0.999999924243,0.000273228758448,-0.000274740144558,3.71277092327e-05,1793245433127867136
+39,0.650000000,BASELINE,764,744.362003878,714,679,658.637996122,634,878,785,807,652,630,653,0.400978484943,-0.0153641677909,0.0798391149272,0.999999924141,0.00027301041361,-0.000275315239573,3.72169893538e-05,1793245433144534016
+40,0.666666667,BASELINE,764,744.222773417,714,679,658.777226583,634,878,785.222773417,807.222773417,651.777226583,629.777226583,652.777226583,0.400978507454,-0.0153643219276,0.0798390452972,0.999999923934,0.000273255545668,-0.000275811115205,3.73114518408e-05,1793245433161200640
+41,0.683333333,BASELINE,764,744.800255182,714,679,658.199744818,634,878,785.800255182,807.800255182,651.199744818,629.199744818,652.199744818,0.400978286775,-0.0153649639685,0.0798386604292,0.999999923559,0.000274238643363,-0.000276180854673,3.74141658832e-05,1793245433177867008
+42,0.700000000,BASELINE,764,745,714,679.37763589,658,634,878,786,808,651.37763589,629.37763589,652,0.40097715524,-0.0153648716499,0.0798377990818,0.999999922762,0.000275759974538,-0.000277547519026,3.74120167179e-05,1793245433194533632
+43,0.716666667,BASELINE,764,745,714,679.954963141,658,634,878,786,808,651.954963141,629.954963141,652,0.400975542049,-0.0153643910068,0.0798366857754,0.999999921737,0.000277565919982,-0.000279441350652,3.73544165784e-05,1793245433211200512
+44,0.733333333,BASELINE,764,744.472186683,714.527813317,679.472186683,658.527813317,634,878,786,807.472186683,652,629.472186683,652,0.400976240912,-0.0153651002101,0.0798373028075,0.999999922262,0.000276755095044,-0.000278378103917,3.72474967511e-05,1793245433227867136
+45,0.750000000,BASELINE,764,744.103917918,714.896082082,679,659,634,878,785.896082082,807,651.896082082,629.103917918,652.103917918,0.400977367219,-0.0153658010348,0.0798382407527,0.999999923029,0.000275618443792,-0.000276758190049,3.71747350851e-05,1793245433244534016
+46,0.766666667,BASELINE,764,744.697129255,714.302870745,679,659,634,878,785.302870745,807,651.302870745,629.697129255,652.697129255,0.400979585053,-0.0153659883965,0.0798400003705,0.999999924315,0.000273990123592,-0.000273695274598,3.72824538277e-05,1793245433261200384
+47,0.783333333,BASELINE,764,744.717096268,714,679.282903732,658.717096268,634,878,785.282903732,807,651,629.717096268,653,0.400979655427,-0.0153653793009,0.0798401897261,0.999999924449,0.000273652812437,-0.00027356966308,3.70848630378e-05,1793245433277867264
+48,0.800000000,BASELINE,764,744.139079529,714,679.860920471,658.139079529,634,878,785.860920471,807,651,629.139079529,653,0.400977485665,-0.0153639393752,0.0798387410519,0.999999923383,0.000274662226192,-0.000276508120322,3.65687864877e-05,1793245433294534144
+49,0.816666667,BASELINE,763.564120199,744,714,679.564120199,658,634,878.435879801,785.564120199,807,651,629.435879801,653,0.400978909726,-0.0153646619652,0.0798393421992,0.999999923976,0.000274141211755,-0.000274865261447,3.66665565668e-05,1793245433311200768
+50,0.833333333,BASELINE,763.010134477,744,714,679,658.010134477,634,878.989865523,785,807,651.010134477,629.989865523,652.989865523,0.400981379782,-0.0153660234195,0.0798405364902,0.999999925045,0.000273177902342,-0.000271880962585,3.69481285088e-05,1793245433327867392
+51,0.850000000,BASELINE,763.599485348,744,714,679,658.599485348,634,878.400514652,785,807,651.599485348,629.400514652,652.400514652,0.400978550358,-0.0153647364084,0.0798385100469,0.999999923747,0.000274650974576,-0.000275193420928,3.66182424585e-05,1793245433344533760
+52,0.866666667,BASELINE,764,744,714,679,658.814454989,633.814454989,878,785,807,652,629.185545011,652,0.4009774766,-0.0153644480026,0.0798377906425,0.99999992329,0.000275033720613,-0.000276464169052,3.66497558762e-05,1793245433361200384
+53,0.883333333,BASELINE,764,744,714,679,658.235375892,633.235375892,878,785,807,652,629.764624108,652,0.400980126546,-0.0153662776013,0.0798398434195,0.999999924631,0.000273103925141,-0.000273404525337,3.7447784181e-05,1793245433377867008
+54,0.900000000,BASELINE,764,744,714,679.343046677,658.343046677,633.343046677,878,785,807,651.656953323,630,652,0.400979552582,-0.0153662486238,0.0798397999218,0.999999924449,0.000273175240031,-0.000273980444492,3.75687503665e-05,1793245433394533632
+55,0.916666667,BASELINE,764,744,714,679.921019618,658.921019618,633.921019618,878,785,807,651.078980382,630,652,0.400976770811,-0.0153649468505,0.0798383208469,0.999999923223,0.000274616961453,-0.000277046080944,3.72260487891e-05,1793245433411200256
+56,0.933333333,BASELINE,763.504201681,744,714,679.504201681,658.504201681,634,878,785,807,651.495798319,630,652.495798319,0.400977654272,-0.015365964073,0.0798382777563,0.999999923741,0.000273122501843,-0.000276652121597,3.72244892516e-05,1793245433427867136
+57,0.950000000,BASELINE,763,744,714,679,658,633.928054008,878,785,807,651.928054008,630,653,0.400978804366,-0.0153672261651,0.0798384872433,0.999999924444,0.000271329625211,-0.000275865590243,3.7287058083e-05,1793245433444533760
+58,0.966666667,BASELINE,763,744,714,679,658,633.338418199,878,785,807,651.338418199,630,653,0.400977698672,-0.0153676091034,0.0798388787096,0.99999992451,0.000270733516288,-0.000276194451345,3.74225357503e-05,1793245433461200384
+59,0.983333333,BASELINE,763.246713741,744,714,679,658,633,878,785,807,651,629.753286259,653,0.400977097749,-0.0153680858314,0.0798388429457,0.999999924574,0.000270387364951,-0.000276291132569,3.74917633261e-05,1793245433477867008
+60,1.000000000,BASELINE,763.825778547,744,714,679,658,633,878,785,807,651,629.174221453,653,0.40097717681,-0.0153686889049,0.0798382316551,0.999999924637,0.000270377934417,-0.000276075041517,3.7471744621e-05,1793245433494533632
+61,1.016666667,BASELINE,764,744,714.401719127,679.401719127,658,633,878,785.401719127,807,651,629.401719127,652.598280873,0.40097797501,-0.0153667670567,0.0798384192975,0.999999924173,0.000272598539804,-0.000275607740122,3.72002528993e-05,1793245433511200256
+62,1.033333333,BASELINE,764,744,714.976315184,679.976315184,658,633,878,785.976315184,807,651,629.976315184,652.023684816,0.400979082687,-0.0153637586265,0.0798389507548,0.999999923474,0.00027577882507,-0.000275032332179,3.6820541579e-05,1793245433527866880
+63,1.050000000,BASELINE,764,744,714.451558423,679.451558423,658,633,878,785.451558423,807,651,630,652,0.400978498268,-0.0153640330956,0.0798391051216,0.999999922931,0.000277077455388,-0.000275658172421,3.71419451167e-05,1793245433544533504
+64,1.066666667,BASELINE,764,744,714,679.125277225,658,633,878,785,807,651,630,652,0.400977744136,-0.0153644711717,0.079839024856,0.999999922567,0.000277686913434,-0.000276321763129,3.74376072205e-05,1793245433561200128
+65,1.083333333,BASELINE,764,744,714,679.720163782,658,633,878,785,807,651,630,652,0.400976626514,-0.0153649934714,0.0798381258277,0.999999922857,0.000276016211563,-0.000276933272481,3.75237854127e-05,1793245433577867008
+66,1.100000000,BASELINE,764,744,714,680,658,633.306871909,878.306871909,785,807,651,629.693128091,652.306871909,0.400976834699,-0.0153647865003,0.0798383763953,0.999999923079,0.000275564684868,-0.000276596945087,3.7418891238e-05,1793245433594533888
+67,1.116666667,BASELINE,764,744,714,680,658,633.886315703,878.886315703,785,807,651,629.113684297,652.886315703,0.400978220501,-0.0153639317712,0.0798396480648,0.99999992324,0.000276196062454,-0.000275418723563,3.71442814424e-05,1793245433611200512
+68,1.133333333,BASELINE,764,744,714,679.539141452,658,634,878.539141452,785,807,651.460858548,629.460858548,653,0.400977440821,-0.0153645797156,0.0798389597765,0.999999923266,0.000275148563025,-0.000276373547738,3.7139232442e-05,1793245433627867136
+69,1.150000000,BASELINE,764,744,714,679,658,634,878,785,807,651.964887058,630,653,0.400976286533,-0.0153654222952,0.0798378953743,0.999999923246,0.000273905732859,-0.000277672322355,3.71826440043e-05,1793245433644533504
+70,1.166666667,BASELINE,764,744,714,679,658,634,878,785,807,651.376324782,630,653,0.400977558825,-0.0153635515623,0.0798384431066,0.999999923078,0.000276043150904,-0.000276186092433,3.69528243043e-05,1793245433661200128
+71,1.183333333,BASELINE,764,744,714,679,658,633.791198988,878,785,807,651,630,652.791198988,0.400978507636,-0.015362957778,0.0798388761243,0.999999923107,0.000277195576638,-0.000274929654833,3.68963306522e-05,1793245433677866752
+72,1.200000000,BASELINE,764,744,714,679,658,633.21216643,878,785,807,651,630,652.21216643,0.400978882874,-0.0153646281906,0.0798391057378,0.999999923496,0.00027660148234,-0.000274080668875,3.71471667489e-05,1793245433694533632
+73,1.216666667,BASELINE,764,744,714,679,658,633.365958276,878,785.365958276,807,651,630,652.365958276,0.400978875313,-0.0153653281658,0.0798390478284,0.999999923884,0.000275308133401,-0.000273966364802,3.71520390821e-05,1793245433711200768
+74,1.233333333,BASELINE,764,744,714,679,658,633.943557919,878,785.943557919,807,651,630,652.943557919,0.40097864637,-0.0153654669167,0.0798388236386,0.99999992427,0.000273610390836,-0.000274276942761,3.70146653836e-05,1793245433727867904
+75,1.250000000,BASELINE,764,744,714,679,658.514622746,634,878.514622746,786,807,651.514622746,630,653,0.400978220755,-0.0153651239461,0.0798386878745,0.999999924237,0.000273580535086,-0.000274457019483,3.67739398812e-05,1793245433744534272
+76,1.266666667,BASELINE,764,744,714.088519176,679.088519176,658.911480824,633.911480824,878.911480824,785.911480824,807,651.911480824,630,653,0.400977891069,-0.0153647894546,0.0798386103167,0.999999924098,0.000273934536329,-0.000274639576857,3.65772852818e-05,1793245433761200896
+77,1.283333333,BASELINE,764,744,714.682631108,679.682631108,658.317368892,633.317368892,878.317368892,785.317368892,807,651.317368892,630,653,0.400978230959,-0.0153648013769,0.079838810515,0.999999923601,0.000275449278751,-0.000274917028643,3.66962809478e-05,1793245433777867008
+78,1.300000000,BASELINE,764,744,715,679.729480684,658,633.270519316,878,785,807,651,630,652.729480684,0.400978058301,-0.0153652614589,0.079838746536,0.999999923687,0.000274669645987,-0.00027537327414,3.67738749661e-05,1793245433794533632
+79,1.316666667,BASELINE,764,744,715,679.148729882,658,633.851270118,878,785,807,651,630,652.148729882,0.400977297853,-0.0153662354905,0.0798383795983,0.999999924435,0.00027125882422,-0.000276034560201,3.68039895765e-05,1793245433811200256
+80,1.333333333,BASELINE,764,744,714.572871278,679,658,634,878,785,807,651.427128722,630,652,0.400978055045,-0.0153668685794,0.0798390000044,0.999999924538,0.000271773463992,-0.000275109199056,3.71144943719e-05,1793245433827866880
+81,1.350000000,BASELINE,764,744.001298474,714,679.001298474,658,634,878.001298474,785,807,651.998701526,629.998701526,652.001298474,0.400979333387,-0.0153673811766,0.0798399602503,0.999999924419,0.000273635519791,-0.000273637814877,3.75199521032e-05,1793245433844533504
+82,1.366666667,BASELINE,764,744.573409386,714,679.573409386,658,634,878.573409386,785,807,651.426590614,629.426590614,652.573409386,0.400980031176,-0.0153665235513,0.0798408903518,0.999999924777,0.000273745776317,-0.000272256514716,3.72327046229e-05,1793245433861200384
+83,1.383333333,BASELINE,764,744.848036155,714,680,658.151963845,633.848036155,878.848036155,785.151963845,807,651.151963845,629.151963845,652.848036155,0.400980299223,-0.0153658325358,0.0798413685474,0.999999924866,0.000274192419117,-0.000271510014631,3.70025830297e-05,1793245433877867520
+84,1.400000000,BASELINE,764,744.250592392,714,680,658.749407608,633.250592392,878.250592392,785.749407608,807,651.749407608,629.749407608,652.250592392,0.400979307487,-0.0153656299346,0.0798405219872,0.999999924171,0.000275625173674,-0.000272624421895,3.69399251198e-05,1793245433894533888
+85,1.416666667,BASELINE,764,744,714,679.666129941,658.666129941,633.333870059,878,785.666129941,807,651.666129941,629.666129941,652,0.400978996584,-0.0153655206174,0.0798402023415,0.999999924152,0.000275370395088,-0.000272936148669,3.70597281738e-05,1793245433911200512
+86,1.433333333,BASELINE,764,744,714,679.091046233,658.091046233,633.908953767,878,785.091046233,807,651.091046233,629.091046233,652,0.400979177567,-0.015365478696,0.0798402633799,0.99999992462,0.000273896411465,-0.000272667956677,3.73113551963e-05,1793245433927867136
+87,1.450000000,BASELINE,764,744,714,679,658,633.517788705,878,785,807,651,629,652.482211295,0.400978708051,-0.015365318356,0.0798398106661,0.999999924658,0.000273203111152,-0.000273277595559,3.69183204734e-05,1793245433944533504
+88,1.466666667,BASELINE,764,744,714,679,658.057130033,633.057130033,878.057130033,785,807,651.057130033,629,653,0.400978070328,-0.0153651265664,0.0798393167588,0.999999924612,0.000272678563264,-0.000274031994489,3.64501881513e-05,1793245433961200128
+89,1.483333333,BASELINE,764,744,714,679,658.650878919,633.650878919,878.650878919,785,807,651.650878919,629,653,0.400977001934,-0.0153648485926,0.079839343614,0.999999924546,0.000272359794492,-0.000274595174532,3.64156493643e-05,1793245433977866752
+90,1.500000000,BASELINE,764,744,714,679,658.762019857,634,878.762019857,785.237980143,807,651.762019857,629.237980143,652.762019857,0.400976631279,-0.0153652019579,0.0798392825941,0.999999924294,0.000272765428693,-0.0002750821182,3.66078354431e-05,1793245433994533888
+91,1.516666667,BASELINE,764,744,714,679,658.184405907,634,878.184405907,785.815594093,807,651.184405907,629.815594093,652.184405907,0.400977256403,-0.0153664563401,0.0798390961631,0.999999923778,0.000274204895985,-0.000275460260937,3.71235923425e-05,1793245434011201792
+92,1.533333333,BASELINE,763.608104989,744,714,679,658,633.608104989,878.391895011,785.608104989,807,651,629.608104989,652.391895011,0.400977760494,-0.0153665476334,0.07983958458,0.999999923737,0.000274777318752,-0.000275015864029,3.72799597984e-05,1793245434027868416
+93,1.550000000,BASELINE,763.032419803,744,714,679,658,633.032419803,878.967580197,785.032419803,807,651,629.032419803,652.967580197,0.400978207822,-0.0153660934637,0.0798403894859,0.99999992392,0.000274943116757,-0.000274185714081,3.72677815243e-05,1793245434044534528
+94,1.566666667,BASELINE,763.552136816,744,714,679.552136816,658.552136816,633.552136816,878.447863184,785,807,651.552136816,629.552136816,652.447863184,0.400978686682,-0.0153657316985,0.0798401075759,0.999999924019,0.000274933654862,-0.000273848891593,3.71520221925e-05,1793245434061200640
+95,1.583333333,BASELINE,763.864128307,744.135871693,714,679.864128307,658.864128307,634,878.135871693,785,807,652,630,652.135871693,0.400979124313,-0.0153655213398,0.0798399317447,0.999999924159,0.000274822025583,-0.000273460688511,3.70595001637e-05,1793245434077867008
+96,1.600000000,BASELINE,763.284803125,744.715196875,714,679.284803125,658.284803125,634,878.715196875,785,807,652,630,652.715196875,0.400979421242,-0.0153657871384,0.0798403138063,0.99999992445,0.00027441108081,-0.000272808706721,3.70629935039e-05,1793245434094533888
+97,1.616666667,BASELINE,763.293932346,744.706067654,714,679.293932346,658.293932346,633.706067654,878.706067654,785.293932346,807,652,630,652.706067654,0.400979230592,-0.0153657196714,0.0798403294127,0.999999924348,0.000274771898653,-0.000272797503267,3.72171167162e-05,1793245434111200512
+98,1.633333333,BASELINE,763.87209753,744.12790247,714,679.87209753,658.87209753,633.12790247,878.12790247,785.87209753,807,652,630,652.12790247,0.400978568454,-0.0153653299362,0.0798399906564,0.999999923866,0.000275879011651,-0.000273405933071,3.75168991476e-05,1793245434127866880
+99,1.650000000,BASELINE,764,744,714,680,659,633.448607557,878,785.551392443,806.551392443,652,630,652.448607557,0.400979396616,-0.0153651414715,0.0798403642758,0.999999924445,0.000275171048378,-0.000272014809241,3.73889691598e-05,1793245434144534016
+100,1.666666667,BASELINE,764,744,714,680,659,634,878,785,806.025111604,652,630,653,0.400980546867,-0.0153649926125,0.0798408943531,0.999999925249,0.000274037291074,-0.00027023191945,3.71394546004e-05,1793245434161201408
+101,1.683333333,BASELINE,764,744,714,680,659,634,878,785,806.612000242,652,630,653,0.400979432084,-0.0153644507488,0.0798403975738,0.999999924433,0.000274912466841,-0.000272391530023,3.68879762167e-05,1793245434177867520
+102,1.700000000,BASELINE,764,744.197431548,714,680,659,634,878.197431548,785,807,652,630,653,0.400978479129,-0.01536464168,0.0798399592592,0.999999924076,0.000274836858394,-0.000273797928507,3.67111459951e-05,1793245434194533632
+103,1.716666667,BASELINE,764,744.780019771,714,680,659,634,878.780019771,785,807,652,630,653,0.40097784187,-0.0153662621744,0.0798396349996,0.999999924623,0.000272906425276,-0.000273734933083,3.66799421645e-05,1793245434211200256
+104,1.733333333,BASELINE,764,744.643247216,714,680,659,634,878.643247216,785.356752784,807,651.643247216,630,652.643247216,0.400977784291,-0.0153658601465,0.079839384768,0.999999924586,0.000272909358166,-0.00027387710606,3.66085493772e-05,1793245434227866880
+105,1.750000000,BASELINE,764,744.070066278,714,680,659,634,878.070066278,785.929933722,807,651.070066278,630,652.070066278,0.40097807838,-0.0153642311325,0.0798391794462,0.999999924195,0.00027408518946,-0.000274143746786,3.65127754971e-05,1793245434244533760
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878,785,807,652,630,653,0.400979325557,-0.0153673000537,0.0798408192307,0.999999925796,0.00027106811081,-0.000271214145997,3.70400253619e-05,1793245434275590912
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679.409822371,658.590177629,634,878,785,807,652,630,653,0.400978240924,-0.015365991307,0.0798403587976,0.999999924874,0.000272964803565,-0.000272738707113,3.68212538276e-05,1793245434292258560
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744.177372207,714,679.177372207,658.822627793,634,878,785.177372207,807,652,630,652.822627793,0.400977471311,-0.0153649273753,0.079839745687,0.999999924133,0.000274297753899,-0.000274136715603,3.66698380142e-05,1793245434308925696
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744.757788493,714,679.757788493,658.242211507,634,878,785.757788493,807,652,630,652.242211507,0.400977417522,-0.0153644197383,0.0798387856463,0.999999923813,0.000274349708847,-0.000275247158001,3.66714750235e-05,1793245434325592320
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744.665363217,714,680,658.334636783,634,878,786,807,652,630,652,0.400978960509,-0.0153658564374,0.0798395341138,0.999999924585,0.000272826438322,-0.000273928376966,3.68579952629e-05,1793245434342258432
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744.091070246,714,680,658.908929754,634,878,786,807,652,630,652,0.400981647055,-0.015368685608,0.0798415061604,0.999999926126,0.000270175041562,-0.000270869863541,3.71769229724e-05,1793245434358924288
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744,714,679.531885617,658.531885617,634,878,786,807,651.531885617,630,652.468114383,0.400979769489,-0.015367950019,0.0798407549104,0.999999925537,0.000271160862207,-0.000272077591481,3.70478204093e-05,1793245434375590912
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.027082426,634,878,786,807,651,630,652.972917574,0.400977199775,-0.0153665779814,0.0798395730919,0.999999924579,0.000272777981787,-0.000274000335542,3.68472683689e-05,1793245434392257536
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.64327717,634,878,786,807,651,630,652.35672283,0.400978285021,-0.0153659755803,0.079840189682,0.99999992446,0.000273216399716,-0.000273986705765,3.69292440199e-05,1793245434408924160
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744,714,679.242171502,658.757828498,634,878,785.757828498,807,651.242171502,630,652.242171502,0.400982618595,-0.0153658434913,0.0798422537279,0.999999925171,0.000273375734472,-0.000271221016038,3.69100621408e-05,1793245434425590528
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679.817281121,658.182718879,634,878,785.182718879,807,651.817281121,630,652.817281121,0.40099141798,-0.0153663579888,0.0798463077401,0.999999926993,0.000273151384785,-0.000264671785899,3.67518085732e-05,1793245434442257408
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744,714,679.60753657,658,634,878.39246343,785,807,651.60753657,630,653,0.401014650599,-0.0153672983902,0.0798565872136,0.99999993142,0.00027327010095,-0.000247121198895,3.76149743407e-05,1793245434458924032
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679.032320363,658,634,878.967679637,785,807,651.032320363,630,653,0.401044604133,-0.0153684371162,0.0798697656081,0.999999936638,0.000273548567501,-0.000224447768245,3.89537696687e-05,1793245434475590912
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.442091291,744,714,679,658.557908709,634,878.442091291,785.557908709,807,651,630,653,0.401097814586,-0.0153711433301,0.0798857188907,0.999999943744,0.000272252589088,-0.000191904657339,3.95464969288e-05,1793245434492257536
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.145999472,744,714,679,658.854000528,634,878.145999472,785.854000528,807,651.145999472,629.854000528,652.854000528,0.401157174144,-0.0153740161126,0.0799019697462,0.999999949565,0.000270725797471,-0.000161186266391,3.99512633473e-05,1793245434508924160
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.725095948,744,714,679,658.274904052,634,878.725095948,785.274904052,807,651.725095948,629.274904052,652.274904052,0.4012306674,-0.0153771061896,0.079918613286,0.999999953608,0.000268792364121,-0.000137623766571,3.99302140841e-05,1793245434525590784
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.301314923,634,878.698685077,785,806.698685077,652,629.301314923,652,0.401311603466,-0.0153805233886,0.0799312901775,0.999999956265,0.000268207280434,-0.000118358828522,3.90651409705e-05,1793245434542257408
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.874933416,634,878.125066584,785,806.125066584,652,629.874933416,652,0.401399265725,-0.0153842362131,0.0799403823383,0.999999957859,0.000268840724105,-0.000102977673714,3.7437308739e-05,1793245434558924288
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,679.46009604,659,633.53990396,878,785,806.46009604,651.53990396,630,652.46009604,0.401499437839,-0.0153880807357,0.0799434152908,0.999999958892,0.000267275207089,-9.79324000736e-05,3.44861332846e-05,1793245434575590912
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.952265835,744,714,680,659,633.047734165,878,785,807.047734165,651,629.952265835,652.952265835,0.401605387148,-0.0153919050064,0.0799448373718,0.999999959826,0.00026504604116,-9.55583318485e-05,3.10959666037e-05,1793245434592257536
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.372905587,744,714,680,659,633.627094413,878,785,807.627094413,651,629.372905587,652.372905587,0.401736831363,-0.0153950947656,0.0799471345613,0.999999961123,0.000262254131902,-9.08379189453e-05,2.6926052232e-05,1793245434608924416
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.206301516,744,714,679.793698484,658.793698484,634,878.206301516,785,807.793698484,651.206301516,629.206301516,652.206301516,0.401878962699,-0.0153988683957,0.0799502491098,0.999999962836,0.000258262984662,-8.43919628798e-05,2.24851798915e-05,1793245434625591296
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.785231939,744,714,679.214768061,658.214768061,634,878.785231939,785,807.214768061,651.785231939,629.785231939,652.785231939,0.402040397464,-0.0154036966329,0.0799548400001,0.999999965268,0.000252105732752,-7.48292718119e-05,1.75548943834e-05,1793245434642257664
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,633.638849107,879,785,807,652,630,652.638849107,0.402215641811,-0.0154098035565,0.0799554672781,0.999999967575,0.000243534911277,-7.35021552651e-05,1.17180099769e-05,1793245434658924032
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,633.064706141,879,785,807,652,630,652.064706141,0.4023990305,-0.0154166645976,0.0799537569796,0.999999969748,0.000233540664258,-7.70320439343e-05,5.34645002628e-06,1793245434675590400
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679.521460271,658,633.521460271,879,785.521460271,807,652,630,652.521460271,0.402607900359,-0.0154235597853,0.0799491992567,0.999999974538,0.000208326706181,-8.67120282593e-05,-2.32858972504e-06,1793245434692257024
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744.107605669,714,679.892394331,658.107605669,634,878.892394331,785.892394331,807,652,630,652.892394331,0.402829015534,-0.0154308073922,0.0799449646032,0.99999998012,0.000174991286834,-9.50309715522e-05,-1.0344184163e-05,1793245434708923904
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744.686963939,714,679.313036061,658.686963939,634,878.313036061,785.313036061,807,652,630,652.313036061,0.403089626245,-0.0154395810228,0.0799437318868,0.999999988845,0.000114525687103,-9.3958346287e-05,-1.91269662668e-05,1793245434725590784
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744.735366335,714,679,658.735366335,634,878.52926733,785,807.264633665,652,630,652.264633665,0.403372040429,-0.0154487422507,0.0799449266055,0.999999992635,7.73192204096e-05,-8.98855281044e-05,-2.59128639068e-05,1793245434742257920
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744.159681362,714,679,658.159681362,634,879.680637275,785,807.840318638,652,630,652.840318638,0.403680082473,-0.0154583590611,0.07994897454,0.999999993879,6.74516215425e-05,-8.2286273361e-05,-3.03516163154e-05,1793245434758925568
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714,679.414279216,658,634,879.171441568,785,807.585720784,652,629.585720784,652.585720784,0.40401742297,-0.0154648328612,0.0799525051983,0.999999994369,6.87302967905e-05,-7.60277352522e-05,-2.75295779769e-05,1793245434775591936
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744,714,679.987577879,658,634,878.024844241,785,807.012422121,652,629.012422121,652.012422121,0.404366009557,-0.015470100229,0.0799558373021,0.999999994531,7.42874257356e-05,-7.02838261217e-05,-2.19205135686e-05,1793245434792257280
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.579851146,714,679.420148854,658.579851146,634,878.579851146,785,807,652,629,652.579851146,0.404762494275,-0.0154789144741,0.0799538215793,0.999999995445,6.01440606769e-05,-6.95172970153e-05,-2.56883273593e-05,1793245434808923648
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.831522475,714,679.168477525,658.831522475,634,878.831522475,785.168477525,807,652,629.168477525,652.831522475,0.405169773466,-0.0154865825263,0.0799512891478,0.999999996037,4.6262568641e-05,-7.00509429681e-05,-2.96515871735e-05,1793245434825590272
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.25279971,714,679.74720029,658.25279971,634,878.25279971,785.74720029,807,652,629.74720029,652.25279971,0.405600754152,-0.0154912682978,0.0799477869314,0.999999996155,3.40811901575e-05,-7.34821044821e-05,-3.35850657349e-05,1793245434842256896
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744,714,679.67594769,658,634,878.64810462,785.67594769,807,651.67594769,630,652,0.406049823154,-0.0154860980385,0.0799420767628,0.99999999488,4.6337605789e-05,-8.3624214524e-05,-3.31487088009e-05,1793245434858924032
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,679.100546637,658,634,879.798906727,785.100546637,807,651.100546637,630,652,0.406512922267,-0.0154732830234,0.0799346540122,0.999999991665,7.75490117277e-05,-9.89716217328e-05,-2.93229221432e-05,1793245434875590912
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744.473866546,714,679,658,633.526133454,879.052266907,785,807,651,630,652.473866546,0.407007632631,-0.0154666121983,0.0799301084399,0.999999990172,8.18446682916e-05,-0.000108841615701,-3.33243200756e-05,1793245434892257792
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.950414119,744.950414119,714,679,658,633.049585881,878,785,807,651,630,652.950414119,0.407512416671,-0.0154625724592,0.0799255085782,0.999999989118,7.88210561556e-05,-0.000118570995893,-3.86331103544e-05,1793245434908924672
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.358109085,744.358109085,714,679,658,633.641890915,878,785,807,651,630,652.358109085,0.408054197985,-0.0154730907363,0.079913646585,0.999999987786,5.80656848991e-05,-0.000139455394533,-4.01116726636e-05,1793245434925591296
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.227983254,744,714,679,658.455966508,634,878,785,807.227983254,651,630,652.227983254,0.408628529822,-0.0154811834881,0.0799124616008,0.999999988009,4.31486726846e-05,-0.000142943254948,-4.10845847299e-05,1793245434942257664
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.804575725,744,714,679,659.60915145,634,878,785,807.804575725,651,630,652.804575725,0.409252634636,-0.0154855673684,0.0799276028328,0.999999991278,3.71590971824e-05,-0.00011983006577,-4.12843068944e-05,1793245434958924032
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714.380761867,679.380761867,659.619238133,634,878.380761867,785,808,651,630,652.619238133,0.409918467598,-0.015488168683,0.0799581580194,0.999999996191,3.62712980937e-05,-6.85946060068e-05,-3.99559275776e-05,1793245434975590400
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714.956739668,679.956739668,659.043260332,634,878.956739668,785,808,651,630,652.043260332,0.410605694487,-0.0154898560793,0.0799966159127,0.999999998558,3.79991707726e-05,-2.94090853021e-06,-3.78440932032e-05,1793245434992257024
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744,714.455545783,680,659.544454217,634,879,785,807.455545783,651,630,652,0.411271354589,-0.0154867080372,0.0799876406945,0.999999998153,3.85973298199e-05,-2.34056533412e-05,-4.06977401825e-05,1793245435008924160
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744,714,679.869053919,659.869053919,633.869053919,878.869053919,785,807.130946081,651,629.869053919,652.130946081,0.411939351446,-0.015483800185,0.079969286064,0.999999996747,3.77454825417e-05,-5.58872957423e-05,-4.42533529549e-05,1793245435025591296
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,744,714,679.290007782,659.290007782,633.290007782,878.290007782,785,807.709992218,651,629.290007782,652.709992218,0.412621337805,-0.0154830579958,0.0799320161665,0.999999992716,3.22456230201e-05,-0.000105559400046,-4.88312401858e-05,1793245435042258432
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,744,714,679.287837009,659.287837009,633.287837009,878,785,807.712162991,651,629,653,0.41334374674,-0.0154851878897,0.0799140353586,0.999999990599,2.66294870003e-05,-0.000124142612426,-5.1786717692e-05,1793245435058924800
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,744,714,679.864476495,659.864476495,633.864476495,878,785,807.135523505,651,629,653,0.41410671392,-0.0154901995002,0.0799154083354,0.999999992151,2.08966838594e-05,-0.000111532660199,-5.31143441984e-05,1793245435075590912
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,744.437913676,714,680,660,634,878.437913676,785,807,651.437913676,629.437913676,653,0.414896215175,-0.0154938653226,0.0799398846704,0.999999996014,1.60132067692e-05,-7.1157640422e-05,-5.14964716752e-05,1793245435092257536
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,744.989274014,714,680,660,634,879,785,807.010725986,651.989274014,629.989274014,653,0.415693663777,-0.015497024835,0.0799706109196,0.999999998447,1.15234853744e-05,-2.38044764271e-05,-4.9055286209e-05,1793245435108924160
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,744.396996785,714,680,660,634,879,785,807.603003215,651.396996785,629.396996785,653,0.416480017377,-0.0154951503963,0.0799553541521,0.99999999676,1.42350148226e-05,-6.06033639769e-05,-5.1039932942e-05,1793245435125590784
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659.80870285,633.80870285,879,785,808,651,629.19129715,653,0.417298023816,-0.0154947658341,0.0799511693161,0.999999996156,1.40144927417e-05,-6.90349724955e-05,-5.22095142024e-05,1793245435142257408
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659.228506817,633.228506817,879,785,808,651,629.771493183,653,0.418180379069,-0.015497410127,0.079969493242,0.999999998436,7.83323575859e-06,-1.97971196954e-05,-5.17221023005e-05,1793245435158924288
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659.347240783,633,879,785,808,651,630,653,0.419048903504,-0.0155000725085,0.0799797520391,0.999999998602,1.97393200568e-06,5.16815445842e-06,-5.25934448595e-05,1793245435175591168
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659.920098033,633,879,785,808,651,630,653,0.419908441459,-0.0155027466429,0.0799847705931,0.999999998413,-3.67618538596e-06,1.43625446793e-05,-5.43476255516e-05,1793245435192257536
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,744.50542224,714,680,660,633.50542224,879,785,808,651,630,653,0.420751836411,-0.0155029845287,0.0799706674517,0.99999999842,-3.48137345603e-06,-8.68358719069e-06,-5.54313734593e-05,1793245435208923904
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,744.907797717,714,680.092202283,660,634,879,785.092202283,808,651,630,653,0.421610758209,-0.0155032640175,0.0799605726398,0.999999998103,-2.34195237693e-06,-2.59662323043e-05,-5.58010472476e-05,1793245435225590272
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,744.324029611,714,680.675970389,660,634,879,785.675970389,808,651,630,653,0.422566409283,-0.0155058705962,0.0799883718245,0.99999999848,-1.21736233813e-06,1.53391970507e-05,-5.29430726847e-05,1793245435242256896
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,744.255137326,714,681,660,634,879,785.744862674,807.744862674,651,630,653,0.423485703501,-0.0155081327441,0.0800029937917,0.999999998213,2.9889312031e-06,3.10590860028e-05,-5.09951604076e-05,1793245435258923776
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,744.828564279,714,681,660,634,879,785.171435721,807.171435721,651,630,653,0.424359641841,-0.015509965207,0.0800011768836,0.99999999857,1.10397202159e-05,1.48604360507e-05,-5.01825712536e-05,1793245435275590656
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.41322503,745,714,681,660,633.58677497,879,785,807.82645006,651,630,653,0.425209365286,-0.0155093908579,0.0799655305917,0.999999997256,9.2178595383e-06,-4.94058829394e-05,-5.44271187055e-05,1793245435292257280
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.0026286,633.0026286,879,785,808.9973714,651,630,653,0.426049221422,-0.0155078093382,0.0799156782204,0.99999998921,3.17414304882e-06,-0.000133691066283,-6.08041151901e-05,1793245435308923904
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.581513317,633.581513317,879,785,808.418486683,651,630,653,0.426989828997,-0.0155104487011,0.0799142769944,0.999999991725,-5.39144480596e-06,-0.000112666427212,-6.18651815658e-05,1793245435325590528
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.839880566,744.839880566,714,681,661,633.839880566,879.160119434,785.160119434,808.160119434,651,630,653,0.427926596659,-0.0155116183714,0.0799159323662,0.999999993206,-1.00604956067e-05,-9.80968397126e-05,-6.21666197395e-05,1793245435342257152
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.262001367,744.262001367,714,681,661,633.262001367,879.737998633,785.737998633,808.737998633,651,630,653,0.428853345737,-0.0155089535385,0.0799255625576,0.999999993123,-4.56328207806e-06,-0.000100368812236,-6.04861492145e-05,1793245435358923776
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.314255655,744.314255655,714,681.314255655,660.685744345,633.314255655,880,785.685744345,809,651,630,653,0.429796498612,-0.0155124354364,0.0799558793633,0.999999996272,-5.11228639025e-06,-6.36603069639e-05,-5.8109274267e-05,1793245435375591168
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.88916715,744.88916715,714,681.88916715,660.11083285,633.88916715,880,785.11083285,809,651,630,653,0.430753257386,-0.0155210156716,0.0800033544495,0.999999998408,-1.06762587768e-05,5.38012036762e-06,-5.51547743207e-05,1793245435392259072
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.524450295,745,714,682,660.475549705,634,879.524450295,785,809,651,630,653,0.431653377667,-0.015524546192,0.0800268736005,0.99999999756,-1.09897349156e-05,4.340489874e-05,-5.36207480639e-05,1793245435408924928
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,682,661,633.936439296,879.063560704,785,808.936439296,651,630,653,0.432531646845,-0.0155258405606,0.0800348113835,0.999999996805,-1.09344892635e-05,5.86537932845e-05,-5.31908550732e-05,1793245435425590528
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,714,682,661,633.357439125,879.642560875,785,808.357439125,651,630,653,0.43334240872,-0.015518780931,0.079962789375,0.999999996812,-1.80578488273e-05,-5.07276936325e-05,-5.89637721885e-05,1793245435442257152
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,744.779905295,714,682,661,633,880,785.220094705,808,651,630,653,0.434187116621,-0.0155146139628,0.0799174318327,0.999999990935,-2.53810576902e-05,-0.000116144847781,-6.32181763772e-05,1793245435458924032
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,744.204736987,714,682,661,633,880,785.795263013,808,651,630,653,0.435086588972,-0.0155151136563,0.0799150914343,0.999999991221,-3.302668013e-05,-0.000110635397929,-6.50228012794e-05,1793245435475591168
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,744.369704237,714,682,661,633,880,785.630295763,808.369704237,651,630,653,0.435959762426,-0.0155190952835,0.0799389931341,0.999999994324,-3.53200196935e-05,-7.81840767537e-05,-6.31856027846e-05,1793245435492258048
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,744.943743569,714,682,661,633,880,785.056256431,808.943743569,651,630,653,0.436818400455,-0.0155250013713,0.0799773988106,0.999999997164,-3.46551583181e-05,-3.08420153418e-05,-5.93355725813e-05,1793245435508924672
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.534221699,744.465778301,714,682.534221699,661,633,880,785,809,651,630,653,0.437645718029,-0.0155319282684,0.079996678935,0.999999997476,-4.04423047282e-05,-2.53201480636e-06,-5.8363923966e-05,1793245435525591040
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.876637943,744.123362057,714,683,660.876637943,633,880,785,809,651,630,653,0.438455533448,-0.0155386706391,0.080004016071,0.999999997062,-4.85874558997e-05,7.59275533978e-06,-5.8795826047e-05,1793245435542257408
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.299000946,744.700999054,714,683,660.299000946,633,880,785,809,651,630,653,0.439213429096,-0.0155443250803,0.0799750257285,0.999999995159,-6.28344405903e-05,-4.16341199765e-05,-6.32446150643e-05,1793245435558924032
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,879.722038856,785,809,651,630,653,0.439919614847,-0.0155482424591,0.0799131419352,0.999999985467,-7.08892028157e-05,-0.00013919902613,-6.82981202385e-05,1793245435575590912
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,879.145801038,785,809,651,630,653,0.440570311295,-0.0155502958174,0.0798159605874,0.999999952993,-7.22991655962e-05,-0.000288634871827,-7.40005376002e-05,1793245435592257536
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,714,682.571965529,660,632.571965529,879.428034471,784.571965529,809,651,630,653,0.441214866668,-0.0155610458172,0.0797407867211,0.999999913564,-9.20634988409e-05,-0.0003977759696,-7.85565825809e-05,1793245435608924672
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659.998904113,632,880,784,809,651,630,653,0.441857497575,-0.0155747744974,0.0796732851018,0.999999868111,-0.000118067636421,-0.000492949035236,-8.27034297501e-05,1793245435625591808
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659.404405456,632,880,784,809,651,630,653,0.442584403449,-0.0156063083226,0.0797236639793,0.999999898668,-0.00015634251771,-0.000415349247077,-7.55391100549e-05,1793245435642257920
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632,880,784,809.18427251,651,630,653,0.443291642411,-0.0156329707797,0.0797690569651,0.999999919106,-0.000187786899575,-0.000348779340687,-6.98292526114e-05,1793245435658924032
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632,880,784,809.760567612,651,630,653,0.443957041985,-0.0156492698612,0.0798038429405,0.999999930072,-0.000204700039566,-0.000305674470259,-6.72136276209e-05,1793245435675590912
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,744.664585696,714,682.335414304,659,631.664585696,879.664585696,784,809.664585696,651,630,653,0.444580771397,-0.0156587740985,0.0798070642011,0.999999928315,-0.000213922221951,-0.000305224722941,-6.66654146416e-05,1793245435692257536
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,744.090768527,714,682.909231473,659,631.090768527,879.090768527,784,809.090768527,651,630,653,0.445174882812,-0.0156634487545,0.079787850166,0.999999917881,-0.000217677891375,-0.000335093016073,-6.75866589885e-05,1793245435708924160
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,744.494394162,714,683,659,631.494394162,879.494394162,783.505605838,809.494394162,651,630,653,0.445713877731,-0.0156658485093,0.0797673150624,0.999999907304,-0.000221013416541,-0.000362976845823,-6.92271175457e-05,1793245435725591296
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,744.918947529,714,683,659,631.918947529,880,782.918947529,810,651,629.918947529,653,0.446241219621,-0.0156681410735,0.0797476556863,0.999999896988,-0.000224970560251,-0.000387802666396,-7.08624257327e-05,1793245435742257920
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,744.336227471,714,683,659,631.336227471,880,782.336227471,810,651,629.336227471,653,0.446760538669,-0.0156724159886,0.0797349530077,0.999999891817,-0.000233263805559,-0.000396009200634,-7.16293823462e-05,1793245435758924544
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,744.243549212,714,683.243549212,659,631,880,781.756450788,810,651,629,653,0.447256254134,-0.0156785446999,0.0797227498069,0.999999884714,-0.000243764515057,-0.000407273745655,-7.26513379342e-05,1793245435775591680
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,744.819310944,714,683.819310944,659,631,880,781.180689056,810,651,629,653,0.447719773168,-0.0156872020759,0.0797112279181,0.999999874823,-0.000257276308286,-0.000422709559737,-7.40211239812e-05,1793245435792258560
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,714,683.604966455,658.604966455,630.604966455,880,781,810,651,629,653,0.448145447939,-0.0156956370449,0.0796936440654,0.999999856751,-0.000273041415485,-0.000454259981896,-7.47921579549e-05,1793245435808924928
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,714,683.029261702,658.029261702,630.029261702,880,781,810,651,629,653,0.448553814426,-0.0157039702954,0.0796732877323,0.999999833549,-0.000289837091555,-0.000493180527519,-7.5289348718e-05,1793245435825591296
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+244,4.066666667,HOLD_POSE2,764,744,713,684,657,628,879,776,809,651,629,653,0.452735136186,-0.015758621458,0.0796155832716,0.99999976581,-0.000358969841216,-0.000578381996136,-7.06727631807e-05,1793245436601452288
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,683,657,628,879,775,809,651,629,653,0.45273427362,-0.0157558494117,0.0796112839325,0.999999763003,-0.000354948311064,-0.000585685654271,-7.05500566036e-05,1793245436917571584
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,683.575624285,657,628,879.575624285,775,809,651,629,653,0.452734093591,-0.015756824728,0.0796113548831,0.999999762411,-0.000357316843797,-0.000585285548098,-7.03040122508e-05,1793245436934238208
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,745,713,684,656.481647445,628.518352555,879.518352555,775,809,651,628.481647445,653,0.452737426286,-0.0157551758368,0.0796146244215,0.999999766576,-0.000353887301548,-0.000580276772758,-6.99370558943e-05,1793245437017570048
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,713.198368405,683.801631595,656.198368405,628.198368405,879,775.198368405,809.198368405,651,628.801631595,653,0.452695387132,-0.0157536545672,0.0795929189917,0.999999746986,-0.00035492584527,-0.000612344621692,-7.13395458614e-05,1793245437084237056
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8848f204ceffe58fd12c16b1efa9bcbf46d3e6e4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..684d8877334e64f18a6caba3ac6370ab32ebfe58
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b039774745759af910674b43f338290d6724f1f7ec83cbebc9629726f6290e
+size 25777064
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4deaf1aa26276d7491817258ef0036eaa3c4856
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+6,0.100000000,BASELINE,763.514737574,744,714,679.485262426,658,634,878.514737574,785,806.514737574,651.514737574,630,652.514737574,0.400979475163,-0.0153653570387,0.079838663209,0.999999924072,0.000272154061241,-0.000276459832255,3.6854798359e-05,1793245439516550656
+7,0.116666667,BASELINE,763.061087609,744,714,680,658,634,878,785,806.061087609,651.061087609,630,652.061087609,0.400979955344,-0.0153661886672,0.0798390249751,0.999999923834,0.000273329507597,-0.000276095513925,3.73372690522e-05,1793245439533217536
+8,0.133333333,BASELINE,763.649525711,744,714,680,658,634,878,785,806.649525711,651.649525711,630,652.649525711,0.400980355984,-0.0153663680555,0.0798400860571,0.999999924559,0.000271979104018,-0.000274792001318,3.7406585069e-05,1793245439549884160
+9,0.150000000,BASELINE,764,744,714,679.76601642,658.23398358,634,877.76601642,785,807,651.76601642,630,653,0.40098097532,-0.0153659488813,0.0798410361592,0.999999924967,0.000271817401537,-0.000273471570126,3.73526637841e-05,1793245439566550784
+10,0.166666667,BASELINE,764,744,714,679.187420709,658.812579291,634,877.187420709,785,807,651.187420709,630,653,0.400981916752,-0.0153646481413,0.0798418228094,0.999999924909,0.000273406423813,-0.000272126221277,3.71172380083e-05,1793245439583217408
+11,0.183333333,BASELINE,764,744,714,679,659,634,877.389583342,785.389583342,807,651.389583342,630,653,0.400981679754,-0.0153646121319,0.0798412229448,0.999999925065,0.000272331552023,-0.000272650830147,3.6982239299e-05,1793245439599884288
+12,0.200000000,BASELINE,764,744,714,679,659,634,877.965824846,785.965824846,807,651.965824846,630,653,0.400980878144,-0.0153651820833,0.0798399587697,0.999999925317,0.000269980348679,-0.00027407137779,3.68953574398e-05,1793245439616550912
+13,0.216666667,BASELINE,764,744,714,679,659,634,878,785.45951418,807,652,630,653,0.400981714669,-0.0153651719147,0.0798403368583,0.999999925183,0.000270804243391,-0.0002737568526,3.681926826e-05,1793245439633217536
+14,0.233333333,BASELINE,764,744,714,679,658.881790286,634.118209714,878.118209714,785,807,651.881790286,630,653,0.400982449003,-0.0153650848134,0.0798407767133,0.999999925083,0.000271635597352,-0.000273310107344,3.67378174835e-05,1793245439649884160
+15,0.250000000,BASELINE,764,744,714,679,658.291434484,634.708565516,878.708565516,785,807,651.291434484,630,653,0.40098236267,-0.0153648365152,0.0798410497258,0.999999925217,0.000271697208211,-0.00027277217361,3.66322339633e-05,1793245439666551040
+16,0.266666667,BASELINE,764,744,714,679.293327142,658.293327142,634.706672858,878.706672858,785,807,651.293327142,629.706672858,652.706672858,0.400981338907,-0.0153651663711,0.079840755852,0.99999992506,0.000271633659659,-0.000273393226631,3.67674702178e-05,1793245439683217664
+17,0.283333333,BASELINE,764,744,714,679.87263467,658.87263467,634.12736533,878.12736533,785,807,651.87263467,629.12736533,652.12736533,0.400979401193,-0.0153660599007,0.0798399092904,0.999999924616,0.000271448086472,-0.000275144238126,3.71374946126e-05,1793245439699884032
+18,0.300000000,BASELINE,764,744,714,680,658.550857347,633.550857347,878,785,807,651.550857347,629,652,0.40097949777,-0.0153644691694,0.0798397525212,0.999999924148,0.000273146856739,-0.000275204401315,3.68444903456e-05,1793245439716550912
+19,0.316666667,BASELINE,764,744,714,680,658,633.025306859,877.974693141,785,807,651.025306859,629.025306859,652.025306859,0.400980154257,-0.0153623389747,0.0798398105816,0.999999923734,0.000275156878295,-0.000274764698533,3.63942164874e-05,1793245439733217536
+20,0.333333333,BASELINE,764,744,714,680,658,633.61133514,877.38866486,785,807,651.61133514,629.61133514,652.61133514,0.400980514104,-0.0153637681817,0.0798403213921,0.999999924772,0.000272297033654,-0.000273807523203,3.65994243097e-05,1793245439749884160
+21,0.350000000,BASELINE,764,744,714,680,658,634,877.195010186,785,807,651.804989814,629.804989814,652.804989814,0.400981096047,-0.015364549418,0.0798408147508,0.999999925425,0.00027071477218,-0.000272978286488,3.66957692436e-05,1793245439766550784
+22,0.366666667,BASELINE,764,744,714,680,658,634,877.774050971,785,807,651.225949029,629.225949029,652.225949029,0.400982115362,-0.0153640546152,0.0798412737416,0.999999925333,0.000271648436198,-0.000272400997459,3.65777321196e-05,1793245439783217408
+23,0.383333333,BASELINE,764,744,714,679.646976839,658,634,878,785,807,651.353023161,629.353023161,652.353023161,0.400982477551,-0.0153645286867,0.0798418111042,0.999999925226,0.000272600585826,-0.000271831305336,3.66816203971e-05,1793245439799884032
+24,0.400000000,BASELINE,764,744,714,679.068048488,658,634,878,785,807,651.931951512,629.931951512,652.931951512,0.400982419236,-0.0153656227564,0.0798423986181,0.999999925107,0.000273564564785,-0.000271266474537,3.6927522292e-05,1793245439816550912
+25,0.416666667,BASELINE,764,744.506669147,714,679.506669147,658.506669147,634,878,785,807,652,630,653,0.400981602492,-0.0153662619846,0.0798413277403,0.999999925479,0.00027068306624,-0.000272788882575,3.68547023216e-05,1793245439833217280
+26,0.433333333,BASELINE,764,745,714,680,658.919361508,634,878,785,807,651.919361508,630,653,0.400981064527,-0.0153666070683,0.0798404154188,0.999999925838,0.000268229450601,-0.000273905967048,3.67657018879e-05,1793245439849883904
+27,0.450000000,BASELINE,764,745,714,680,658.346535898,634,878,785,807,651.346535898,630,653,0.400982844724,-0.0153655265887,0.0798418191291,0.999999925781,0.00027151382186,-0.000270852195876,3.68370610067e-05,1793245439866550784
+28,0.466666667,BASELINE,764,744.763837031,714,679.763837031,658.236162969,634,878,785,807,651,629.763837031,653,0.400983272172,-0.0153656272478,0.0798424845282,0.999999925714,0.000272820683171,-0.000269770530936,3.69388418677e-05,1793245439883217664
+29,0.483333333,BASELINE,764,744.166018476,714,679.166018476,658.833981524,634,878,785,807,651,629.166018476,653,0.400981628043,-0.015367536681,0.0798420192912,0.999999925652,0.000271099222265,-0.000271708913059,3.70872100166e-05,1793245439899884032
+30,0.500000000,BASELINE,764,744,714.41628955,679,659,634,878,785,807,651,629.41628955,653,0.400981392771,-0.0153671723146,0.0798415902853,0.99999992549,0.000271081015199,-0.000272355239198,3.68590281882e-05,1793245439916550656
+31,0.516666667,BASELINE,764,744,714.992634075,679,659,634,878,785,807,651,629.992634075,653,0.400981699177,-0.0153659337179,0.0798411752096,0.99999992529,0.000271717675082,-0.000272504795708,3.64860704494e-05,1793245439933217536
+32,0.533333333,BASELINE,764,744,714.43397615,679,658.43397615,633.43397615,878.56602385,785.56602385,807,651.56602385,630,652.43397615,0.400981170517,-0.0153648256699,0.079841120684,0.999999925548,0.000271131655328,-0.000272142686247,3.64610494525e-05,1793245439949884160
+33,0.550000000,BASELINE,764,744,714,679,658.143929219,633,878.856070781,785.856070781,807,651.856070781,630,652,0.400980800199,-0.0153640991009,0.0798411118812,0.999999925586,0.000271148539131,-0.000271982971839,3.64902798444e-05,1793245439966550784
+34,0.566666667,BASELINE,764,744,714,679,658.736013883,633,878.263986117,785.263986117,807,651.263986117,630,652,0.400980956576,-0.0153645550891,0.0798412309131,0.999999924917,0.000273091982596,-0.000272474084416,3.66744086602e-05,1793245439983217408
+35,0.583333333,BASELINE,764,744,714,679.64113196,658.67943402,633,878,785,807,651,630,652,0.400981135658,-0.0153654461209,0.0798412047165,0.999999925119,0.000272033968976,-0.000272794321198,3.66409013142e-05,1793245439999884032
+36,0.600000000,BASELINE,764,744,714,680.798114962,658.100942519,633,878,785,807,651,630,652,0.40098133301,-0.0153666871863,0.0798410616699,0.999999926016,0.000268561000666,-0.000272977072362,3.64322851994e-05,1793245440016550656
+37,0.616666667,BASELINE,764,744,714,680.525986324,658,633.474013676,878,785,807,651.474013676,630,652.474013676,0.40098227473,-0.0153663808105,0.0798417061994,0.99999992577,0.000270312076754,-0.000272124368917,3.66028706628e-05,1793245440033217280
+38,0.633333333,BASELINE,764,744.049446438,714,679.950553562,658,633.950553562,878,785,807,651.950553562,630,653,0.400983200425,-0.0153657612175,0.0798424058874,0.999999925291,0.00027299121315,-0.000271174812793,3.68398997303e-05,1793245440049884160
+39,0.650000000,BASELINE,764,744.638228674,714,679.361771326,658,633.361771326,878,785,807,651.361771326,630,653,0.400982235124,-0.0153652929665,0.0798418913942,0.999999924978,0.000273748687092,-0.000271556162557,3.69273808577e-05,1793245440066550784
+40,0.666666667,BASELINE,764,744.776679381,714.223320619,679.223320619,658.223320619,633,878.223320619,785,807,651,630,653,0.400982263087,-0.0153650174506,0.0798421147162,0.999999925214,0.000273538993524,-0.000270896052474,3.69212835105e-05,1793245440083217664
+41,0.683333333,BASELINE,764,744.197468429,714.802531571,679.802531571,658.802531571,633,878.802531571,785,807,651,630,653,0.400983873947,-0.0153650490833,0.0798435138423,0.999999926323,0.000271787993198,-0.000268576241193,3.67660567367e-05,1793245440099884288
+42,0.700000000,BASELINE,764,744,714.620762458,680,658.620762458,633.379237542,878.620762458,785,807,651.379237542,630,652.620762458,0.400984256795,-0.0153654630789,0.0798433852181,0.999999926655,0.000270414266665,-0.0002687272767,3.67573538214e-05,1793245440116550656
+43,0.716666667,BASELINE,764,744,714.045352287,680,658.045352287,633.954647713,878.045352287,785,807,651.954647713,630,652.045352287,0.400984004417,-0.0153660748638,0.0798424663166,0.999999926586,0.000269235697006,-0.000270156436037,3.68244450175e-05,1793245440133217536
+44,0.733333333,BASELINE,764,744.539944128,714,680,658.539944128,634,878,785,807,652,630,652.539944128,0.400981487336,-0.0153672176696,0.0798405796034,0.999999925953,0.000268480129994,-0.000273250512796,3.66899177006e-05,1793245440149884160
+45,0.750000000,BASELINE,764,744.875334244,714,679.875334244,658.875334244,634,878,785,807,652,630,652.875334244,0.400979692791,-0.0153677163524,0.0798393780302,0.999999925316,0.000268755176613,-0.000275319202589,3.65844029521e-05,1793245440166551040
+46,0.766666667,BASELINE,764,744.295796377,714,679.295796377,658.295796377,634,878,785,807,652,630,652.295796377,0.400981241599,-0.015365699023,0.0798409784912,0.999999924858,0.000272658600919,-0.000273126758492,3.66476905133e-05,1793245440183217664
+47,0.783333333,BASELINE,764,744,714,679,658.283511126,634,878.283511126,785,807,652,630,652.283511126,0.40098251544,-0.0153653890398,0.0798423171479,0.999999925365,0.000273062224609,-0.000270851632917,3.66910080729e-05,1793245440199884288
+48,0.800000000,BASELINE,764,744,714,679,658.862578548,634,878.862578548,785,807,652,630,652.862578548,0.40098350263,-0.0153668589405,0.0798433828777,0.999999926882,0.000269817356669,-0.000268490312814,3.6713507199e-05,1793245440216550912
+49,0.816666667,BASELINE,764,744,714,679.43962198,659,634,878.56037802,785,807,651.56037802,630,652.56037802,0.400983022356,-0.0153661643364,0.0798426368433,0.999999926326,0.000270819364665,-0.000269565442563,3.65961690462e-05,1793245440233217536
+50,0.833333333,BASELINE,764,744,714,679.983715467,659,634,878.016284533,785.016284533,807,651.016284533,629.983715467,652,0.400982099883,-0.0153648603662,0.0798413502492,0.999999925169,0.000273001198843,-0.00027167208291,3.64343763163e-05,1793245440249884160
+51,0.850000000,BASELINE,764,744,714,679.398353585,659,634,878.601646415,785.601646415,807,651.601646415,629.398353585,652,0.400981681117,-0.0153657976691,0.0798408738442,0.999999925713,0.000270233964804,-0.000272458943746,3.62396236735e-05,1793245440266550784
+52,0.866666667,BASELINE,764,744,714,679,659,634,878.814852071,786,807,651.814852071,629.185147929,652.185147929,0.400980946519,-0.0153663288326,0.0798404135136,0.99999992592,0.000268553557978,-0.000273381669439,3.60883531243e-05,1793245440283217408
+53,0.883333333,BASELINE,764,744,714,679,659,634,878.235313433,786,807,651.235313433,629.764686567,652.764686567,0.400979539159,-0.0153659948631,0.079839987424,0.999999925419,0.00026918824369,-0.000274593806035,3.60297054638e-05,1793245440299884032
+54,0.900000000,BASELINE,764,744,714.341703077,679.341703077,659,634,878,785.658296923,807,651,630,653,0.400979553315,-0.0153659333159,0.0798404818035,0.999999925288,0.000270170456668,-0.000274063901506,3.63307758826e-05,1793245440316551424
+55,0.916666667,BASELINE,764,744,714.916995429,679.916995429,659,634,878,785.083004571,807,651,630,653,0.400980539225,-0.0153660579976,0.0798416054185,0.999999925408,0.000271390240327,-0.00027234313226,3.68777506883e-05,1793245440333219072
+56,0.933333333,BASELINE,764,744,714.505854662,680,659,634,878,785,807,651.494145338,629.505854662,653,0.40098108212,-0.0153651210272,0.0798419263508,0.999999925435,0.000271829392858,-0.000271853136292,3.65256448178e-05,1793245440349885184
+57,0.950000000,BASELINE,764,744,714,680,658.927026163,633.927026163,878,785,807,652,629.072973837,652.927026163,0.400981393871,-0.0153642607321,0.0798420615277,0.999999925403,0.00027216094361,-0.00027168948725,3.61489911855e-05,1793245440366551296
+58,0.966666667,BASELINE,764,744,714,680,658.338552623,633.338552623,878,785,807,652,629.661447377,652.338552623,0.400980600452,-0.0153652066074,0.0798418405638,0.999999925064,0.000272662177886,-0.000272365248598,3.66698132562e-05,1793245440383217920
+59,0.983333333,BASELINE,764,744,714,680,658.245955109,633.245955109,878,785,807,651.754044891,630,652.245955109,0.400980762511,-0.0153659556234,0.0798419613232,0.999999925191,0.000272305305147,-0.000272219899348,3.69308804401e-05,1793245440399884544
+60,1.000000000,BASELINE,764,744,714,680,658.825090682,633.825090682,878,785,807,651.174909318,630,652.825090682,0.400982218899,-0.0153664379662,0.0798425449946,0.999999925949,0.000270786006965,-0.000270962241479,3.68400735103e-05,1793245440416551168
+61,1.016666667,BASELINE,764,744,714,679.598349006,659,634,878,785,807,651,630,652.598349006,0.400982895825,-0.0153662170883,0.0798426473772,0.999999926302,0.000270019488122,-0.000270458458698,3.65611279271e-05,1793245440433218048
+62,1.033333333,BASELINE,764,744,714,679.022903049,659,634,878,785,807,651,630,652.022903049,0.400983235477,-0.0153656919257,0.0798425415055,0.999999926483,0.000269578698075,-0.00027028087883,3.62007744832e-05,1793245440449884928
+63,1.050000000,BASELINE,764,744,714,679,658.447963102,634,878,785,807,651,630,652,0.400983611115,-0.0153657396267,0.0798428958115,0.999999926091,0.000271605239211,-0.000269635055956,3.66835058215e-05,1793245440466551296
+64,1.066666667,BASELINE,764,744,714,679,658.130578277,634,878.130578277,785,806.869421723,651,629.869421723,652.130578277,0.400983536515,-0.0153658451797,0.0798428970403,0.999999925828,0.000272523932273,-0.00026964854803,3.6941383088e-05,1793245440483217920
+65,1.083333333,BASELINE,764,744,714,679,658.721901262,634,878.721901262,785,806.278098738,651,629.278098738,652.721901262,0.400981867984,-0.0153660710778,0.0798415851338,0.999999926107,0.000269172725071,-0.000272056913015,3.62825569423e-05,1793245440499884288
+66,1.100000000,BASELINE,764,744.30679389,714,679.30679389,659,634,878.69320611,785,806.30679389,651,629,653,0.400981857937,-0.0153662886938,0.0798416982365,0.99999992643,0.000268317143152,-0.000271715555759,3.62781081004e-05,1793245440516550912
+67,1.116666667,BASELINE,764,744.885977242,714,679.885977242,659,634,878.114022758,785,806.885977242,651,629,653,0.400983320387,-0.0153664989564,0.0798430765453,0.999999926796,0.000269677322705,-0.000268932835024,3.68546535285e-05,1793245440533217536
+68,1.133333333,BASELINE,764,744.539311456,714,679.539311456,658.539311456,633.539311456,878,785.460688544,807,651,629.460688544,653,0.400982980035,-0.0153665842542,0.0798428226379,0.99999992631,0.000270714888114,-0.000269685809212,3.69186810442e-05,1793245440549884416
+69,1.150000000,BASELINE,763.964798824,744.035201176,714,679.035201176,658.035201176,633.035201176,878,785.964798824,807,651.035201176,630,653,0.400982171901,-0.0153666165549,0.079842175685,0.999999925664,0.00027151624518,-0.000271280229744,3.68405426531e-05,1793245440566551040
+70,1.166666667,BASELINE,763.376175976,744.623824024,714,679.623824024,658.623824024,633.623824024,878,785.376175976,807,651.623824024,630,653,0.400980957072,-0.0153662972408,0.0798416396113,0.999999925803,0.000269847294769,-0.000272477787365,3.6502451707e-05,1793245440583217920
+71,1.183333333,BASELINE,763.209047486,745,714,679.790952514,659,634,878,785.209047486,807,651.790952514,630,653,0.400980366933,-0.0153665833492,0.079841461961,0.99999992609,0.000268679641105,-0.000272583234038,3.64518005455e-05,1793245440599884800
+72,1.200000000,BASELINE,763.788251811,745,714,679.211748189,659,634,878,785.788251811,807,651.211748189,630,653,0.400980882921,-0.0153679414686,0.079841918965,0.999999926646,0.00026839962481,-0.000270754898578,3.69101140785e-05,1793245440616551680
+73,1.216666667,BASELINE,764,744.633913081,714,679,659,633.633913081,878.732173838,785.633913081,807,651,630,653,0.400981653048,-0.0153674444335,0.0798420224142,0.999999926261,0.000270386895031,-0.000270172417309,3.71016701049e-05,1793245440633218048
+74,1.233333333,BASELINE,764,744.056867025,714,679,659,633.056867025,879.886265949,785.056867025,807,651,630,653,0.400982569623,-0.0153658783578,0.0798419221259,0.999999925327,0.000273680698721,-0.0002703078649,3.71395059611e-05,1793245440649884416
+75,1.250000000,BASELINE,764,744,714,679.518516218,658.481483782,633.518516218,878.962967565,785,807,651,629.481483782,652.481483782,0.400982397915,-0.0153661478974,0.0798418066315,0.999999925376,0.000273062225565,-0.000270811289519,3.6679464837e-05,1793245440666551040
+76,1.266666667,BASELINE,764,744,714,680,658,634,878.095979073,785,807,651.095979073,629.095979073,652.095979073,0.400982084409,-0.0153662893666,0.0798417240338,0.999999925476,0.000272234993614,-0.000271332918791,3.62657728539e-05,1793245440683217664
+77,1.283333333,BASELINE,764,744,714,680,658,634,878.685060049,785,807,651.685060049,629.685060049,652.685060049,0.400981653632,-0.0153647418839,0.0798418189869,0.99999992528,0.000272532583494,-0.000271741400969,3.63698380592e-05,1793245440699884288
+78,1.300000000,BASELINE,764,744,714,679.730326436,658.269673564,634,878.730326436,785,807,652,630,652.730326436,0.400981838094,-0.0153646433005,0.0798419152578,0.999999925564,0.000271966977043,-0.000271259145367,3.64023916805e-05,1793245440716550912
+79,1.316666667,BASELINE,764,744,714,679.15084529,658.84915471,634,878.15084529,785,807,652,630,652.15084529,0.400982729358,-0.0153662092481,0.0798420130425,0.999999926395,0.000270409709528,-0.000269753588405,3.63527910391e-05,1793245440733217792
+80,1.333333333,BASELINE,763.575963038,744,714,679,658.575963038,634,878,785.424036962,807,652,630,652,0.400983168105,-0.0153663207316,0.0798424089871,0.999999926226,0.000271123021441,-0.000269657262629,3.64085848084e-05,1793245440749884416
+81,1.350000000,BASELINE,763.002699178,744,714,679,658.002699178,634,878,785.997300822,807,652,630,652,0.400983447604,-0.0153659203607,0.0798429098599,0.999999925703,0.000272635394517,-0.000270056872735,3.65014689273e-05,1793245440766551296
+82,1.366666667,BASELINE,763.585908982,744,714,679,658,634,878,786,807,651.414091018,630,652,0.400983507942,-0.0153668103963,0.0798432197907,0.999999926226,0.000271240417134,-0.000269519354796,3.65594940639e-05,1793245440783217920
+83,1.383333333,BASELINE,764,744,714,679,658.171791945,633.828208055,878,786,807,651,629.828208055,652,0.400983366877,-0.0153671384398,0.0798432641834,0.99999992666,0.000269722682803,-0.000269440377595,3.64983175357e-05,1793245440799884288
+84,1.400000000,BASELINE,764,744,714,679,658.751039248,633.248960752,878,786,807,651,629.248960752,652,0.400982750583,-0.0153661190747,0.0798426809165,0.999999926875,0.000267946415126,-0.000270459479972,3.61548101788e-05,1793245440816550912
+85,1.416666667,BASELINE,764,744,714,679,659,633.327817622,878,785.672182378,807,651,629.327817622,652,0.400982449502,-0.0153656765731,0.079842419822,0.999999926552,0.000268677460191,-0.000270933118456,3.61055723503e-05,1793245440833217536
+86,1.433333333,BASELINE,764,744,714,679,659,633.902734953,878,785.097265047,807,651,629.902734953,652,0.40098238602,-0.0153656688953,0.0798424015719,0.999999925821,0.000271298447228,-0.000270995601529,3.62781466408e-05,1793245440849884160
+87,1.450000000,BASELINE,764,744,714,679,659,634,878.478816323,785,807,651.478816323,630,652,0.400982055684,-0.0153656983839,0.0798424463016,0.999999925599,0.000272326522631,-0.00027075946831,3.64626068665e-05,1793245440866551040
+88,1.466666667,BASELINE,764,744,714,679.056674021,659,634,878.943325979,785,807,651.943325979,630,652,0.400981726668,-0.0153657119713,0.0798425053112,0.999999925567,0.000272735930248,-0.000270447665296,3.6591563475e-05,1793245440883217920
+89,1.483333333,BASELINE,764,744,714,679.649082559,659,634,878.350917441,785,807,651.350917441,630,652,0.400981923805,-0.0153655037045,0.0798425780759,0.999999926349,0.000270363338267,-0.000269995372013,3.61729699394e-05,1793245440899884544
+90,1.500000000,BASELINE,764,744,714.235413118,680,659,634,878,785,807,651.235413118,630,652.235413118,0.400981587468,-0.0153652944782,0.0798424068221,0.999999926569,0.000269170803602,-0.000270405567796,3.59247714182e-05,1793245440916551168
+91,1.516666667,BASELINE,764,744,714.812911546,680,659,634,878,785,807,651.812911546,630,652.812911546,0.400980475926,-0.0153650838576,0.0798418809784,0.999999925977,0.000269693043055,-0.000272069070332,3.59241786408e-05,1793245440933217792
+92,1.533333333,BASELINE,764,744,714.611057095,680,659,634,878,785.388942905,807,652,630,653,0.400980120255,-0.0153657725451,0.0798419176458,0.999999925746,0.000269987189746,-0.000272601241346,3.61137700455e-05,1793245440949884416
+93,1.550000000,BASELINE,764,744,714.03572872,680,659,634,878,785.96427128,807,652,630,653,0.400980126805,-0.0153668921904,0.0798422238743,0.999999925688,0.00027017203207,-0.000272591266717,3.63944996813e-05,1793245440966551040
+94,1.566666667,BASELINE,764,744,714,679.448268054,659,634,877.448268054,785.448268054,807,651.448268054,630,653,0.40097899251,-0.0153657722595,0.0798408283805,0.99999992473,0.000272028363661,-0.000274280547311,3.62080562552e-05,1793245440983218176
+95,1.583333333,BASELINE,764,744.137893934,714,678.862106066,659,634,877.137893934,785,807,651,630,652.862106066,0.400978571877,-0.0153651118536,0.0798399825447,0.999999924376,0.000272696961113,-0.000274927911605,3.60360768044e-05,1793245440999884800
+96,1.600000000,BASELINE,764,744.71732546,714,678.28267454,659,634,877.71732546,785,807,651,630,652.28267454,0.400980678274,-0.0153663976765,0.0798412575105,0.999999926156,0.000269208041699,-0.000271878782179,3.60094591653e-05,1793245441016551424
+97,1.616666667,BASELINE,764,744.704249164,714,678.295750836,659,634,878.295750836,785,807,651,630,652.295750836,0.400982180857,-0.01536628612,0.0798419764416,0.999999926694,0.000268943105421,-0.000270149044855,3.60808950947e-05,1793245441033218048
+98,1.633333333,BASELINE,764,744.126782225,714,678.873217775,659,634,878.873217775,785,807,651,630,652.873217775,0.40098310828,-0.0153648434961,0.0798421657245,0.999999926057,0.000271749159704,-0.000269676088614,3.62457315031e-05,1793245441049884672
+99,1.650000000,BASELINE,764,744,714,679.44764354,659,633.55235646,878.55235646,785,806.55235646,651,629.55235646,652.55235646,0.400982732022,-0.0153651173327,0.0798421931783,0.999999926204,0.000271315435001,-0.00026957319131,3.61841000312e-05,1793245441066551296
+100,1.666666667,BASELINE,764,744,714,680,659,633.021822997,878.021822997,785.021822997,806.021822997,651,629.043645995,652.021822997,0.400981996493,-0.015365884539,0.079842177088,0.999999926561,0.000269970393761,-0.000269615610862,3.60799583838e-05,1793245441083217920
+101,1.683333333,BASELINE,764,744,714,680,659,633.611864949,878.611864949,785.611864949,806.611864949,651,630.223729897,652.611864949,0.400981455388,-0.015366925444,0.0798422125492,0.999999926605,0.000268627082575,-0.00027073118369,3.65277506867e-05,1793245441099884288
+102,1.700000000,BASELINE,764,744,714,680,659,634,878.603801579,786,807,651,630.603801579,652.801900789,0.400981137648,-0.0153674941802,0.0798422537791,0.999999926565,0.000268035061871,-0.000271440571325,3.67093047707e-05,1793245441116550912
+103,1.716666667,BASELINE,764,744,714,680,659,634,877.445972586,786,807,651,629.445972586,652.222986293,0.400981249292,-0.015367155244,0.0798423060984,0.999999926367,0.000268887281804,-0.000271369130227,3.63790567465e-05,1793245441133217280
+104,1.733333333,BASELINE,764,744.354763578,714,680,658.645236422,634,877.354763578,785.645236422,807,651,629.354763578,652.354763578,0.40098161363,-0.0153663746801,0.0798423707624,0.99999992618,0.000270361583235,-0.00027060866734,3.62808372678e-05,1793245441149884160
+105,1.750000000,BASELINE,764,744.931783877,714,680,658.068216123,634,877.931783877,785.068216123,807,651,629.931783877,652.931783877,0.400982136279,-0.0153653174397,0.0798424431602,0.999999925994,0.000272225614139,-0.000269416537464,3.63279818996e-05,1793245441166551040
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658,633,878,785,807,651,630,653,0.400980869209,-0.0153648911491,0.0798425325071,0.99999992577,0.000271496310609,-0.000271003221721,3.61402302899e-05,1793245441198550528
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658,633.611451127,878,785.611451127,807,651,629.388548873,652.388548873,0.400979179803,-0.0153650738425,0.0798418536464,0.99999992552,0.000270316361936,-0.000273113070391,3.60384816721e-05,1793245441215217152
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744,714,679.788915404,658.211084596,634,878,785.788915404,807,651.211084596,629.211084596,652.211084596,0.400978592811,-0.0153656371104,0.0798414092019,0.999999925569,0.000269407788858,-0.000273836211032,3.59949641244e-05,1793245441231883520
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744,714,679.209881619,658.790118381,634,878,785.209881619,807,651.790118381,629.790118381,652.790118381,0.400979927478,-0.0153668637713,0.0798413733768,0.999999926146,0.000268972260193,-0.000272142131142,3.60529512431e-05,1793245441248550144
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.632611158,634,878,785.367388842,807,651.632611158,630,653,0.400980923771,-0.0153666286807,0.0798416172109,0.999999926054,0.000270089073854,-0.000271365494241,3.61335647777e-05,1793245441265216768
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.05634327,634,878,785.94365673,807,651.05634327,630,653,0.400981727681,-0.0153655625107,0.0798420200452,0.999999925577,0.000272088472276,-0.000271110469955,3.62270425651e-05,1793245441281883648
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744,714,679.517878761,658,634,878,785.482121239,807,651,629.482121239,653,0.40098077387,-0.0153662683622,0.0798418030541,0.9999999255,0.000271530502546,-0.000271930167381,3.64046854616e-05,1793245441298550272
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679.905363644,658,634,878,785.094636356,806.905363644,651,629,652.905363644,0.400980136054,-0.0153669473343,0.0798417529628,0.999999925596,0.000270697095219,-0.000272390148961,3.65312797662e-05,1793245441315216640
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679.314137717,658,634,878,785.685862283,806.314137717,651,629,652.314137717,0.400982155895,-0.0153664776103,0.0798429311132,0.999999926379,0.000269872606632,-0.000270351442338,3.63421444401e-05,1793245441331883264
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744.271277955,714,679,658.271277955,634,878,785.728722045,806.271277955,651,629.271277955,652.271277955,0.4009868566,-0.0153663839775,0.0798452506565,0.999999927489,0.000269502280235,-0.000266601841781,3.62412772095e-05,1793245441348550144
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744.85010644,714,679,658.85010644,634,878,785.14989356,806.85010644,651,629.85010644,652.85010644,0.400994596627,-0.0153667167231,0.0798488642082,0.999999928951,0.000269646842105,-0.000260912583793,3.62404804136e-05,1793245441365217536
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.573966609,714,679,658.573966609,634,878,785,807,651,629.573966609,653,0.401020051651,-0.0153684733934,0.0798592598198,0.99999993367,0.000269275250463,-0.000242439142264,3.70713161863e-05,1793245441381884160
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.999028027,744,714,679,658,634,878,785.000971973,806.999028027,651,629,652.999028027,0.401051740417,-0.0153707280805,0.0798720331662,0.999999939079,0.000268722263225,-0.000219479650169,3.81918694998e-05,1793245441398550272
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.408600931,744,714,679,658,634,878,785.591399069,806.408600931,651,629,652.408600931,0.401109592157,-0.0153732367196,0.0798894807836,0.999999946295,0.000267548950779,-0.00018527133674,3.87660708547e-05,1793245441415216896
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.178209361,744,714,679,658.178209361,633.821790639,878,785.821790639,806.178209361,651,629.178209361,652.178209361,0.401172650786,-0.015376029579,0.079906236036,0.999999951781,0.000266250762303,-0.000154966782486,3.91548865538e-05,1793245441431883264
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.756892059,744,714,679,658.756892059,633.243107941,878,785.243107941,806.756892059,651,629.756892059,652.756892059,0.401247410388,-0.0153794611404,0.0799214354044,0.999999955306,0.000264671951813,-0.000133434777176,3.91271024813e-05,1793245441448550144
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+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633.907436205,878.907436205,785,807,651,630,653,0.401419301532,-0.0153838887523,0.0799401252577,0.999999958654,0.000266431998455,-0.000101971824868,3.61516895668e-05,1793245441481883648
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.035338099,785,807,651,630,653,0.401522675513,-0.0153869973061,0.0799432204644,0.99999995968,0.000265118629523,-9.62335218363e-05,3.30224335298e-05,1793245441498550016
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+126,2.100000000,POSE1_TO_POSE2_PRESS,763.348304266,744,714,679.651695734,659,633.348304266,877.651695734,785,807,651.651695734,630,652.348304266,0.401763524779,-0.015395965132,0.079946204864,0.999999962501,0.000257433113583,-8.99598716273e-05,2.51769234656e-05,1793245441531883520
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,744,714,679.761514892,659,633,878,785,806.761514892,652,629.761514892,652,0.401909819962,-0.0154014303262,0.0799488915953,0.999999964498,0.000251912137937,-8.43952577344e-05,2.05504999334e-05,1793245441548550144
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,744,714,679.183026784,659,633,878,785,806.183026784,652,629.183026784,652,0.402076338317,-0.015406962479,0.0799540999859,0.999999966789,0.000246312340439,-7.42280066998e-05,1.55659737904e-05,1793245441565216768
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.391958566,744,714,679,658.608041434,633.391958566,878.391958566,785.391958566,806.391958566,651.608041434,629,652.391958566,0.402254678524,-0.0154132277308,0.0799548773343,0.999999968972,0.000237822471524,-7.34996332675e-05,9.69694448915e-06,1793245441581883392
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.965322827,744,714,679,658.034677173,633.965322827,878.965322827,785.965322827,806.965322827,651.034677173,629,652.965322827,0.402438490119,-0.0154198322749,0.0799536039146,0.999999971028,0.000227995023444,-7.71397465543e-05,3.41855028326e-06,1793245441598550016
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679.553439202,659.106878405,634,878.446560798,785.446560798,807,651,629.553439202,652.446560798,0.402648666823,-0.0154267627313,0.0799497566274,0.999999975194,0.000205698658502,-8.53235600216e-05,-4.55300871276e-06,1793245441615216896
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,714,679.859948252,659.719896504,634,878,785.140051748,807,651,630,652.140051748,0.402874548827,-0.0154345813977,0.0799465511224,0.999999981221,0.000170395995683,-9.14551527197e-05,-1.26368921764e-05,1793245441631883520
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714,679.281023882,658.562047764,634,878,785.718976118,807,651,630,652.718976118,0.403144327268,-0.0154451176572,0.0799458759452,0.999999991023,9.68514684188e-05,-9.02392413179e-05,-2.07312111751e-05,1793245441648550144
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,633.702922668,878.297077332,786,807,651,630,653,0.40343886843,-0.015454792797,0.079949235956,0.999999994524,5.74911404201e-05,-8.30370675845e-05,-2.74156282007e-05,1793245441665216768
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,633.125598012,878.874401988,786,807,651,630,653,0.403756769442,-0.0154636556005,0.0799564025537,0.999999995731,5.037841516e-05,-7.01877653007e-05,-3.27700165325e-05,1793245441681883648
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714,679.448240829,658.448240829,633.448240829,878.551759171,785.551759171,807,651,629.551759171,652.551759171,0.404094865226,-0.0154699832189,0.0799575408073,0.999999995378,6.22196107353e-05,-6.8048073306e-05,-2.72535995627e-05,1793245441698550272
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744,714,679.978212178,659,634,878,785,807,651,629.021787822,652.021787822,0.404440385642,-0.0154756993688,0.0799569694744,0.999999994413,7.79685944186e-05,-6.87417609295e-05,-1.92184014618e-05,1793245441715216640
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744,714,679.386961249,659,634,878,785,807,651,629.613038751,652.613038751,0.404833205378,-0.0154838570608,0.0799555234378,0.999999995859,5.81152042457e-05,-6.56634208886e-05,-2.43492283532e-05,1793245441731883520
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.400449914,785,807,651,630,652.799775043,0.405242347664,-0.0154907926661,0.0799527784771,0.999999996508,4.16080942382e-05,-6.63595838601e-05,-2.91301222538e-05,1793245441748550400
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,879.559423568,785,807,651,630,652.220288216,0.405682407736,-0.0154954134195,0.079947573122,0.9999999962,3.14394395051e-05,-7.42053308456e-05,-3.32481799278e-05,1793245441765217024
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,879.289347384,785,807,651,630,652.355326308,0.406139960189,-0.0154871081681,0.0799413511522,0.999999994701,4.61776645482e-05,-8.58228732739e-05,-3.31588133551e-05,1793245441781883648
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.142867815,785,807,651,630,652.928566093,0.406608240361,-0.0154708756947,0.0799345057155,0.999999991657,7.61907068226e-05,-9.975357205e-05,-3.04891303397e-05,1793245441798550528
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.486360247,744,714,679.513639753,659,634,878.513639753,785.513639753,807,651,629.486360247,652.486360247,0.4070934396,-0.0154680724824,0.0799303985875,0.999999990399,7.81804933863e-05,-0.000109426319725,-3.33912092249e-05,1793245441815216896
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.099868707,744,714,680,659,634,879,785.900131293,807.099868707,651,629.099868707,652.099868707,0.407591365692,-0.0154692014986,0.0799254113703,0.999999989447,7.25129338346e-05,-0.00012037690093,-3.68361576144e-05,1793245441831883520
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.683533757,744,714,680,659,634,879,785.316466243,807.683533757,651,629.683533757,652.683533757,0.408139277442,-0.0154801185862,0.0799142723573,0.999999988169,4.90757505586e-05,-0.00014045403845,-3.90686154854e-05,1793245441848550144
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744,714.263024198,680.263024198,659,633.736975802,879,785,807.736975802,651,630,653,0.408731233939,-0.0154885565025,0.0799163201043,0.999999989189,3.37992850539e-05,-0.000137343156809,-4.02100829485e-05,1793245441865217024
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744,714.83757026,680.83757026,659,633.16242974,879,785,807.16242974,651,630,653,0.409375356329,-0.0154940581251,0.07993398605,0.999999993101,2.81882510741e-05,-0.000106768736496,-4.00593978254e-05,1793245441881883648
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714.586504937,680.586504937,659,633.413495063,879,785,807.413495063,651,629.586504937,653,0.410051037844,-0.0154941033494,0.0799637414035,0.999999997157,3.16649401098e-05,-5.62774497234e-05,-3.89278487354e-05,1793245441898550272
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714.010036738,680.010036738,659,633.989963262,879,785,807.989963262,651,629.010036738,653,0.41073915792,-0.0154919980124,0.0799982616231,0.999999998548,3.87234246263e-05,2.06378318153e-06,-3.74097061059e-05,1793245441915216896
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659.57697031,634,878.42302969,785,807.42302969,651,629.57697031,652.42302969,0.411379872577,-0.0154898729267,0.0799854068819,0.999999998283,3.49817693545e-05,-2.48351817218e-05,-3.99187344128e-05,1793245441931883520
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744,714,680,660,634,878.162732226,785,807,651,630,652.162732226,0.412035329285,-0.0154886556799,0.0799654271255,0.999999996878,3.08084692231e-05,-5.86887521721e-05,-4.30178878205e-05,1793245441948549888
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,744,714,680,660,634,878.7448043,785,807,651,630,652.7448043,0.412730938782,-0.0154897787187,0.0799292502808,0.999999992857,2.60160133889e-05,-0.000106571350732,-4.74538352841e-05,1793245441965216512
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659.677069663,634,879,785,807,651,630,653,0.413476723959,-0.0154931494371,0.0799167178752,0.999999991672,2.01975628465e-05,-0.000117180815905,-5.01748941959e-05,1793245441981883392
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659.102024275,634,879,785,807,651,630,653,0.41426168188,-0.0154982749422,0.0799226449237,0.999999993709,1.35781071461e-05,-9.86907658776e-05,-5.15571224153e-05,1793245441998550016
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,744.473254269,714,680.473254269,659.473254269,633.526745731,879,785,807,651,630,652.526745731,0.415057249272,-0.0155018272962,0.0799444984514,0.999999996696,6.72978693524e-06,-6.38896338464e-05,-4.98042016423e-05,1793245442015216640
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.049962278,745,714,681,660,633,879,785.049962278,807.049962278,651,630,652.049962278,0.415851709326,-0.0155043871654,0.0799661372367,0.999999998341,8.38844424883e-07,-3.2154734073e-05,-4.77743645135e-05,1793245442031883520
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.641623959,745,714,681,660,633,879,785.641623959,807.641623959,651,630,652.641623959,0.416609353663,-0.015499865177,0.079948203546,0.999999996151,5.86314861366e-06,-7.18080308651e-05,-5.00737280158e-05,1793245442048550144
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.772060646,660,633.227939354,879,785.772060646,807.772060646,651.227939354,630,653,0.417422771697,-0.0154981797622,0.079947269418,0.999999996048,8.50055080234e-06,-7.2353045428e-05,-5.09594267824e-05,1793245442065216768
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.193958312,660,633.806041688,879,785.193958312,807.193958312,651.806041688,630,653,0.418321869862,-0.0155008519237,0.0799724502091,0.999999998656,7.47116718472e-06,-1.28194778405e-05,-4.96734378372e-05,1793245442081883648
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.618210738,744.618210738,714,680,660,634,879,785,807.381789262,651.618210738,630,653,0.419210516672,-0.0155035196735,0.0799838171052,0.999999998652,1.88228497823e-06,1.14760152837e-05,-5.0606152204e-05,1793245442098550272
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.043652124,744.043652124,714,680,660,634,879,785,807.956347876,651.043652124,630,653,0.420093886458,-0.0155061851959,0.0799882092219,0.999999998434,-6.00873524845e-06,1.79794378638e-05,-5.2659112945e-05,1793245442115216896
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,744.543922616,714,680.543922616,660,634,879,785,808,651,630,653,0.420902266104,-0.0155073110707,0.0799727245753,0.999999998471,-6.73607129069e-06,-8.23440650687e-06,-5.42654481796e-05,1793245442131883776
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.869638655,744.869638655,714,681,660,634,879,785,808,651,630,653,0.421741836246,-0.0155083652647,0.0799664700774,0.99999999829,-6.21968100129e-06,-1.95472363017e-05,-5.47705849754e-05,1793245442148550400
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.290790208,744.290790208,714,681,660,634,879,785,808,651,630,653,0.4227099246,-0.015509608374,0.0799975929765,0.999999998222,-3.45085033019e-06,2.96592357823e-05,-5.16135639319e-05,1793245442165216768
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.286968985,744,714,680.713031015,660,634,879,785,808,651,630,652.713031015,0.423633302372,-0.0155109363972,0.0800075627079,0.999999998042,2.02179394358e-06,3.74895673041e-05,-5.00662003323e-05,1793245442181883648
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.863628662,744,714,680.136371338,660,634,879,785,808,651,630,652.136371338,0.424511545628,-0.0155123501399,0.0799961786518,0.999999998684,1.0223895992e-05,3.55133951845e-06,-5.01437603568e-05,1793245442198550528
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,744,714,680.87852136,660.43926068,634,879.43926068,785,808,651,630,652.43926068,0.425403305841,-0.0155126193393,0.0799564317694,0.999999996689,6.36054077793e-06,-6.00413579672e-05,-5.45584668874e-05,1793245442215217152
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.014929454,744,714,682,661,633.985070546,880,785,808.014929454,651,630,653,0.426299527191,-0.0155125456482,0.0799090614903,0.999999989645,-1.13958316388e-06,-0.000130706785847,-6.02028773159e-05,1793245442231883520
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.604260111,744,714,682,661,633.395739889,880,785,808.604260111,651,630,653,0.427206312045,-0.0155129186865,0.0799063781078,0.999999990886,-4.78120309655e-06,-0.00012010668179,-6.14747508142e-05,1793245442248550400
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,682,660.809662943,633,879.809662943,785,809,651,630,653,0.428115860073,-0.0155126932506,0.0799104866458,0.999999992054,-6.55978001779e-06,-0.000109796120676,-6.15886526068e-05,1793245442265217024
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744,714,682,660.230237294,633,879.230237294,785,809,651,630,653,0.429031056553,-0.0155112444088,0.079928479284,0.999999993222,-4.52990873556e-06,-0.000100077446302,-5.93354189611e-05,1793245442281883648
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.346701572,714,681.653298428,660,633,879.346701572,785,809,651,630,653,0.429984894998,-0.0155155678777,0.0799669309107,0.999999997224,-6.80246773367e-06,-4.78764405464e-05,-5.6691112433e-05,1793245442298550272
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.922000754,714,681.077999246,660,633,879.922000754,785,809,651,630,653,0.430964211978,-0.0155236973184,0.0800188721666,0.99999999796,-1.19118333128e-05,3.23352816992e-05,-5.37889518753e-05,1793245442315216896
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681.496591828,660,633,880,785,808.503408172,651,630,653,0.431882221309,-0.0155252859593,0.0800288368888,0.999999997505,-9.547373034e-06,4.59105341177e-05,-5.28337164811e-05,1793245442331883520
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.926798014,714,682,660.073201986,633,880,785,808.073201986,651,630,653,0.432777221075,-0.0155247536015,0.0800226476075,0.999999997931,-7.26234495455e-06,3.54602338516e-05,-5.31815862517e-05,1793245442348550144
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.33510012,714,682,660.66489988,633,880,785,808.66489988,651,630,653,0.433577351402,-0.0155164645285,0.0799486719667,0.999999995538,-1.38429895015e-05,-7.11353279934e-05,-6.05965244841e-05,1793245442365216768
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.74952194,744.25047806,714,682,661,633,879.74952194,785,808.74952194,651,630,653,0.434415394992,-0.0155137578395,0.0799111550013,0.99999999024,-2.19731074656e-05,-0.000122011266842,-6.44161866591e-05,1793245442381883392
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.171935634,744.828064366,714,682,661,633,879.171935634,785,808.171935634,651,630,653,0.435302950977,-0.0155183413839,0.0799212507124,0.999999992453,-3.21267391984e-05,-0.00010012097498,-6.35406511005e-05,1793245442398550016
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,682,661,633,879.403625058,785.403625058,808.403625058,651,630,653,0.436182114108,-0.0155229275314,0.0799504616534,0.999999995501,-3.66442591518e-05,-6.25104445963e-05,-6.12134399791e-05,1793245442415216640
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,714,682,661,633,879.978327155,785.978327155,808.978327155,651,630,653,0.437057719863,-0.015527514782,0.0799877746105,0.999999997384,-3.87729046546e-05,-1.82368705554e-05,-5.82709341189e-05,1793245442431883264
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.566490636,745,714,682.566490636,661,633,879.433509364,785.433509364,809,651,630,653,0.437903713992,-0.0155370749894,0.0800030654452,0.999999997171,-4.74588128367e-05,6.69672566708e-06,-5.7972118301e-05,1793245442448550144
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.847338411,745,714,683,661,633,879,785.152661589,809,651,630,653,0.438724277095,-0.015544986855,0.0800034135424,0.999999996653,-5.62020275906e-05,7.43443980407e-06,-5.89902144868e-05,1793245442465216768
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.268207461,745,714,683,661,633,879,785.731792539,809,651,630,653,0.439477038861,-0.0155477495498,0.0799644291323,0.999999994276,-6.43874567863e-05,-5.73032071043e-05,-6.33977585372e-05,1793245442481883392
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660.69009754,633,879,785.69009754,809.30990246,651,630,653,0.440160342933,-0.0155501832717,0.0798892328938,0.999999979631,-7.16061912928e-05,-0.000175523708943,-6.92911062891e-05,1793245442498550016
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660.112868404,633,879,785.112868404,809.887131596,651,630,653,0.440783731681,-0.0155523332163,0.0797827997717,0.999999936276,-7.79910382378e-05,-0.000339879345902,-7.64661299211e-05,1793245442515216640
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,714,683,660,632.540782932,879,785,810,651,630,653,0.441450865779,-0.0155609232942,0.0797225352047,0.99999990218,-9.45151302966e-05,-0.000424299227113,-8.17091407512e-05,1793245442531884544
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+249,4.150000000,HOLD_POSE2,764,745,713.092822467,684,657,628.092822467,879,775,809.092822467,651,629,653,0.453229093476,-0.0157716482745,0.0796149959227,0.999999754769,-0.0003796487652,-0.000584186626491,-7.11016130345e-05,1793245443607064832
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,744.981407551,714,679.981407551,658,633.018592449,878.981407551,785,807,651.018592449,630,653,0.400982921662,-0.0153620440193,0.0798401568167,0.999999922043,0.000277328184906,-0.00027852381554,3.77947861324e-05,1793245446023049728
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,744.40819174,714,679.40819174,658,633.59180826,878.40819174,785,807,651.59180826,630,653,0.400982454314,-0.0153609518012,0.0798397266645,0.999999922392,0.000276552883732,-0.000278115149162,3.72230409747e-05,1793245446039716352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,744,714,679,658.170244543,634,878,785,807,652,630,653,0.400981569776,-0.0153603414325,0.0798392467563,0.999999922424,0.000276500665454,-0.000278084734827,3.69959618662e-05,1793245446056383488
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,744,714,679,658.761593775,634,878,785,807,652,630,653,0.400979653311,-0.0153609229322,0.0798386437754,0.999999921667,0.00027823701321,-0.000278989937641,3.76214240103e-05,1793245446073050624
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,744.827676928,714,679.827676928,659,633.827676928,878,785,807,651.827676928,629.172323072,652.827676928,0.400982967732,-0.0153629195714,0.0798424996313,0.999999923507,0.000276227643241,-0.000274392157663,3.73142394913e-05,1793245446189716736
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,744.016180861,714,679.016180861,659,634,878,785,807,651.016180861,629,652.016180861,0.400984417752,-0.0153645487565,0.0798426381086,0.99999992439,0.000274696244104,-0.000272668695678,3.75875546682e-05,1793245446223049728
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11ef9a5425ef41a5623ae5f3dbcb085f8ddf0321
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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+386,6.433333333,pose2_to_pose3_retreat,0.57567272274,-0.0101222085864,1.07005094456,0.54624435717,-0.00144651835646,1.06971744383
+387,6.450000000,pose2_to_pose3_retreat,0.575672588282,-0.0101222027882,1.07005094788,0.546244222677,-0.00144651266777,1.06971744731
+388,6.466666667,pose2_to_pose3_retreat,0.575672577938,-0.0101222023421,1.07005094813,0.546244212331,-0.00144651223015,1.06971744757
+389,6.483333333,pose2_to_pose3_retreat,0.575672529,-0.0101222002317,1.07005094934,0.54624416338,-0.00144651015966,1.06971744884
+390,6.500000000,pose2_to_pose3_retreat,0.575672395684,-0.0101221944827,1.07005095262,0.54624403003,-0.00144650451926,1.06971745229
+391,6.516666667,pose2_to_pose3_retreat,0.575672191572,-0.0101221832005,1.0700509625,0.546243825771,-0.00144649374903,1.06971746186
+392,6.533333333,pose2_to_pose3_retreat,0.575672170807,-0.010122181517,1.07005096455,0.54624380497,-0.00144649219225,1.06971746376
+393,6.550000000,pose2_to_pose3_retreat,0.575672048944,-0.0101221716368,1.07005097659,0.546243682898,-0.00144648305601,1.06971747492
+394,6.566666667,pose2_to_pose3_retreat,0.575671735009,-0.0101221461843,1.0700510076,0.546243368424,-0.00144645951991,1.06971750366
+395,6.583333333,pose2_to_pose3_retreat,0.575671378362,-0.0101221172689,1.07005104283,0.546243011164,-0.00144643278158,1.06971753631
+396,6.600000000,pose2_to_pose3_retreat,0.575671109439,-0.0101220954658,1.0700510694,0.54624274178,-0.00144641262009,1.06971756093
+397,6.616666667,pose2_to_pose3_retreat,0.575671006304,-0.010122087104,1.07005107959,0.546242638467,-0.00144640488789,1.06971757037
+398,6.633333333,pose2_to_pose3_retreat,0.575670938559,-0.0101220816115,1.07005108628,0.546242570605,-0.00144639980893,1.06971757657
+399,6.650000000,pose2_to_pose3_retreat,0.575670859038,-0.0101220751642,1.07005109414,0.546242490948,-0.00144639384714,1.06971758385
+400,6.666666667,pose2_to_pose3_retreat,0.575670759739,-0.0101220671135,1.07005110394,0.546242391479,-0.00144638640259,1.06971759294
+401,6.683333333,pose2_to_pose3_retreat,0.575670485269,-0.0101220448607,1.07005113106,0.546242116537,-0.0014463658252,1.06971761807
+402,6.700000000,pose2_to_pose3_retreat,0.575670229052,-0.0101220448137,1.0700510785,0.54624186025,-0.00144636601983,1.0697175654
+403,6.716666667,pose2_to_pose3_retreat,0.575669997648,-0.0101220518418,1.07005100447,0.546241628909,-0.00144637281501,1.06971749186
+404,6.733333333,pose2_to_pose3_retreat,0.575669613979,-0.0101220548778,1.0700508868,0.546241245139,-0.00144637612348,1.06971737601
+405,6.750000000,pose2_to_pose3_retreat,0.57566940041,-0.0101220622673,1.07005084191,0.546241031456,-0.00144638362314,1.06971733846
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40a9b2be5a05ce22c4c096347f68a3105a843711
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ea78c4d9dffc3a0c9a97b2be7ebe61076a28312cdfdc870809b8480d7916f42
+size 25838380
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d01092b7bd7f96b3994e3d57ab0940fc22f10688
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+21,0.350000000,BASELINE,764,744.801474622,714,679.198525378,659,633.801474622,878.801474622,785,807,651,630,652,0.400984915541,-0.0153662807818,0.0798450204103,0.999999926315,0.000270959608486,-0.000269363825462,3.73301979581e-05,1793245446688579328
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+45,0.750000000,BASELINE,764,744.107366928,714,680,659,634,878.892633072,785.892633072,807,651,630,652.892633072,0.400983934141,-0.0153651989473,0.0798441614615,0.999999926267,0.000271590453154,-0.000269017565084,3.65343019078e-05,1793245447088579328
+46,0.766666667,BASELINE,764,744.700576343,714,680,659,634,878.299423657,785.299423657,807,651,630,652.299423657,0.40098225727,-0.0153647777769,0.0798436615648,0.999999924811,0.000275076319566,-0.000270835795781,3.68777121571e-05,1793245447105245952
+47,0.783333333,BASELINE,764,744.714483573,714,680,658.714483573,634,878,785,807,651,629.714483573,652,0.400982016299,-0.0153648533934,0.0798437682394,0.999999924577,0.000275718739184,-0.000271014302245,3.71005439166e-05,1793245447121912576
+48,0.800000000,BASELINE,764,744.137971445,714,680,658.137971445,634,878,785,807,651,629.137971445,652,0.400983238782,-0.0153654353305,0.0798444931258,0.999999925596,0.000273463144549,-0.000269521617158,3.72004832363e-05,1793245447138579456
+49,0.816666667,BASELINE,764.436777076,744.436777076,714,680,658.436777076,634,878,785,807,651.436777076,629.436777076,652.436777076,0.400983725712,-0.0153658132214,0.0798447362811,0.999999926187,0.000272079936644,-0.000268754400362,3.7016186854e-05,1793245447155246336
+50,0.833333333,BASELINE,764.989033501,745,714,680,659,634,878,785.010966499,807,652,630,653,0.400983950805,-0.0153661269198,0.0798448131899,0.999999926621,0.000271013987995,-0.000268249061348,3.67554350796e-05,1793245447171913472
+51,0.850000000,BASELINE,764.415059966,745,714,680,659,634,878,785.584940034,807,652,630,653,0.400982614117,-0.0153664407961,0.0798441361069,0.999999925971,0.000272144996639,-0.000269470482535,3.71605161708e-05,1793245447188579840
+52,0.866666667,BASELINE,764,744.834819344,714,679.834819344,659,634,878,785.834819344,807,651.834819344,630,652.834819344,0.40098236413,-0.0153664917406,0.0798440002702,0.99999992576,0.000272641125815,-0.000269713752135,3.74362572798e-05,1793245447205246208
+53,0.883333333,BASELINE,764,744.238210009,714,679.238210009,659,634,878,785.238210009,807,651.238210009,630,652.238210009,0.400984952456,-0.0153658559439,0.0798452780929,0.999999926699,0.000271479038899,-0.000267402227065,3.73741804923e-05,1793245447221912832
+54,0.900000000,BASELINE,764,744,714,679,659,634,878,785,807,651,630,652,0.400984805805,-0.015365470332,0.0798447862988,0.999999926481,0.000271654393717,-0.000268047851079,3.73067650909e-05,1793245447238579456
+55,0.916666667,BASELINE,764,744,714,679,659,634,878,785,807,651,630,652,0.400982841353,-0.0153652510055,0.0798431183293,0.999999925491,0.000272718678753,-0.00027065894327,3.72358013842e-05,1793245447255246080
+56,0.933333333,BASELINE,764,744,714,679.495667619,659,633.504332381,878,785,807,651,630,652.495667619,0.400981829285,-0.0153660797101,0.0798428856649,0.999999925537,0.00027196484011,-0.000271254170877,3.71925712381e-05,1793245447271912704
+57,0.950000000,BASELINE,764,744,714,680,659,633,878,785,807,651.074046581,630,652.925953419,0.400981231422,-0.0153670927215,0.0798430457926,0.999999925856,0.000270795009331,-0.000271253888359,3.71399530729e-05,1793245447288579328
+58,0.966666667,BASELINE,764,744,714,680,659,633,878,785,807,651.664057967,630,652.335942033,0.400982434741,-0.0153681959913,0.0798443077106,0.999999926901,0.00026879786961,-0.000269400679166,3.69903216005e-05,1793245447305245952
+59,0.983333333,BASELINE,764,744,714,680,659,633.249329487,878.249329487,785,807,651.750670513,629.750670513,652.249329487,0.400983178388,-0.015368521797,0.079845042597,0.999999927282,0.000268555404198,-0.000268246330186,3.68542250203e-05,1793245447321912832
+60,1.000000000,BASELINE,764,744,714,680,659,633.828333822,878.828333822,785,807,651.171666178,629.171666178,652.828333822,0.400983314235,-0.0153678196043,0.0798450806184,0.999999926788,0.000270633049115,-0.000268016045878,3.6736024873e-05,1793245447338579456
+61,1.016666667,BASELINE,764,744,714,679.5972551,659,634,878.5972551,785,807,651.4027449,629.4027449,653,0.40098310272,-0.015367206933,0.0798443427931,0.999999926432,0.000270980654644,-0.00026900645034,3.66177575541e-05,1793245447355246336
+62,1.033333333,BASELINE,764,744,714,679.024779811,659,634,878.024779811,785,807,651.975220189,629.975220189,653,0.400982744814,-0.0153666319891,0.0798432779997,0.999999926134,0.000270599162651,-0.000270511294551,3.6499461934e-05,1793245447371912960
+63,1.050000000,BASELINE,764,744,714,679,659,634,878,785,807,651.448593595,629.448593595,653,0.400983327327,-0.0153658954188,0.0798441263226,0.999999925841,0.000272655044344,-0.000269469352634,3.69217690715e-05,1793245447388579584
+64,1.066666667,BASELINE,764,744,714,679,659,633.868557485,878,785,807,651,629.131442515,653,0.400983975897,-0.01536538073,0.0798450003806,0.999999925632,0.000274432658781,-0.000268389987812,3.72859713397e-05,1793245447405246208
+65,1.083333333,BASELINE,764,744,714,679,659,633.275593157,878,785,807,651,629.724406843,653,0.400984707012,-0.0153656707892,0.0798456608814,0.999999925731,0.000274846017538,-0.000267583806569,3.73602751068e-05,1793245447421912832
+66,1.100000000,BASELINE,764,744,714,679,659,633.308916863,878.308916863,785,807,651.308916863,630,653,0.400984603043,-0.0153659153017,0.0798456031508,0.999999925856,0.000274245702564,-0.000267746595607,3.72668502538e-05,1793245447438579712
+67,1.116666667,BASELINE,764,744,714,679,659,633.88608545,878.88608545,785,807,651.88608545,630,653,0.400983773919,-0.0153661202633,0.0798449217352,0.999999926001,0.000272765151626,-0.000268750801843,3.70277762049e-05,1793245447455247360
+68,1.133333333,BASELINE,764,744,714,679.428613914,659,634,878.571386086,785,807,651.571386086,630,653,0.400982538392,-0.0153664667713,0.0798444086995,0.999999926149,0.000271511847564,-0.000269445483298,3.71826384854e-05,1793245447471913728
+69,1.150000000,BASELINE,764,744,714,679.962624384,659,634,878.037375616,785,807,651.037375616,630,653,0.400981202931,-0.0153668480858,0.0798439370684,0.999999926297,0.000270314423606,-0.0002700640524,3.74343700529e-05,1793245447488579840
+70,1.166666667,BASELINE,764,744,714,680,659,634,877.405262041,785.594737959,807,651.594737959,630,653,0.400983258099,-0.0153659457846,0.0798449938371,0.99999992642,0.000271778696597,-0.000268207090642,3.69071611983e-05,1793245447505246464
+71,1.183333333,BASELINE,764,744,714,680,659,634,877.211035575,785.788964425,807,652,629.788964425,652.788964425,0.400984217868,-0.0153654621635,0.0798454753837,0.999999926499,0.000272387132466,-0.00026734531309,3.65304397303e-05,1793245447521912832
+72,1.200000000,BASELINE,764,744,714,680,659,634,877.787195464,785.212804536,807,652,629.212804536,652.212804536,0.400982840942,-0.0153658700602,0.0798447626976,0.999999926514,0.000271168264387,-0.000268527691281,3.65155086565e-05,1793245447538579712
+73,1.216666667,BASELINE,764,744,714,680,659,633.634354327,878,785.365645673,807,652,629,652.365645673,0.400982650196,-0.0153669905033,0.0798443350668,0.99999992673,0.000269783929124,-0.000269080232208,3.67689531347e-05,1793245447555246336
+74,1.233333333,BASELINE,764,744,714,680,659,633.054562792,878,785.945437208,807,652,629,652.945437208,0.400983154156,-0.0153685282598,0.0798440743828,0.999999927064,0.000268302685605,-0.000269263899445,3.71795757727e-05,1793245447571912704
+75,1.250000000,BASELINE,764,744,714.519538087,679.480461913,659,633.519538087,878.519538087,786,807,651.480461913,629.519538087,653,0.400983729898,-0.0153674928649,0.0798445652769,0.99999992696,0.000269620808556,-0.000268316828312,3.7279807398e-05,1793245447588579584
+76,1.266666667,BASELINE,764,744,714.904104427,679.095895573,658.904104427,634,878.904104427,786,807,651,630,653,0.400984125113,-0.0153664314761,0.0798449472198,0.999999926763,0.000271028834249,-0.00026763012953,3.72980278611e-05,1793245447605246464
+77,1.283333333,BASELINE,764,744,714.31304219,679.68695781,658.31304219,634,878.31304219,786,807,651,630,653,0.400983549653,-0.0153666161421,0.0798443634237,0.999999926332,0.000271399459688,-0.00026889443531,3.70592736479e-05,1793245447621912832
+78,1.300000000,BASELINE,764.272513484,744,714,679.727486516,658.272513484,634,878,785.727486516,807.272513484,651,630,652.727486516,0.400983449623,-0.015365727496,0.0798444208024,0.999999925772,0.000273178288526,-0.000269199344369,3.68837943781e-05,1793245447638579456
+79,1.316666667,BASELINE,764.851868894,744,714,679.148131106,658.851868894,634,878,785.148131106,807.851868894,651,630,652.148131106,0.400983884911,-0.015363630333,0.0798452001246,0.99999992506,0.000276542711691,-0.000268424001704,3.67795607928e-05,1793245447655246080
+80,1.333333333,BASELINE,764.572171016,744,714,679.427828984,659,634,878,785.427828984,807.572171016,651.427828984,630,652,0.400983689249,-0.0153643015467,0.0798448284873,0.999999925129,0.000275922678303,-0.000268792274038,3.68655942968e-05,1793245447671912704
+81,1.350000000,BASELINE,764,744,714,680,659,634,878,786,807,651.997320362,630,652.002679638,0.400983281996,-0.0153659216637,0.0798440698989,0.99999992547,0.000273928431116,-0.000269542897558,3.7016155932e-05,1793245447688579328
+82,1.366666667,BASELINE,764,744,714,680,659,634,878,786,807,651.410066889,630,652.589933111,0.400983998246,-0.0153670902129,0.0798451478341,0.999999926755,0.000270734018049,-0.000268003913844,3.69854144662e-05,1793245447705245952
+83,1.383333333,BASELINE,764,744,714,679.824457877,659,634,878,785.824457877,807,651.175542123,629.824457877,653,0.400984441315,-0.0153677361353,0.0798458372967,0.999999927441,0.000269112699029,-0.000267068401744,3.70206504253e-05,1793245447721912576
+84,1.400000000,BASELINE,764,744,714,679.242654565,659,634,878,785.242654565,807,651.757345435,629.242654565,653,0.400984252154,-0.0153671725306,0.0798456277087,0.999999926765,0.000271132027277,-0.000267529517645,3.7208579458e-05,1793245447738579456
+85,1.416666667,BASELINE,764,744,714,679.334182734,659,634,878,785,807,651.665817266,629.334182734,653,0.400984042702,-0.0153664187973,0.0798456030629,0.999999926766,0.000271104686216,-0.000267571216076,3.70898317625e-05,1793245447755246080
+86,1.433333333,BASELINE,764,744,714,679.907466909,659,634,878,785,807,651.092533091,629.907466909,653,0.400983818733,-0.0153655290305,0.0798457107398,0.999999927251,0.000269612991763,-0.000267312829195,3.67516626436e-05,1793245447771912704
+87,1.450000000,BASELINE,764.483592096,744.483592096,714,680,659,634,878,785.483592096,807,651,630,653,0.400983389168,-0.0153667479722,0.0798453567683,0.999999926995,0.000269897054559,-0.000267989892417,3.66952433832e-05,1793245447788579328
+88,1.466666667,BASELINE,764.938119693,745,714,680,658.938119693,633.938119693,878,786,807,651.061880307,630,653,0.400983061024,-0.0153681343655,0.07984503399,0.999999926674,0.000270432612971,-0.000268646944562,3.6695249126e-05,1793245447805246208
+89,1.483333333,BASELINE,764.345982138,745,714,680,658.345982138,633.345982138,878,786,807,651.654017862,630,653,0.400983941071,-0.0153674776819,0.0798457399249,0.999999927021,0.000270194424656,-0.000267589642267,3.67140630573e-05,1793245447821912576
+90,1.500000000,BASELINE,764,745,714,679.759826518,658.240173482,633.240173482,878,785.759826518,807,651.759826518,629.759826518,652.759826518,0.400984751492,-0.0153665479582,0.079846290586,0.999999927124,0.000270676476693,-0.000266725188742,3.66657060306e-05,1793245447838579200
+91,1.516666667,BASELINE,764,745,714,679.182078814,658.817921186,633.817921186,878,785.182078814,807,651.182078814,629.182078814,652.182078814,0.400985464049,-0.0153652344648,0.0798466230032,0.999999926881,0.000272170857728,-0.000266131792596,3.65229373146e-05,1793245447855246080
+92,1.533333333,BASELINE,764,744.606729419,714,679.393270581,659,634,878,785,807.393270581,651,629.393270581,652.393270581,0.400984378605,-0.015365250601,0.0798457172531,0.999999926353,0.000272713947371,-0.000267535643378,3.66842153628e-05,1793245447871912448
+93,1.550000000,BASELINE,764,744.032483625,714,679.967516375,659,634,878,785,807.967516375,651,629.967516375,652.967516375,0.400982465757,-0.0153658786059,0.0798442417235,0.999999925689,0.00027281927198,-0.000269858586975,3.69854096042e-05,1793245447888579072
+94,1.566666667,BASELINE,764,744,714,680,659,633.457992184,878.542007816,785.542007816,807.457992184,651.542007816,630,653,0.400982459851,-0.0153674809063,0.0798447265786,0.999999926773,0.00026967244979,-0.000269013075566,3.69224908619e-05,1793245447905245696
+95,1.583333333,BASELINE,764,744,714,679.879582581,659,633.120417419,878.879582581,785.879582581,807,651.879582581,630,653,0.400982497525,-0.015368447955,0.0798451215654,0.999999927386,0.000268088078606,-0.000268322261216,3.68742916695e-05,1793245447921912576
+96,1.600000000,BASELINE,764,744,714,679.285829218,659,633.714170782,878.285829218,785.285829218,807,651.285829218,630,653,0.400982257061,-0.0153666883321,0.0798447012611,0.999999925763,0.000273411867225,-0.000268986292953,3.69697687237e-05,1793245447938579200
+97,1.616666667,BASELINE,764,744,714,679.299075915,659,634,878,785,807,651.299075915,629.700924085,653,0.400983471057,-0.0153661259014,0.0798453699523,0.99999992575,0.000274764188011,-0.000267639173546,3.70747566708e-05,1793245447955245824
+98,1.633333333,BASELINE,764,744,714,679.875767682,659,634,878,785,807,651.875767682,629.124232318,653,0.400986035148,-0.0153666747593,0.0798470494987,0.999999927239,0.000272430011598,-0.000264425212237,3.71885730555e-05,1793245447971912448
+99,1.650000000,BASELINE,764,744,714,679.549355383,659,634,878,785,807,651.549355383,629.450644617,653,0.400985649653,-0.0153664565615,0.0798468141505,0.999999927198,0.000272546913332,-0.000264513499335,3.68105307732e-05,1793245447988579072
+100,1.666666667,BASELINE,764,744,714,679.02571003,659.02571003,634,878,785,807,651,630,653,0.400984495898,-0.0153660650276,0.0798460688985,0.999999926776,0.000273213561785,-0.000265484160185,3.63402025998e-05,1793245448005245696
+101,1.683333333,BASELINE,764,744,714,679.615853038,659.615853038,634,878,785,807,651,630,653,0.400984255708,-0.0153664918257,0.0798456720718,0.999999927198,0.000271174433359,-0.000265920719536,3.68087137215e-05,1793245448021912320
+102,1.700000000,BASELINE,764,744,714,679.798103165,659.798103165,634,878,785.201896835,807,651.201896835,630,653,0.400983953311,-0.0153667216766,0.0798453518367,0.999999927191,0.000270544339768,-0.00026655503182,3.70333114986e-05,1793245448038578944
+103,1.716666667,BASELINE,764,744,714,679.219703752,659.219703752,634,878,785.780296248,807,651.780296248,630,653,0.40098353491,-0.0153665842549,0.0798451744318,0.99999992639,0.000272541851965,-0.000267558118972,3.68030531443e-05,1793245448055245824
+104,1.733333333,BASELINE,764,744,714,679,659.355936555,634,878,786,806.644063445,651.644063445,630,653,0.400984050798,-0.0153660955761,0.0798454262311,0.999999926116,0.000274088998901,-0.000266988234855,3.68966706042e-05,1793245448071912448
+105,1.750000000,BASELINE,764,744,714,679,659.929886945,634,878,786,806.070113055,651.070113055,630,653,0.400985138945,-0.0153653917496,0.0798459409213,0.999999926164,0.000275360293896,-0.000265454894025,3.71886644294e-05,1793245448088579072
+106,1.766666667,BASELINE,764,744.506660857,714,679.506660857,659.493339143,634,878,786,807.013321714,651.506660857,630,653,0.400984349875,-0.015366311481,0.0798456189497,0.999999926089,0.000273816703551,-0.00026735907258,3.69571913653e-05,1793245448105245696
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878,785,807,651,630,653,0.400985186473,-0.0153660851453,0.0798459536897,0.999999927123,0.000271992229441,-0.000265382252513,3.66864561031e-05,1793245448147702016
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744.422256462,714,679,659,634,878,785,807,651,630,653,0.400983888995,-0.0153658679124,0.0798453747941,0.999999926211,0.000273294336736,-0.000267502174845,3.64671588811e-05,1793245448164368640
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744.155081471,714.155081471,679.155081471,659,634,878,785,807.155081471,651.155081471,630,653,0.400982907246,-0.0153658142335,0.0798448607074,0.999999925685,0.000273674033606,-0.000269097032109,3.63129706059e-05,1793245448181035264
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744.731318034,714.731318034,679.731318034,659,634,878,785,807.731318034,651.731318034,630,653,0.40098278292,-0.0153662047183,0.0798445226222,0.999999926218,0.000271548738751,-0.000269265969489,3.63355987916e-05,1793245448197701888
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.313494872,744.686505128,714.686505128,679.686505128,659,633.686505128,878,785.313494872,807.686505128,652,630,652.686505128,0.400982280145,-0.0153664805083,0.0798441154487,0.999999926348,0.000270932412823,-0.000269394872934,3.64122690516e-05,1793245448214368768
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.900861145,744.099138855,714.099138855,679.099138855,659,633.099138855,878,785.900861145,807.099138855,652,630,652.099138855,0.400981446754,-0.0153666560998,0.0798436479192,0.999999926128,0.000271634333252,-0.000269488802429,3.65361508596e-05,1793245448231035392
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.518291236,744,714,679.481708764,658.518291236,633.481708764,878,785.518291236,807,651.518291236,630,652.481708764,0.400982357581,-0.0153673361982,0.0798444357013,0.999999926353,0.000271676264223,-0.000268593415156,3.6664906407e-05,1793245448247702272
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,680,658.060866134,634,878,785,807,651.060866134,630,653,0.400983673441,-0.0153678359858,0.0798454880181,0.999999926615,0.000271768504104,-0.000267507169514,3.67589659568e-05,1793245448264368896
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658.636920683,634,878,785,807,651.636920683,630,653,0.400985419738,-0.0153659424504,0.0798466218675,0.99999992644,0.000273420928333,-0.000266505829672,3.65509719071e-05,1793245448281035520
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679.787836861,659,634,878,785.212163139,807,652,630,653,0.400990068569,-0.0153648748067,0.0798487536636,0.999999927052,0.000274156177154,-0.000263441376703,3.65227039915e-05,1793245448297702144
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744,714,679.213978918,659,634,878,785.786021082,807,652,630,653,0.400999665625,-0.0153652151394,0.0798525867549,0.99999992898,0.000273327829119,-0.000256859737478,3.68008324334e-05,1793245448314368768
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679.370659662,659,634,878,785.629340338,807,652,630,653,0.401026169295,-0.0153670292168,0.0798629282987,0.999999934065,0.000271725139747,-0.000237980050394,3.74407740123e-05,1793245448331035392
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744,714,679.961708311,659,634,878,785.038291689,807,652,630,653,0.401062725398,-0.0153697195618,0.0798771396764,0.999999940481,0.000269662037754,-0.000211788117448,3.82958445653e-05,1793245448347702272
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.543905175,744,714,680,659,633.456094825,878,785,807,651.456094825,630,653,0.40112366643,-0.0153723270614,0.0798966298242,0.999999947369,0.00027061163279,-0.000174578942971,3.94221651379e-05,1793245448364368640
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.876433893,744,714,679.876433893,659,633.123566107,878,785.123566107,807,651,629.876433893,653,0.401189390411,-0.015374890778,0.0799149098189,0.999999952384,0.000271305394097,-0.000141483149054,4.01028066386e-05,1793245448381035520
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.303761059,744,714,679.303761059,659,633.696238941,878,785.696238941,807,651,629.303761059,653,0.40126635863,-0.0153773162231,0.0799274623757,0.99999995475,0.000270310781802,-0.000126111533418,3.90953122329e-05,1793245448397702144
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633.724532694,878,785.724532694,807,651,629,653,0.401349268336,-0.0153804280055,0.079936851095,0.999999956869,0.000268821268725,-0.00011218415685,3.75729717107e-05,1793245448414368768
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633.137899277,878,785.137899277,807,651,629,653,0.401438889503,-0.0153843150701,0.0799426659627,0.999999958798,0.00026677271897,-9.98881844435e-05,3.54690643673e-05,1793245448431035392
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633.445616909,878,785,807,651,629.445616909,653,0.4015448558,-0.0153880949693,0.0799454584476,0.999999960097,0.000264670769986,-9.33532362381e-05,3.22717813041e-05,1793245448447702016
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.027810782,785.027810782,807,651,630,652.972189218,0.401657092666,-0.0153919540641,0.0799473806327,0.999999961238,0.000262403111053,-8.85601081289e-05,2.87252606023e-05,1793245448464368896
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.602835463,785.602835463,807,651,630,652.397164537,0.401793877555,-0.0153980194329,0.0799504538917,0.999999963153,0.00025719777711,-8.32045367112e-05,2.49183168773e-05,1793245448481035776
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.17787069,744,714,679,659,634,878.82212931,785.82212931,807.17787069,651,630,652.17787069,0.401941821708,-0.0154040616618,0.0799536088055,0.999999965084,0.00025187176178,-7.7217985615e-05,2.07156708248e-05,1793245448497702400
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.752929392,744,714,679,659,634,878.247070608,785.247070608,807.752929392,651,630,652.752929392,0.402114684653,-0.0154100522182,0.0799569460553,0.999999967114,0.000246276263752,-6.98224478294e-05,1.5629415847e-05,1793245448514368768
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.662876882,744,714.337123118,679.337123118,659,634,877.662876882,785,807.662876882,651,630,653,0.402293372943,-0.0154159150431,0.0799561713001,0.999999969114,0.00023772242596,-7.19281313886e-05,9.26024319924e-06,1793245448531035392
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.071801759,744,714.928198241,679.928198241,659,634,877.071801759,785,807.071801759,651,630,653,0.402476449434,-0.0154216816496,0.0799522990066,0.999999970951,0.000226940095122,-8.11910041694e-05,1.92465894059e-06,1793245448547702016
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,715,679.49165028,659.50834972,634,877.50834972,785.50834972,807.50834972,651.50834972,629.49165028,653,0.402691826447,-0.0154296738238,0.0799473521593,0.999999976135,0.000199031403272,-8.99162709346e-05,-5.68774321716e-06,1793245448564368896
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714.913713742,679.086286258,659.913713742,633.913713742,878,785.913713742,807.913713742,652,629.086286258,652.913713742,0.402920069631,-0.0154383824289,0.0799436355225,0.999999982071,0.00016271101167,-9.59458587295e-05,-1.33257747225e-05,1793245448581035520
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744,714.339758589,679.660241411,659.339758589,633.339758589,878,785.339758589,807.339758589,652,629.660241411,652.339758589,0.403195786892,-0.0154494008753,0.0799477114856,0.99999999173,9.2233782133e-05,-8.71602625288e-05,-2.08923301691e-05,1793245448597702144
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744.240078278,714,680,659,633.240078278,878,785.240078278,807,651.759921722,630,652.240078278,0.403488719357,-0.0154594405899,0.0799514449943,0.999999995331,4.72613809768e-05,-7.95607242082e-05,-2.78153044897e-05,1793245448614368768
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744.828447953,714,680,659,633.828447953,878,785.828447953,807,651.171552047,630,652.828447953,0.403806626608,-0.0154680604174,0.0799546816901,0.999999995942,3.9289884411e-05,-7.36818496916e-05,-3.38046089662e-05,1793245448631035392
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744.589776887,714,679.589776887,659,634,878.820446227,785.589776887,807,651,630,653,0.404155106932,-0.0154746208625,0.0799568387921,0.999999995863,5.35145229991e-05,-6.79409102577e-05,-2.81671303617e-05,1793245448647702016
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.010715883,714,679.010715883,659,634,879.978568235,785.010715883,807,651,630,653,0.404516170382,-0.0154803337156,0.0799585515592,0.99999999495,7.68745530008e-05,-6.22567416685e-05,-1.77443494841e-05,1793245448664368640
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.567319359,744,714,679.567319359,659,634,878.865361282,785,807,651,630,653,0.404914201752,-0.0154883706089,0.079955334476,0.999999996236,5.41789690518e-05,-6.35478368647e-05,-2.35236170231e-05,1793245448681035520
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.85533265,744,714,680,659,634,878,785.14466735,807,651,630,653,0.405321491192,-0.0154958239205,0.0799510487085,0.999999996677,3.40827490477e-05,-6.82414098304e-05,-2.87768092936e-05,1793245448697702144
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.279973211,744,714,680,659,634,878,785.720026789,807,651,630,653,0.405754267858,-0.0155014093843,0.0799438580632,0.999999995789,2.43103559048e-05,-8.26730308595e-05,-3.15543543189e-05,1793245448714368768
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.698525994,807,651,629.698525994,653,0.406210539692,-0.015495534514,0.0799376176098,0.999999994498,3.42781783355e-05,-9.36564693173e-05,-3.25097575609e-05,1793245448731035392
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.111308584,807,651,629.111308584,653,0.40668908079,-0.0154787972988,0.0799322777675,0.999999992376,6.29561910885e-05,-0.000101371649459,-3.17380968089e-05,1793245448747702016
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744,714,679.530677331,659,633.530677331,878,785,807,651,629.469322669,653,0.407194649188,-0.0154745787911,0.0799287191513,0.999999991056,6.88729603966e-05,-0.000109727305548,-3.32244525986e-05,1793245448764368896
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,744,714.048144531,679.048144531,659,633.048144531,878.048144531,785,807,651,629.951855469,653,0.407709457944,-0.0154743533124,0.0799250112873,0.999999990026,6.76125923164e-05,-0.00011888216351,-3.52576626153e-05,1793245448781035520
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744,714.624018426,679.624018426,659,633.624018426,878.624018426,785,807,651,629.375981574,653,0.408256263717,-0.0154858024905,0.0799151009125,0.999999989104,4.60343318021e-05,-0.000135155368334,-3.74962345007e-05,1793245448797702144
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744,714.800017395,680,659.199982605,634,879,785.199982605,807,651,629.199982605,653,0.408836573734,-0.0154946949706,0.0799163891161,0.99999998986,3.0055508666e-05,-0.000133662226177,-3.88765765947e-05,1793245448814369024
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714.223883432,680,659.776116568,634,879,785.776116568,807,651,629.776116568,653,0.409479902536,-0.0154987785049,0.079938740955,0.999999994075,2.46087827183e-05,-9.8751998994e-05,-3.86426566613e-05,1793245448831035648
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.360030642,744,714,680,660,634,878.639969358,785.639969358,807.360030642,651.360030642,630,653,0.410155999802,-0.0154995011832,0.0799678006126,0.99999999763,2.7628152578e-05,-5.10314219024e-05,-3.70442890699e-05,1793245448847702272
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.948889578,744,714,680,660,634,878.051110422,785.051110422,807.948889578,651.948889578,630,653,0.410852924025,-0.0154980877683,0.0800011236251,0.999999998741,3.60284041665e-05,4.83115676149e-06,-3.45787057049e-05,1793245448864368640
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.470077686,744,714,680,660,633.470077686,878,785.529922314,807.470077686,652,630,653,0.411517551885,-0.0154934198715,0.079984600168,0.999999998346,3.51512074085e-05,-2.54471373593e-05,-3.77516448935e-05,1793245448881035520
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,744,714,679.890801245,660,633.109198755,878.109198755,785.890801245,807.109198755,652,630,653,0.412184628246,-0.0154896703812,0.0799609256323,0.999999996521,3.20732719286e-05,-6.45936421729e-05,-4.19080593447e-05,1793245448897702144
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,744,714,679.315843321,660,633.684156679,878.684156679,785.315843321,807.684156679,652,630,653,0.41287524053,-0.0154911574563,0.079926957323,0.99999999289,2.33696457657e-05,-0.000106644480717,-4.79734277234e-05,1793245448914368768
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,744.25940408,714,679,660,633.74059592,879,785,807.74059592,651.74059592,629.74059592,653,0.413605687675,-0.0154939848718,0.0799133381554,0.999999991493,1.67600446816e-05,-0.000118810269774,-5.11587462165e-05,1793245448931035392
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,744.83500441,714,679,660,633.16499559,879,785,807.16499559,651.16499559,629.16499559,653,0.414384690947,-0.0154984460728,0.0799245232278,0.999999994158,1.27029191933e-05,-9.45481851015e-05,-5.0833477113e-05,1793245448947702272
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,744.577034697,714,679.422965303,660,633.422965303,879,785,807,651,629.422965303,653,0.415187830904,-0.0155023155878,0.0799461050211,0.999999996854,7.9645746417e-06,-6.16754288725e-05,-4.9249971404e-05,1793245448964368896
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.015395987,744.015395987,714,680,660,634,879,785,807.015395987,651,630,653,0.415999849762,-0.0155056847179,0.0799706599574,0.999999998505,3.2274915112e-06,-2.72648214476e-05,-4.72918624657e-05,1793245448981035520
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.589778828,744.589778828,714,680,660,634,879,785,807.589778828,651,630,653,0.416782095608,-0.0154995186682,0.0799514781113,0.999999996747,8.47488805844e-06,-6.26448749202e-05,-5.00900440375e-05,1793245448997702400
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.834935034,745,714,680,660,634,879,785,808,651,630,653,0.417597244344,-0.0154965121332,0.079946054916,0.999999996171,1.12484953968e-05,-6.97849112036e-05,-5.15891290594e-05,1793245449014369024
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.257391695,745,714,680,660,634,879,785,808,651,630,653,0.418494613569,-0.0155014008624,0.0799750130087,0.999999998707,7.84038755164e-06,-6.3563886536e-06,-4.9841920974e-05,1793245449031035648
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.326493869,745,714,680.326493869,660,633.673506131,879,785.326493869,807.673506131,651,630,653,0.419376047878,-0.0155059167466,0.0799852579091,0.999999998587,1.04003173589e-06,1.80870440138e-05,-4.99746359215e-05,1793245449047702016
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.915478349,745,714,680.915478349,660,633.084521651,879,785.915478349,807.084521651,651,630,653,0.420244670981,-0.0155101328751,0.0799804580008,0.999999998569,-8.48758259584e-06,1.11877102859e-05,-5.16187489578e-05,1793245449064368640
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.503940434,714,680.503940434,660,633,879,785.503940434,807,651,630,653,0.421119494691,-0.0155093956946,0.0799706992847,0.999999998477,-1.00159922225e-05,-7.29212626326e-06,-5.37877555034e-05,1793245449081035264
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.925293412,744,714,680.074706588,660.074706588,633,879,785.074706588,807.074706588,651,630,653,0.422002575371,-0.0155082857103,0.0799657111683,0.999999998251,-9.47441059664e-06,-1.88813849352e-05,-5.52340528921e-05,1793245449097702144
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.350171667,744,714,680.649828333,660.649828333,633,879,785.649828333,807.649828333,651,630,653,0.422934005231,-0.015510237652,0.0799982437652,0.999999998267,-4.04472045295e-06,2.86821034806e-05,-5.12502590692e-05,1793245449114368768
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.228043436,744,714,681,660.771956564,633,879.228043436,786,808,651,630,653,0.423828075652,-0.0155107790761,0.0800094022477,0.999999998146,3.34462973847e-06,3.52705852154e-05,-4.95276009103e-05,1793245449131035136
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.811073946,744,714,681,660.188926054,633,879.811073946,786,808,651,630,653,0.424663990112,-0.0155091247983,0.0799872884148,0.999999998348,1.37845135811e-05,-2.19252556924e-05,-5.13247713276e-05,1793245449147702016
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,879.606526876,785.606526876,808,651,630,653,0.425564560027,-0.0155104672535,0.079952099298,0.999999995876,9.54870675016e-06,-7.13607967354e-05,-5.53501538408e-05,1793245449164368640
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,879.024430381,785.024430381,808,651,630,653,0.42649612446,-0.0155132462843,0.0799106421457,0.999999991318,-1.72234167155e-06,-0.000117076197288,-6.04436977839e-05,1793245449181035264
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.554678296,714,681.554678296,660,633,879,785,808.554678296,651,630,653,0.427416342348,-0.0155136900822,0.0799078428342,0.999999991079,-2.98766804979e-06,-0.00011931173387,-5.99881909568e-05,1793245449197702144
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.866991786,744.866991786,714,682,660.133008214,633,879.133008214,785.133008214,808.866991786,651,630,653,0.42833940559,-0.0155141328942,0.0799120619657,0.999999991688,-6.09991050272e-06,-0.000114353589888,-5.92537067414e-05,1793245449214368768
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.290820499,744.290820499,714,682,660.709179501,633,879.709179501,785.709179501,808.290820499,651,630,653,0.429273605235,-0.0155149132773,0.0799340228857,0.999999993942,-1.68262550138e-05,-9.17736265123e-05,-5.83996653899e-05,1793245449231035392
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,744.290184017,714,682,660.709815983,633.290184017,879.709815983,786,808,651,630.290184017,653,0.430218104217,-0.0155193711527,0.0799706985158,0.999999997396,-2.11123866943e-05,-4.03889949512e-05,-5.59527886681e-05,1793245449247702016
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,744.876114369,714,682,660.123885631,633.876114369,879.123885631,786,808,651,630.876114369,653,0.431173099898,-0.0155275770114,0.0800223709095,0.999999997663,-1.88348572053e-05,4.03524386337e-05,-5.18825445172e-05,1793245449264368640
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.458985492,745,714,682,660.458985492,633.541014508,879.458985492,785.541014508,808,651,630.541014508,653,0.43208420774,-0.0155265601411,0.0800206844273,0.999999997965,-1.49951175342e-05,3.30067655366e-05,-5.24974386991e-05,1793245449281035520
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.959539884,714,682,661,633,879.959539884,785,808.040460116,651,630,653,0.432978886446,-0.0155230537405,0.0800012919139,0.999999998441,-1.11534548976e-05,-1.79578524009e-06,-5.4690653623e-05,1793245449297702144
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.385662912,714,682,661,633,879.385662912,785,808.614337088,651,630,653,0.433812105221,-0.0155193273298,0.079937085209,0.999999994247,-1.28086936215e-05,-8.7204775668e-05,-6.11306109776e-05,1793245449314368768
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.18883027,714,682,661.18883027,633.18883027,879.18883027,785,809,651,630,653,0.434666233976,-0.0155168929481,0.0799014794932,0.999999988968,-1.74652641344e-05,-0.000132209194739,-6.54135066956e-05,1793245449331035392
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.764586215,714,682,661.764586215,633.764586215,879.764586215,785,809,651,630,653,0.43556320881,-0.0155171060181,0.0799244790782,0.999999993012,-2.82717618241e-05,-9.44219997124e-05,-6.52764427821e-05,1793245449347702272
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.652024447,714,682.347975553,661.304048895,633.652024447,880,785,809,651,630,653,0.43643670753,-0.0155212012076,0.0799537575789,0.999999995745,-3.33631846142e-05,-5.93394976493e-05,-6.22566748586e-05,1793245449364368896
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.063355147,714,682.936644853,660.126710295,633.063355147,880,785,809,651,630,653,0.437293967831,-0.0155279816485,0.0799873791872,0.999999997425,-3.45015049213e-05,-2.61278266556e-05,-5.72429483802e-05,1793245449381035520
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.518141015,714,682.481858985,660.518141015,633,880.518141015,785,809,651,630,653,0.438165368616,-0.0155383218005,0.0800008289073,0.999999997066,-4.99867843845e-05,1.15971513493e-07,-5.80432310963e-05,1793245449397701888
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.902123273,682,660.902123273,633,880.902123273,785,809,651,630,653,0.439013328624,-0.0155480344088,0.0800006343995,0.999999996017,-6.5866433049e-05,6.12379160935e-06,-5.992343834e-05,1793245449414368768
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.326755487,682,660.326755487,633,880.326755487,785,809,651,630,653,0.439738613104,-0.0155525911305,0.0799457450849,0.999999991742,-7.52287258892e-05,-8.24898243573e-05,-6.36512776436e-05,1793245449431035648
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.751241487,745,713,682,660,632.751241487,880,784.751241487,809,651,630,653,0.440420812294,-0.0155563592114,0.079865290374,0.999999971836,-8.59192841331e-05,-0.000209920037804,-6.98553355144e-05,1793245449447702272
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.175535362,745,713,682,660,632.175535362,880,784.175535362,809,651,630,653,0.441046383684,-0.0155590907677,0.0797512346253,0.999999916603,-9.83556025576e-05,-0.000388367566422,-7.93139289383e-05,1793245449464368896
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,713.411789351,682.411789351,660,632.411789351,879.588210649,784,809,651,630,653,0.441729690231,-0.0155685741443,0.0797043326827,0.999999887279,-0.00011371245719,-0.000453433821407,-8.31268018279e-05,1793245449481035264
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.00410183,745,714,682.99589817,659.99589817,632.99589817,879.00410183,784,809,651,630,653,0.442438743587,-0.0155811530725,0.0796874581875,0.999999878413,-0.000130445345989,-0.000468014734941,-8.43822043416e-05,1793245449497702144
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.581216437,745,714,682.418783563,659.418783563,632.418783563,879.581216437,784,809,651,630,653,0.443206631248,-0.0156124314011,0.0797502605404,0.99999991302,-0.000160440394909,-0.000377750105363,-7.43264266979e-05,1793245449514369024
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.84304714,682,659.15695286,632,880,783.84304714,809,651,630,653,0.443940884396,-0.0156403932039,0.0797977496706,0.999999931712,-0.000189443676811,-0.000310195338455,-6.68279204716e-05,1793245449531035904
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764.689985366,744.689985366,713.310014634,682.310014634,659.689985366,631.689985366,879.689985366,783,809,651,629.689985366,653,0.445196632869,-0.0156714212407,0.0797969497457,0.999999920831,-0.000230165142507,-0.000317696176682,-6.65647701749e-05,1793245449564369152
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+194,3.233333333,POSE1_TO_POSE2_PRESS,764,744,714,682.517884838,659,631,879.482115162,782.517884838,809,651,629,653,0.446347362313,-0.0156794044249,0.0797548096571,0.9999998979,-0.000240658658535,-0.000376017480128,-6.99615178871e-05,1793245449597702656
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,744.637864165,713.362135835,682.637864165,658.362135835,631,880,781.362135835,809,651,629,653,0.447440212822,-0.0156839795366,0.0797188026346,0.999999880014,-0.000252129513099,-0.000413539860561,-7.33982043848e-05,1793245449631035648
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.212275721,745,713.212275721,683,658.212275721,630.787724279,879.787724279,781,809.212275721,651,629,653,0.447936657703,-0.0156888674466,0.0797003926889,0.999999866013,-0.000260514435068,-0.000441058851889,-7.46544887078e-05,1793245449647702272
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.786334483,745,713.786334483,683,658.786334483,630.213665517,879.213665517,781,809.786334483,651,629,653,0.448380212761,-0.0156981344847,0.0796771136085,0.999999840934,-0.000276104409339,-0.00048602182361,-7.5370108269e-05,1793245449664368896
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,744.627285755,714,683,658.627285755,630.372714245,879.372714245,781,810,651,629,653,0.448822780147,-0.015707309204,0.079667015069,0.999999829701,-0.000290440259582,-0.000500437325673,-7.6189937457e-05,1793245449681035776
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+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745,713.02651105,683,657,629,879.97348895,777.97348895,809.02651105,651,629,653,0.451680528799,-0.0157479294565,0.0796715902788,0.999999809804,-0.000354819633165,-0.000498618234033,-7.66478617157e-05,1793245449814370048
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745,714,683.049352484,657,628.950647516,879,775,809.049352484,651,628.049352484,653,0.453669047375,-0.0157862096587,0.0796049074823,0.999999736996,-0.000401123417939,-0.000599356467713,-7.66857537387e-05,1793245450131035392
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,745,714,683.624155918,657,628.375844082,879,775,809.624155918,651,628.624155918,653,0.453677464443,-0.0157851886254,0.0796035911275,0.999999736667,-0.00040000458902,-0.000600726188453,-7.60934634144e-05,1793245450147702016
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,744.649028845,714,679,658,633,878,784.649028845,807,651,629.649028845,652.350971155,0.407242770796,-0.0153576210381,0.0797987291164,0.999999903202,0.000274653223546,-0.000341407991519,4.00302954904e-05,1793245452273844480
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,744,714,680,658,634,878.033554605,784.033554605,808,651,630,652.033554605,0.405344363348,-0.0153616444754,0.0797981945884,0.999999914599,0.000261678322317,-0.000317766421624,3.67484721606e-05,1793245452340512256
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97c8d19c11b1823b5e5e291034ce8c4d4fc53a5f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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+377,6.283333333,pose2_to_pose3_retreat,0.575788934598,-0.0101221830715,1.07005103015,0.546360568317,-0.00144649587049,1.06971751323
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+380,6.333333333,pose2_to_pose3_retreat,0.575711557233,-0.0101222495667,1.07005073388,0.546283190899,-0.00144656213112,1.06971722777
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+382,6.366666667,pose2_to_pose3_retreat,0.57568637278,-0.0101220994598,1.07005104878,0.546258005949,-0.00144641365877,1.06971754417
+383,6.383333333,pose2_to_pose3_retreat,0.575679950536,-0.0101221160466,1.0700510004,0.546251582739,-0.00144643333152,1.06971750086
+384,6.400000000,pose2_to_pose3_retreat,0.575676037551,-0.0101221389003,1.07005095272,0.546247669634,-0.00144645661168,1.06971745263
+385,6.416666667,pose2_to_pose3_retreat,0.575674166375,-0.0101221497963,1.07005098821,0.546245799646,-0.00144646377751,1.0697174802
+386,6.433333333,pose2_to_pose3_retreat,0.575673130788,-0.0101221558266,1.07005100786,0.546244764717,-0.00144646774339,1.06971749545
+387,6.450000000,pose2_to_pose3_retreat,0.57567269826,-0.0101221754245,1.0700509966,0.546244332596,-0.00144648596276,1.06971748408
+388,6.466666667,pose2_to_pose3_retreat,0.575672618644,-0.0101221821857,1.07005099093,0.54624425308,-0.00144649237481,1.06971747871
+389,6.483333333,pose2_to_pose3_retreat,0.575672527794,-0.0101221899008,1.07005098446,0.546244162343,-0.00144649969161,1.06971747259
+390,6.500000000,pose2_to_pose3_retreat,0.575672123051,-0.0101222242721,1.07005095566,0.546243758107,-0.00144653228833,1.06971744529
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+394,6.566666667,pose2_to_pose3_retreat,0.575671207027,-0.0101223020622,1.07005089046,0.546242843228,-0.00144660606212,1.06971738352
+395,6.583333333,pose2_to_pose3_retreat,0.57567115452,-0.0101223065212,1.07005088672,0.546242790786,-0.00144661029091,1.06971737998
+396,6.600000000,pose2_to_pose3_retreat,0.575671026844,-0.0101223173636,1.07005087763,0.54624266327,-0.00144662057352,1.06971737137
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+401,6.683333333,pose2_to_pose3_retreat,0.575670043197,-0.0101222595648,1.07005085963,0.546241676923,-0.00144657196082,1.06971735264
+402,6.700000000,pose2_to_pose3_retreat,0.575669864267,-0.0101222346828,1.07005086164,0.546241497102,-0.00144655012211,1.06971735407
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+405,6.750000000,pose2_to_pose3_retreat,0.575669576723,-0.0101221130188,1.0700507917,0.546241208026,-0.00144643378815,1.06971728072
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdd2060b6bacc664b079c09b162b2c5f49cb57eb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:698b70bb032e89c40fbedbfa2dc28dc77396b9faecf8a2ed1098633804735f83
+size 25907035
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89c2c8a233cf9377fbb03532fc9b32ad535f2d4a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+24,0.400000000,BASELINE,764,744,714,680,658.923703658,634,878,785,807,651.076296342,629.923703658,652.923703658,0.400979278026,-0.015367824521,0.0798424609849,0.999999925027,0.000269568161641,-0.000275465256275,3.73821851994e-05,1793245453717564160
+25,0.416666667,BASELINE,764,744,714,679.496722196,658.496722196,634,878,785,807,651,629.496722196,652.496722196,0.400979000404,-0.0153657251831,0.0798427649842,0.999999924535,0.000271459386341,-0.000275403294629,3.73284882545e-05,1793245453734231040
+26,0.433333333,BASELINE,764,744,714,679.080589614,658.080589614,634,878.080589614,785,807,651,629.080589614,652.080589614,0.40097865352,-0.0153637937459,0.0798429726092,0.999999924059,0.000273299449653,-0.000275326028073,3.72093003244e-05,1793245453750897408
+27,0.450000000,BASELINE,764,744,714,679.654746763,658.654746763,634,878.654746763,785,807,651,629.654746763,652.654746763,0.40097818872,-0.0153651849502,0.0798424225907,0.999999924267,0.000272417602878,-0.000275508459761,3.67462988287e-05,1793245453767564288
+28,0.466666667,BASELINE,764,744,714,680,659,634,879,785.235163244,807,651,630,652.764836756,0.400977411519,-0.0153659628241,0.0798415393097,0.999999924193,0.000271834129695,-0.000276380711405,3.6533640794e-05,1793245453784230912
+29,0.483333333,BASELINE,764,744,714,680,659,634,879,785.825020574,807,651,630,652.174979426,0.400976163124,-0.0153658156185,0.0798401533726,0.999999923692,0.000271700690115,-0.000278293410746,3.66985730232e-05,1793245453800897536
+30,0.500000000,BASELINE,764,744,714,679.592650837,659,634,878.592650837,785.592650837,807,651,630,652,0.400976616403,-0.0153658509879,0.0798407175274,0.999999923758,0.000272323715709,-0.000277401429328,3.70322182358e-05,1793245453817564160
+31,0.516666667,BASELINE,764,744,714,679.013497595,659,634,878.013497595,785.013497595,807,651,630,652,0.400977787381,-0.0153659633603,0.0798421041554,0.99999992406,0.000273265788981,-0.000275326542281,3.7437020038e-05,1793245453834230784
+32,0.533333333,BASELINE,764,744,714,679,659,633.438407232,878,785,807,651,630,652,0.400977702554,-0.0153645997731,0.0798420018586,0.999999924069,0.000273010337394,-0.00027559928195,3.70387116185e-05,1793245453850897408
+33,0.550000000,BASELINE,764,744,714,679.136128256,658.863871744,633.136128256,878,785,807,651.136128256,629.863871744,652,0.400977667529,-0.0153637265222,0.0798418339084,0.9999999242,0.000272256293593,-0.00027592061843,3.66616533087e-05,1793245453867564288
+34,0.566666667,BASELINE,764,744,714,679.709193803,658.290806197,633.709193803,878,785,807,651.709193803,629.290806197,652,0.400977888537,-0.015364540172,0.0798415692653,0.99999992474,0.000269993613952,-0.000276218132343,3.64143131994e-05,1793245453884231168
+35,0.583333333,BASELINE,764,744,714,680,658,633.708087868,878,785,807,651.708087868,629,652,0.400978758279,-0.0153657767006,0.0798418825597,0.99999992513,0.000269305769448,-0.000275465146852,3.65156743243e-05,1793245453900897792
+36,0.600000000,BASELINE,764,744,714,680,658,633.115424397,878,785,807,651.115424397,629,652,0.400980296399,-0.0153674489131,0.0798427912917,0.999999925365,0.0002702404464,-0.000273629852482,3.69762954566e-05,1793245453917564928
+37,0.616666667,BASELINE,764.466434901,744,714,679.533565099,658,633,878,785,807,651,629.466434901,652.466434901,0.400979122275,-0.0153666720172,0.0798421391859,0.999999924473,0.00027221154456,-0.000274938070449,3.69418986282e-05,1793245453934231296
+38,0.633333333,BASELINE,764.954560209,744,714.045439791,679,658,633.045439791,878,785,807,651,630,653,0.400977340977,-0.015365320584,0.0798411770997,0.999999923342,0.000274391601192,-0.000276897196446,3.67975301692e-05,1793245453950897408
+39,0.650000000,BASELINE,764.378373608,744,714.621626392,679,658,633.621626392,878,785,807,651,630,653,0.400976129733,-0.015364177065,0.0798410036792,0.999999922688,0.000276084489665,-0.000277578769326,3.6767075805e-05,1793245453967564288
+40,0.666666667,BASELINE,764,744,714.798762626,679,658,634,878,785,807.201237374,651.201237374,630,652.798762626,0.400975809527,-0.0153636769497,0.0798410277704,0.999999922558,0.000276378085069,-0.000277746519265,3.68207623557e-05,1793245453984231168
+41,0.683333333,BASELINE,764,744,714.212601572,679,658,634,878,785,807.787398428,651.787398428,630,652.212601572,0.400977193683,-0.015364407527,0.0798414296589,0.999999923432,0.000273995134639,-0.000276931436734,3.7035392325e-05,1793245454000897536
+42,0.700000000,BASELINE,764,744,714.369086258,679,658.369086258,634,878,785.369086258,807.630913742,652,630,652,0.400978006574,-0.0153652404699,0.0798417559513,0.999999923955,0.000273286868334,-0.000275716487882,3.7219861329e-05,1793245454017564160
+43,0.716666667,BASELINE,764,744,714.948228251,679,658.948228251,634,878,785.948228251,807.051771749,652,630,652,0.400978494345,-0.0153661316714,0.0798420392201,0.999999924278,0.000273531704528,-0.00027427396566,3.73871650054e-05,1793245454034230784
+44,0.733333333,BASELINE,764,744,714.474433156,679,658.474433156,634,878,785.474433156,806.474433156,651.474433156,630,652,0.400977711786,-0.0153650409435,0.0798416673782,0.999999923402,0.000275661473719,-0.000275357395752,3.72175333108e-05,1793245454050897920
+45,0.750000000,BASELINE,764,744,714,679.102426618,658.102426618,634,878,785,806.102426618,651,630,652.102426618,0.400977060525,-0.0153641912448,0.0798413984651,0.999999922721,0.000277216595065,-0.000276292271846,3.7042333047e-05,1793245454067564800
+46,0.766666667,BASELINE,764,744,714,679.677892498,658.677892498,634,878,785,806.677892498,651,630,652.677892498,0.40097759158,-0.0153653532627,0.0798419019244,0.999999923509,0.000275263216644,-0.000275395862925,3.69941748726e-05,1793245454084231424
+47,0.783333333,BASELINE,764,744,714,680,658.740938565,634,878,785,807,651,629.740938565,652.740938565,0.400978422514,-0.0153660913463,0.0798424799713,0.99999992412,0.000273839857112,-0.000274592895999,3.70308427549e-05,1793245454100898048
+48,0.800000000,BASELINE,764,744,714,680,658.152518959,634,878,785,807,651,629.152518959,652.152518959,0.400979634698,-0.0153662904605,0.0798431528455,0.999999924507,0.000273090337676,-0.000273908726584,3.71753543738e-05,1793245454117564416
+49,0.816666667,BASELINE,763.568198036,744,714,679.568198036,658,633.568198036,877.568198036,785,807,651,629.431801964,652,0.400978506007,-0.0153661280124,0.0798422230019,0.999999924329,0.00027256361371,-0.000275118264388,3.68852576571e-05,1793245454134231040
+50,0.833333333,BASELINE,763.014441396,744,714,679,658,633,877.014441396,785,807,651,629.985558604,652,0.400976627579,-0.0153658523037,0.0798407852764,0.999999923972,0.000272108675875,-0.000276917852647,3.64592134352e-05,1793245454150897920
+51,0.850000000,BASELINE,763.587512696,744,714,679,658,633,877.587512696,785,807,651,629.412487304,652,0.400977430672,-0.0153660890533,0.0798413938215,0.999999924432,0.000271415118542,-0.000275911179135,3.66567029501e-05,1793245454167564288
+52,0.866666667,BASELINE,764,744,714,679,658,633.160708505,878,785,807,651.160708505,629.160708505,652.160708505,0.400977982469,-0.0153663916199,0.079842005586,0.999999924707,0.000271225310327,-0.000275070520976,3.68631566301e-05,1793245454184230912
+53,0.883333333,BASELINE,764,744,714,679,658,633.734224099,878,785,807,651.734224099,629.734224099,652.734224099,0.400977888765,-0.0153668632484,0.0798426256202,0.999999924512,0.000272329467323,-0.00027465630151,3.70926362795e-05,1793245454200897536
+54,0.900000000,BASELINE,764,744,714,679.319194814,658.319194814,634,878,785,807,651.680805186,629.680805186,652.680805186,0.40097771536,-0.0153666997996,0.0798426610445,0.999999924177,0.000273460697713,-0.000274739642711,3.71935501315e-05,1793245454217564160
+55,0.916666667,BASELINE,764,744,714,679.914058582,658.914058582,634,878,785,807,651.085941418,629.085941418,652.085941418,0.400977473121,-0.0153659878735,0.0798421915771,0.99999992372,0.000274615309671,-0.000275252696517,3.71834295895e-05,1793245454234230784
+56,0.933333333,BASELINE,764,744,714,680,659,633.505121627,878,785.494878373,807,651,629.494878373,652,0.400977675668,-0.0153662180284,0.0798420814734,0.999999924127,0.000272999342184,-0.000275429539614,3.6809364217e-05,1793245454250897152
+57,0.950000000,BASELINE,764,744,714,679.927310875,658.927310875,633,878.072689125,785.927310875,807,651,630,652.072689125,0.400977947286,-0.0153665169542,0.0798420863648,0.999999924574,0.000271354610352,-0.000275475778736,3.64815899901e-05,1793245454267564032
+58,0.966666667,BASELINE,764,744,714,679.353891518,658.353891518,633,878.646108482,785.353891518,807,651,630,652.646108482,0.400978177301,-0.0153661937116,0.079842465376,0.999999924311,0.000272734699783,-0.000275013440395,3.68960704798e-05,1793245454284230656
+59,0.983333333,BASELINE,764,744,714,679.224361187,658.224361187,633.224361187,878.775638813,785,807,651,630,652.775638813,0.400978085413,-0.0153657035801,0.079842464735,0.999999924055,0.000273727663922,-0.000274941271155,3.70257503203e-05,1793245454300897280
+60,1.000000000,BASELINE,764,744,714,679.810405617,658.810405617,633.810405617,878.189594383,785,807,651,630,652.189594383,0.400977474602,-0.0153649444138,0.0798418520728,0.999999923813,0.000274096559859,-0.000275498077061,3.66963150638e-05,1793245454317563904
+61,1.016666667,BASELINE,764,744,714,680,659,634,878,785,807,651,630.393877575,652,0.400977381248,-0.0153662280464,0.0798419199535,0.999999924399,0.000272101729035,-0.000275350819589,3.66582742495e-05,1793245454334230528
+62,1.033333333,BASELINE,764,744,714,680,659,634,878,785,807,651,630.976119263,652,0.400977535358,-0.015368488607,0.0798423132903,0.999999925374,0.000268976492893,-0.00027486685778,3.67595870492e-05,1793245454350897152
+63,1.050000000,BASELINE,764,744.55195644,714,679.44804356,659,634,878,785,807,651,630.44804356,652.55195644,0.400978186114,-0.0153672072441,0.0798426376131,0.999999924982,0.00027066493013,-0.000274602687608,3.7019720962e-05,1793245454367563776
+64,1.066666667,BASELINE,764,744.87242959,714,679.12757041,658.87242959,633.87242959,878,785.12757041,807,651,630,653,0.400978660431,-0.0153659928826,0.0798428610431,0.999999924532,0.000272479633813,-0.00027441914564,3.72133969235e-05,1793245454384230400
+65,1.083333333,BASELINE,764,744.296637479,714,679.703362521,658.296637479,633.296637479,878,785.703362521,807,651,630,653,0.400978440192,-0.0153655461813,0.0798427403541,0.999999924097,0.000274014621344,-0.000274485864484,3.71497050292e-05,1793245454400897024
+66,1.100000000,BASELINE,764,744,714,680,658.286224633,633.286224633,878,786,807,651,630,652.713775367,0.400978166589,-0.015365720291,0.0798426173803,0.999999924077,0.000274077330281,-0.000274522358547,3.69354803092e-05,1793245454417563904
+67,1.116666667,BASELINE,764,744,714,680,658.876599485,633.876599485,878,786,807,651,630,652.123400515,0.400977836281,-0.0153665540917,0.0798424919786,0.9999999245,0.000272575555124,-0.000274526734918,3.65612952448e-05,1793245454434230528
+68,1.133333333,BASELINE,764,744,714,679.542968122,659,634,878,785.542968122,807,651,630,652.457031878,0.400978272081,-0.0153666068876,0.0798431394528,0.999999924836,0.000272368616199,-0.000273501895046,3.66196401346e-05,1793245454450897152
+69,1.150000000,BASELINE,764,744.034694527,714,679.034694527,659,634,878,785,807,651.034694527,629.965305473,652.965305473,0.400978933315,-0.0153665195581,0.0798439547642,0.999999925167,0.000272348680802,-0.000272285851632,3.67884884537e-05,1793245454467563776
+70,1.166666667,BASELINE,764,744.610137121,714,679.610137121,659,634,878,785,807,651.610137121,629.389862879,652.389862879,0.400979952802,-0.0153674649469,0.079844202755,0.999999925812,0.000269910362735,-0.000272328727428,3.68981882627e-05,1793245454484230656
+71,1.183333333,BASELINE,764,744.810415831,714,679.810415831,658.810415831,634,878,785,807,651.810415831,629,652.189584169,0.400980070423,-0.0153678876836,0.0798440835864,0.999999925911,0.000269022141581,-0.000272831966061,3.69772815644e-05,1793245454500897536
+72,1.200000000,BASELINE,764,744.222556181,714,679.222556181,658.222556181,634,878,785,807,651.222556181,629,652.777443819,0.40097829342,-0.0153672124413,0.0798431930948,0.999999924869,0.000271390339519,-0.000274302327811,3.69920772114e-05,1793245454517564160
+73,1.216666667,BASELINE,764,744,714,679,658.360035108,634,878.360035108,785,807,651,629,652.639964892,0.400977675273,-0.0153663981933,0.0798425173852,0.999999924357,0.000272557829272,-0.00027502698492,3.68612744936e-05,1793245454534230784
+74,1.233333333,BASELINE,764,744,714,679,658.939416685,634,878.939416685,785,807,651,629,652.060583315,0.400977763143,-0.0153654992581,0.0798419725286,0.999999924172,0.000272993803831,-0.000275297331577,3.66417679608e-05,1793245454550897408
+75,1.250000000,BASELINE,764,744.517900038,714,679.517900038,658.482099962,633.482099962,878.482099962,785,807,651,629.517900038,652.517900038,0.400978352412,-0.0153658473418,0.0798424794647,0.999999924339,0.000272952852866,-0.00027472082265,3.66939309802e-05,1793245454567564032
+76,1.266666667,BASELINE,764,744.905137366,714,680,658.094862634,633.094862634,878.094862634,785,807,651.094862634,630,653,0.40097893278,-0.0153663201756,0.0798431302866,0.999999924645,0.000272527707731,-0.000274018628408,3.67799533782e-05,1793245454584230656
+77,1.283333333,BASELINE,764,744.335264519,714,680,658.664735481,633.664735481,878.664735481,785,807,651.664735481,630,653,0.40097917539,-0.0153666884957,0.0798438865701,0.999999925432,0.000270457645811,-0.000273182273824,3.68766655968e-05,1793245454600897536
+78,1.300000000,BASELINE,764.244156547,744,714,680,659,634,878.755843453,785,807,651.755843453,630,652.755843453,0.400979720617,-0.0153668860683,0.0798443672733,0.999999925912,0.000269431765331,-0.000272434536164,3.69148061024e-05,1793245454617563904
+79,1.316666667,BASELINE,764.837222338,744,714,680,659,634,878.162777662,785,807,651.162777662,630,652.162777662,0.400980698298,-0.0153668396359,0.0798444541612,0.999999925957,0.000269898061113,-0.00027181343562,3.68692453335e-05,1793245454634230528
+80,1.333333333,BASELINE,764.579730808,744,714.420269192,679.579730808,659,634,878,785,807,651.420269192,630,652.420269192,0.400980457596,-0.0153668783684,0.0798441989572,0.999999925853,0.000270523681963,-0.000271545241474,3.70671617449e-05,1793245454650897152
+81,1.350000000,BASELINE,764.000474064,744,714.999525936,679.000474064,659,634,878,785,807,651.999525936,630,652.999525936,0.400979755981,-0.0153669493189,0.0798438143401,0.999999925693,0.000271209575418,-0.00027141055153,3.73571854063e-05,1793245454667564032
+82,1.366666667,BASELINE,764.576393271,744.576393271,714.423606729,679,659,634,878,785,807,652,630,653,0.400979233807,-0.015366749589,0.0798433171788,0.999999925171,0.000271630417978,-0.000272917469885,3.7307530131e-05,1793245454684230656
+83,1.383333333,BASELINE,764.849220751,745,714,679,658.849220751,634,878,785,807,651.849220751,630,653,0.400978746749,-0.0153667225882,0.0798428289514,0.999999924855,0.000271572118997,-0.000274143325384,3.72045840367e-05,1793245454700897536
+84,1.400000000,BASELINE,764.281687702,745,714,679,658.281687702,634,878,785,807,651.281687702,630,653,0.40097835634,-0.0153671736233,0.0798423656718,0.999999925116,0.000270190073077,-0.000274588607121,3.6955111126e-05,1793245454717565184
+85,1.416666667,BASELINE,764,744.699199202,714,679.300800798,658.300800798,634,878.300800798,785,807,651.300800798,630,652.699199202,0.400978325659,-0.0153674220675,0.0798420574129,0.999999925316,0.00026917352317,-0.000274901023655,3.66581453753e-05,1793245454734232064
+86,1.433333333,BASELINE,764,744.101972814,714,679.898027186,658.898027186,634,878.898027186,785,807,651.898027186,630,652.101972814,0.400978649473,-0.0153674708677,0.07984190192,0.999999925455,0.000268517153146,-0.00027508250751,3.63143775927e-05,1793245454750897664
+87,1.450000000,BASELINE,764,744,714,679.520811199,658.520811199,634,878.520811199,785,807,651.520811199,630,652.479188801,0.400978606001,-0.0153680641219,0.0798423462179,0.999999925554,0.000268160837901,-0.000275041845026,3.65167809452e-05,1793245454767564544
+88,1.466666667,BASELINE,764,744,714,679,658.056670575,634,878,785,807,651,630,653,0.40097847589,-0.0153687365179,0.0798428458434,0.999999925576,0.000268120645457,-0.000274963505935,3.68136591255e-05,1793245454784231424
+89,1.483333333,BASELINE,764,744,714,679,658.630755009,634,878,785,807,651,630,653,0.400978245201,-0.0153691079698,0.0798427230681,0.999999924958,0.000270402642169,-0.000274958787059,3.69463587115e-05,1793245454800898304
+90,1.500000000,BASELINE,764,744,714,679,658.789505937,634,878.210494063,784.789505937,807,651,630,652.789505937,0.400977986762,-0.0153688637647,0.0798423811351,0.999999924604,0.000271484987074,-0.000275185021859,3.69032862038e-05,1793245454817564928
+91,1.516666667,BASELINE,764,744,714,679,658.19957389,634,878.80042611,784.19957389,807,651,630,652.19957389,0.400977678299,-0.0153675097721,0.0798416441472,0.999999924732,0.000270404831476,-0.000275827575285,3.65433657471e-05,1793245454834231040
+92,1.533333333,BASELINE,764,744,714,679.383167254,658,634,878.616832746,784.383167254,807,651,630,652,0.400978057397,-0.0153671008331,0.0798420874941,0.999999924737,0.000271151637143,-0.000275064474131,3.66324874768e-05,1793245454850897664
+93,1.550000000,BASELINE,764,744,714,679.96223204,658,634,878.03776796,784.96223204,807,651,630,652,0.400978788016,-0.0153671750608,0.0798431342971,0.999999924675,0.000272832492263,-0.000273582720124,3.69511858278e-05,1793245454867564288
+94,1.566666667,BASELINE,764,744,714,680,658.539216923,633.460783077,879.078433847,785,807,651,630,652.539216923,0.400978405486,-0.0153676325136,0.0798431117259,0.999999925627,0.000269245144375,-0.000273714382613,3.65203386975e-05,1793245454884230912
+95,1.583333333,BASELINE,764,744,714,679.884088526,658.884088526,633.115911474,879.768177053,785,807,651,630,652.884088526,0.400978166465,-0.0153679148545,0.0798429889506,0.99999992637,0.000266282733612,-0.000273941012532,3.61856957686e-05,1793245454900897536
+96,1.600000000,BASELINE,764,744,714,679.307970341,658.307970341,633.692029659,878.615940683,785,807,651,630,652.307970341,0.400978805595,-0.0153673957814,0.0798427645724,0.999999926057,0.00026726093697,-0.000274097742326,3.64406557824e-05,1793245454917564160
+97,1.616666667,BASELINE,764,744,714,679,658.273574297,634,878,785,807,651,629.726425703,652.273574297,0.400979121115,-0.0153670549857,0.0798428763342,0.999999925653,0.000269118606131,-0.000273725445439,3.66480992903e-05,1793245454934231040
+98,1.633333333,BASELINE,764,744,714,679,658.861351233,634,878,785,807,651,629.138648767,652.861351233,0.400979064968,-0.0153669189431,0.0798433741559,0.999999925139,0.000271986349936,-0.000272745556448,3.68009696309e-05,1793245454950897920
+99,1.650000000,BASELINE,764,744,714,679.442666494,659,634,878,785,807,651,629.442666494,653,0.400979392273,-0.01536658513,0.0798437089655,0.999999925339,0.000272019303853,-0.000271968971602,3.68718699799e-05,1793245454967564800
+100,1.666666667,BASELINE,764,744,714,679.978892882,659,634,878,785,807,651,630,653,0.400979799456,-0.0153662020746,0.0798439551141,0.99999992573,0.000271208900755,-0.000271335017503,3.69107221568e-05,1793245454984231168
+101,1.683333333,BASELINE,764,744,714,679.422755462,659,634,878,785,807,651,630,653,0.400979230823,-0.0153661184024,0.0798432294569,0.999999925358,0.000271203584247,-0.000272725620619,3.6778637701e-05,1793245455000897792
+102,1.700000000,BASELINE,764,744,714,679,659,634,878,785,807,651.142488792,630,652.857511208,0.4009788667,-0.0153665197501,0.0798426907157,0.999999925139,0.000270973785913,-0.000273769932115,3.66790670491e-05,1793245455017564416
+103,1.716666667,BASELINE,764,744,714,679,659,634,878,785,807,651.736597139,630,652.263402861,0.400979150775,-0.0153684583733,0.079842744407,0.999999925408,0.000270032490348,-0.000273716668831,3.66825492267e-05,1793245455034231040
+104,1.733333333,BASELINE,764,744,714,679,659,634,878,785,807,651.670354008,629.670354008,652.329645992,0.400979391686,-0.0153683059092,0.0798430225508,0.999999925221,0.000270841852014,-0.000273587395718,3.67863525031e-05,1793245455050897920
+105,1.750000000,BASELINE,764,744,714,679,659,634,878,785,807,651.078148963,629.078148963,652.921851037,0.400979598217,-0.0153664879196,0.0798434794681,0.999999924667,0.00027304559092,-0.000273397581687,3.69700603236e-05,1793245455067564800
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,651,630,653,0.400978337969,-0.0153675089352,0.0798431319419,0.999999925224,0.000271398912241,-0.000273026424041,3.67583985159e-05,1793245455098738432
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679.579395368,658,634,877.420604632,785,806.420604632,651,630,653,0.400979406542,-0.0153659283283,0.0798437060372,0.999999925198,0.00027195559007,-0.000272597603275,3.65445131187e-05,1793245455115405312
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.161453982,744,714,679.838546018,658,634,877.161453982,785,806,651,629.838546018,652.838546018,0.400980011878,-0.0153652662111,0.0798440759403,0.999999925352,0.000271646988885,-0.000272356760847,3.63989005193e-05,1793245455132072192
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.750567122,744,714,679.249432878,658,634,877.750567122,785,806,651,629.249432878,652.249432878,0.400979390195,-0.0153670369882,0.0798439049797,0.999999925984,0.000269046437572,-0.00027261383517,3.64341287972e-05,1793245455148738560
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.666352819,744,714,679.333647181,658.333647181,634,878.333647181,785,806,651.333647181,629,652,0.400979240553,-0.0153674952778,0.0798437924145,0.999999925903,0.000269304269073,-0.000272639826136,3.65530692588e-05,1793245455165405184
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.087702985,744,714,679.912297015,658.912297015,634,878.912297015,785,806,651.912297015,629,652,0.400979437539,-0.015366989786,0.0798437227301,0.999999925298,0.000271661058584,-0.000272496128748,3.67334809615e-05,1793245455182071296
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658.512124447,634,878.512124447,785.487875553,806,652,629,652,0.400979210296,-0.0153669800271,0.079843577424,0.999999925008,0.000272395269404,-0.00027283138276,3.67107877851e-05,1793245455198737920
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679.937517728,658,634,878,785.937517728,806.062482272,651.937517728,629,652,0.400979013543,-0.0153669598714,0.079843495235,0.999999924764,0.000272989781897,-0.00027313707383,3.66690065097e-05,1793245455215404544
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679.36635602,658,634,878,785.36635602,806.63364398,651.36635602,629,652,0.400979681986,-0.0153661341074,0.0798440368736,0.999999924435,0.000274806773396,-0.000272505527365,3.67672100236e-05,1793245455232071424
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744,714,679.213358003,658,634,878,785,807,651,629,652.213358003,0.40098320612,-0.0153660455059,0.0798458100655,0.999999925137,0.000274942409601,-0.000269757095809,3.69343552331e-05,1793245455248738048
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679.808370324,658,634,878,785,807,651,629,652.808370324,0.400991838505,-0.0153672755391,0.0798497862574,0.999999927653,0.000272070441003,-0.000263221984987,3.72248231826e-05,1793245455265404416
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.393019474,714,680,658.393019474,634,878,785,807,651.393019474,629.393019474,653,0.401014253764,-0.0153686447793,0.079858806409,0.999999932133,0.000270237027438,-0.000247554299207,3.77333643835e-05,1793245455282070784
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.972745581,714,680,658.972745581,634,878,785,807,651.972745581,629.972745581,653,0.401043216675,-0.0153700801508,0.0798702227291,0.999999937223,0.000268896986318,-0.000227548119565,3.83455028117e-05,1793245455298737408
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.451999964,714,679.451999964,658.451999964,634,878.548000036,785,807,651.451999964,630,652.451999964,0.401099914259,-0.0153733511816,0.0798894898398,0.999999945266,0.000268099043233,-0.000189840430184,3.93984955293e-05,1793245455315404544
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744.126210019,714,679.126210019,658.126210019,633.873789981,878.873789981,785,807,651,630,652.126210019,0.40116183388,-0.0153765564679,0.0799082439153,0.999999951561,0.000267323412708,-0.000154285483056,4.01610295989e-05,1793245455332071424
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.716088553,714,679.716088553,658.716088553,633.283911447,878.283911447,785,807,651,630,652.716088553,0.401237911683,-0.0153791875386,0.0799236903817,0.999999955259,0.000266531507875,-0.000129847361653,3.97765834562e-05,1793245455348738048
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.699884414,714,680,659,633.300115586,878,785,807,651,630,653,0.401319964525,-0.015382500189,0.0799357028351,0.999999958124,0.000264543313801,-0.000110767388978,3.87138048387e-05,1793245455365404672
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744.121287111,714,680,659,633.878712889,878,785,807,651,630,653,0.401407561691,-0.015386445287,0.0799445288159,0.999999960466,0.000261445065258,-9.66593237055e-05,3.70215914609e-05,1793245455382071552
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785,806.544177522,651,630,653,0.401506530528,-0.0153893476049,0.0799462740966,0.999999961142,0.00026057684389,-9.30709810731e-05,3.39739476656e-05,1793245455398738432
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785,806.03240122,651,630,653,0.401609989824,-0.0153920562945,0.0799462576215,0.999999961446,0.000260197759577,-9.20447233434e-05,3.05372882515e-05,1793245455415404800
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785,806.606700899,651,630,653,0.401738109318,-0.0153961520606,0.0799481841567,0.999999962534,0.000258107622473,-8.72062551739e-05,2.66067424858e-05,1793245455432071424
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744,714,679.814063475,658.814063475,634,878.185936525,785,807,651,629.814063475,653,0.401878652974,-0.0154009908208,0.0799515717773,0.999999964205,0.00025424766407,-8.02812017308e-05,2.24171797305e-05,1793245455448738048
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744,714,679.224102526,658.224102526,634,878.775897474,785,807,651,629.224102526,653,0.402046193272,-0.0154074440437,0.0799581342134,0.999999967084,0.000246542033165,-6.88221746976e-05,1.76647953634e-05,1793245455465404416
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.358460019,633.641539981,878.283079962,785,807,651.358460019,629.358460019,652.641539981,0.402221155983,-0.0154136542774,0.0799582275381,0.99999996927,0.000237846480203,-6.89113323321e-05,1.18616501993e-05,1793245455482071296
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658.93649081,633.06350919,877.127018379,785,807,651.93649081,629.93649081,652.06350919,0.40240066523,-0.0154197156711,0.0799543582797,0.999999970975,0.000228544560533,-7.6074203316e-05,5.41487251848e-06,1793245455498737920
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.488854577,633.511145423,877.511145423,785,807,651.488854577,629.488854577,652.511145423,0.402608577096,-0.0154295907831,0.0799502655963,0.999999974075,0.000211053971727,-8.54541257282e-05,-2.06107630628e-06,1793245455515405056
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,714,679.085062241,658,634,878,785,807,651,629.085062241,652.914937759,0.402826422254,-0.0154394111587,0.0799464650753,0.999999978905,0.000182584951285,-9.35810363559e-05,-9.74843957178e-06,1793245455532071936
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714,679.657141085,658,634,878,785,807,651,629.657141085,652.342858915,0.403081067357,-0.0154462229656,0.0799444952001,0.999999990809,9.70468462645e-05,-9.29671310625e-05,-1.7918917918e-05,1793245455548738304
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658.239099557,634,878,785,807,651,629.760900443,652.239099557,0.40336049477,-0.0154543729347,0.0799450645348,0.999999994688,4.37775972604e-05,-8.97033792474e-05,-2.57124035176e-05,1793245455565404672
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,714,680,658.835835585,634,878,785,807,651,629.164164415,652.835835585,0.403676990653,-0.0154645244781,0.079949431928,0.999999995305,3.87749421184e-05,-8.2476083672e-05,-3.29419966756e-05,1793245455582071040
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785,807.418679124,651.418679124,629.418679124,652.581320876,0.404019037537,-0.0154746286024,0.0799550283036,0.999999995499,5.65527292393e-05,-7.17599914052e-05,-2.55970925061e-05,1793245455598737664
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785,807.996250338,651.996250338,629.996250338,652.003749662,0.404370781224,-0.0154847147307,0.0799610910877,0.999999994693,8.29758772405e-05,-5.97198728762e-05,-1.27210493509e-05,1793245455615404544
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744,714,679.430487687,659,633.430487687,878.569512313,785,807.430487687,651.430487687,630,652.569512313,0.404760240702,-0.0154868380624,0.0799587388532,0.999999996097,6.29188458349e-05,-5.85330166962e-05,-2.05069197534e-05,1793245455632070912
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744,714,679.146914967,659,633.146914967,878.853085033,785,807,651,630,652.853085033,0.405155434252,-0.0154913608175,0.0799551916428,0.999999996843,4.37298031558e-05,-6.05105623826e-05,-2.72214711949e-05,1793245455648737536
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744,714,679.73688972,659,633.73688972,878.26311028,785,807,651,630,652.26311028,0.405567177045,-0.015503276569,0.0799482065081,0.999999996568,2.80743728899e-05,-7.18172934186e-05,-3.029800808e-05,1793245455665404672
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,633.679035657,878,785,807,651,629.679035657,652.320964343,0.406017076906,-0.0155011594974,0.0799412819869,0.999999995485,3.15070541371e-05,-8.40623708063e-05,-3.11657660539e-05,1793245455682071808
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,633.099710293,878,785,807,651,629.099710293,652.900289707,0.406497691436,-0.0154877466724,0.0799344062558,0.999999993566,5.03047549835e-05,-9.70627735558e-05,-3.02555624551e-05,1793245455698738432
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,633.47676012,878,785,807,651.47676012,629.47676012,653,0.406997479351,-0.0154768716925,0.0799331501788,0.999999992307,6.41025272135e-05,-0.000101135530729,-3.23723260006e-05,1793245455715404800
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.052146027,807,652,630,653,0.407503222271,-0.0154684655396,0.0799317994013,0.999999991111,7.36073978094e-05,-0.000105493379031,-3.5084311122e-05,1793245455732071424
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.622651773,807,652,630,653,0.408028537711,-0.0154793561373,0.0799178936513,0.999999989411,5.07713828309e-05,-0.000131135093872,-3.74575811601e-05,1793245455748738304
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.798495715,807,651.798495715,629.798495715,652.798495715,0.408584739594,-0.0154888176341,0.0799137633524,0.999999988917,3.37213362152e-05,-0.000139683413963,-3.89650253737e-05,1793245455765405184
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.203337183,807,651.203337183,629.203337183,652.203337183,0.409201280508,-0.0154954872707,0.0799287301562,0.999999992263,2.79746289836e-05,-0.000114838460364,-3.87810116018e-05,1793245455782071808
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,633.618686562,878.381313438,785,807,651,629,652.381313438,0.409878590215,-0.0154997322,0.0799583616245,0.999999996839,2.50582792872e-05,-6.5301391164e-05,-3.78251328952e-05,1793245455798738432
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,633.039489081,878.960510919,785,807,651,629,652.960510919,0.410587436098,-0.0155027188181,0.0799956033752,0.999999999052,2.36107543876e-05,-2.95025623186e-06,-3.64686918683e-05,1793245455815405312
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.534833584,744.534833584,714,679.465166416,659,633.534833584,878.465166416,785,807.534833584,651,629.534833584,653,0.411245564001,-0.0154956797914,0.0799898562623,0.999999998709,2.78185545667e-05,-1.84675211606e-05,-3.82960929244e-05,1793245455832071936
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.888513164,744.888513164,714,679.111486836,659.111486836,634,878.111486836,785.111486836,807.888513164,651,630,652.888513164,0.411901129063,-0.0154895778258,0.0799754588978,0.999999997677,3.0390414089e-05,-4.52286231844e-05,-4.09498221095e-05,1793245455848738560
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.300370826,744.300370826,714,679.699629174,659.699629174,634,878.699629174,785.699629174,807.300370826,651,630,652.300370826,0.412561602428,-0.0154906184663,0.0799375257981,0.999999994063,2.41987863721e-05,-9.57030554993e-05,-4.61404892292e-05,1793245455865404672
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.284507877,744.284507877,714,680,660,634,879,785.715492123,807,651,629.715492123,652,0.413274552078,-0.0154925925099,0.0799163555968,0.999999991563,1.78981763684e-05,-0.000118611900036,-4.98526891104e-05,1793245455882071296
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.865980127,744.865980127,714,680,660,634,879,785.134019873,807,651,629.134019873,652,0.414042275643,-0.0154955408234,0.0799126822126,0.999999992225,1.14838118365e-05,-0.000112748269954,-5.20216913364e-05,1793245455898737920
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,878.557380753,785,807,651,629.442619247,652,0.414855194774,-0.0154998420779,0.079936186585,0.99999999603,6.95612248065e-06,-7.33294554764e-05,-5.01341508222e-05,1793245455915404288
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.98223565,714,680,660.01776435,633.98223565,878.01776435,785,807.01776435,651,630,652.01776435,0.415679894815,-0.0155043378653,0.0799663979359,0.999999998531,3.25618224011e-06,-2.65169777052e-05,-4.71534598262e-05,1793245455932070912
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.408541776,714,680,660.591458224,633.408541776,878.591458224,785,807.591458224,651,630,652.591458224,0.416449644328,-0.0155022399743,0.0799517566154,0.999999996844,7.77598865182e-06,-6.28451480828e-05,-4.79861960868e-05,1793245455948737792
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.170767088,714,679.829232912,660.829232912,633,879,785,808,651,630,653,0.417247785025,-0.0155001354104,0.0799466235108,0.999999995971,1.15905133462e-05,-7.44316369084e-05,-4.88220732242e-05,1793245455965404672
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.763965891,714,679.236034109,660.236034109,633,879,785,808,651,630,653,0.418116157805,-0.0154980143393,0.0799650111688,0.999999998365,1.3660361048e-05,-2.48138772175e-05,-4.9665720053e-05,1793245455982071552
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.65287341,744.65287341,714,679.694253181,660.34712659,633.34712659,879,785,808,651,629.65287341,653,0.418991102329,-0.0154995409481,0.079977411222,0.999999998653,7.96277457875e-06,4.24471098779e-06,-5.11046113397e-05,1793245455998737920
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.076346464,744.076346464,714,680.847307072,660.923653536,633.923653536,879,785,808,651,629.076346464,653,0.419870389788,-0.0155034781446,0.0799858543358,0.9999999984,-2.86795994827e-06,1.97166651998e-05,-5.29368729327e-05,1793245456015404288
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,744,714,680.499552457,660.499552457,634,879,785.500447543,808,651,629.500447543,653,0.420755066909,-0.0155067696339,0.0799716022649,0.999999998492,-6.51849142205e-06,-5.89652899209e-06,-5.42051684703e-05,1793245456032071168
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.07874076,744.07874076,714,680,660,634,879,785.92125924,808,651,630,653,0.421643728461,-0.0155095980503,0.0799600253161,0.999999998084,-8.1869001838e-06,-2.76437377454e-05,-5.47805282316e-05,1793245456048737792
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.666461106,744.666461106,714,680,660,634,879,785.333538894,808,651,630,653,0.422552827248,-0.015510070254,0.0799881325353,0.999999998539,-4.12722847533e-06,1.61354092192e-05,-5.14331937971e-05,1793245456065404416
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.749481751,744.749481751,714,680.250518249,660.250518249,633.749481751,879,785,808,651,630,653,0.423453177997,-0.0155101152179,0.0800031615965,0.999999998195,1.7094649206e-06,3.40025595324e-05,-4.94994711117e-05,1793245456082071040
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.170231408,744.170231408,714,680.829768592,660.829768592,633.170231408,879,785,808,651,630,653,0.424342049625,-0.0155095995544,0.0800010293958,0.99999999857,9.87798124493e-06,1.78677823107e-05,-4.94207009355e-05,1793245456098737920
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.40662774,744,714,681,661,633.40662774,879,785,808,651,630,653,0.425220714466,-0.0155093321368,0.079963667154,0.99999999737,9.17082416571e-06,-4.79994586605e-05,-5.35863579475e-05,1793245456115404544
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.982491652,744,714,681,661,633.982491652,879,785,808,651,630,653,0.426095131245,-0.0155091680379,0.0799116423679,0.999999989164,4.76966133698e-06,-0.00013456506923,-5.95185212767e-05,1793245456132070912
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.443120088,744.556879912,714,681,661,634,879,785,808.556879912,651,630,653,0.427049099621,-0.0155118668893,0.0799057837677,0.999999990334,-3.97917673378e-06,-0.000124887276717,-6.09783835465e-05,1793245456148738304
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.135037012,745,714,681.135037012,661,633.864962988,879.135037012,785.135037012,808.864962988,651,630,653,0.427993991736,-0.0155139164409,0.0799056313333,0.999999991577,-1.03445122809e-05,-0.000113831673188,-6.14846865522e-05,1793245456165405440
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.726077241,745,714,681.726077241,661,633.273922759,879.726077241,785.726077241,808.273922759,651,630,653,0.428899810782,-0.0155134702334,0.0799198594374,0.999999992345,-8.20068587471e-06,-0.000108314457819,-5.92445042195e-05,1793245456182071808
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.68919259,744.68919259,714,682,661,633,879.68919259,786,808,651,630,653,0.429846105135,-0.015517378995,0.0799541234771,0.999999996237,-9.16309630202e-06,-6.52229410369e-05,-5.64598691427e-05,1793245456198738432
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.109913014,744.109913014,714,682,661,633,879.109913014,786,808,651,630,653,0.430827361584,-0.015525049533,0.0800056943459,0.999999998449,-1.28086414416e-05,1.03248613475e-05,-5.32049413903e-05,1793245456215405824
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.465484246,744.465484246,714,682,660.534515754,633.465484246,879.465484246,785.534515754,808,651,630,653,0.431756132869,-0.0155265132596,0.0800250733762,0.99999999775,-1.29092478766e-05,4.0038307937e-05,-5.22471548182e-05,1793245456232071936
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.959140739,745,714,682,660.040859261,633.959140739,879.959140739,785,808,651,630,653,0.432666346626,-0.0155260630164,0.080030841289,0.999999997302,-1.26808072366e-05,4.99521189357e-05,-5.23503833264e-05,1793245456248738048
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.371906715,745,714,682,660.628093285,633.371906715,879.371906715,785,808,651,630,653,0.433492757539,-0.0155194548922,0.0799554049391,0.999999996166,-1.9152895562e-05,-6.13718847168e-05,-5.94483840948e-05,1793245456265404416
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,744.787442022,714,682,661,633,879.212557978,785,808.212557978,651,630,653,0.434349607293,-0.0155170735303,0.0799096392163,0.999999989665,-2.66760246981e-05,-0.000125947518561,-6.3995216996e-05,1793245456282070784
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,744.207760335,714,682,661,633,879.792239665,785,808.792239665,651,630,653,0.435259030228,-0.015521992503,0.0799151196908,0.999999991269,-3.60144811212e-05,-0.000109780801874,-6.41357521462e-05,1793245456298737152
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.371649911,744.371649911,713.628350089,682,661,633,879.628350089,785.371649911,809,651,630,653,0.43615333136,-0.01552603585,0.0799408896047,0.999999994358,-4.01105309765e-05,-7.66319214134e-05,-6.16607191851e-05,1793245456315404032
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.950908494,744.950908494,713.049091506,682,661,633,879.049091506,785.950908494,809,651,630,653,0.437039185195,-0.0155295900602,0.0799779934739,0.999999996904,-4.12781009535e-05,-3.39965752843e-05,-5.7724594383e-05,1793245456332070656
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.47554963,745,713.52445037,682.52445037,661,633,879.52445037,785.47554963,808.47554963,651,630,653,0.437907756995,-0.0155380192603,0.0799969100799,0.999999997161,-4.83064147467e-05,-2.24140981207e-06,-5.77924217388e-05,1793245456348738048
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,744.899798321,714,682.899798321,660.899798321,633,879.899798321,785,808.100201679,651,630,653,0.438758238775,-0.0155460448513,0.0800048726076,0.999999996623,-5.62349984998e-05,1.20177047438e-05,-5.87159015804e-05,1793245456365405184
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,744.310683738,714,682.310683738,660.310683738,633,879.310683738,785,808.689316262,651,630,653,0.439528262191,-0.0155498985765,0.0799676041053,0.999999994438,-6.59083512494e-05,-5.41757533476e-05,-6.20053551118e-05,1793245456382071296
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,744,713.72626298,682,660,632.72626298,879,785,809,651,630,653,0.440238423804,-0.0155531864786,0.0798924957042,0.999999979746,-7.6502920803e-05,-0.000173228277135,-6.81765065258e-05,1793245456398737664
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,744,713.14707981,682,660,632.14707981,879,785,809,651,630,653,0.440881789294,-0.0155558430136,0.079775164111,0.999999931416,-8.81254168954e-05,-0.000351262944458,-7.75631642282e-05,1793245456415404800
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,744,713,682.430534657,660,632,879,785,809,651,630,653,0.441573605381,-0.0155638769963,0.0797153774552,0.999999896679,-0.000101553264599,-0.000435227273503,-8.31003429701e-05,1793245456432071424
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,744,713,683,659.992428159,632,879.007571841,784.992428159,809.007571841,651,630,653,0.442282728174,-0.0155739207016,0.0796764842519,0.999999871727,-0.000115796781451,-0.000485326553318,-8.71516381301e-05,1793245456448737792
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,744,713,683,659.418634326,632,879.581365674,784.418634326,809.581365674,651,630,653,0.443052795458,-0.0155973754788,0.0797352721974,0.999999907451,-0.000145083043345,-0.000397434987299,-7.80719857114e-05,1793245456465404416
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,744.159897438,713,682.840102562,659,632,879.840102562,783.840102562,809.840102562,651,630,653,0.443800255767,-0.0156227934072,0.0797833657026,0.999999928775,-0.000174858575187,-0.000326996381149,-7.03474000912e-05,1793245456482071040
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,744.751212696,713,682.248787304,659,632,879.248787304,783.248787304,809.248787304,651,630,653,0.444486720574,-0.015653508101,0.0798026046492,0.999999930494,-0.000205954211103,-0.000303647435337,-6.6278907357e-05,1793245456498737664
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713.335256899,682.335256899,659,631.664743101,879.335256899,782.664743101,809,651,629.664743101,653,0.445135079576,-0.0156732228665,0.0797999823115,0.999999923289,-0.000227126160046,-0.000312358928107,-6.53276140222e-05,1793245456515404800
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713.914019902,682.914019902,659,631.085980098,879.914019902,782.085980098,809,651,629.085980098,653,0.445755761267,-0.0156849480863,0.0797814815338,0.999999909426,-0.000241090266238,-0.000344356781315,-6.66404267094e-05,1793245456532071680
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713.511411142,683,659,631,879.511411142,782.488588858,809.488588858,651,629.488588858,653,0.446336482745,-0.0156828686393,0.0797601369056,0.999999900291,-0.000243305879679,-0.000368073550041,-6.8867624395e-05,1793245456548738304
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.063986482,745,713,683,658.936013518,631,879,782.872027035,809.936013518,651,629.936013518,653,0.446906940257,-0.0156794073874,0.0797388131571,0.999999891487,-0.000244539549397,-0.000390076271887,-7.11860812623e-05,1793245456565405184
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.652167682,745,713,683,658.347832318,631,879,781.695664636,809.347832318,651,629.347832318,653,0.447450430762,-0.0156843580819,0.0797217253932,0.999999880951,-0.000254521890842,-0.000409873844949,-7.29451578324e-05,1793245456582071808
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.763391067,745,713,683,658,630.763391067,879,781,809,651,629,652.763391067,0.447962867828,-0.0156908552689,0.0797011473007,0.999999864425,-0.000266521082223,-0.00044110413742,-7.44517552137e-05,1793245456598738688
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713,683,658,630,879,781,809,651,629,652.393187793,0.448901055917,-0.015707809539,0.0796663436781,0.999999828467,-0.000293683133341,-0.000500963748678,-7.64941754661e-05,1793245456632072448
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,713,683,658,630,879,781,809,651,629,652.970047221,0.449373239961,-0.0157157873789,0.0796648560141,0.999999827405,-0.000304678149664,-0.000496374810198,-7.72832738238e-05,1793245456648739072
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+203,3.383333333,POSE1_TO_POSE2_PRESS,764.70258357,745,714,683,657,629.29741643,879,778.70258357,809.70258357,651,629,653,0.451050516995,-0.0157451841114,0.0797262163393,0.999999857133,-0.000336442207974,-0.000409538333165,-6.9425940738e-05,1793245456715405824
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.121825498,745,714,683,657,629.878174502,879,778.121825498,809.121825498,651,629,653,0.451370954256,-0.0157492365695,0.0797115060115,0.999999843156,-0.00034340544259,-0.000436523091586,-7.21695935453e-05,1793245456732072192
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745,713.544848866,683,657.455151134,629.544848866,879,778,809.455151134,651,629,653,0.45165193851,-0.0157532926698,0.0796866418486,0.999999823066,-0.000351389666484,-0.000474350288257,-7.33840179687e-05,1793245456748738304
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745,713.031563413,683,657.968436587,629,879.031563413,777.968436587,809.968436587,651,628.968436587,653,0.451920894413,-0.0157573159642,0.0796597891348,0.999999800694,-0.000359028762663,-0.000514023065263,-7.40925733315e-05,1793245456765404928
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745,713.615668647,683,657.384331353,629,879.615668647,777.384331353,809.384331353,651,628.384331353,653,0.45216262206,-0.0157607480414,0.0796453099409,0.999999790562,-0.000355881629246,-0.000535619606161,-7.30517924772e-05,1793245456782071296
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745,713.801460834,683,657,629,879.801460834,776.801460834,809.198539166,651,628,653,0.452405779707,-0.0157644210349,0.0796367997951,0.999999785161,-0.000354082202337,-0.000546926408874,-7.19428402156e-05,1793245456798737920
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,745,713.220965768,683,657,629,879.220965768,776.220965768,809.779034232,651,628,653,0.452651688403,-0.0157685575102,0.0796397730937,0.999999789575,-0.000354875536276,-0.000538437487019,-7.07027378252e-05,1793245456815404544
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,745,713,683,657,629,879,776,810,651,628,653,0.452865270231,-0.01577135966,0.0796412640571,0.999999787811,-0.000361962439531,-0.000537019958967,-7.05101002094e-05,1793245456832071424
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,745,713,683,657,629,879,776,810,651,628,653,0.453058984068,-0.0157733417369,0.0796418439812,0.999999782176,-0.000372917355079,-0.000539948491318,-7.09612317461e-05,1793245456848738304
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745,713.511098901,683,657,629,879.511098901,776,810,651,628,653,0.453222574588,-0.0157788243235,0.079639358441,0.9999997742,-0.000385825460157,-0.000545483405302,-7.20139543408e-05,1793245456865404672
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.343335034,776,810,651,628,653,0.453499679175,-0.0157848181596,0.0796270947718,0.999999759424,-0.000399395372192,-0.000562172798517,-7.4809887841e-05,1793245456898737664
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,745,713.761687632,683,657,629,879,775.761687632,809.761687632,651,628.238312368,653,0.453612079751,-0.0157859697677,0.0796180745369,0.99999975133,-0.000400908127362,-0.000575120195031,-7.64776142517e-05,1793245456915404288
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745,713.16390467,683,657,629,879,775.16390467,809.16390467,651,628.83609533,653,0.453708725861,-0.0157875983069,0.0796083327032,0.999999740934,-0.000401566565293,-0.000592243191085,-7.82516127531e-05,1793245456932070656
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745,713.995047722,683,656.004952278,628.004952278,879,775,809.995047722,651,629,653,0.453874617896,-0.0157938743276,0.0796002477542,0.999999733246,-0.000407061874972,-0.000601442238217,-7.79530602018e-05,1793245456965403904
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,745,713.420866058,683.579133942,656.579133942,628,879,774.420866058,809.420866058,651,628.420866058,653,0.453933691836,-0.0157932784044,0.0796009726669,0.999999732656,-0.000405639666697,-0.000603465914394,-7.72824811841e-05,1793245456982070528
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,745,713.162394436,683.837605564,657,628.162394436,879,774,809.162394436,651,628,653,0.453989784557,-0.0157931075957,0.0796018392298,0.999999732204,-0.000405040662526,-0.000604713262741,-7.65247151144e-05,1793245456998737152
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745,713.743358647,683.256641353,657,628.743358647,879,774,809.743358647,651,628,653,0.454038677678,-0.0157941212503,0.0796029846564,0.999999732067,-0.000406663984616,-0.000603972724634,-7.55470431879e-05,1793245457015403776
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,745,713.677398793,683,657,628.677398793,879.322601207,774,809.677398793,651,628.322601207,653,0.454078463979,-0.015794391418,0.079603465088,0.999999732909,-0.000406581649547,-0.000602743538516,-7.46595847194e-05,1793245457032070656
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,745,713.099518537,683,657,628.099518537,879.900481463,774,809.099518537,651,628.900481463,653,0.454111043925,-0.0157940732539,0.0796034192996,0.999999734523,-0.000405149603225,-0.000601127678006,-7.3843513373e-05,1793245457048737280
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,745,713,683,657,628,879.525853414,774,809.474146586,651,629,653,0.454134219196,-0.015795371563,0.0796041971816,0.999999735229,-0.000405747186589,-0.000599619471297,-7.32589387193e-05,1793245457065403904
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745,713.622637591,683,656.377362409,628,879,774,810,651,628.377362409,653,0.454167328029,-0.0157958459914,0.0796047227616,0.999999735294,-0.000405127202905,-0.000600084918391,-7.19793437808e-05,1793245457098737408
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.795139457,745,713.795139457,683,656.204860543,628,879,774,810,651,628,653,0.454176996928,-0.0157951198664,0.079604057591,0.99999973464,-0.000403852855214,-0.000602120803459,-7.12339830673e-05,1793245457115404032
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.200077099,745,713.200077099,683,656.799922901,628,879,774,810,651,628,653,0.454181089344,-0.015794817322,0.079602734362,0.999999733458,-0.000402890950414,-0.000604813691283,-7.04546436271e-05,1793245457132070400
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.382735207,745,713.382735207,683,657,628,879,774,809.617264793,651,628.382735207,653,0.454182752187,-0.0157943562937,0.0796010141047,0.999999732004,-0.000402380078272,-0.000607545622003,-7.05002056846e-05,1793245457148737280
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,745,713.466376333,683,656.466376333,628,879,774,809,651,629,653,0.454184716768,-0.0157941346025,0.0795972675492,0.999999729275,-0.000403055633138,-0.000611582465612,-7.04486954545e-05,1793245457182070528
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,745,713,683,656,628,879,774,809,651,628.892091022,653,0.454186439365,-0.0157943058814,0.079596148601,0.999999728748,-0.000403523534476,-0.000612188940474,-6.99879295908e-05,1793245457198737408
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,713,683,656,628,879,774,809,651,628.317024919,653,0.454188623922,-0.015793552242,0.0795980554951,0.999999730701,-0.000401462531516,-0.000610339015661,-7.00829084551e-05,1793245457215404288
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.733200655,745,713,683,656,628,879.266799345,774.266799345,809,651,628,653,0.454189812155,-0.0157924804712,0.0795982529939,0.999999731981,-0.00039874110185,-0.000610038351556,-6.99734998093e-05,1793245457232070656
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.138616188,745,713,683,656,628,879.861383812,774.861383812,809,651,628,653,0.454189776318,-0.0157910178498,0.0795963503591,0.99999973243,-0.000395208282923,-0.000611641082477,-6.96129841677e-05,1793245457248737280
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,745,713.44167787,683,656,628.44167787,880,774.55832213,809,651,628,653,0.454189097003,-0.0157910771754,0.0795957579966,0.999999731244,-0.000396047333928,-0.000613021487245,-6.97307315509e-05,1793245457265403904
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.01795587,745,713.98204413,683.01795587,656,628.98204413,879.98204413,774,809,651,628,653,0.454188292029,-0.0157915439881,0.0795955726581,0.999999729625,-0.000398134750681,-0.000614281513435,-6.9976841259e-05,1793245457282070784
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.604632831,745,713.395367169,683.604632831,656,628.395367169,879.395367169,774,809,651,628,653,0.454189702936,-0.0157902627223,0.0795956627476,0.999999730085,-0.000397666130678,-0.000613869493494,-6.96835064787e-05,1793245457298737408
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713.188888311,683.811111689,656,628,879.188888311,774,809.188888311,651,628,653,0.454190727608,-0.0157897790775,0.0795958519762,0.999999730335,-0.00039765736093,-0.000613488879004,-6.94965203668e-05,1793245457315404032
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713.768139444,683.231860556,656,628,879.768139444,774,809.768139444,651,628,653,0.454190954073,-0.0157909438228,0.0795962460891,0.999999730152,-0.000398598932936,-0.000613173168083,-6.95293179434e-05,1793245457332070656
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713.652860205,683,656.347139795,628,880,774,810,650.652860205,628,653,0.454191040317,-0.0157927099908,0.0795963909303,0.999999729202,-0.000400953785239,-0.00061322879081,-6.91516053821e-05,1793245457348737280
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,713.074027257,683,656.925972743,628,880,774,810,650.074027257,628,653,0.454191032973,-0.0157948775691,0.079596369399,0.999999727733,-0.00040425190984,-0.000613532254516,-6.84999040997e-05,1793245457365403904
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,713,683,656.498951947,628,879.498951947,774,809.498951947,650.501048053,628.501048053,653,0.454191109916,-0.0157921039369,0.0795956245287,0.999999728348,-0.000401275374025,-0.000614473783057,-6.85907446412e-05,1793245457382070528
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+246,4.100000000,HOLD_POSE2,765,745,713,683,656,628,879,774,809,651,628,653,0.454191197888,-0.0157928499353,0.0795932541358,0.999999728728,-0.000397345660259,-0.000616476625264,-6.79482001812e-05,1793245457453641216
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+250,4.166666667,HOLD_POSE2,763.309536088,744.309536088,713,683,656,628,879.690463912,773,809,651,628,653,0.454193802266,-0.0157878994641,0.0795942253683,0.999999731979,-0.000392080418982,-0.00061458950886,-6.77858342612e-05,1793245457520308480
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e376444f118d7a2e1f59e5190879f6cd93f3fd60
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b400fafcc19796f35b5f75014f4db8a028b825b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25599530
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d84cb43c26f228f7cebe48e0a0d16326bfc265a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,763,745,713,679,661,634,878,785,807,653,629,652,0.400925427783,0.00441455140508,0.0599365884902,0.999999972754,-0.000107770744367,-0.000204115788614,-3.48411521737e-05,1793245461876930304
+1,0.016666667,BASELINE,763.578824786,745,713,679.578824786,661,634,878,785,807,653,629,652,0.400926170151,0.00441559880709,0.0599360709527,0.999999972503,-0.00010888375383,-0.000204679741352,-3.52813000986e-05,1793245461893596672
+2,0.033333333,BASELINE,764,745,713,680,661,634,878,785,807,653,629,652.156611389,0.400926318081,0.00441647649153,0.0599354246318,0.999999972278,-0.000109362752281,-0.000205481489779,-3.55251307933e-05,1793245461910263296
+3,0.050000000,BASELINE,764,745,713,680,661,634,878,785,807,653,629,652.731624519,0.400924877914,0.00441690076012,0.0599344342543,0.999999972123,-0.000108147932214,-0.000206918531404,-3.52444820369e-05,1793245461926929920
+4,0.066666667,BASELINE,763.69300038,745,713,679.69300038,661,634,878,785,806.69300038,653,629,652.69300038,0.400924387713,0.00441671046095,0.0599342046925,0.999999972158,-0.000107820635146,-0.000206973380099,-3.49418519321e-05,1793245461943596544
+5,0.083333333,BASELINE,763.117308507,745,713,679.117308507,661,634,878,785,806.117308507,653,629,652.117308507,0.400924728941,0.00441598227969,0.0599346410119,0.999999972359,-0.000108270116162,-0.000205818505608,-3.46199833252e-05,1793245461960263424
+6,0.100000000,BASELINE,763,745,713,679,661,634,878,785,806,653,629,652.473475064,0.400925032376,0.00441593944898,0.0599343197806,0.999999972214,-0.000108486412219,-0.000206400923471,-3.46664024281e-05,1793245461976930048
+7,0.116666667,BASELINE,763,745,713,679,661,634,878,785,806.065943901,653,629,652.934056099,0.400925264357,0.00441617078051,0.0599338864107,0.999999972032,-0.000108448475645,-0.00020727708398,-3.48061597804e-05,1793245461993596672
+8,0.133333333,BASELINE,763,745,713,679,661,634,878,785,806.641586383,653,629,652.358413617,0.400925018796,0.00441716552311,0.0599340847715,0.999999972253,-0.000106906758848,-0.000206987193969,-3.49388590194e-05,1793245462010263296
+9,0.150000000,BASELINE,763.216982406,745,713,679,661,634,878,785,807,653,629,652,0.400925303305,0.00441768995549,0.0599344699415,0.999999972472,-0.000106370359226,-0.000206193770567,-3.50034634737e-05,1793245462026929920
+10,0.166666667,BASELINE,763.79197173,745,713,679,661,634,878,785,807,653,629,652,0.400926462397,0.00441743840637,0.0599351633347,0.999999972687,-0.000107492667988,-0.000204569549708,-3.49557159296e-05,1793245462043596800
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+16,0.266666667,BASELINE,763.273791658,745,713,679.273791658,660.726208342,634,878.273791658,785,807,652.726208342,629,652.726208342,0.400924918866,0.00441706901284,0.0599341227357,0.999999972293,-0.000107087612729,-0.000206770069932,-3.45293094684e-05,1793245462143597056
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+18,0.300000000,BASELINE,764,745,713,679.564859243,660.435140757,634,879,785,807,652.435140757,629.435140757,652,0.400924606006,0.00441884896114,0.0599332073436,0.999999972495,-0.000104853639754,-0.000206914113992,-3.46668566525e-05,1793245462176930304
+19,0.316666667,BASELINE,764,745,713,679.025912365,661,634,878.974087635,784.974087635,806.974087635,652.974087635,629.974087635,652,0.400924956905,0.00441861356482,0.0599333194844,0.999999972655,-0.000105064374407,-0.000206097489009,-3.4281497798e-05,1793245462193597184
+20,0.333333333,BASELINE,764,745,713,679.603341771,661,634,878.396658229,784.396658229,806.396658229,652.396658229,629.396658229,652,0.400925971073,0.0044190287392,0.0599342811647,0.999999972954,-0.000104335949308,-0.000204972954693,-3.45243350695e-05,1793245462210263808
+21,0.350000000,BASELINE,763.819469416,745,713,679.819469416,661,634,877.819469416,784.180530584,806.180530584,652.180530584,629.180530584,652.180530584,0.400926213303,0.00441869739903,0.0599346550462,0.99999997293,-0.000104945223452,-0.00020476605155,-3.4615191779e-05,1793245462226930176
+22,0.366666667,BASELINE,763.242808602,745,713,679.242808602,661,634,877.242808602,784.757191398,806.757191398,652.757191398,629.757191398,652.757191398,0.400924761703,0.00441672801514,0.0599337391468,0.999999972188,-0.000108489751632,-0.000206572665816,-3.43725642699e-05,1793245462243596800
+23,0.383333333,BASELINE,763.341270162,745,713.341270162,679,661,633.658729838,877.682540325,785.341270162,807,653,630,653,0.400924901335,0.00441649837668,0.059933283618,0.999999972063,-0.000109261998067,-0.000206749825381,-3.45037576452e-05,1793245462260263680
+24,0.400000000,BASELINE,763.930744015,745,713.930744015,679,661,633.069255985,878.861488031,785.930744015,807,653,630,653,0.400926198259,0.00441753404417,0.0599331629138,0.999999972392,-0.000108017981405,-0.000205741892751,-3.49068286259e-05,1793245462276930304
+25,0.416666667,BASELINE,763.489168478,745,713.489168478,679,661,633.510831522,878.489168478,785.489168478,807,653,629.489168478,652.489168478,0.400925027448,0.00441794460119,0.0599328039569,0.999999972123,-0.000107543935422,-0.000207338289322,-3.46383220965e-05,1793245462293596672
+26,0.433333333,BASELINE,763.089000017,745,713,679,661,634,878,785,806.910999983,653,629,652,0.400924097122,0.00441831462846,0.0599327041751,0.999999971944,-0.000107061026597,-0.000208489343675,-3.43701665208e-05,1793245462310263296
+27,0.450000000,BASELINE,763.663516901,745,713,679,661,634,878,785,806.336483099,653,629,652,0.400926270892,0.00441891754272,0.0599341912881,0.999999972709,-0.000105970577289,-0.000205319553386,-3.45916586563e-05,1793245462326929920
+28,0.466666667,BASELINE,764,744.761672203,713,679.238327797,661,634,878,785,806.238327797,653,629,652,0.400927241645,0.00441913102193,0.0599348065485,0.999999973141,-0.000104812352824,-0.00020378372312,-3.47202207202e-05,1793245462343596544
+29,0.483333333,BASELINE,764,744.186445726,713,679.813554274,661,634,878,785,806.813554274,653,629,652,0.400926511818,0.00441879399816,0.0599341893632,0.999999973113,-0.000103558321888,-0.000204557648687,-3.47174174046e-05,1793245462360263168
+30,0.500000000,BASELINE,763.598997552,744.401002448,713,679.598997552,660.598997552,633.598997552,878,785,806.598997552,652.598997552,629,652,0.400925986158,0.00441778439787,0.0599338212721,0.999999972901,-0.000104623819997,-0.000205094380801,-3.44709049778e-05,1793245462376929792
+31,0.516666667,BASELINE,763.005688293,744.994311707,713,679.005688293,660.005688293,633.005688293,878,785,806.005688293,652.005688293,629,652,0.400925558409,0.00441645225332,0.0599335726379,0.999999972596,-0.0001068016835,-0.00020551736317,-3.41075181478e-05,1793245462393596416
+32,0.533333333,BASELINE,763.571171113,745,713,679,660,633.571171113,878,785,806,652.571171113,629,652.571171113,0.400927879436,0.00441636067165,0.0599357969765,0.999999973116,-0.000107666551233,-0.000202516441844,-3.4106958429e-05,1793245462410263296
+33,0.550000000,BASELINE,764,745,713,679.147608904,660.147608904,633.852391096,878,785,806.147608904,653,629,652.852391096,0.400929102244,0.00441621357934,0.0599368892171,0.999999973347,-0.000108357578769,-0.000201007455966,-3.40823248471e-05,1793245462426929920
+34,0.566666667,BASELINE,764,745,713,679.723285699,660.723285699,633.276714301,878,785,806.723285699,653,629,652.276714301,0.40092706303,0.00441587067942,0.0599346289339,0.999999972736,-0.000108581326534,-0.00020392122269,-3.39776911739e-05,1793245462443596800
+35,0.583333333,BASELINE,764,745,713.30584548,679.69415452,661,633.30584548,878,785,806.69415452,653,629,652,0.400927198514,0.00441601266774,0.0599341991134,0.999999972656,-0.000108569854198,-0.000204297297154,-3.40913800327e-05,1793245462460263424
+36,0.600000000,BASELINE,764,745,713.894776098,679.105223902,661,633.894776098,878,785,806.105223902,653,629,652,0.40092934686,0.00441660345996,0.0599354635363,0.999999973072,-0.000108340666346,-0.000202324529125,-3.4407144333e-05,1793245462476930048
+37,0.616666667,BASELINE,763.524284943,745,713.524284943,679,661,634,878,785,806,653,629.475715057,652,0.400928226737,0.00441791261634,0.0599345138277,0.999999973091,-0.000106642898835,-0.000203108876531,-3.45388938895e-05,1793245462493596672
+38,0.633333333,BASELINE,763,745,713,679,661,634,878,785,806,653,630,652,0.400926628466,0.0044192604704,0.0599332203721,0.999999973016,-0.00010487865085,-0.000204374687301,-3.46295770943e-05,1793245462510263296
+39,0.650000000,BASELINE,763,745,713,679,661,634,878,785,806,653,630,652,0.400927253373,0.00441948584363,0.0599332435373,0.999999972917,-0.000105529721313,-0.00020451097823,-3.47103655812e-05,1793245462526930176
+40,0.666666667,BASELINE,763.203469267,745,713,679.203469267,661,634,878,785,806.203469267,653,629.796530733,652.203469267,0.40092702875,0.00441929968936,0.0599330719056,0.999999972761,-0.000105970510296,-0.000205045049208,-3.47045298267e-05,1793245462543596800
+41,0.683333333,BASELINE,763.778942286,745,713,679.778942286,661,634,878,785,806.778942286,653,629.221057714,652.778942286,0.400925250928,0.00441836113751,0.0599325441258,0.999999972501,-0.000106026840691,-0.000206306383185,-3.45403185873e-05,1793245462560263424
+42,0.700000000,BASELINE,764,745,713,680,661,634,878,785,807,653,629,652.635580685,0.400924422301,0.00441835287458,0.0599320599968,0.999999972292,-0.000106025857631,-0.000207330160665,-3.44730142388e-05,1793245462576930304
+43,0.716666667,BASELINE,764,745,713,680,661,634,878,785,807,653,629,652.043863927,0.40092418571,0.00441892485616,0.059931603094,0.999999972114,-0.000105989126733,-0.00020820576817,-3.44661531489e-05,1793245462593596928
+44,0.733333333,BASELINE,764,745,713,679.466220468,661,634,878,785,806.466220468,653,629,652,0.400925998315,0.00441789787171,0.0599328459655,0.999999972407,-0.000107669899765,-0.000205967033802,-3.42261754333e-05,1793245462610263808
+45,0.750000000,BASELINE,764,745,713,679.109918586,661,634,878,785.109918586,806.109918586,653,629,652.109918586,0.400927545043,0.0044172031223,0.0599338581378,0.999999972689,-0.000108663959074,-0.000204100114469,-3.40211354878e-05,1793245462626930176
+46,0.766666667,BASELINE,764,745,713,679.684461276,661,634,878,785.684461276,806.684461276,653,629,652.684461276,0.400927274395,0.00441845387005,0.0599333198871,0.999999972801,-0.000106174027977,-0.000204858851707,-3.40426716383e-05,1793245462643596800
+47,0.783333333,BASELINE,764,745,713,679.740721512,661,634,878,785.740721512,806.740721512,653,629,652.740721512,0.400926706337,0.00441903618601,0.0599328963434,0.999999972794,-0.000104607896239,-0.000205681157955,-3.41246919047e-05,1793245462660263680
+48,0.800000000,BASELINE,764,745,713,679.165569778,661,634,878,785.165569778,806.165569778,653,629,652.165569778,0.400925775951,0.00441880416646,0.0599326125444,0.999999972649,-0.000104167208483,-0.000206580909023,-3.4280398634e-05,1793245462676930560
+49,0.816666667,BASELINE,763.5763472,745,713,679,661,634,878,785,806.4236528,653,629,652.4236528,0.400926754262,0.00441869995851,0.0599331868485,0.999999972771,-0.000105284115336,-0.000205409801652,-3.43487943491e-05,1793245462693597184
+50,0.833333333,BASELINE,763.017963735,745,713,679,661,634,878,785,806.982036265,653,629.017963735,652.982036265,0.400928424522,0.0044186711116,0.0599340816858,0.999999972994,-0.000106894330851,-0.000203481087022,-3.43737673079e-05,1793245462710263296
+51,0.850000000,BASELINE,763.593658048,745,713,679,661,634,878,785,806.406341952,653,629.593658048,652.406341952,0.400927622614,0.00441937791711,0.059934158507,0.999999973168,-0.000104271684107,-0.000204021223246,-3.41463832845e-05,1793245462726929920
+52,0.866666667,BASELINE,764,745,713,679.168992458,661,634,878,785,806,653,629.831007542,652.168992458,0.400926951352,0.00441985093451,0.0599341275526,0.999999973223,-0.000102856032267,-0.000204496459087,-3.40049224083e-05,1793245462743596800
+53,0.883333333,BASELINE,764,745,713,679.743463286,661,634,878,785,806,653,629.256536714,652.743463286,0.400926593559,0.00441976300361,0.0599338380025,0.999999973002,-0.000104336428919,-0.00020481597374,-3.40696244608e-05,1793245462760263424
+54,0.900000000,BASELINE,764,745,713,680,661,634,878,785,806,653,629.317482222,652.682517778,0.400927306571,0.0044182011006,0.0599340983177,0.999999972822,-0.000107419492666,-0.000204086274048,-3.41422108162e-05,1793245462776930048
+55,0.916666667,BASELINE,764,745,713,680,661,634,878,785,806,653,629.891136505,652.108863495,0.400928883599,0.00441544986967,0.0599348023115,0.99999997266,-0.000111795726491,-0.000202509977636,-3.4221158904e-05,1793245462793596672
+56,0.933333333,BASELINE,764,745,713,680,661,634,878,785,806.482660839,652.517339161,630,652,0.40092733461,0.004416604985,0.0599335287862,0.999999972519,-0.000109082101628,-0.00020466297712,-3.4295043601e-05,1793245462810263296
+57,0.950000000,BASELINE,764.075793449,745,713.075793449,679.924206551,661.075793449,634,878,785,807,652.075793449,629.924206551,652.075793449,0.400925440153,0.00441843826092,0.0599321311376,0.999999972409,-0.000105428934353,-0.000207095270937,-3.43343835035e-05,1793245462826930176
+58,0.966666667,BASELINE,764.651912848,745,713.651912848,679.348087152,661.651912848,634,878,785,807,652.651912848,629.348087152,652.651912848,0.40092609844,0.00441870847291,0.0599329716327,0.999999972605,-0.000106535529903,-0.000205605256739,-3.41535157437e-05,1793245462843596800
+59,0.983333333,BASELINE,764.545711228,745,713.772855614,679,661.772855614,634,878,785,806.772855614,652.772855614,629,653,0.400926400389,0.00441896115558,0.0599334160968,0.99999997269,-0.000106971398583,-0.000204967997978,-3.41490144867e-05,1793245462860263424
+60,1.000000000,BASELINE,763.397958589,745,713.198979294,679,661.198979294,634,878,785,806.198979294,652.198979294,629,653,0.400926158394,0.00441918708008,0.0599332560267,0.999999972607,-0.000106383414594,-0.000205632455255,-3.44137335851e-05,1793245462876930048
+61,1.016666667,BASELINE,763,745.386253811,713,679.386253811,661,634,878,785,806,652.386253811,629,652.613746189,0.400925236557,0.00441948538298,0.0599324795448,0.999999972375,-0.000105900530748,-0.000206993612161,-3.44828953502e-05,1793245462893596672
+62,1.033333333,BASELINE,763,745.977514577,713,679.977514577,661,634,878,785,806,652.977514577,629,652.022485423,0.400923953888,0.00441982210121,0.0599313758979,0.999999972061,-0.000105473429585,-0.000208724547305,-3.4448263655e-05,1793245462910263552
+63,1.050000000,BASELINE,763.556808065,745.443191935,713,679.443191935,661,634,878,785,806.556808065,653,629,652,0.400927440968,0.00441943041113,0.0599337271034,0.999999972819,-0.000106510104902,-0.000204541356544,-3.43433957021e-05,1793245462926930176
+64,1.066666667,BASELINE,763.865553967,745,713,679,661,634,878,785,807,653,629,652.134446033,0.400929807074,0.0044190882332,0.059935148141,0.999999973331,-0.00010692944727,-0.000201819138037,-3.42627267459e-05,1793245462943596544
+65,1.083333333,BASELINE,763.291779803,745,713,679,661,634,878,785,807,653,629,652.708220197,0.400927894017,0.00441900194276,0.0599330833725,0.999999972948,-0.000105142442808,-0.000204634923495,-3.42702058938e-05,1793245462960263424
+66,1.100000000,BASELINE,763,745,713,679,660.710275184,633.710275184,878,785,806.710275184,653,629,652.710275184,0.400926992828,0.00441900169482,0.0599324227167,0.999999972801,-0.000104516026743,-0.000205660920985,-3.43268559552e-05,1793245462976930048
+67,1.116666667,BASELINE,763,745,713,679,660.120771891,633.120771891,878,785,806.120771891,653,629,652.120771891,0.400927138621,0.00441909047514,0.0599332148974,0.999999972906,-0.000105090472442,-0.000204835023399,-3.4434383196e-05,1793245462993596672
+68,1.133333333,BASELINE,763,744.537682142,713,679.462317858,660.462317858,633.462317858,878,785,806,653,629,652,0.400926201598,0.00441932560241,0.0599331121395,0.999999972795,-0.000104883189452,-0.000205521388633,-3.42056133455e-05,1793245463010263296
+69,1.150000000,BASELINE,763.043204933,744.043204933,713,679.956795067,661,634,878,785,806.043204933,653,629.043204933,652.043204933,0.400925121005,0.00441961456346,0.0599327547361,0.999999972646,-0.000104466312269,-0.000206503991329,-3.39360941103e-05,1793245463026929920
+70,1.166666667,BASELINE,763.617330634,744.617330634,713,679.382669366,661,634,878,785,806.617330634,653,629.617330634,652.617330634,0.40092570456,0.00442010169325,0.0599321016945,0.999999972724,-0.000103948960553,-0.000206338761267,-3.42306127146e-05,1793245463043596800
+71,1.183333333,BASELINE,764,745,713,679,661,634,878,785,807,652.807627204,629.807627204,652.807627204,0.400926349551,0.00442009277794,0.0599318340248,0.999999972724,-0.000104239571962,-0.00020615676696,-3.44213420743e-05,1793245463060263424
+72,1.200000000,BASELINE,764,745,713,679,661,634,878,785,807,652.230753181,629.230753181,652.230753181,0.400927117338,0.00441909240263,0.0599323366093,0.999999972569,-0.000106145083202,-0.000205941265426,-3.44046248373e-05,1793245463076930048
+73,1.216666667,BASELINE,763.646938243,745,713,679.353061757,661,634,878,785,806.646938243,652.353061757,629,652.353061757,0.400926356187,0.0044186537472,0.0599321240898,0.999999972372,-0.000106938369746,-0.0002065162436,-3.42242987967e-05,1793245463093596672
+74,1.233333333,BASELINE,763.058495945,745,713,679.941504055,661,634,878,785,806.058495945,652.941504055,629,652.941504055,0.400924575719,0.00441858958136,0.0599314348221,0.999999972148,-0.000106990154025,-0.000207618221776,-3.39348974236e-05,1793245463110263552
+75,1.250000000,BASELINE,763.517328614,745,713,680,661,634,878,785,806.517328614,653,629,652.482671386,0.400925838467,0.00441847609668,0.0599322997981,0.999999972519,-0.0001059600136,-0.000206379818109,-3.38058316696e-05,1793245463126930176
+76,1.266666667,BASELINE,764,745,713,680,661,633.907093079,878,785,806.907093079,653,629.092906921,652,0.400927164639,0.00441842400224,0.0599331643709,0.999999972881,-0.000104978506572,-0.000205135989864,-3.37152700229e-05,1793245463143597056
+77,1.283333333,BASELINE,764,745,713,680,661,633.325484019,878,785,806.325484019,653,629.674515981,652,0.400927057476,0.00441872346357,0.0599331244015,0.999999972873,-0.000104881001655,-0.00020522249404,-3.37341512005e-05,1793245463160263680
+78,1.300000000,BASELINE,764,745,713.252703915,679.747296085,661,633.252703915,878,785,806,653,629.747296085,652,0.400926685322,0.00441932800584,0.0599329711414,0.999999972856,-0.000104531159139,-0.000205469662519,-3.38263701974e-05,1793245463176930304
+79,1.316666667,BASELINE,764,745,713.826544234,679.173455766,661,633.826544234,878,785,806,653,629.173455766,652,0.400925976419,0.00442032024525,0.0599326739114,0.999999972826,-0.000103860645742,-0.000205921003357,-3.4011786971e-05,1793245463193596928
+80,1.333333333,BASELINE,763.587163722,745,713.587163722,679.412836278,661,634,878,785,806.412836278,653,629,652,0.400926091446,0.00442023260244,0.059932732323,0.999999972868,-0.000103287439441,-0.000206008527099,-3.39904057e-05,1793245463210263552
+81,1.350000000,BASELINE,763.004439071,745,713,679.995560929,661,634,878,785,807,653,629,652,0.400926561291,0.00441967735329,0.059932938927,0.99999997294,-0.000102763773711,-0.000205939242947,-3.38791278653e-05,1793245463226930176
+82,1.366666667,BASELINE,763.585178925,745,713,679.414821075,661,634,878,785,807,653,629,652,0.400926755015,0.0044191511135,0.0599323821922,0.999999972893,-0.000103198856759,-0.000205974599439,-3.37280066706e-05,1793245463243596800
+83,1.383333333,BASELINE,763.835849583,745,713,679,661,634,878,785,807,653,629.164150417,652,0.400927042547,0.00441902453628,0.0599321369808,0.999999972926,-0.000103316989437,-0.000205762473308,-3.36912683632e-05,1793245463260263424
+84,1.400000000,BASELINE,763.261299129,745,713,679,661,634,878,785,807,653,629.738700871,652,0.400927564613,0.00441989717376,0.0599326706231,0.999999973158,-0.000102642699956,-0.000204931604453,-3.39405039607e-05,1793245463276930048
+85,1.416666667,BASELINE,763.314750209,745,713,679.314750209,661,634,878,785,806.685249791,653,629.685249791,652,0.400927820806,0.00442100482345,0.0599330930735,0.999999973452,-0.000101536537061,-0.000203998088142,-3.42112273477e-05,1793245463293596672
+86,1.433333333,BASELINE,763.892049808,745,713,679.892049808,661,634,878,785,806.107950192,653,629.107950192,652,0.400927855222,0.0044223085089,0.0599334227729,0.999999973798,-0.000100070126302,-0.00020297894834,-3.44998747935e-05,1793245463310263552
+87,1.450000000,BASELINE,764,745,713,679.52181574,661,634,878,785,806,653,629,652,0.40092884304,0.00442120554957,0.0599339189517,0.999999973722,-0.000102656662803,-0.000202099479855,-3.42642375395e-05,1793245463326929920
+88,1.466666667,BASELINE,764,745,713,679.065163073,661,634,878,785,806.065163073,653,629,652,0.400929795439,0.00441975878212,0.0599343419438,0.999999973545,-0.000105559188136,-0.000201530891703,-3.39519970175e-05,1793245463343596544
+89,1.483333333,BASELINE,764,745,713,679.642801633,661,634,878,785,806.642801633,653,629,652,0.400928744735,0.00441996135354,0.059933888226,0.999999973418,-0.000103615701976,-0.000203154582079,-3.39856534167e-05,1793245463360263424
+90,1.500000000,BASELINE,764,745,713,679.780491803,661,634,878,785,806.780491803,653,629,652,0.400927834216,0.00441998755978,0.0599333217621,0.999999973154,-0.000103604824746,-0.000204446117878,-3.40513397932e-05,1793245463376930048
+91,1.516666667,BASELINE,764,745,713,679.205295487,661,634,878,785,806.205295487,653,629,652,0.400927150852,0.00441972798626,0.0599325726063,0.999999972668,-0.000106725521126,-0.000205199434731,-3.41689271092e-05,1793245463393596672
+92,1.533333333,BASELINE,763.620945981,745,713,679,661,634,878,785,806.379054019,653,629,652,0.400927168503,0.00441975442764,0.0599324894816,0.999999972812,-0.000106376701886,-0.000204686136771,-3.41139357793e-05,1793245463410263552
+93,1.550000000,BASELINE,763.031516387,745,713,679,661,634,878,785,806.968483613,653,629,652,0.400927575218,0.0044199396077,0.0599327760052,0.999999973305,-0.000104102296319,-0.00020346986567,-3.39631630407e-05,1793245463426930176
+94,1.566666667,BASELINE,763.548386089,745,713,679.548386089,661.548386089,634,878,785,806.451613911,653,629.548386089,652,0.400925736662,0.0044186872174,0.0599319476663,0.999999972559,-0.000106158273466,-0.000206079251515,-3.38142332903e-05,1793245463443596544
+95,1.583333333,BASELINE,764,745,713.126766213,680,661.873233787,634,878.126766213,785,806.126766213,653,629.873233787,652,0.400924596237,0.00441793915878,0.0599314269862,0.99999997206,-0.000107280730919,-0.000207935129076,-3.36821320328e-05,1793245463460263680
+96,1.600000000,BASELINE,764,745,713.701667336,680,661.298332664,634,878.701667336,785,806.701667336,653,629.298332664,652,0.40092637217,0.00441926105811,0.0599322165553,0.999999972709,-0.000104238305071,-0.000206363280067,-3.3609153586e-05,1793245463476930304
+97,1.616666667,BASELINE,764,745,713.717550295,679.717550295,661,634,879,785,807,653,629.282449705,652,0.4009275354,0.00441945001407,0.059932740521,0.999999972929,-0.000104689292341,-0.000205051447658,-3.37103740411e-05,1793245463493596928
+98,1.633333333,BASELINE,764,745,713.130423899,679.130423899,661,634,879,785,807,653,629.869576101,652,0.40092803771,0.00441841687117,0.059932977982,0.999999972679,-0.000108908602186,-0.000204020093588,-3.39995017419e-05,1793245463510263552
+99,1.650000000,BASELINE,764,745,713,679,661,634,878.54949646,785,806.54949646,653,629.54949646,652.45050354,0.400927243331,0.00441800072168,0.0599330920308,0.99999997257,-0.000108948874814,-0.00020458369655,-3.36882349943e-05,1793245463526930176
+100,1.666666667,BASELINE,764,745,713.029675969,679,661,634,878.029675969,785,806.029675969,653,629,653,0.400926132111,0.0044178132781,0.0599331019686,0.999999972499,-0.000107848976691,-0.000205581323785,-3.32574503669e-05,1793245463543596800
+101,1.683333333,BASELINE,764,745,713.609131473,679,661,634,878.609131473,785,806.609131473,653,629,653,0.400926011361,0.00441859857537,0.0599318360643,0.99999997237,-0.000107735920505,-0.000206181393256,-3.37889325189e-05,1793245463560263424
+102,1.700000000,BASELINE,764,745,714,679,661.186651208,634,879,785.186651208,806.813348792,653,629.186651208,653,0.400926396429,0.00441927320148,0.059931417833,0.9999999725,-0.000106691568739,-0.00020605632251,-3.40386182758e-05,1793245463576930048
+103,1.716666667,BASELINE,764,745,714,679,661.760158766,634,879,785.760158766,806.239841234,653,629.760158766,653,0.400927829863,0.00441971844868,0.0599327565027,0.999999973158,-0.000103716998523,-0.000204428314201,-3.3704248145e-05,1793245463593596928
+104,1.733333333,BASELINE,764,745,713.657418304,679.342581696,661.657418304,634,879,786,806.342581696,653,630,652.657418304,0.400927379346,0.00441968284723,0.0599327981153,0.999999973025,-0.000104305613558,-0.000204779210593,-3.37136256622e-05,1793245463610263552
+105,1.750000000,BASELINE,764,745,713.068586893,679.931413107,661.068586893,634,879,786,806.931413107,653,630,652.068586893,0.400925574635,0.00441930160903,0.0599319073958,0.999999972318,-0.000107455466562,-0.000206552555022,-3.39700909528e-05,1793245463626930176
+106,1.766666667,BASELINE,764,745.511986056,713.511986056,680,661,634,878.488013944,786,807,653,629.488013944,652,0.400925715766,0.00441926216231,0.0599324979991,0.999999972542,-0.000105959542784,-0.000206230135095,-3.40165317085e-05,1793245463643596800
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,714,679,661,634,878,785,806,653,629,652,0.400930197247,0.00442001895425,0.0599339562622,0.999999974149,-0.000100783875617,-0.000201008764437,-3.37609117569e-05,1793245463686524928
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.416168644,713.416168644,679.583831356,661,634,878,785.583831356,806.583831356,653,629,652,0.400928961881,0.00441980818096,0.0599330617797,0.999999973539,-0.000103382113286,-0.000202675103863,-3.40145256612e-05,1793245463703191552
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.833142821,745,713,680,661,634,877.833142821,785.833142821,807,653,629,652,0.400928359553,0.00441975813198,0.0599327393652,0.999999973196,-0.000105207769303,-0.000203399446899,-3.41637701999e-05,1793245463719857920
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.252116351,745,713,680,661,634,877.252116351,785.252116351,807,653,629,652,0.400929328537,0.00442010702942,0.0599338369256,0.999999973537,-0.000105115740364,-0.000201785587179,-3.40539514053e-05,1793245463736524800
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.327888225,745,713.327888225,680,661,634,877.65577645,785,807,653,629.327888225,652.327888225,0.400929842862,0.00441987608067,0.0599338339305,0.999999973561,-0.000105521646918,-0.000201449219048,-3.40680168275e-05,1793245463753191680
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.907109464,745,713.907109464,680,661,634,878.814218927,785,807,653,629.907109464,652.907109464,0.40093000868,0.00441920066796,0.059932987337,0.999999973345,-0.000106309231191,-0.000202092074385,-3.41770420359e-05,1793245463769858304
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.51838713,745,713.51838713,680,661,634,878.51838713,785,807,653.48161287,629.51838713,652.51838713,0.400933647184,0.00441928423181,0.0599344551616,0.999999973848,-0.000106092080188,-0.000199708339923,-3.41303699569e-05,1793245463786524672
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.056686891,745.056686891,713,680,661.056686891,634,878,785.056686891,806.943313109,653.886626219,629.056686891,652,0.400938772401,0.00441949580947,0.0599365691849,0.999999974593,-0.000105776268264,-0.000196124499982,-3.40680962751e-05,1793245463803191552
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.645578311,745.645578311,713,680,661.645578311,634,878,785.645578311,806.354421689,652.708843378,629.645578311,652,0.400951628297,0.00441954822532,0.05994059976,0.999999976335,-0.000106335899137,-0.000186700844966,-3.41385479003e-05,1793245463819858176
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745.769329771,713,680,661.769329771,634,878,785.769329771,806.230670229,652.230670229,629.769329771,652,0.400969962929,0.00441981396839,0.0599451556535,0.999999978493,-0.000106406729522,-0.000174678081037,-3.43471213149e-05,1793245463836524800
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745.189981188,713,680,661.189981188,634,878,785.189981188,806.810018812,652.810018812,629.189981188,652,0.400996579152,0.00442040217433,0.0599505056115,0.999999981208,-0.00010573869489,-0.000158726536068,-3.47644779622e-05,1793245463853191424
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,679.613527136,661,634,878,785,807,653,629,652.386472864,0.401032912403,0.00442103690708,0.059956076016,0.999999984151,-0.00010474731666,-0.000139513063838,-3.55398269626e-05,1793245463869858048
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713,679.038485339,661,634,878,785,807,653,629,652.961514661,0.401073986815,0.00442169434137,0.059961753982,0.999999986922,-0.000103598171617,-0.000118708021369,-3.64898486318e-05,1793245463886524672
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713.536443722,679.536443722,661,634,878,785,807,653,629,653,0.401123728155,0.00442093907844,0.0599630701895,0.999999987757,-0.000106355486558,-0.000108521332589,-3.73722998518e-05,1793245463903191552
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745.110916089,713.889083911,679.889083911,661,634,878,785,807,653,629,653,0.401177166222,0.00442029949346,0.0599640517156,0.999999988328,-0.000108986463104,-0.000100006874389,-3.82772118153e-05,1793245463919858432
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.683521301,713.316478699,679.316478699,661,634,878,785,807,653,629,653,0.401243404346,0.0044205631967,0.0599649423849,0.999999988647,-0.000109925234323,-9.52828464878e-05,-3.92957910773e-05,1793245463936525312
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.267815741,745.732184259,713.267815741,679.267815741,661,634,877.732184259,785,807,653,629,652.732184259,0.401318191462,0.00442051947753,0.0599657647121,0.999999988753,-0.000111562484607,-9.185943615e-05,-4.0114082944e-05,1793245463953191936
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.866553757,745.133446243,713.866553757,679.866553757,661,634,877.133446243,785,807,653,629,652.133446243,0.401403542,0.00442009589669,0.0599665025935,0.999999988613,-0.000114062799419,-9.00431135749e-05,-4.06848928053e-05,1793245463969858560
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.553561929,745,713.553561929,680,661,634,877.892876142,785,807,653,629,652,0.401512435738,0.00442154635425,0.0599692678186,0.999999989184,-0.000113618193275,-8.34618145709e-05,-4.19093974662e-05,1793245463986525184
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.021395509,680,661,634,878.978604491,785,807,653,629,652.021395509,0.401629240782,0.00442341964562,0.0599727407619,0.99999998991,-0.000112469124355,-7.52055746528e-05,-4.32917140398e-05,1793245464003191808
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.609067638,680,661,634,878.390932362,785,807,653,629,652.609067638,0.401776723552,0.00442225868125,0.0599795558,0.999999990693,-0.000115029260413,-5.87884752166e-05,-4.38887914776e-05,1793245464019858432
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.80620205,679.80620205,661,634,878,785,807,653,629.19379795,652.80620205,0.401930436036,0.00442229421036,0.0599831546846,0.999999991203,-0.000115470547566,-4.75185179845e-05,-4.47390352194e-05,1793245464036524800
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.227317353,679.227317353,661,634,878,785,807,653,629.772682647,652.227317353,0.402096527271,0.00442470723525,0.0599803629021,0.999999991619,-0.00011170156994,-4.64762057537e-05,-4.60923337078e-05,1793245464053191424
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745.350187964,713,679.350187964,661,634,878,785,807,653,629.649812036,652,0.402282441411,0.00442447284305,0.0599783199691,0.999999991754,-0.0001108827569,-4.45839726972e-05,-4.70132432463e-05,1793245464069859072
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745.926801456,713,679.926801456,661,634,878,785,807,653,629.073198544,652,0.402481172717,0.00442252667663,0.0599767612292,0.999999991708,-0.000111971469267,-4.21421953206e-05,-4.76545776454e-05,1793245464086527232
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.498457361,745.498457361,713,679.498457361,661,634,878.501542639,785,806.498457361,653,629,652.501542639,0.402720034098,0.00442417271363,0.0599764059156,0.999999991944,-0.00011125541151,-3.64362730434e-05,-4.90604999304e-05,1793245464103193344
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.078190672,745,713,679,661,634,878.921809328,785,806,653,629,653,0.402970164472,0.004426021657,0.0599767197693,0.999999992202,-0.000110376765291,-2.94189765146e-05,-5.04778616381e-05,1793245464119859200
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.669128692,745,713,679,661,634,878.330871308,785,806,653,629,653,0.403255928722,0.00442577599263,0.0599802743124,0.999999992477,-0.000110152784459,-1.69145306434e-05,-5.12411983491e-05,1793245464136525824
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.255058596,679.255058596,661.255058596,634,878,785,806.255058596,653,629.255058596,653,0.403551677731,0.00442579896665,0.0599797563012,0.999999992591,-0.000109179377204,-1.39787791655e-05,-5.19799134956e-05,1793245464153192192
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.834616864,679.834616864,661.834616864,634,878,785,806.834616864,653,629.834616864,653,0.403860129884,0.00442616371731,0.0599740569608,0.999999992591,-0.000107252508176,-2.32168513513e-05,-5.26873036833e-05,1793245464169858816
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,680,661.587783717,634,878,785,806.587783717,653,629.587783717,653,0.404188974182,0.00442705910154,0.0599635721203,0.999999992472,-0.0001030482983,-4.05940877945e-05,-5.28135817666e-05,1793245464186525440
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,680,661.010966495,634,878,785,806.010966495,653,629.010966495,653,0.404525961203,0.00442816637158,0.0599511763952,0.999999991941,-9.79347297758e-05,-6.1221351098e-05,-5.27078175518e-05,1793245464203191808
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.440164103,745,713.440164103,679.440164103,661,634,878.559835897,785,806.559835897,653,629,653,0.404896603848,0.00443079340203,0.0599356269803,0.999999990753,-9.06175416648e-05,-8.63381636318e-05,-5.31792840909e-05,1793245464219858432
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.135964917,745,713.135964917,679.135964917,661,634,879,785,807,653,629,652.864035083,0.405288379236,0.00443284142261,0.0599252571495,0.999999989701,-8.42833226858e-05,-0.00010309373215,-5.35386548052e-05,1793245464236525056
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.730450151,745,713.730450151,679.730450151,661,634,879,785,807,653,629,652.269549849,0.40574922174,0.00443283749459,0.0599325607737,0.999999991083,-8.14080381387e-05,-9.13588869179e-05,-5.34822734146e-05,1793245464253191680
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745.314717411,714,680,661,634,878.685282589,785,807,653,629.314717411,652.314717411,0.406246300644,0.00443301203149,0.0599537510746,0.999999993846,-7.97505681247e-05,-5.55607081982e-05,-5.34917378912e-05,1793245464269858560
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745.890508424,714,680,661,634,878.109491576,785,807,653,629.890508424,652.890508424,0.406773439479,0.00443333461383,0.0599864610589,0.999999995437,-7.91033347749e-05,1.99192848896e-07,-5.35558246293e-05,1793245464286525184
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.533272626,746,714,680,661.466727374,634,878,785.466727374,807,653,630,652.533272626,0.407323296195,0.00443306244147,0.0600127691674,0.999999994622,-7.82450021705e-05,4.19152836363e-05,-5.36332796925e-05,1793245464303192576
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.04400357,745.95599643,714,680,661.95599643,634,878.04400357,785.95599643,807.04400357,653,629.95599643,652.04400357,0.407877333613,0.00443285144182,0.060034633298,0.999999992759,-7.78642019862e-05,7.44233124174e-05,-5.36637480656e-05,1793245464319860480
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.633132807,745.366867193,714,680,661.366867193,634,878.633132807,785.366867193,807.633132807,653,629.366867193,652.633132807,0.408417079527,0.00443512832754,0.0600200667308,0.999999994494,-8.40132365135e-05,3.37115638971e-05,-5.30732490808e-05,1793245464336526848
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713.781380413,680,661,634,878.781380413,785,807.781380413,653,629.218619587,652.781380413,0.408976591461,0.0044370056146,0.0600061525554,0.999999994009,-9.57986209054e-05,-1.71373316519e-06,-5.29336343425e-05,1793245464353193216
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713.201905931,680,661,634,878.201905931,785,807.201905931,653,629.798094069,652.201905931,0.409568729284,0.00443822332141,0.0599933152227,0.999999991332,-0.000116887400377,-2.84131769546e-05,-5.35382521545e-05,1793245464369859328
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.374695921,713.374695921,680,661.374695921,634,878,785,807,652.625304079,630,652,0.410216130895,0.00443909282617,0.0599946395771,0.999999990796,-0.000122194130083,-2.11536570959e-05,-5.50356769175e-05,1793245464386525696
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.949761607,713.949761607,680,661.949761607,634,878,785,807,652.050238393,630,652,0.410893084963,0.00443977612881,0.0600035369363,0.999999991278,-0.000119061360766,4.26552103541e-06,-5.70105328423e-05,1793245464403192064
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.477031575,714,680,661.477031575,634,878.522968425,785,807,652.522968425,629.477031575,652.522968425,0.411577643519,0.00443954289945,0.0600051899523,0.999999991594,-0.00011568210613,1.12926076687e-05,-5.7462168657e-05,1793245464419859200
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713.900464186,680,661,634,879,785,807,652.900464186,629.099535814,653,0.412263577331,0.0044396828064,0.0600012550941,0.999999992238,-0.000110370385816,6.09833562004e-06,-5.74823308345e-05,1793245464436526080
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713.306313375,680,661,634,879,785,807,652.306313375,629.693686625,653,0.412952727626,0.00444211287679,0.0599729988076,0.999999992556,-9.55730723218e-05,-5.1077918289e-05,-5.60829594909e-05,1793245464453192704
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713.280343953,680,661,634,879,785,807,652.280343953,630,653,0.41366225979,0.00444408825688,0.0599480976409,0.999999989855,-8.56191824658e-05,-9.91860635684e-05,-5.58702738984e-05,1793245464469859072
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.859026872,680,661,634,879,785,807,652.859026872,630,653,0.414393482203,0.00444557976083,0.0599267669525,0.999999985641,-8.08196093604e-05,-0.000137644034059,-5.69204462143e-05,1793245464486525184
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680,661.434204798,634,879,785,807,653,630,652.565795202,0.415218486695,0.00444584621593,0.0599577323259,0.999999991916,-8.03133071949e-05,-8.00806061878e-05,-5.74821707046e-05,1793245464503191808
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.008262066,714,680,662.008262066,633.991737934,879,785,807.008262066,653,630,652.008262066,0.416073465963,0.0044457231815,0.0600052435321,0.999999995005,-8.11241119181e-05,7.76922880735e-06,-5.78738369167e-05,1793245464519858432
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.582883396,714,680,662.582883396,633.417116604,879,785,807.582883396,653,630,652.582883396,0.416912709557,0.00444594712864,0.0600323853467,0.999999994013,-7.743631909e-05,5.180329934e-05,-5.7391940377e-05,1793245464536525056
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745.837025854,714,680,662.837025854,633.162974146,879,785.162974146,808,653,630,653,0.417750907654,0.00444654680207,0.0600451363962,0.999999992922,-7.44518603374e-05,7.29604385114e-05,-5.73591891274e-05,1793245464553191680
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745.242450585,714,680,662.242450585,633.757549415,879,785.757549415,808,653,630,653,0.418586336933,0.0044481415038,0.060019776673,0.999999995037,-7.33300274325e-05,3.35330622394e-05,-5.85159004608e-05,1793245464569858560
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713.659181079,680,662,634,879,785.659181079,808,653,630,652.659181079,0.419423682633,0.00444819187184,0.0599971294094,0.999999995382,-7.52118144068e-05,-3.86393641943e-06,-5.97042866117e-05,1793245464586525440
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713.083696024,680,662,634,879,785.083696024,808,653,630,652.083696024,0.420262347824,0.00444717891029,0.0599763497734,0.999999994217,-7.91617021615e-05,-3.98629451238e-05,-6.09144819527e-05,1793245464603192064
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.491065651,745,713.491065651,680,662,634,879,785,808,653,630,652.491065651,0.421076894488,0.00444816565176,0.0599403864036,0.999999989906,-7.75944204647e-05,-0.000102103833322,-6.1171722684e-05,1793245464619858688
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.067666705,662,633.932333295,879,785,808.067666705,653,630,653,0.421895850231,0.00444955342616,0.0599062581749,0.999999982374,-7.5393641423e-05,-0.00016062766047,-6.13695531607e-05,1793245464636525056
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.659468557,662,633.340531443,879,785,808.659468557,653,630,653,0.422780751528,0.00445141144783,0.0599063604608,0.999999983069,-7.55588493449e-05,-0.000155766636219,-6.23634255008e-05,1793245464653191680
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.754343574,745,714,680.754343574,662.245656426,633.245656426,879.245656426,785,809,653,630,653,0.423719479481,0.00445108015597,0.0599367757071,0.999999989592,-7.78111423032e-05,-0.000104229939314,-6.24225415032e-05,1793245464669858304
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.175763912,745,714,680.175763912,662.824236088,633.824236088,879.824236088,785,809,653,630,653,0.424731155556,0.00444778182072,0.060008272268,0.999999994635,-8.2891934175e-05,1.05634642123e-05,-6.12148385583e-05,1793245464686524928
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.398432453,745,714,680,662.601567547,633.601567547,880,785,809,653,630,652.601567547,0.425674781858,0.00444600881342,0.0600409105017,0.999999992478,-8.53700473407e-05,6.32215030665e-05,-6.13098414281e-05,1793245464703191808
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.970716183,745,714,680,662.029283817,633.029283817,880,785,809,653,630,652.029283817,0.426588715387,0.0044449013651,0.0600565933606,0.99999999038,-8.67125124771e-05,8.87675055096e-05,-6.1973264802e-05,1793245464719858944
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.450597512,745,713.450597512,680,662,633.549402488,880,785,809,652.450597512,630,652.549402488,0.427492119095,0.00444542806797,0.0600335662694,0.999999992079,-8.74869389146e-05,6.40214924499e-05,-6.39552770257e-05,1793245464736525824
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.130991221,713.130991221,680.130991221,662.130991221,634,880,785,809.130991221,652,630,653,0.428383232099,0.00444584778309,0.0600090372388,0.999999993409,-8.75513031818e-05,3.4972735026e-05,-6.55249025738e-05,1793245464753192704
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.721551381,713.721551381,680.721551381,662.721551381,634,880,785,809.721551381,652,630,653,0.429233216726,0.0044455829506,0.0599865629933,0.999999994229,-8.52319657122e-05,3.43836285057e-07,-6.5398227007e-05,1793245464769858816
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745.694839023,713.694839023,680.694839023,662.389678047,633.694839023,880,785,809.694839023,652,630,653,0.430095096238,0.00444562430272,0.0599594501158,0.999999993322,-8.32042180968e-05,-4.67019712318e-05,-6.52125651103e-05,1793245464786525184
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745.117430368,713.117430368,680.117430368,661.234860735,633.117430368,880,785,809.117430368,652,630,653,0.43096758766,0.00444593881574,0.0599281989096,0.999999989079,-8.14366107339e-05,-0.000104825453369,-6.49742787752e-05,1793245464803192320
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.457187856,745,713.457187856,680.457187856,661.457187856,633,880,785,809,652,630,652.542812144,0.431906433216,0.00444303401912,0.0599594930691,0.999999993151,-8.61847977613e-05,-4.44836739218e-05,-6.55115237535e-05,1793245464819858432
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.967992412,745,713.967992412,681,662.032007588,633,880,784.967992412,809,652,630,652.032007588,0.432857416795,0.00443950256347,0.060005143993,0.999999992671,-9.21125353217e-05,4.23520058319e-05,-6.61784195093e-05,1793245464836524800
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.377219347,745,713.377219347,681,662.622780653,633,880,784.377219347,809,652,630,652.622780653,0.433724571241,0.00443937905534,0.0600226749567,0.999999991801,-8.95926578753e-05,6.37272448145e-05,-6.56523114662e-05,1793245464853191680
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713.209494426,681,662.371516723,633,880,784.209494426,809,652,630,653,0.43457922041,0.00443843864543,0.0600221800913,0.999999992078,-9.03461350619e-05,5.79479515612e-05,-6.57567884912e-05,1793245464869858560
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713.789037996,681,660.632886011,633,880,784.789037996,809,652,630,653,0.43541178051,0.00443605526726,0.0599898445598,0.999999993055,-9.68816370778e-05,4.20313044263e-06,-6.69751253628e-05,1793245464886525440
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.364946086,745,714,681,660.729892172,633,880,785,809,652,630,653,0.436233987078,0.00443441388104,0.0599645766398,0.999999991971,-9.89834762401e-05,-4.16909459034e-05,-6.72396364316e-05,1793245464903192064
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.938773331,745,714,681,661.877546661,633,880,785,809,652,630,653,0.43705026763,0.00443319718272,0.0599433539519,0.99999998945,-9.85476562136e-05,-8.30915534305e-05,-6.69582140601e-05,1793245464919858688
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+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713,682.815823279,652,627,880.184176721,783.184176721,810,653,629.184176721,653,0.452346014357,0.00460000640234,0.0596916500185,0.999999878893,0.000126827810939,-0.000469948595085,-7.26415366713e-05,1793245465903191808
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713,682.236550342,652,627,880.763449658,783.763449658,810,653,629.763449658,653,0.452344240331,0.00460113473327,0.0596890440227,0.999999877159,0.00012664433828,-0.000473613052554,-7.30367137435e-05,1793245465919858432
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.339679309,745.339679309,713.339679309,682.339679309,652,627,881,783.660320691,810.339679309,653,630,653,0.452346137644,0.00460128133949,0.0596900778487,0.999999877997,0.000126661414338,-0.000471855562144,-7.29064987694e-05,1793245465936525056
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.913808431,745.913808431,713.913808431,682.913808431,652,627,881,783.086191569,810.913808431,653,630,653,0.45235056895,0.00460075035016,0.0596936239136,0.999999880593,0.000126816910989,-0.000466355792795,-7.24136533076e-05,1793245465953191680
+244,4.066666667,HOLD_POSE2,764,746,713,682,652,627,880,783,810,653,630,653,0.45234515323,0.00460003637238,0.0596893677339,0.999999877167,0.000127568726165,-0.000473394777228,-7.27229404138e-05,1793245465984587520
+245,4.083333333,HOLD_POSE2,764,745.409385874,713.590614126,682.590614126,652,627,880,783,810,653,630,653,0.452345463098,0.00460037467726,0.0596897391851,0.999999877077,0.000127354731174,-0.000473710009635,-7.22833922169e-05,1793245466001253888
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+247,4.116666667,HOLD_POSE2,764,745,713.243366363,682.243366363,652,627,880,783,810,652.243366363,630,653,0.452345031198,0.00460144801866,0.0596891562419,0.999999877029,0.000125872755867,-0.000474123423309,-7.28405332607e-05,1793245466034587648
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+250,4.166666667,HOLD_POSE2,764.48197195,745.48197195,713,683,652,627,880,783,810,653,630,652.48197195,0.452347013047,0.00460185436639,0.0596892341091,0.999999877342,0.000127609578273,-0.000472988567598,-7.28966968725e-05,1793245466084588288
+251,4.183333333,HOLD_POSE2,764.940691821,745.940691821,713.059308179,682.940691821,652,627,880,783.059308179,810,653,630,653,0.452344672602,0.00460128829757,0.0596878753913,0.999999876082,0.000126955091629,-0.000475785308355,-7.31213854161e-05,1793245466101254144
+252,4.200000000,HOLD_POSE2,764.351652275,745.351652275,713.648347725,682.351652275,652,627,880,783.648347725,810,653,630,653,0.45234692349,0.0046026782366,0.0596894470013,0.999999877017,0.00012564239763,-0.000474158749209,-7.31606444788e-05,1793245466117920768
+253,4.216666667,HOLD_POSE2,764,745,713.766298542,682,652,627,880.233701458,783.766298542,810,653,630,653,0.452348524111,0.00460278086444,0.059690489157,0.999999877844,0.000125079889517,-0.000472590251666,-7.29819784695e-05,1793245466134587392
+254,4.233333333,HOLD_POSE2,764,745,713.186404816,682,652,627,880.813595184,783.186404816,810,653,630,653,0.452349161462,0.00460097654134,0.0596907470086,0.999999878511,0.000125628664932,-0.00047110776348,-7.24804904454e-05,1793245466151254528
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+256,4.266666667,HOLD_POSE2,764,745,713,682,652.964317195,627,881,783,810,653,630,653,0.452347934604,0.00459930577956,0.0596894479904,0.999999877639,0.00012501258949,-0.000473155892945,-7.2232427063e-05,1793245466184588032
+257,4.283333333,HOLD_POSE2,764,745,713.538793239,682,652.461206761,627,880.461206761,783,810,652.461206761,630,652.461206761,0.452348492911,0.00459961725943,0.0596891531159,0.999999877981,0.00012354468533,-0.000472793684407,-7.23897074901e-05,1793245466201254656
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+259,4.316666667,HOLD_POSE2,764.708787428,745,713.291212572,682,652.708787428,627,880,783,810,652.708787428,630,652.708787428,0.45234903051,0.00460047147793,0.0596897689344,0.999999877793,0.000125879977794,-0.000472671474436,-7.1759333046e-05,1793245466234587648
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+261,4.350000000,HOLD_POSE2,765,745.872169762,713.872169762,682,652.127830238,627,880,783.872169762,810,653,630,653,0.452349004464,0.00459978914025,0.0596894324687,0.99999987745,0.000125804989202,-0.000473373303051,-7.20528669783e-05,1793245466267920640
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,652,627,881,784,810,653,630,653,0.452349122615,0.0046006132155,0.0596901294967,0.999999877359,0.000128827684421,-0.000472838718078,-7.14814707379e-05,1793245466300612864
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.423801886,745.576198114,714,682,652,627,881,784,810,653,630,653,0.452348302835,0.00460108523797,0.059689096251,0.999999877004,0.000127572794313,-0.000473886947822,-7.17450614784e-05,1793245466317279488
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.751493939,746,714,682.751493939,652,627,880.248506061,783.248506061,810,653,630,653,0.452350037025,0.00460070048332,0.0596900953467,0.999999877938,0.00012554129392,-0.000472361375737,-7.23718605545e-05,1793245466350612224
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.665344913,745.665344913,714,682.665344913,652,627,880,783.334655087,810,653,630,652.665344913,0.452349544677,0.00460165706533,0.0596896128808,0.999999877362,0.00012602528307,-0.000473422150206,-7.25659803122e-05,1793245466367278592
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.090194305,745.090194305,714,682.090194305,652,627,880,783.909805695,810,653,630,652.090194305,0.452347370253,0.00460371705781,0.0596877839802,0.999999875684,0.000127487077585,-0.000476550425535,-7.26535606014e-05,1793245466383944960
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.482465699,745,713.517534301,682,652,627,880,783.517534301,810,653,630,652.482465699,0.452347880336,0.00460283879808,0.0596878306228,0.999999875949,0.000127663950873,-0.000475951450268,-7.26187107889e-05,1793245466400611328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.943156595,745.056843405,713.056843405,682,652,626.943156595,880,783,810,653,630,653,0.452348398219,0.00460143147294,0.0596880673432,0.999999876477,0.000127327720654,-0.000474943509329,-7.25409134534e-05,1793245466417278208
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.348130375,745.651869625,713.651869625,682,652,626.348130375,880,783,810,653,630,653,0.452344262898,0.00460018892225,0.0596868011054,0.999999876065,0.000124396095362,-0.000476626745231,-7.22720799081e-05,1793245466433945088
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745.760664604,713.760664604,682,651.760664604,626.239335396,880,783,810,652.760664604,630,652.760664604,0.452333549762,0.00459972947076,0.0596822079771,0.999999872783,0.00012317140254,-0.000483798692879,-7.21207593535e-05,1793245466450611968
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745.183859339,713.183859339,682,651.183859339,626.816140661,880,783,810,652.183859339,630,652.183859339,0.452313561717,0.004600374212,0.0596729238367,0.999999865311,0.000124353534373,-0.000498709883516,-7.21351355462e-05,1793245466467278592
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,651.392452222,627,880,783,810,652.392452222,630,652.392452222,0.452277980278,0.00460249339357,0.0596602689383,0.999999854208,0.00012683398886,-0.000519843470569,-7.25282460263e-05,1793245466483945472
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,651.96853283,627,880,783,810,652.96853283,630,652.96853283,0.45223510269,0.0046053024658,0.0596460368614,0.999999840981,0.000129921928537,-0.000543888517864,-7.30985662418e-05,1793245466500612096
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.556714135,745,713.556714135,682,652,627,880.556714135,783,810,652.443285865,630,653,0.452175371866,0.00460387922067,0.0596308276426,0.999999831276,0.000130336880097,-0.000561335288089,-7.32347978109e-05,1793245466517278720
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.856844134,745,714,682,652,626.856844134,880.856844134,783,810,652.143155866,630,653,0.452109983055,0.00460236008554,0.0596171476099,0.99999982199,0.000130053518169,-0.000577711261334,-7.31817685811e-05,1793245466533945344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.277827388,745,714,682,652,626.277827388,880.277827388,783,810,652.722172612,630,653,0.452030332358,0.00460129353462,0.0596082953209,0.999999813931,0.000128114253856,-0.000591987776553,-7.26288683313e-05,1793245466550611968
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.298982113,745,713.701017887,682,652,626.298982113,880,783,810,653,629.701017887,653,0.45194309153,0.00460213328048,0.0596020400766,0.999999808745,0.000129927375121,-0.000600318042735,-7.24300287197e-05,1793245466567278592
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.873755541,745,713.126244459,682,652,626.873755541,880,783,810,653,629.126244459,653,0.451848849311,0.00460473145969,0.0595981804356,0.999999806325,0.000135201825161,-0.000603163284884,-7.25577867776e-05,1793245466583945216
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,652,627,880,783.446687132,810,652.553312868,629.446687132,653,0.451732769373,0.00460456415815,0.0595967213463,0.999999804119,0.00013671479579,-0.000606630052194,-7.12114125089e-05,1793245466600611840
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.980150473,745,713.019849527,682,652,627,880.019849527,784,810,652,630,653,0.451609618349,0.00460369371936,0.0595958954823,0.999999801921,0.000137253472678,-0.000610321316847,-6.9483091296e-05,1793245466617278464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.385284066,745,713.614715934,682,652,627,880.614715934,784,810,652,630,653,0.451459683624,0.00460500301345,0.0595938401258,0.999999798418,0.000140237834486,-0.000615448299796,-6.87097910439e-05,1793245466633945088
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745,713.217728087,682,652,627.782271913,881,783.217728087,810,652.782271913,630,653,0.451109694914,0.00460506927436,0.05958284062,0.999999783499,0.000148317425143,-0.000637721008363,-6.57006648295e-05,1793245466667279360
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,652,627.06832963,881,783,810,652.06832963,630,653,0.450692285493,0.00460998586477,0.0595698047666,0.999999768188,0.000161642558306,-0.000658456287767,-6.26928730936e-05,1793245466700611840
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,652.508071713,627.508071713,880.491928287,783.508071713,810,652.508071713,630,653,0.450437673083,0.00461110578299,0.0595652817203,0.999999762838,0.000167026366693,-0.000665348219024,-6.11410126933e-05,1793245466717278208
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.965882471,713.034117529,680,659.068235058,633.034117529,878,785,807.965882471,652.965882471,630,652,0.404530970732,0.00454260865114,0.0597951332785,0.99999993279,0.000166154391291,-0.000325327712065,3.12141287022e-05,1793245467850611712
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.444803579,745.444803579,713.555196421,680,659.555196421,633,878,785,807.444803579,653,629.444803579,652,0.404158420221,0.00454270490133,0.0597699489586,0.999999916879,0.000167769865063,-0.000370385929211,3.01601254545e-05,1793245467867278592
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,713.278192003,679.278192003,659.278192003,633.721807997,878,785,807,653,629.721807997,652.721807997,0.403505858912,0.00453716410113,0.0597697556154,0.999999919622,0.000167976182265,-0.000362886032733,2.9222576839e-05,1793245467900612096
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.297923827,659.297923827,633.702076173,878,785.297923827,807,653,630,652.702076173,0.403232359509,0.00453453945642,0.0597879515544,0.999999931175,0.0001688447669,-0.000329058067508,2.93754429426e-05,1793245467917278976
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.479809482,744.520190518,713.520190518,679.479809482,660,633.520190518,878,785,807,653,630,652,0.40152404452,0.00452354598109,0.0598233947734,0.999999945749,0.000145232666119,-0.000294167807265,2.95634295675e-05,1793245468067278336
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745.833305585,713,679,660,634,878.166694415,785,807,652.166694415,630,652,0.401018823942,0.00451858334772,0.0598218929794,0.99999994626,0.000132799458698,-0.000298445736411,2.78342272076e-05,1793245468200611584
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.068446063,680,660.068446063,634,878,785,807,652.931553937,630,652.068446063,0.400961145216,0.00451817188619,0.0598267331365,0.999999949027,0.000132468439013,-0.000289292581423,2.6624953774e-05,1793245468283944448
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713.647594476,680,660.647594476,634,878,785,807,652.352405524,630,652.647594476,0.400959035254,0.00451850255279,0.0598276611707,0.999999949688,0.000130346933525,-0.00028799738929,2.62862871918e-05,1793245468300611328
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.773286394,680,660.773286394,634,878,785,807,652.226713606,629.773286394,653,0.400957917763,0.0045183266189,0.0598288933597,0.999999950335,0.000129112316412,-0.000286309262772,2.62159981826e-05,1793245468317278208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.19421281,680,660.19421281,634,878,785,807,652.80578719,629.19421281,653,0.400958342778,0.00451736332272,0.0598305982682,0.999999950963,0.000129256107955,-0.000284010434782,2.65628236203e-05,1793245468333944832
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745.381245077,713,680,660,634,878.381245077,785,807,653,629,652.618754923,0.400959149575,0.00451677007439,0.0598321246986,0.999999951729,0.000129117959278,-0.000281356001579,2.66447945637e-05,1793245468350611456
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745.954878352,713,680,660,634,878.954878352,785,807,653,629,652.045121648,0.400960149031,0.00451636356381,0.0598335610632,0.99999995256,0.000128837534735,-0.000278522118921,2.65931116287e-05,1793245468367278336
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.542542792,745.457457208,713.542542792,680,660,634,879,785.542542792,807,653,629,652,0.400958899745,0.00451683804275,0.0598334548485,0.999999952483,0.000128336815557,-0.000279056328252,2.63013772624e-05,1793245468383944960
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.870732257,745,714,680,660,633.870732257,878.870732257,785.870732257,807.129267743,653,629,652,0.400957804448,0.00451714728366,0.0598333784397,0.999999952439,0.00012758621052,-0.000279580580373,2.60381327449e-05,1793245468400611584
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.291448313,745,714,680,660,633.291448313,878.291448313,785.291448313,807.708551687,653,629,652,0.400957913585,0.004516619444,0.0598338642682,0.999999952782,0.000126031159421,-0.000279069126457,2.59454157209e-05,1793245468417278208
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,660,633.287324615,878,785,807.712675385,653,629.287324615,652,0.40095842043,0.00451676784925,0.0598344855324,0.999999953066,0.000125993177421,-0.000278083602697,2.57700845539e-05,1793245468433944832
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,660,633.865580182,878,785,807.134419818,653,629.865580182,652,0.400959329975,0.00451760098719,0.0598352439322,0.999999953289,0.000127491305731,-0.000276618058775,2.55111023062e-05,1793245468450611456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,660,634,878.439584145,785,807,653,630,652,0.400959096262,0.00451752972889,0.0598352149865,0.999999953173,0.000128256143774,-0.000276672886256,2.56087299295e-05,1793245468467278080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,713.987319925,679.987319925,660,634,879,785,807,653,629.987319925,652,0.400958525366,0.00451716805125,0.0598349624497,0.99999995297,0.000128735819712,-0.000277166080249,2.58099641679e-05,1793245468483944960
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.396927297,679.396927297,660,634,879,785,807,653,629.396927297,652,0.400958367387,0.00451605396305,0.0598353871221,0.999999953417,0.000126341609478,-0.000276652739564,2.58109130778e-05,1793245468500611328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.189973119,745,713.189973119,679.189973119,660.189973119,634,878.810026881,785,807,653,629.189973119,652,0.400957907087,0.00451534080475,0.0598355257954,0.999999953572,0.000125141174263,-0.000276641738777,2.57692036771e-05,1793245468517277952
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.769708628,745,713.769708628,679.769708628,660.769708628,634,878.230291372,785,807,653,629.769708628,652,0.400956826524,0.00451545022288,0.059835077693,0.999999953136,0.000126389973097,-0.000277661374356,2.56399734464e-05,1793245468533944832
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.653426175,745,714,680,661,634,878.346573825,785.346573825,807,653,630,652,0.400956972857,0.00451527783983,0.0598351369897,0.999999953331,0.000125481879044,-0.000277364624068,2.57285879872e-05,1793245468550611456
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.078452601,745,714,680,661,634,878.921547399,785.921547399,807,653,630,652,0.400957927742,0.00451491974361,0.0598355306737,0.999999953936,0.000123152345234,-0.00027620034659,2.5960767014e-05,1793245468567278080
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.506131287,745,713.493868713,679.493868713,660.493868713,634,878.493868713,785.493868713,807,653,630,652,0.400956620773,0.00451531450155,0.0598350967019,0.999999953742,0.000122981505416,-0.000276999096651,2.57629916689e-05,1793245468583944704
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.908432862,745.091567138,713.091567138,679.091567138,660,634,878,785,807,653,629.908432862,652,0.400955305526,0.00451600456291,0.0598346450068,0.999999953397,0.000123602682587,-0.000277988109,2.55286218869e-05,1793245468600611584
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.326566095,745.673433905,713.673433905,679.673433905,660,634,878,785,807,653,629.326566095,652,0.400955859573,0.00451763889126,0.0598347986437,0.999999952922,0.000126638399233,-0.000278335084589,2.54620651858e-05,1793245468617278208
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745.747570273,713.747570273,680,660,634,878,785,807,653,629.252429727,652,0.400956380258,0.00451832607223,0.0598351559342,0.999999952925,0.000127343960682,-0.000278008848596,2.5384679793e-05,1793245468633944832
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745.172246724,713.172246724,680,660,634,878,785,807,653,629.827753276,652,0.400956858265,0.00451780171609,0.059835773727,0.999999953544,0.000125068919865,-0.000276821478489,2.52934429418e-05,1793245468650611456
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94d3e9ddece9c5d408326a72d13a2850998b09de
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+2,0.033333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+3,0.050000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+4,0.066666667,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+5,0.083333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+6,0.100000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+7,0.116666667,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+11,0.183333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+12,0.200000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+368,6.133333333,pose2_to_pose3_retreat,0.576138961508,0.00987775225107,1.05005072216,0.546710596769,0.0185534452467,1.04971721978
+369,6.150000000,pose2_to_pose3_retreat,0.576053591966,0.00987770728393,1.05005093268,0.546625227057,0.0185533991051,1.04971741517
+370,6.166666667,pose2_to_pose3_retreat,0.575979682824,0.00987770281862,1.05005090434,0.546551317244,0.0185533925979,1.04971739274
+371,6.183333333,pose2_to_pose3_retreat,0.575915429254,0.00987788933755,1.05005088081,0.546487062676,0.0185535759233,1.04971737423
+372,6.200000000,pose2_to_pose3_retreat,0.575860610441,0.00987770442443,1.05005103399,0.546432244803,0.0185533936878,1.04971751397
+373,6.216666667,pose2_to_pose3_retreat,0.575813746598,0.00987772169613,1.05005101279,0.546385380873,0.0185534110259,1.04971750219
+374,6.233333333,pose2_to_pose3_retreat,0.57577495463,0.0098778290485,1.05005093631,0.546346588164,0.0185535159123,1.04971742692
+375,6.250000000,pose2_to_pose3_retreat,0.575744867529,0.00987777029133,1.05005087975,0.546316502166,0.0185534610566,1.0497173745
+376,6.266666667,pose2_to_pose3_retreat,0.575721812753,0.00987766399307,1.05005097451,0.546293447723,0.0185533559309,1.04971747036
+377,6.283333333,pose2_to_pose3_retreat,0.575705470891,0.00987767857653,1.05005110163,0.546277104536,0.0185533658484,1.04971759302
+378,6.300000000,pose2_to_pose3_retreat,0.575693176226,0.00987779904066,1.05005098863,0.54626480966,0.0185534857987,1.04971748528
+379,6.316666667,pose2_to_pose3_retreat,0.575684572332,0.00987786508516,1.05005100316,0.546256206175,0.0185535531432,1.04971749763
+380,6.333333333,pose2_to_pose3_retreat,0.575678782845,0.00987784970876,1.05005086262,0.546250416322,0.0185535365007,1.04971735647
+381,6.350000000,pose2_to_pose3_retreat,0.575674884229,0.00987789485205,1.05005084823,0.546246516761,0.0185535784008,1.04971734099
+382,6.366666667,pose2_to_pose3_retreat,0.575672299882,0.00987803323083,1.050051025,0.546243931068,0.0185537121368,1.04971751567
+383,6.383333333,pose2_to_pose3_retreat,0.575671209512,0.00987789059689,1.05005104351,0.546242842301,0.018553574732,1.04971752889
+384,6.400000000,pose2_to_pose3_retreat,0.575671099295,0.00987787545945,1.05005104518,0.546242732254,0.0185535601488,1.04971753
+385,6.416666667,pose2_to_pose3_retreat,0.575671084303,0.00987787340034,1.05005104541,0.546242717285,0.0185535581651,1.04971753016
+386,6.433333333,pose2_to_pose3_retreat,0.575671071766,0.00987787167847,1.0500510456,0.546242704767,0.0185535565063,1.04971753028
+387,6.450000000,pose2_to_pose3_retreat,0.57567102428,0.00987786515671,1.05005104632,0.546242657355,0.0185535502234,1.04971753077
+388,6.466666667,pose2_to_pose3_retreat,0.575670943609,0.00987785407705,1.05005104754,0.546242576807,0.0185535395494,1.04971753158
+389,6.483333333,pose2_to_pose3_retreat,0.575670852989,0.00987784163117,1.05005104891,0.546242486328,0.0185535275593,1.0497175325
+390,6.500000000,pose2_to_pose3_retreat,0.575670831247,0.00987783864501,1.05005104924,0.546242464619,0.0185535246825,1.04971753272
+391,6.516666667,pose2_to_pose3_retreat,0.575670751485,0.00987782769037,1.05005105045,0.54624238498,0.0185535141289,1.04971753353
+392,6.533333333,pose2_to_pose3_retreat,0.575670701277,0.00987782079466,1.05005105121,0.546242334849,0.0185535074858,1.04971753404
+393,6.550000000,pose2_to_pose3_retreat,0.575670644481,0.00987781299421,1.05005105207,0.546242278141,0.0185534999709,1.04971753462
+394,6.566666667,pose2_to_pose3_retreat,0.575670379016,0.00987780661835,1.05005104549,0.546242012627,0.0185534934713,1.04971752912
+395,6.583333333,pose2_to_pose3_retreat,0.575670164345,0.00987783007359,1.05005103007,0.546241797482,0.0185535154389,1.04971751688
+396,6.600000000,pose2_to_pose3_retreat,0.575670103927,0.00987783667498,1.05005102573,0.54624173693,0.0185535216216,1.04971751343
+397,6.616666667,pose2_to_pose3_retreat,0.575669927349,0.00987785596817,1.05005101304,0.546241559962,0.0185535396912,1.04971750337
+398,6.633333333,pose2_to_pose3_retreat,0.575669677074,0.00987787420051,1.05005098185,0.546241309245,0.0185535565874,1.04971747637
+399,6.650000000,pose2_to_pose3_retreat,0.575669616978,0.00987785381799,1.05005093844,0.546241249347,0.0185535369661,1.0497174353
+400,6.666666667,pose2_to_pose3_retreat,0.575669580148,0.0098778413265,1.05005091184,0.546241212638,0.0185535249411,1.04971741013
+401,6.683333333,pose2_to_pose3_retreat,0.57566951368,0.00987781878282,1.05005086383,0.546241146389,0.0185535032394,1.04971736471
+402,6.700000000,pose2_to_pose3_retreat,0.57566949892,0.00987781377669,1.05005085317,0.546241131678,0.0185534984202,1.04971735462
+403,6.716666667,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02f38ec26df38fa9835a0eb257e5c9bfde395de1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7afcd6388bdf0e864fe50a89c79e04f4316f548d31c0325c309dd68280085ee0
+size 25608655
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..daf1788da2e728e26010b0ddc8fe921594005243
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+27,0.450000000,BASELINE,765,745,714,679.304592776,660.695407224,634,878.695407224,785,807,653,630,652.695407224,0.400957105527,0.00451497512027,0.0598373517522,0.999999954785,0.000123914111195,-0.000272846109679,2.51022222747e-05,1793245469249822464
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+37,0.616666667,BASELINE,764,745,713.490853527,680,660,633.490853527,878,785.490853527,807,653,629,652.490853527,0.400956476285,0.00451497917915,0.0598372376543,0.999999954771,0.000122823246348,-0.000273402947667,2.49610898911e-05,1793245469416488960
+38,0.633333333,BASELINE,764,745,714,680,660.080892733,633.919107267,878,785.919107267,807,653,629.080892733,652.919107267,0.400957137301,0.00451599999034,0.0598378139772,0.9999999548,0.000123830559102,-0.000272874686401,2.45885412317e-05,1793245469433155328
+39,0.650000000,BASELINE,764,745,714,680,660.659427267,633.340572733,878,785.340572733,807,653,629.659427267,652.340572733,0.400958200393,0.00451456445983,0.0598383812095,0.99999995543,0.000121767917873,-0.000271452165376,2.50137565647e-05,1793245469449821696
+40,0.666666667,BASELINE,764,745,713.76281605,680,661,633,878.23718395,785.23718395,807,653,630,652,0.400958255254,0.00451448042735,0.0598384185517,0.999999955506,0.000121815296042,-0.000271138304741,2.51499360973e-05,1793245469466488064
+41,0.683333333,BASELINE,764,745,713.186172668,680,661,633,878.813827332,785.813827332,807,653,630,652,0.400956867129,0.00451633066894,0.0598376975114,0.999999954789,0.000124882549766,-0.000272411167176,2.48724454202e-05,1793245469483154432
+42,0.700000000,BASELINE,764,745,713,679.603699126,661,633.396300874,878.603699126,785.603699126,807,652.603699126,630,652,0.40095703383,0.00451726658873,0.0598379660763,0.999999954778,0.000125757749006,-0.000272071995506,2.46017423525e-05,1793245469499821312
+43,0.716666667,BASELINE,764,745,713,679.018445837,661,633.981554163,878.018445837,785.018445837,807,652.018445837,630,652,0.400957941857,0.00451776656869,0.0598387064755,0.999999955107,0.00012558779783,-0.000270964221567,2.43342755591e-05,1793245469516487936
+44,0.733333333,BASELINE,764,745,713,679.561440905,660.438559095,634,878,785,807,652.561440905,629.438559095,652,0.400957124375,0.00451592334681,0.0598379928591,0.999999955097,0.000123656857573,-0.000271855764075,2.46708408011e-05,1793245469533154560
+45,0.750000000,BASELINE,764,745,713,680,660.140998018,634,878,785,807,653,629,652,0.40095656273,0.00451474279496,0.0598374017748,0.999999955077,0.000122243648845,-0.000272547897939,2.48986281599e-05,1793245469549821184
+46,0.766666667,BASELINE,764,745,713,680,660.720073487,634,878,785,807,653,629,652,0.400956970436,0.0045158580681,0.0598373384128,0.999999955071,0.000122617076228,-0.000272418319804,2.4727370575e-05,1793245469566487808
+47,0.783333333,BASELINE,764,745,713,679.703559963,661,634,878,785,807,652.703559963,629,652,0.400957253053,0.00451662819421,0.0598376516713,0.999999955105,0.000123614613802,-0.000271849591018,2.46412667611e-05,1793245469583154944
+48,0.800000000,BASELINE,764,745,713,679.129728199,661,634,878,785,807,652.129728199,629,652,0.400957418619,0.00451707535148,0.0598383173498,0.999999955174,0.000125196158241,-0.000270869930013,2.46348449831e-05,1793245469599822336
+49,0.816666667,BASELINE,764,745,713,679,661,633.544497453,878,785,807,652.455502547,629,652,0.400955922358,0.00451728918873,0.0598373284633,0.999999954213,0.000127718644461,-0.000273225037019,2.46829072338e-05,1793245469616488704
+50,0.833333333,BASELINE,764,745,713,679,661,633,878,785,806.956643004,653,629,652,0.400954275569,0.00451744308837,0.0598360983925,0.999999953123,0.000130190231623,-0.000276028919818,2.47425325489e-05,1793245469633155072
+51,0.850000000,BASELINE,764,745,713,679,661,633,878,785,806.377513307,653,629,652,0.400956767368,0.00451769854077,0.0598378604386,0.999999954335,0.000128636328448,-0.000272340910786,2.47483742667e-05,1793245469649821952
+52,0.866666667,BASELINE,764,745,713,679.198456913,661,633.198456913,878.198456913,785,806.198456913,653,629,652,0.400958446923,0.0045171421942,0.0598390997984,0.999999955199,0.000127078241658,-0.000269878962495,2.48802975643e-05,1793245469666488576
+53,0.883333333,BASELINE,764,745,713,679.768511188,661,633.768511188,878.768511188,785,806.768511188,653,629,652,0.400958605602,0.00451506580805,0.0598393604631,0.999999955432,0.000125512321421,-0.000269712731567,2.52483002285e-05,1793245469683154944
+54,0.900000000,BASELINE,764,745,713,680,660.654231764,633.654231764,879,785,807,653,629.345768236,652,0.400958260991,0.00451429103,0.059838874704,0.999999955535,0.000123208215932,-0.000270402374437,2.51434743636e-05,1793245469699821568
+55,0.916666667,BASELINE,764,745,713,680,660.072049957,633.072049957,879,785,807,653,629.927950043,652,0.400957572262,0.004514406206,0.0598378785893,0.999999955542,0.000120399387994,-0.000271677207503,2.47153594429e-05,1793245469716488448
+56,0.933333333,BASELINE,764,745,713,679.482719388,660.517280612,633,878.482719388,785,807,652.482719388,629.482719388,652,0.400957164781,0.00451557771203,0.0598379966883,0.999999955341,0.000121641531923,-0.000271878612621,2.45430962921e-05,1793245469733155328
+57,0.950000000,BASELINE,763.894456744,745,713.105543256,679.105543256,660.894456744,633.105543256,878,785,807,652.105543256,629.105543256,652.105543256,0.400956966968,0.00451658603059,0.0598383390393,0.999999955203,0.000123095867253,-0.000271738568948,2.44695081968e-05,1793245469749821696
+58,0.966666667,BASELINE,763.315513089,745,713.684486911,679.684486911,660.315513089,633.684486911,878,785,807,652.684486911,629.684486911,652.684486911,0.400957531419,0.00451619320348,0.0598389813841,0.999999955487,0.000122935651429,-0.000270747022589,2.4676430991e-05,1793245469766488320
+59,0.983333333,BASELINE,763.263622928,745,713.736377072,679.736377072,660.263622928,634,878,785,807,653,630,652.736377072,0.400957123513,0.00451611952367,0.0598390544146,0.999999955442,0.000123197506922,-0.000270779823437,2.48155768296e-05,1793245469783155200
+60,1.000000000,BASELINE,763.842989414,745,713.157010586,679.157010586,660.842989414,634,878,785,807,653,630,652.157010586,0.400955551008,0.00451642808943,0.0598384455723,0.999999955004,0.000123964881016,-0.000272039494043,2.48735456243e-05,1793245469799821824
+61,1.016666667,BASELINE,764,745,713,679,660.575077657,634,878,785,807,653,629.575077657,652,0.400955805222,0.00451594273419,0.0598380122182,0.9999999551,0.000122575103571,-0.000272339757694,2.46189220685e-05,1793245469816488448
+62,1.033333333,BASELINE,764,745.007756179,713,679.007756179,660.007756179,634,878,785,807,653,629.007756179,652.007756179,0.400956735746,0.00451517844074,0.0598376544173,0.999999955386,0.000120445693137,-0.000272272559892,2.4256660383e-05,1793245469833155328
+63,1.050000000,BASELINE,764,745.586677472,713,679.586677472,660.586677472,634,878,785,807,653,629.586677472,652.586677472,0.400957462172,0.0045156072228,0.0598380562618,0.999999955315,0.000122903086355,-0.000271409871858,2.45253383199e-05,1793245469849822208
+64,1.066666667,BASELINE,764,745.83445769,713.16554231,679.83445769,661,634,878,785,807,653,629.83445769,652.83445769,0.40095768385,0.00451611205301,0.0598381993346,0.99999995519,0.000124581768935,-0.000271091954676,2.46789737322e-05,1793245469866489088
+65,1.083333333,BASELINE,764,745.255733794,713.744266206,679.255733794,661,634,878,785,807,653,629.255733794,652.255733794,0.400956645718,0.00451680669382,0.0598376965321,0.999999954943,0.000124316846162,-0.000272133746038,2.45454713411e-05,1793245469883155200
+66,1.100000000,BASELINE,764,745,713.680663215,679,661,634,878.319336785,785,807,653,629.319336785,652,0.40095684779,0.00451680690317,0.0598383812788,0.999999955152,0.000124103101468,-0.000271460472029,2.45620895567e-05,1793245469899821824
+67,1.116666667,BASELINE,764,745,713.108485249,679,661,634,878.891514751,785,807,653,629.891514751,652,0.400958031821,0.00451625728272,0.0598400062909,0.99999995572,0.000123929878038,-0.000269429261223,2.46975687219e-05,1793245469916488448
+68,1.133333333,BASELINE,764,745,713.478776888,679.478776888,660.521223112,634,878.521223112,785,806.521223112,653,630,652,0.400958473543,0.00451605262903,0.0598398666675,0.999999955846,0.000123332060977,-0.000269260978201,2.44201024266e-05,1793245469933155072
+69,1.150000000,BASELINE,764.068178715,745,714,679.931821285,660.068178715,633.931821285,878.068178715,785,806.068178715,652.931821285,630,652,0.400958786846,0.00451573101657,0.0598394081845,0.999999955914,0.000122454621263,-0.000269434171758,2.41403199544e-05,1793245469949821696
+70,1.166666667,BASELINE,764.647170519,745,714,679.352829481,660.647170519,633.352829481,878.647170519,785,806.647170519,652.352829481,630,652,0.400959439182,0.00451392843061,0.0598396539245,0.999999956317,0.000120226438704,-0.000268900298996,2.45670305029e-05,1793245469966488832
+71,1.183333333,BASELINE,764.775182788,745,713.775182788,679.224817212,660.775182788,633,878.775182788,785,807,652.224817212,630,652,0.400959312198,0.00451326233165,0.0598394695199,0.999999956327,0.000119797393958,-0.000269025012255,2.4882264271e-05,1793245469983155712
+72,1.200000000,BASELINE,764.199634476,745,713.199634476,679.800365524,660.199634476,633,878.199634476,785,807,652.800365524,630,652,0.400957969417,0.00451436923428,0.059838614059,0.999999955726,0.000122175133889,-0.000270177167225,2.50235862705e-05,1793245469999822336
+73,1.216666667,BASELINE,764,745,713.383176282,679.616823718,660.383176282,633.383176282,878,785.383176282,806.616823718,652.616823718,630,652.383176282,0.40095724584,0.00451492919362,0.0598383807055,0.999999955301,0.00012408452222,-0.000270884087864,2.4947002138e-05,1793245470016488448
+74,1.233333333,BASELINE,764,745,713.969843832,679.030156168,660.969843832,633.969843832,878,785.969843832,806.030156168,652.030156168,630,652.969843832,0.4009568511,0.0045151986908,0.0598384777312,0.999999954971,0.000125745185564,-0.00027135456035,2.47546958157e-05,1793245470033154816
+75,1.250000000,BASELINE,764,745,713.450513695,679,661.549486305,634,878,785.450513695,806.549486305,652.549486305,629.450513695,652.450513695,0.400956361169,0.00451513835815,0.0598382912194,0.999999954927,0.000125173423848,-0.00027180690532,2.44757494594e-05,1793245470049821952
+76,1.266666667,BASELINE,764,745,713,679.128532108,661.871467892,633.871467892,878,785,807,653,629.128532108,652.128532108,0.400956471198,0.00451508752838,0.0598383557051,0.999999955036,0.000124584624603,-0.00027168886747,2.43326829728e-05,1793245470066488576
+77,1.283333333,BASELINE,764,745,713,679.706822071,661.293177929,633.293177929,878,785,807,653,629.706822071,652.706822071,0.400958698649,0.00451513249113,0.0598393522408,0.999999955627,0.000124359505799,-0.000269578390802,2.46815136611e-05,1793245470083155200
+78,1.300000000,BASELINE,764,745,713,680.283283434,661,633,878.283283434,785,807.283283434,653,630,652.716716566,0.400958916096,0.00451520492473,0.0598393176571,0.999999955643,0.000124113898873,-0.000269611961326,2.48960447218e-05,1793245470099821824
+79,1.316666667,BASELINE,764,745,713,680.857864431,661,633,878.857864431,785,807.857864431,653,630,652.142135569,0.400957066677,0.00451530560633,0.0598382227836,0.999999955068,0.000123847224226,-0.000271850234575,2.49724767776e-05,1793245470116488704
+80,1.333333333,BASELINE,764,745,713,680.556944327,661,633.443055673,878.556944327,785,807.556944327,653,630,652,0.400957323105,0.00451577050231,0.0598387252456,0.999999955316,0.000123565104393,-0.000271070466411,2.49012443762e-05,1793245470133155584
+81,1.350000000,BASELINE,764,745,713,680,661,634,878,785,806.96878335,653,629.96878335,652.03121665,0.400958159313,0.00451632021306,0.0598396373707,0.99999995577,0.00012336244369,-0.000269494813588,2.47790541365e-05,1793245470149822720
+82,1.366666667,BASELINE,764,745,713,680,661,634,878,785,806.389707659,653,629.389707659,652.610292341,0.400957023484,0.00451625751299,0.059838525128,0.999999955111,0.000124643402282,-0.000271360428639,2.46143278239e-05,1793245470166488832
+83,1.383333333,BASELINE,764,745,713,679.811226438,660.811226438,634,878,785,806.188773562,653,629.188773562,652.811226438,0.400956868221,0.00451569456409,0.0598381920688,0.999999954937,0.000124971123865,-0.000271851914953,2.46085165175e-05,1793245470183155200
+84,1.400000000,BASELINE,764,745,713,679.233968494,660.233968494,634,878,785,806.766031506,653,629.766031506,652.233968494,0.400958730904,0.00451410213385,0.059839462521,0.999999955764,0.000123337142531,-0.000269515529161,2.49297424933e-05,1793245470199821568
+85,1.416666667,BASELINE,764.341384202,745,713,679.341384202,660.341384202,634,878,785,807,653,629.658615798,652,0.400959246853,0.00451427486472,0.0598400016336,0.99999995606,0.000122642833785,-0.000268738064982,2.48784144944e-05,1793245470216488192
+86,1.433333333,BASELINE,764.915438343,745,713,679.915438343,660.915438343,634,878,785,807,653,629.084561657,652,0.400958844937,0.00451565063883,0.0598400423024,0.999999955997,0.000122588957712,-0.000269023081852,2.45731728208e-05,1793245470233154816
+87,1.450000000,BASELINE,764.496864655,745,713,679.496864655,661,633.496864655,878,785,807,653,629.503135345,652,0.40095884988,0.00451467476354,0.0598400362419,0.999999956167,0.000122513453477,-0.000268400264076,2.48711463715e-05,1793245470249821696
+88,1.466666667,BASELINE,764,745,713,679,661,633.091474547,878,785,807,653,630,652,0.400958736093,0.00451365295152,0.0598399863486,0.999999956303,0.000122315840141,-0.000267957287159,2.51373752537e-05,1793245470266488832
+89,1.483333333,BASELINE,764,745,713,679,661,633.670671571,878,785,807,653,630,652,0.400957614513,0.00451455228513,0.0598397457896,0.999999956052,0.000121487088907,-0.000269309376108,2.4678735623e-05,1793245470283155712
+90,1.500000000,BASELINE,764,745,713.247886398,679.247886398,660.752113602,633.752113602,878,785.247886398,807,652.752113602,629.752113602,652,0.40095641459,0.00451543556441,0.0598391479223,0.999999955579,0.000121915327553,-0.000270889816032,2.44538416658e-05,1793245470299822592
+91,1.516666667,BASELINE,764,745,713.82248863,679.82248863,660.17751137,633.17751137,878,785.82248863,807,652.17751137,629.17751137,652,0.400955111411,0.00451629768392,0.0598380791204,0.999999954809,0.00012400028685,-0.00027277122387,2.4537026016e-05,1793245470316489472
+92,1.533333333,BASELINE,764,745,714,679.603303672,660,633.396696328,878,785.603303672,806.603303672,652.396696328,629.396696328,652,0.400955625576,0.00451666023699,0.0598380904586,0.99999995481,0.000124603435564,-0.00027247567703,2.47010594232e-05,1793245470333155584
+93,1.550000000,BASELINE,764,745,714,679.029272293,660,633.970727707,878,785.029272293,806.029272293,652.970727707,629.970727707,652,0.400956952146,0.00451679946909,0.0598385846515,0.999999955158,0.000124544171078,-0.000271206966896,2.49012347694e-05,1793245470349821440
+94,1.566666667,BASELINE,764,745,713.437556911,679.562443089,660.562443089,634,878,785,806.562443089,653,630,652,0.40095601539,0.00451647021742,0.059837821339,0.999999954787,0.000125006859066,-0.00027237996046,2.46727258306e-05,1793245470366488320
+95,1.583333333,BASELINE,764,745,713,679.848274391,661,634,878,785,807,653,629.848274391,652,0.400955224001,0.00451607346374,0.0598373759821,0.999999954561,0.000125088760623,-0.000273185203383,2.45283489914e-05,1793245470383155200
+96,1.600000000,BASELINE,764,745,713,679.268535358,661,634,878,785,807,653,629.268535358,652,0.400955185765,0.00451555730306,0.0598380181849,0.999999954854,0.000124017355951,-0.000272582912005,2.46862875312e-05,1793245470399821824
+97,1.616666667,BASELINE,764,745,713,679.308590571,660.691409429,634,878,785,807,653,629.308590571,652,0.400956259082,0.00451547788156,0.0598388085215,0.999999955284,0.000123404534032,-0.000271276402119,2.47573688043e-05,1793245470416488704
+98,1.633333333,BASELINE,764,745,713,679.883461638,660.116538362,634,878,785,807,653,629.883461638,652,0.400958291547,0.00451577531905,0.0598397266814,0.999999955828,0.000123187419806,-0.000269362227385,2.47535015819e-05,1793245470433155584
+99,1.650000000,BASELINE,764,745,713,679.532127699,660.467872301,634,878,785,807,653,629.532127699,652.467872301,0.400957668763,0.00451515128295,0.0598396289683,0.999999955768,0.000121993028719,-0.000270113212254,2.49028666036e-05,1793245470449821952
+100,1.666666667,BASELINE,764,745,713.054273532,679.054273532,661,633.945726468,878,785,807,652.945726468,629.054273532,652.945726468,0.400956507256,0.00451453165598,0.0598392629845,0.999999955546,0.000120909320692,-0.000271409442982,2.50248887998e-05,1793245470466488320
+101,1.683333333,BASELINE,764,745,713.636443509,679.636443509,661,633.363556491,878,785,807,652.363556491,629.636443509,652.363556491,0.400956672616,0.00451623384797,0.0598388000387,0.999999955262,0.000123319123969,-0.000271417744289,2.45019937316e-05,1793245470483154944
+102,1.700000000,BASELINE,764.216271467,745,713.783728533,679.783728533,660.783728533,633.216271467,878,785,807,652.216271467,629.783728533,652,0.400956616948,0.00451633328825,0.0598384439586,0.999999955197,0.000123678525032,-0.000271505971606,2.43559697784e-05,1793245470499821568
+103,1.716666667,BASELINE,764.792204564,745,713.207795436,679.207795436,660.207795436,633.792204564,878,785,807,652.792204564,629.207795436,652,0.400956193705,0.00451376733606,0.0598382655973,0.999999955498,0.000120628086288,-0.000271727116686,2.48366863433e-05,1793245470516488192
+104,1.733333333,BASELINE,764.632708114,745,713.367291886,679.367291886,660,634.367291886,878,785,806.632708114,653,629.367291886,652,0.400956473555,0.00451340173879,0.0598383985562,0.99999995566,0.000119999757454,-0.000271403322914,2.48883074126e-05,1793245470533154816
+105,1.750000000,BASELINE,764.058098136,745,713.941901864,679.941901864,660,634.941901864,878,785,806.058098136,653,629.941901864,652,0.400957150265,0.00451427813273,0.0598387072399,0.999999955747,0.000120738589508,-0.000270771938151,2.46977253557e-05,1793245470549821696
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,807,653,629,652,0.400954149471,0.00451694777607,0.059837055335,0.999999954236,0.000125371582309,-0.000274252867,2.44144522576e-05,1793245470579717632
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713.425010874,679.574989126,661,634,878,785,807,652.425010874,629,652,0.400954913191,0.00451589718662,0.0598372655611,0.999999954736,0.000123192862684,-0.000273423579321,2.43092972041e-05,1793245470596384768
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.15020442,679.84979558,660.84979558,634,878,785,807,652.15020442,629.15020442,652,0.400955236614,0.00451540768121,0.059837268589,0.999999954949,0.000122201737942,-0.000273099012848,2.42179494084e-05,1793245470613051904
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.726060765,679.273939235,660.273939235,634,878,785,807,652.726060765,629.726060765,652,0.400954312311,0.00451650818541,0.0598366844549,0.999999954354,0.000124576039961,-0.000274204734017,2.41657288388e-05,1793245470629718272
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.690397863,745,714,679,660.309602137,634,878,785,806.690397863,653,629.690397863,652.309602137,0.40095518534,0.00451732390658,0.0598375924229,0.999999954559,0.000125617424496,-0.000272974885701,2.42350907212e-05,1793245470646384384
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.099883652,745,714,679,660.900116348,634,878,785,806.099883652,653,629.099883652,652.900116348,0.400957689146,0.00451788123477,0.0598398542238,0.999999955484,0.000125449409563,-0.00026962589927,2.44147683137e-05,1793245470663050496
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.481039908,745,713.518960092,679.481039908,661,633.518960092,878,785.481039908,806.481039908,652.518960092,629.481039908,652.518960092,0.400956898491,0.00451751544248,0.0598395436226,0.999999955425,0.000124657468793,-0.000270216671225,2.43666645843e-05,1793245470679717376
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745.059636729,713,680,661.059636729,633.059636729,878,785.940363271,807,652,629.940363271,652,0.400955632659,0.00451695705314,0.0598388122829,0.999999955197,0.00012375734502,-0.000271475365852,2.43162221814e-05,1793245470696384512
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.634997126,713,680,661.634997126,633.634997126,878,785.365002874,807,652,629.365002874,652,0.400956057601,0.00451635831213,0.0598389712876,0.999999955253,0.000123020120625,-0.000271574033401,2.46465710223e-05,1793245470713051136
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.785171903,713,680,661.785171903,634,878,785,807,652.214828097,629,652,0.400959187967,0.00451594847861,0.0598403042171,0.999999955793,0.000122977616245,-0.000269581999944,2.48385096097e-05,1793245470729717504
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745.197583857,713,680,661.197583857,634,878,785,807,652.802416143,629,652,0.40096701266,0.00451586642883,0.0598436740877,0.999999957149,0.000124140558535,-0.000263962277102,2.47902849811e-05,1793245470746383872
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.384256805,679.615743195,661,633.615743195,878,785,807,653,629.384256805,652,0.400988435691,0.00451568012712,0.0598525242367,0.999999961106,0.000124523951001,-0.000248317415601,2.48963003642e-05,1793245470763050496
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.96318578,679.03681422,661,633.03681422,878,785,807,653,629.96318578,652,0.401016747912,0.0045154410093,0.0598641508045,0.999999966034,0.000124512408021,-0.000227593618082,2.50804568041e-05,1793245470779717120
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.459119122,679.540880878,661,633.540880878,878,785,807,653,629.459119122,652,0.401071300298,0.0045148134958,0.0598819717859,0.999999973145,0.000123894118711,-0.000194252539276,2.50386903556e-05,1793245470796383744
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,679.881775576,661,634,878,785,807,653,629.118224424,652,0.401130714342,0.00451421320594,0.0598995516537,0.99999997879,0.000123233066462,-0.000163104451126,2.50937484306e-05,1793245470813050368
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713,679.305469355,661,634,878,785,807,653,629.694530645,652,0.401202061358,0.00451382059489,0.0599145673914,0.999999981826,0.000122565971194,-0.000143773398014,2.55834163119e-05,1793245470829716992
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.276133918,713,679,661,634,878,785,807,653,629.723866082,652,0.40128231498,0.00451389739813,0.0599268515676,0.999999984515,0.000120770148182,-0.000125445979352,2.54407891546e-05,1793245470846383616
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745.863711551,713,679,661,634,878,785,807,653,629.136288449,652,0.401372614109,0.00451450364065,0.0599360548911,0.999999986912,0.000117701264799,-0.000108250533064,2.45850140976e-05,1793245470863050496
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745.555041233,713.444958767,679.444958767,661,633.555041233,878,785,807.444958767,653,629,652,0.401476153102,0.004514489525,0.0599416917753,0.999999988119,0.000116155587167,-9.84725200741e-05,2.39311853786e-05,1793245470879717376
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.024171835,745,713.975828165,680,661,633.024171835,878,785.024171835,807.975828165,653,629.024171835,652,0.401584875802,0.00451432393042,0.0599462851709,0.999999988999,0.000114999595672,-9.07430874747e-05,2.32937936362e-05,1793245470896384512
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.60058926,745,713.39941074,680,661,633.60058926,878,785.60058926,807.39941074,653,629.60058926,652,0.401720678563,0.00451497780005,0.0599516455091,0.999999990375,0.000112237049433,-7.8639204514e-05,2.16385735365e-05,1793245470913050880
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.823133444,745,713.176866556,680,661,634,878,785.823133444,807,653,629.823133444,652,0.401861399218,0.00451523972609,0.0599541228398,0.999999991239,0.000109784849311,-7.12000173145e-05,1.99967677346e-05,1793245470929716992
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.247172423,745,713.752827577,680,661,634,878,785.247172423,807,653,629.247172423,652,0.402013216947,0.00451461724225,0.0599500947437,0.999999991236,0.000108032936977,-7.42865880341e-05,1.83852311532e-05,1793245470946383616
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680,661,633.663740688,878,785,807,653,629.336259312,652,0.402188996509,0.00451356355211,0.0599485606362,0.999999991768,0.000103896850278,-7.34211955265e-05,1.67094707986e-05,1793245470963050240
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,661,633.074692656,878,785,807,653,629.925307344,652,0.402382789806,0.00451218569515,0.0599489014272,0.999999992668,9.79684193049e-05,-6.95848470103e-05,1.49854289478e-05,1793245470979716864
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.495302556,680,661,633,878,785,806.495302556,653,629.495302556,652,0.402613240189,0.00451112254842,0.0599510200005,0.999999993756,9.29131793049e-05,-6.07475281939e-05,1.28048017463e-05,1793245470996383744
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,679.917822494,661.082177506,633.082177506,878,785,806.082177506,652.917822494,629,652,0.402854258846,0.00451042337777,0.0599538604898,0.999999994774,8.82431955162e-05,-5.05577081639e-05,1.04742770432e-05,1793245471013050368
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713,679.34338254,661.65661746,633.65661746,878,785,806.65661746,652.34338254,629,652,0.403126696843,0.00451163074883,0.0599594789707,0.999999995678,8.51214147205e-05,-3.66163203075e-05,7.64300393719e-06,1793245471029716992
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661.762973596,634,878,785,807,652.237026404,629.237026404,652.237026404,0.403405453324,0.00451229178468,0.0599602230584,0.999999996201,8.07364408371e-05,-3.25300723461e-05,4.69323416671e-06,1793245471046383616
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713,679,661.173693962,634,878,785,807,652.826306038,629.826306038,652.826306038,0.40369359991,0.00451214089256,0.0599537231396,0.999999996297,7.44741917264e-05,-4.30898932966e-05,1.56736252984e-06,1793245471063049984
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.408416165,679,661,634,878,785,807,652.591583835,629.591583835,652.591583835,0.404017424087,0.00451169832637,0.0599436306825,0.999999996035,6.71632834814e-05,-5.84393154751e-05,-1.96575232808e-06,1793245471079716864
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.987529785,679,661,634,878,785,807,652.012470215,629.012470215,652.012470215,0.404356159698,0.00451113385507,0.0599320367249,0.999999995347,5.94140885016e-05,-7.57905502368e-05,-5.66907432889e-06,1793245471096383488
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.433711501,745,713.433711501,679.566288499,661,634,877.433711501,785.566288499,807,652.566288499,629,652,0.404713530062,0.00451064819206,0.0599166853521,0.999999993072,5.20422951579e-05,-0.000105187437354,-9.08657853349e-06,1793245471113050112
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.143378168,745,713.143378168,680,660.856621832,634,877.286756336,785.856621832,807,653,629,652,0.405090081321,0.00451014206989,0.059905887284,0.999999990929,4.43247095329e-05,-0.000126567384699,-1.25764336703e-05,1793245471129716992
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.715500136,745,713.715500136,680,660.284499864,634,878.431000273,785.284499864,807,653,629,652,0.405522762833,0.00450956958257,0.0599089522358,0.999999991648,3.55482665034e-05,-0.000123181567429,-1.63014483372e-05,1793245471146383872
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.297217939,745,713.702782061,680,660.297217939,634,878.702782061,785,807,652.702782061,629,652.297217939,0.405989435835,0.00450882890678,0.0599245847946,0.999999994614,2.75964961709e-05,-9.80802922398e-05,-1.97652685092e-05,1793245471163050752
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.888427481,745,713.111572519,680,660.888427481,634,878.111572519,785,807,652.111572519,629,652.888427481,0.406489731397,0.00450792186815,0.0599526485378,0.999999998201,2.04604455197e-05,-5.14992824894e-05,-2.29707298981e-05,1793245471179717888
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.53093794,745,713,680,661,634,878,785,807,652.46906206,629.46906206,652.53093794,0.407044350928,0.00450695546642,0.0599809759428,0.999999999576,9.34513347687e-06,-5.53932468897e-06,-2.70170146542e-05,1793245471196384512
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.047132257,679.952867743,661,634,878,785,807,653,630,652,0.407609159363,0.00450596326913,0.0600067872983,0.999999998895,-2.27784653616e-06,3.51372050853e-05,-3.11531797761e-05,1793245471213050880
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713.624028884,679.375971116,661,634,878,785,807,653,630,652,0.40814645433,0.00450483634245,0.0600036290201,0.999999999213,-9.20273196034e-06,1.80521009741e-05,-3.41011636868e-05,1793245471229717248
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,807.199973694,652.800026306,629.800026306,652,0.408697246642,0.0045043211619,0.0599966954173,0.999999999179,-1.53770937076e-05,-3.21390644494e-06,-3.73514086708e-05,1793245471246383872
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,807.774137434,652.225862566,629.225862566,652,0.409273295105,0.00450495067853,0.0599826974414,0.999999998428,-2.01470778744e-05,-3.23032038301e-05,-4.11672432915e-05,1793245471263050752
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,807.641168288,652,629.358831712,652,0.409891854062,0.00450327340081,0.0599808589576,0.999999998085,-2.47784286952e-05,-3.61761080007e-05,-4.36762877045e-05,1793245471279717888
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,807.049645304,652,629.950354696,652,0.410537979739,0.00450010023826,0.059986905529,0.999999998262,-2.93198798966e-05,-2.36969596182e-05,-4.53379189294e-05,1793245471296385024
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.469935687,679.530064313,661.530064313,634,878,785,807,652,630,652,0.411249804759,0.00449742255295,0.0599936345184,0.999999999336,8.05708865101e-06,-3.35209121418e-06,-3.53899481005e-05,1793245471313051392
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.108275765,745,713.108275765,679.891724235,661.891724235,634,878,785,807,652,629.891724235,652,0.411960403863,0.00449190239897,0.0599956704843,0.999999998964,3.64651830912e-05,6.25414051155e-06,-2.65223316565e-05,1793245471329717760
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.684689058,745,713.684689058,679.315310942,661.315310942,634,878,785,807,652,629.315310942,652,0.412639678066,0.00447389637692,0.059977145532,0.999999999025,9.49130572026e-06,-3.36845634412e-05,-2.69244176881e-05,1793245471346383616
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.734436367,679,660.734436367,633.734436367,878.265563633,784.734436367,807,652,629.265563633,652,0.413315131941,0.00446425828939,0.0599507055497,0.999999995791,-5.77084529398e-06,-8.70850395818e-05,-2.83141444833e-05,1793245471363050240
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.148174206,679,660.148174206,633.148174206,878.851825794,784.148174206,807,652,629.851825794,652,0.413985972421,0.00446472543961,0.0599147072593,0.999999987215,-6.88974778634e-06,-0.000156742153868,-3.08965607258e-05,1793245471379716864
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.566803534,745.433196466,713.433196466,679.433196466,660.433196466,633.433196466,878.566803534,784.433196466,807.433196466,652.433196466,630,652,0.414792848731,0.00446723216727,0.0599342851748,0.999999992388,9.68408930497e-07,-0.000119033339381,-3.24722404629e-05,1793245471396383744
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.987149247,714,680,661.025701506,633.987149247,878.012850753,785,807.987149247,652.987149247,630,652,0.415646009546,0.0044702614533,0.0599725471229,0.999999998332,1.16690308969e-05,-4.54596655475e-05,-3.36590021757e-05,1793245471413050368
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.410212221,714,680,662.179575557,633.410212221,878.589787779,785,807.410212221,652.410212221,630,652,0.416511164621,0.00446594767005,0.0600058283159,0.999999999333,1.38610528598e-05,8.38553124032e-06,-3.27207980372e-05,1793245471429717248
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.834173687,679.834173687,662.668347374,633,878.834173687,785,807.165826313,652,630,652.165826313,0.417363935393,0.00446414246996,0.0600263397618,0.999999998441,1.78730970965e-05,4.16048598674e-05,-3.26815252795e-05,1793245471446384384
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,713.260345849,679.260345849,661.520691699,633,878.260345849,785,807.739654151,652,630,652.739654151,0.418186235592,0.0044685094254,0.0600154323301,0.999999998755,2.636315113e-05,2.40759927985e-05,-3.4853996897e-05,1793245471463051008
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.322939409,745,713,679.322939409,661.322939409,633.322939409,878.322939409,784.677060591,808,652.322939409,630,653,0.419011209772,0.00446834584794,0.0599997637836,0.999999998903,2.94540543377e-05,-7.36322733617e-07,-3.64050377613e-05,1793245471479717120
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.914078998,745,713,679.914078998,661.914078998,633.914078998,878.914078998,784.085921002,808,652.914078998,630,653,0.419838404643,0.00446441967672,0.0599801411466,0.999999998406,2.80609790559e-05,-3.15975187986e-05,-3.74399821818e-05,1793245471496383488
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.525734726,745,713.474265274,680,662,633.525734726,879,784.474265274,808,652.525734726,630,652.525734726,0.420660335604,0.00446648458338,0.0599455594369,0.999999995357,2.72463451176e-05,-8.35464731092e-05,-3.95484258568e-05,1793245471513050112
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.031714134,745.031714134,714,680,661.968285866,633.031714134,879,784.968285866,808,652,630,652,0.421484898808,0.00446937290434,0.0599093828498,0.999999989278,2.27194517577e-05,-0.000138526226016,-4.16811112798e-05,1793245471529716736
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.634674484,745.634674484,714,680,661.365325516,633.634674484,879,784.365325516,808,652,630,652,0.422372998822,0.00446874034178,0.0598903030424,0.999999981053,-5.04459146253e-05,-0.000183499456961,-4.09619889437e-05,1793245471546383360
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.769196069,713.769196069,680.230803931,661.230803931,634,879,784.230803931,808,652,630,652,0.423292980721,0.0044662627042,0.0599041588872,0.999999980802,-9.63556640427e-05,-0.000165623111613,-4.09904818516e-05,1793245471563050240
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.183567952,713.183567952,680.816432048,661.816432048,634,879,784.816432048,808,652,630,652,0.424261976061,0.00446094855832,0.0599686480348,0.999999992768,-0.000100364265555,-5.11255857831e-05,-4.21683137027e-05,1793245471579717120
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.602281918,745,713,680.602281918,662,633.602281918,879,785,808.397718082,652,630,652,0.425209314278,0.00446182928584,0.0600117526524,0.999999994473,-9.36023099951e-05,2.07218783308e-05,-4.31575042302e-05,1793245471596384000
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.022978377,745,713,680.022978377,662,633.022978377,879,785,808.977021623,652,630,652,0.426146764481,0.00446553839635,0.060045093768,0.999999993002,-8.1922859668e-05,7.30966702547e-05,-4.40605671057e-05,1793245471613050880
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,713,680,661.445479939,633,879.554520061,785,808.445479939,652,630,652.554520061,0.427071481553,0.004461253734,0.0600314725355,0.999999993531,-8.17052998169e-05,6.44124594373e-05,-4.5959831523e-05,1793245471629717504
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,713.130645978,680.130645978,661.130645978,633,879.869354022,785,808,652,629.869354022,652.869354022,0.427987703423,0.00445785295956,0.0600137123901,0.999999994626,-7.95383261924e-05,4.63295612819e-05,-4.76985601608e-05,1793245471646384128
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,713.702389574,680.702389574,661.702389574,633,879.297610426,785,808,652,629.297610426,652.297610426,0.428877018733,0.00445855119922,0.0599885271725,0.999999996405,-6.91911821861e-05,5.02893775663e-06,-4.87563508908e-05,1793245471663050496
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680.715673069,661.715673069,633,879,785,808.284326931,652,629.568653861,652,0.429734879577,0.00445903240136,0.0599578248271,0.9999999959,-5.80058566703e-05,-4.9517225957e-05,-4.8817079512e-05,1793245471679716864
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680.122668978,661.122668978,633,879,785,808.877331022,652,630.754662044,652,0.430558592085,0.00445927797849,0.0599211328596,0.99999999079,-4.59105669446e-05,-0.000118443297083,-4.77953557981e-05,1793245471696383488
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.458327797,745,713.541672203,680.458327797,661.458327797,633,879.458327797,785,809,652,630.541672203,652.458327797,0.43149013749,0.00445663176469,0.0599410594581,0.999999994771,-4.73269984753e-05,-7.58538539341e-05,-4.96356952122e-05,1793245471713050368
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.963902497,745,713,680.963902497,662.036097503,633,879.963902497,785,808.963902497,652,630,652.963902497,0.432446920189,0.00445344779788,0.059975442754,0.999999997285,-5.17900525949e-05,-5.93897069431e-06,-5.20783066508e-05,1793245471729717248
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.38756152,745,713,680.38756152,662.61243848,633,879.38756152,785,808.38756152,652,630,652.38756152,0.433360497208,0.00445350343034,0.0600051850358,0.999999996715,-4.9108306612e-05,3.76482990355e-05,-5.23629673558e-05,1793245471746384128
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,713.188606985,680,662.622786031,633,879.377213969,785,808.188606985,652,630,652,0.434256995822,0.00445143321849,0.0600158344564,0.999999996125,-4.86532901804e-05,5.10416048286e-05,-5.27110462259e-05,1793245471763051008
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713.764421511,680,661.471156979,633,880.528843021,785,808.764421511,652,630,652,0.435118432873,0.00444499867756,0.0599872865015,0.99999999719,-5.2769718436e-05,2.44712663211e-06,-5.31893218559e-05,1793245471779717120
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.349184567,745,713.650815433,680,661.349184567,633,880.301630866,785,809.349184567,652,630,652.349184567,0.43594070889,0.00444272031329,0.0599594149871,0.999999996046,-5.13877146988e-05,-4.90445463738e-05,-5.34989679792e-05,1793245471796383232
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.940143526,745,713.059856474,680,661.940143526,633,879.119712949,785,809.940143526,652,630,652.940143526,0.436735869868,0.00444331967418,0.0599320118399,0.999999992234,-4.6198612132e-05,-0.000102542225748,-5.36918554262e-05,1793245471813049856
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.481448298,745,713.518551702,680.518551702,662,633,879,785,809.481448298,652,630,652.481448298,0.437509777913,0.00444522614244,0.0599165679953,0.999999988543,-3.84594728614e-05,-0.000136053913796,-5.40681335631e-05,1793245471829716736
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,713.904756275,681,661.904756275,632.904756275,879.095243725,785,809.095243725,652,630,652,0.438287875272,0.0044458839538,0.0599062558154,0.999999985269,-3.32185241242e-05,-0.000159336239759,-5.45069940719e-05,1793245471846383360
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,713.32958427,681,661.32958427,632.32958427,879.67041573,785,809.67041573,652,630,652,0.439099151913,0.00443950753874,0.0599150101311,0.999999987454,-4.20139993739e-05,-0.000142423398938,-5.51570563519e-05,1793245471863050240
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.251774058,745,713,681.251774058,661.251774058,632.251774058,880,785,810,652,630,652.251774058,0.439915884077,0.00443577297811,0.0599415470331,0.999999992481,-4.53738972342e-05,-9.95797574265e-05,-5.53381519896e-05,1793245471879716864
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.841434525,745,713,681.841434525,661.841434525,632.841434525,880,785,810,652,630,652.841434525,0.44073993761,0.00443558384563,0.0599919485624,0.999999997394,-4.14391279717e-05,-2.1936403257e-05,-5.48898836512e-05,1793245471896383488
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.576795053,745,713,681.576795053,660.730385159,632.576795053,880,785,809.576795053,652,630,652.576795053,0.441459920708,0.00443855875681,0.0599858478437,0.999999997388,-3.14998924774e-05,-3.53609973333e-05,-5.4603819066e-05,1793245471913050112
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.002064641,745,713.002064641,681.002064641,659,632,880.002064641,784.997935359,809.002064641,652,630,652.002064641,0.442141378188,0.0044426971588,0.059958828288,0.999999994935,-1.93706453461e-05,-8.24470217568e-05,-5.43853682988e-05,1793245471929716480
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.578515873,745,713.578515873,681.578515873,659,632,880.578515873,784.421484127,809.578515873,652,630,652.578515873,0.442754270313,0.00444674962117,0.0598939279773,0.999999982955,-1.24030806016e-05,-0.000175377776941,-5.63791890778e-05,1793245471946383104
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.842416676,745,713.842416676,681.842416676,659,632,880.842416676,784.157583324,810,652,630,652.842416676,0.443369559661,0.00445039885777,0.0598404191568,0.999999966256,-6.41992703073e-06,-0.00025317112579,-5.78853196994e-05,1793245471963049984
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.256233426,745,713.256233426,681.256233426,659,632,880.256233426,784.743766574,810,652,630,652.256233426,0.443991369188,0.00445295138952,0.0598178932446,0.999999956319,-3.11420366908e-06,-0.000289793319588,-5.8065017313e-05,1793245471979716608
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713,681.326095699,658.673904301,632,880,784.673904301,810,652,630,652.326095699,0.444601113524,0.0044570389334,0.0598093695977,0.999999951045,-4.1008539875e-05,-0.000304807690468,-5.76217179018e-05,1793245471996383232
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,681.905431741,658.094568259,632,880,784.094568259,810,652,630,652.905431741,0.445201488202,0.00446231854128,0.0598117198719,0.999999946326,-0.00011089813772,-0.000303041792523,-5.66946094693e-05,1793245472013049856
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,681.516136062,657.516136062,631.516136062,880.483863938,784,810,652,630,652.516136062,0.445729637455,0.00448240216161,0.0597873079374,0.999999932315,-9.43502611183e-05,-0.000351166946862,-5.61264366897e-05,1793245472029716480
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745.061752507,713,681,657,630.938247493,880.938247493,784,810,652.061752507,630.061752507,652,0.446242780804,0.00450561648609,0.0597591736894,0.999999914783,-6.16371185943e-05,-0.000404322342364,-5.61943019391e-05,1793245472046383104
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745.636589252,713,681,657,630.363410748,880.363410748,784,810,652.636589252,630.636589252,652,0.446748311699,0.00453084770936,0.0597434895991,0.999999910007,-3.47144373468e-05,-0.000418406159117,-6.09650453406e-05,1793245472063049728
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.21624753,745.78375247,713,681.21624753,656.78375247,630,880,784,810.21624753,653,630.78375247,652,0.447253701866,0.00455332816406,0.0597395402195,0.999999910294,-1.1286572064e-05,-0.000418224787864,-6.61256242658e-05,1793245472079716608
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.804193262,745.195806738,713,681.804193262,656.195806738,630,880,784,810.804193262,653,630.195806738,652,0.44775885009,0.00457108044316,0.0597557611108,0.999999919962,6.1342076236e-06,-0.000393523622064,-7.19562735776e-05,1793245472096383232
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.613443035,745,713.386556965,682,655.613443035,630,880,784,810.613443035,653,630,652.386556965,0.448226699807,0.00458744195178,0.0597662780243,0.999999926222,2.32638850417e-05,-0.000375701941516,-7.6568317151e-05,1793245472113049856
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.033866554,745,713.966133446,682,655.033866554,630,880,784,810.033866554,653,630,652.966133446,0.448675925302,0.00460310900849,0.0597739467715,0.99999993067,4.02482079052e-05,-0.000361315392555,-8.05718747521e-05,1793245472129716736
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,745,713.456285734,681.456285734,655,629.456285734,880,784,810,652.456285734,630,652.456285734,0.449027067665,0.0045982488603,0.0597455349731,0.999999912129,3.60051825855e-05,-0.000409899631631,-8.01795211166e-05,1793245472146383104
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.120584264,745,713,681.120584264,655,629,879.879415736,784,810,652,630,652.120584264,0.449368140866,0.00459374553481,0.0597163288469,0.999999891354,3.26121432411e-05,-0.000458112480393,-7.97521106295e-05,1793245472163049728
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.695244109,745,713,681.695244109,655,629,879.304755891,784,810,652,630,652.695244109,0.449694218835,0.00459538294416,0.0596925633583,0.99999987593,3.73805280342e-05,-0.000490210964428,-8.0219985501e-05,1793245472179716352
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.723012315,745,713,682,655,629,879.276987685,784,810.276987685,652,629.723012315,653,0.450012637672,0.00459822869167,0.0596771906695,0.999999865549,6.09211560003e-05,-0.000509484104794,-7.4947302754e-05,1793245472196383232
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.133270344,745,713,682,655,629,879.866729656,784,810.866729656,652,629.133270344,653,0.450322408354,0.00460243880637,0.0596712945195,0.999999860182,0.00010565803113,-0.000514275800459,-6.3192801058e-05,1793245472213049600
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+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745.972917428,713,682,654,628,880,783,810,652.027082572,630,652.972917428,0.450910065269,0.00460356653978,0.0596955055075,0.999999881382,0.000106578461051,-0.000470836302249,-6.4739142655e-05,1793245472246383104
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745.399452942,713,682,654,628,880,783,810,652.600547058,630,652.399452942,0.451146826382,0.0046027659912,0.0597010029893,0.999999886152,0.00010366775634,-0.000461076295743,-6.6007923728e-05,1793245472263050752
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745,713,682,653.825507329,628,880,783.174492671,810,652.825507329,630,652.174492671,0.451370036258,0.00460279783867,0.0597037451573,0.999999888353,0.000102538329109,-0.000456366780485,-6.71461024972e-05,1793245472279717888
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,745,713,682,653.250457337,628,880,783.749542663,810,652.250457337,630,652.749542663,0.451562138511,0.0046047404962,0.0597001623539,0.999999884823,0.000105497920636,-0.000463250941179,-6.79844764843e-05,1793245472296383488
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,659.604057927,633,878.802028963,784.802028963,808,652,630,652,0.41975846255,0.00457293584256,0.05975086948,0.999999897636,0.000172582522442,-0.000416931102336,3.33525067474e-05,1793245474377164288
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,658.427753119,633,878.213876559,784.213876559,808,652,630,652,0.418912560663,0.00457070097068,0.059724393194,0.999999889879,0.000162974309291,-0.000438956595469,3.16066438519e-05,1793245474393830912
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,659.732161377,633,878,785,807,653,630,652,0.409893355534,0.00455822750988,0.0597990327287,0.999999920884,0.00021137762897,-0.000335223384012,3.42953049988e-05,1793245474593830912
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,659.08764373,633,878,785,807,652.08764373,630,652,0.408717306616,0.00455090148553,0.0598591608496,0.999999952272,0.00018569240282,-0.000244140819609,3.70108878963e-05,1793245474627164160
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.640346095,745,713,679,659,633,878,785,807,652.359653905,630,652,0.407039645675,0.00454996099369,0.0598226617855,0.999999943905,0.000165482854845,-0.000289245342082,3.38087092228e-05,1793245474677164288
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.714434372,745,713,680,659.714434372,633.714434372,878.714434372,785,807,653,629.285565628,652,0.403962980817,0.00453998081673,0.0597641383147,0.999999921239,0.000123562940827,-0.000375852845234,3.14508078882e-05,1793245474793830912
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.877144523,680,660,633.122855477,878.122855477,785,807,653,629,652,0.40335493896,0.00453421110893,0.0597816672708,0.999999935565,0.000116192674827,-0.000338076204551,3.277387356e-05,1793245474827164160
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.774598611,745.225401389,714,680,660,633,878.225401389,785.225401389,807,653,630,652,0.402208170248,0.00452767529712,0.0598334672294,0.999999951151,0.000162483683973,-0.000266128893965,2.17334105492e-05,1793245474910497792
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.909257519,660.090742481,633,878,785.909257519,807,652.090742481,629.090742481,652,0.40157740145,0.00452262532432,0.059825221121,0.999999942136,0.00017359032673,-0.000291730083838,2.20975780856e-05,1793245474977165312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.322844612,660.677155388,633,878,785.322844612,807,652.677155388,629.677155388,652,0.40147180423,0.00452199664356,0.0598252624952,0.99999994216,0.000174251170394,-0.00029117858085,2.30462829371e-05,1793245474993831936
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.997717712,679.997717712,660.997717712,633.997717712,878,785.997717712,807,653,629.002282288,652,0.401155657923,0.00451921689851,0.0598242999319,0.999999942783,0.000170554878187,-0.000291076193948,2.48966993226e-05,1793245475060497664
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.262690458,745,713.737309542,679,660,633,878.262690458,784.737309542,807,653,630,652,0.401030792163,0.00451762938997,0.059820491027,0.999999941178,0.000166671248851,-0.000298724905979,2.5066854722e-05,1793245475110498560
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee8bda00ce48a31170cda57fbfe011b38083903a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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+262,4.366666667,pose2_to_pose3_retreat,0.61949288587,0.0098779094772,1.05005106491,0.590064517224,0.0185535944126,1.04971755477
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80c6fdf87d3154aceb73de49ac96e03648731a89
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1223828baafefee6f2cb53b517cab052aa1555a6bcf460be09e7dbf75ff536b6
+size 25669788
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba51e3c166c025a9970e81ae8dd05238cce22303
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+9,0.150000000,BASELINE,764.767172445,745,714,679,660,634,878.767172445,785,807,652.767172445,629,652,0.400955677582,0.00451554043426,0.0598363057115,0.999999949552,0.000158543185989,-0.000274208430048,2.38559105556e-05,1793245475842607872
+10,0.166666667,BASELINE,764.188680824,745,714,679,660,634,878.188680824,785,807,652.188680824,629,652,0.400955979524,0.0045147067133,0.0598367374547,0.999999949889,0.00015759372402,-0.000273503285885,2.41094838649e-05,1793245475859274240
+11,0.183333333,BASELINE,764,745,714,679,660.387581748,634,878,785.387581748,807,652.387581748,629.387581748,652,0.400956089029,0.00451462005489,0.0598363636195,0.999999950161,0.000156167521102,-0.000273341130414,2.39624403192e-05,1793245475875940864
+12,0.200000000,BASELINE,764,745,714,679,660.962765438,634,878,785.962765438,807,652.962765438,629.962765438,652,0.400956105388,0.00451489499855,0.0598355998585,0.999999950399,0.000154510560255,-0.000273441798747,2.36214854444e-05,1793245475892607488
+13,0.216666667,BASELINE,764,745,713.461204734,679,660.461204734,634,878,785.461204734,807,653,630,652,0.400956211411,0.00451514420937,0.0598360709535,0.999999950453,0.000154052625753,-0.00027348015313,2.3878272269e-05,1793245475909274112
+14,0.233333333,BASELINE,764,745,713.117954992,679.117954992,660,633.882045008,877.882045008,785,807,653,629.882045008,652,0.400956068574,0.00451534099456,0.0598364024846,0.999999950396,0.000154009117403,-0.000273693639165,2.41097616406e-05,1793245475925940736
+15,0.250000000,BASELINE,764,745,713.70944487,679.70944487,660,633.29055513,877.29055513,785,807,653,629.29055513,652,0.400954901767,0.00451533446539,0.0598358306021,0.999999949942,0.000155296166083,-0.000274627513153,2.4073599382e-05,1793245475942607104
+16,0.266666667,BASELINE,764,745,713.705752709,679.705752709,660,633.294247291,877.294247291,785.294247291,807,653,629,652,0.400955116032,0.00451609164484,0.0598360901526,0.999999949892,0.000156793455998,-0.000273966058334,2.39759228622e-05,1793245475959273728
+17,0.283333333,BASELINE,764,745,713.127407121,679.127407121,660,633.872592879,877.872592879,785.872592879,807,653,629,652,0.400956663733,0.00451758619156,0.059837152459,0.999999950228,0.000158493735563,-0.000271764299737,2.38188537949e-05,1793245475975940864
+18,0.300000000,BASELINE,764,745,713,679.448150816,660,634,878.448150816,785.551849184,807,653,629,652,0.400955991147,0.00451700407022,0.0598366702948,0.999999950105,0.000158127064488,-0.000272422545144,2.39187146597e-05,1793245475992608000
+19,0.316666667,BASELINE,764,745,713.022845289,680,660,634,879,785,807,652.977154711,629.022845289,652.022845289,0.400954731317,0.00451582724787,0.0598357831682,0.999999949868,0.000157113633059,-0.000273860531736,2.40730108426e-05,1793245476009274368
+20,0.333333333,BASELINE,764,745,713.595713866,680,660,634,879,785,807,652.404286134,629.595713866,652.595713866,0.400954436261,0.00451445868427,0.0598356522401,0.999999950061,0.000154588978017,-0.000274616739652,2.37901572459e-05,1793245476025940736
+21,0.350000000,BASELINE,764,745,713.825084208,680,660,633.825084208,878.825084208,785,807,652.174915792,630,652.825084208,0.40095486431,0.00451369521862,0.0598360321298,0.999999950345,0.000153201005463,-0.000274368397929,2.36969312662e-05,1793245476042607360
+22,0.366666667,BASELINE,764,745,713.230694041,680,660,633.230694041,878.230694041,785,807,652.769305959,630,652.230694041,0.400957026475,0.00451438286906,0.0598376370373,0.999999950856,0.000154538968839,-0.000271710994982,2.40584608733e-05,1793245476059274240
+23,0.383333333,BASELINE,764,745,713,679.646677707,660,633,878,785,807,652.646677707,630,652,0.400956922581,0.00451520921799,0.0598376756134,0.999999950683,0.000155823493103,-0.000271623143393,2.39609199947e-05,1793245476075940864
+24,0.400000000,BASELINE,764,745,713,679.069241485,660,633,878,785,807,652.069241485,630,652,0.400955381316,0.00451612354405,0.0598367206584,0.999999950076,0.000157074120827,-0.000273165169604,2.35721886635e-05,1793245476092607488
+25,0.416666667,BASELINE,764,745,713.504739216,679,660,633.504739216,878,785.504739216,807,652.504739216,630,652,0.400956892905,0.00451566326485,0.059838245096,0.99999995086,0.00015680087419,-0.000270441874868,2.35645302429e-05,1793245476109274112
+26,0.433333333,BASELINE,764,745,713.919369634,679.080630366,660,634,878,786,807,653,630,652,0.400958336128,0.0045150800338,0.0598394979874,0.999999951616,0.000155964103985,-0.000268117641954,2.35995875661e-05,1793245476125940736
+27,0.450000000,BASELINE,764,745,713.328406533,679.671593467,660,634,878,786,807,653,630,652,0.400956713962,0.00451490401605,0.0598368940449,0.999999951045,0.000152874766676,-0.000271997446962,2.35763812634e-05,1793245476142607104
+28,0.466666667,BASELINE,764,745.257461465,713.257461465,679.742538535,660.257461465,634,878,785.742538535,807,653,630,652.257461465,0.400955708456,0.00451539868938,0.0598356409305,0.999999950616,0.000152692593553,-0.000273679723295,2.3514965693e-05,1793245476159273728
+29,0.483333333,BASELINE,764,745.836956458,713.836956458,679.163043542,660.836956458,634,878,785.163043542,807,653,630,652.836956458,0.400955474269,0.004516732265,0.0598360774358,0.999999950376,0.000156146709802,-0.000272613324319,2.34057578644e-05,1793245476175940352
+30,0.500000000,BASELINE,764,745.586334021,713.586334021,679.413665979,661,633.586334021,878.413665979,785,807,653,629.586334021,652.586334021,0.400954766915,0.00451611392323,0.0598361163133,0.999999950194,0.000156229464973,-0.000273239614565,2.33528277147e-05,1793245476192606976
+31,0.516666667,BASELINE,764,745.010715043,713.010715043,679.989284957,661,633.010715043,878.989284957,785,807,653,629.010715043,652.010715043,0.400953874314,0.00451473139271,0.0598359995168,0.999999950034,0.00015499230965,-0.000274528603989,2.33219306554e-05,1793245476209273600
+32,0.533333333,BASELINE,764.575009664,745,713,680,660.424990336,633.575009664,878.424990336,785,807,653,629.575009664,652,0.400955538128,0.00451576232899,0.0598368972078,0.999999950531,0.00015558486165,-0.000272376747031,2.33055912265e-05,1793245476225940224
+33,0.550000000,BASELINE,764.840894682,745,713.159105318,679.840894682,660,634,878,785,807,653,629.840894682,652,0.400956316023,0.00451645216346,0.059837283485,0.999999950741,0.000156062803113,-0.000271330443397,2.33044900667e-05,1793245476242606848
+34,0.566666667,BASELINE,764.261607516,745,713.738392484,679.261607516,660,634,878,785,807,653,629.261607516,652,0.400954626233,0.00451612028434,0.0598362683492,0.999999950169,0.000156146414615,-0.000273376160445,2.33429024867e-05,1793245476259273472
+35,0.583333333,BASELINE,764,745,713.682567878,679,660,634,878,785,807,653,629.317432122,652.317432122,0.400954640499,0.0045161353104,0.0598361527705,0.99999995009,0.000156412057701,-0.000273523056069,2.32409477443e-05,1793245476275940352
+36,0.600000000,BASELINE,764,745,713.103732015,679,660,634,878,785,807,653,629.896267985,652.896267985,0.400956058046,0.0045164360111,0.0598367779724,0.999999950417,0.000156827602881,-0.000272106282118,2.30234013607e-05,1793245476292606976
+37,0.616666667,BASELINE,764,745,713,679.472227343,660.472227343,633.527772657,878,785,807,653,630,653,0.400957045391,0.00451497792529,0.0598377014037,0.999999950983,0.000155916870751,-0.000270510000177,2.33988749617e-05,1793245476309273600
+38,0.633333333,BASELINE,764.048477364,745,713,680,661,633.048477364,878,785,807,653,629.951522636,653,0.400957751342,0.00451336027862,0.059838508092,0.99999995152,0.000154730482066,-0.000269167602809,2.38372512896e-05,1793245476325940480
+39,0.650000000,BASELINE,764.634922976,745,713,680,661,633.634922976,878,785,807,653,629.365077024,653,0.400956376943,0.00451423336134,0.0598372966583,0.99999995117,0.000153698531591,-0.000271077575941,2.35368295614e-05,1793245476342607104
+40,0.666666667,BASELINE,765,745,713,679.780088518,660.780088518,633.780088518,878,785,807,652.780088518,629,652.780088518,0.400955742578,0.00451491576769,0.0598366386168,0.999999950939,0.000153549729548,-0.000272019488573,2.34448012563e-05,1793245476359273472
+41,0.683333333,BASELINE,765,745,713,679.197503078,660.197503078,633.197503078,878,785,807,652.197503078,629,652.197503078,0.400956328666,0.00451528371403,0.0598368932196,0.999999950909,0.000154857399659,-0.000271364893583,2.36964515551e-05,1793245476375940352
+42,0.700000000,BASELINE,764.621298088,745,713,679,660.378701912,633.378701912,877.621298088,785,807,652.378701912,629.378701912,652,0.400955087626,0.00451591972326,0.0598365157614,0.999999950376,0.000156589050116,-0.000272334526319,2.36872575612e-05,1793245476392606976
+43,0.716666667,BASELINE,764.048365554,745,713,679,660.951634446,633.951634446,877.048365554,785,807,652.951634446,629.951634446,652,0.400952909479,0.00451669321797,0.0598358141284,0.99999994958,0.000158538153797,-0.000274137201505,2.35442803707e-05,1793245476409273600
+44,0.733333333,BASELINE,763.471755129,745,713.528244871,679,660.471755129,634,877.528244871,785.528244871,807,653,629.471755129,652,0.400955426638,0.00451692004191,0.0598367254986,0.99999995024,0.000158068691469,-0.000272005564903,2.33774648656e-05,1793245476425940224
+45,0.750000000,BASELINE,763.107292468,745,714,679.107292468,660.107292468,634,878,785.892707532,807,653,629,652,0.400957752032,0.00451696655451,0.0598376651019,0.999999950846,0.000157575840068,-0.000270064801259,2.32965002352e-05,1793245476442606592
+46,0.766666667,BASELINE,763.695748889,745,714,679.695748889,660.695748889,634,878,785.304251111,807,653,629,652,0.400957275995,0.00451643048238,0.0598380643665,0.999999950629,0.000157978137375,-0.00027060680379,2.36103993761e-05,1793245476459273472
+47,0.783333333,BASELINE,764,745,713.719916722,679.719916722,661,634,878,785,807,653,629,652.280083278,0.400956647555,0.00451604060205,0.0598380900758,0.999999950737,0.000156892607891,-0.000270838550819,2.36066263644e-05,1793245476475940096
+48,0.800000000,BASELINE,764,745,713.139995031,679.139995031,661,634,878,785,807,653,629,652.860004969,0.400955855959,0.0045158072248,0.0598377158818,0.999999951189,0.000154214310657,-0.000270738159135,2.32627748432e-05,1793245476492606976
+49,0.816666667,BASELINE,764,745,713.436744391,679.436744391,661,633.563255609,878,785,807,653,629.436744391,652.563255609,0.400955703556,0.00451514228471,0.0598374845023,0.999999951222,0.00015341353673,-0.000271066351012,2.33036428427e-05,1793245476509273600
+50,0.833333333,BASELINE,764.01245287,745,713.98754713,679.98754713,660.98754713,633,878,785,807,652.98754713,630,652,0.400955755038,0.00451436061818,0.059837317249,0.99999995113,0.00015322734712,-0.00027149825999,2.34681358931e-05,1793245476525939968
+51,0.850000000,BASELINE,764.587337832,745,713.412662168,679.412662168,660.412662168,633,878,785,807,652.412662168,630,652,0.400955828157,0.00451450966314,0.0598379936435,0.999999951317,0.000153814024939,-0.000270454711736,2.36867474394e-05,1793245476542606592
+52,0.866666667,BASELINE,764.832880865,745,713,679,660,633,878,785.167119135,807,652.167119135,629.832880865,652,0.400956030449,0.00451419006452,0.0598384132203,0.99999995147,0.00015412227536,-0.000269698000712,2.38799581849e-05,1793245476559273216
+53,0.883333333,BASELINE,764.24064429,745,713,679,660,633,878,785.75935571,807,652.75935571,629.24064429,652,0.400956561327,0.00451267833098,0.0598381795045,0.999999951535,0.000153722262497,-0.000269670945919,2.40085543933e-05,1793245476575939840
+54,0.900000000,BASELINE,764.342712288,745,713,679,660.342712288,633.342712288,878,785.657287712,806.657287712,653,629.342712288,652,0.400956619148,0.00451305655433,0.0598378427152,0.999999951466,0.0001536209178,-0.000269991100651,2.39421170957e-05,1793245476592606720
+55,0.916666667,BASELINE,764.919991007,745,713,679,660.919991007,633.919991007,878,785.080008993,806.080008993,653,629.919991007,652,0.400956353189,0.00451472834222,0.0598374353783,0.999999951304,0.000153723993938,-0.000270548899908,2.37421908137e-05,1793245476609273344
+56,0.933333333,BASELINE,764.505461558,745,713.494538442,679.494538442,661,634,878,785,806.494538442,653,629.505461558,652,0.400955725759,0.0045161231906,0.0598366423625,0.999999950763,0.000155260549959,-0.000271711729567,2.32602128732e-05,1793245476625939968
+57,0.950000000,BASELINE,764,745,714,679.931439807,661,634,878,785,807,653,629,652,0.400955132833,0.00451716742416,0.0598359578391,0.99999995028,0.000156660998257,-0.000272718639696,2.2853269213e-05,1793245476642606848
+58,0.966666667,BASELINE,764,745,714,679.358053276,661,634,878,785,807,653,629,652,0.400955222213,0.00451595808653,0.0598365290966,0.999999950705,0.000155360973136,-0.000271860680249,2.33329755706e-05,1793245476659273472
+59,0.983333333,BASELINE,764,745,713.775847234,679,660.775847234,634,877.775847234,785,807,652.775847234,629,652.224152766,0.40095600646,0.00451545799713,0.0598370980593,0.99999995106,0.000155160674109,-0.000270647400948,2.35824140084e-05,1793245476675940096
+60,1.000000000,BASELINE,764,745,713.17897613,679,660.17897613,634,877.17897613,785,807,652.17897613,629,652.82102387,0.400957946123,0.00451613723636,0.0598376632062,0.999999951295,0.00015678898529,-0.000268843300218,2.34489659856e-05,1793245476692606720
+61,1.016666667,BASELINE,764,745,713,679,660.402789255,633.597210745,877.402789255,785,807,652.402789255,629,652.597210745,0.400957832297,0.0045156687929,0.0598375413396,0.999999951168,0.000156896171017,-0.000269251248875,2.3485520591e-05,1793245476709273600
+62,1.033333333,BASELINE,764,745,713,679,660.978085127,633.021914873,877.978085127,785,807,652.978085127,629,652.021914873,0.400956839003,0.00451470881975,0.0598371252389,0.999999950885,0.000156351888911,-0.000270606574337,2.35948839442e-05,1793245476725940224
+63,1.050000000,BASELINE,764,745,713,679,661,633.551596844,878,785.551596844,807,653,629,652,0.400955469882,0.00451503656617,0.059836356539,0.999999950694,0.00015540496153,-0.000271860945857,2.35206243617e-05,1793245476742606848
+64,1.066666667,BASELINE,764,745,713.128559691,679,660.871440309,633.871440309,878.128559691,785.871440309,807,653,629.128559691,652,0.400954662093,0.00451536275607,0.0598360428719,0.999999950572,0.000155042486896,-0.00027252020564,2.34771285558e-05,1793245476759273216
+65,1.083333333,BASELINE,764,745,713.71815212,679,660.28184788,633.28184788,878.71815212,785.28184788,807,653,629.71815212,652,0.400955920695,0.00451550048539,0.0598374110898,0.999999950687,0.000156833122915,-0.000271059650024,2.35700335478e-05,1793245476775939840
+66,1.100000000,BASELINE,764,745,713.697023714,679,660,633.302976286,878.394047429,785,807,653,630,652,0.400956380497,0.00451556082845,0.0598377462878,0.999999950718,0.000157461377706,-0.000270585918197,2.35218465392e-05,1793245476792606720
+67,1.116666667,BASELINE,764,745,713.116566595,679,660,633.883433405,877.233133191,785,807,653,630,652,0.400956108718,0.0045155502973,0.0598371353943,0.999999950674,0.00015702506554,-0.000271015969022,2.33444404159e-05,1793245476809273344
+68,1.133333333,BASELINE,764,745,713,679,660,634,877.459115231,785,807,653,630,652,0.400956121723,0.00451566047243,0.0598369404889,0.999999950776,0.000156605609317,-0.000270888805173,2.32822013889e-05,1793245476825940736
+69,1.150000000,BASELINE,764,745,713,679,660,634,878,785,807,653,630,652,0.400956179174,0.00451580784207,0.0598368907819,0.999999950916,0.000156161622577,-0.000270631533483,2.32367279882e-05,1793245476842608384
+70,1.166666667,BASELINE,764,745,713,679,660,634,878,785,807,653,630,652,0.400955800115,0.00451606570586,0.0598374958051,0.999999951089,0.000155254527659,-0.00027053379288,2.29952702481e-05,1793245476859275008
+71,1.183333333,BASELINE,764,745,713,679,660.188224449,634,878,785,807,653,630,652,0.400955391109,0.00451577353169,0.0598376675039,0.999999951213,0.000154198913061,-0.000270686651183,2.29233768499e-05,1793245476875941632
+72,1.200000000,BASELINE,764,745,713,679,660.782076104,634,878,785,807,653,630,652,0.400954917567,0.00451429601548,0.0598369053802,0.99999995123,0.000152823235606,-0.000271379554795,2.32168977311e-05,1793245476892608512
+73,1.216666667,BASELINE,764,745,713,679,660.634951102,633.634951102,878,785,807,653,629.634951102,652,0.400955430198,0.00451455073966,0.0598374595018,0.999999951382,0.000153177957435,-0.00027060288469,2.33973350142e-05,1793245476909274880
+74,1.233333333,BASELINE,764,745,713,679,660.058284775,633.058284775,878,785,807,653,629.058284775,652,0.400956514511,0.00451580963694,0.0598387766456,0.999999951609,0.000154535785086,-0.000268974308371,2.35122181573e-05,1793245476925940992
+75,1.250000000,BASELINE,764,745,713,679.513747456,660.513747456,633.513747456,878,785,807,653,629.513747456,652,0.40095625261,0.00451559495241,0.0598381262903,0.999999951231,0.000155241671284,-0.000269969858231,2.35604107577e-05,1793245476942607360
+76,1.266666667,BASELINE,764,745,713,679.911422687,660.911422687,633.911422687,878,785,806.911422687,653,630,652,0.400956033,0.00451541858304,0.0598375055868,0.999999950897,0.000155779509898,-0.000270893648427,2.35565900941e-05,1793245476959273728
+77,1.283333333,BASELINE,764,745,713,679.317665615,660.317665615,633.317665615,878,785,806.317665615,653,630,652,0.400956917852,0.00451640567312,0.0598383156589,0.999999951219,0.000155776987885,-0.000269725447005,2.32988895507e-05,1793245476975940864
+78,1.300000000,BASELINE,764,745,713,679,660,633.268932416,878,785,806,653,629.731067584,652,0.400956926391,0.00451647386012,0.0598386815665,0.999999951329,0.000155897094996,-0.000269247923048,2.32953850452e-05,1793245476992608000
+79,1.316666667,BASELINE,764,745,713,679,660,633.847293352,878,785,806,653,629.152706648,652,0.40095592666,0.00451548477467,0.059838536427,0.999999951197,0.000156158296847,-0.000269565079516,2.35843536806e-05,1793245477009274624
+80,1.333333333,BASELINE,764,745,713,679,660,633.577723627,878,785,806.422276373,652.577723627,629.422276373,652.422276373,0.400955444412,0.00451611173313,0.0598381839011,0.999999950824,0.00015720438472,-0.000270347734801,2.34587103715e-05,1793245477025941248
+81,1.350000000,BASELINE,764,745,713,679,660,633.003952411,878,785,806.996047589,652.003952411,629.996047589,652.996047589,0.400955147814,0.00451731845948,0.0598377569738,0.999999950364,0.00015853205641,-0.00027129739133,2.31843219156e-05,1793245477042607872
+82,1.366666667,BASELINE,764,745,713,679,660,633.58576508,877.41423492,785,807,652,630,652.41423492,0.400955354858,0.00451704505676,0.0598384381282,0.999999950961,0.000156334550727,-0.000270367603342,2.32195634407e-05,1793245477059273984
+83,1.383333333,BASELINE,764,745,713,679,660,633.827571568,877.172428432,785,807,652.172428432,629.827571568,652,0.400955368617,0.00451647249361,0.0598386808182,0.999999951356,0.000154472183907,-0.000269970465794,2.32818687683e-05,1793245477075940608
+84,1.400000000,BASELINE,764,745,713,679,660,633.248373926,877.751626074,785,807,652.751626074,629.248373926,652,0.400954918165,0.00451521841211,0.0598378710126,0.999999951269,0.000153458112399,-0.000270860636469,2.34029527736e-05,1793245477092607232
+85,1.416666667,BASELINE,764,745,713,679.329568945,660,633.329568945,878,785,807,653,629.329568945,652,0.400956382995,0.00451503554213,0.0598384717639,0.999999951448,0.000154376683985,-0.000269668704927,2.34593115278e-05,1793245477109273856
+86,1.433333333,BASELINE,764,745,713,679.906569732,660,633.906569732,878,785,807,653,629.906569732,652,0.400959285769,0.00451565691014,0.0598401315249,0.999999951819,0.000156746234087,-0.00026691358483,2.34670762298e-05,1793245477125940480
+87,1.450000000,BASELINE,764,745,713.48163687,680,660.48163687,633.51836313,878,785,807,653,630,652.48163687,0.400957406587,0.00451605438772,0.0598390367596,0.999999951474,0.000156799715677,-0.000268164820977,2.35303295749e-05,1793245477142607360
+88,1.466666667,BASELINE,764,745,713.942195197,679.942195197,660.942195197,633,878,785,807,652.942195197,629.942195197,652.942195197,0.400954893237,0.00451626099464,0.0598376099869,0.999999951051,0.000156295273876,-0.000270027185287,2.35722566115e-05,1793245477159274240
+89,1.483333333,BASELINE,764,745,713.352459569,679.352459569,660.352459569,633,878,785,807,652.352459569,629.352459569,652.352459569,0.400955046222,0.00451510923879,0.0598380254235,0.999999951195,0.000154774563518,-0.000270390175328,2.33192789827e-05,1793245477175941120
+90,1.500000000,BASELINE,764,745,713.232664849,679.232664849,660,633.232664849,878,785,806.767335151,652,629.232664849,652,0.400955219577,0.00451420949978,0.0598384162104,0.999999951332,0.000153744740692,-0.000270472408781,2.33241096815e-05,1793245477192608000
+91,1.516666667,BASELINE,764,745,713.810939537,679.810939537,660,633.810939537,878,785,806.189060463,652,629.810939537,652,0.40095542319,0.00451368411696,0.0598387703814,0.999999951459,0.000153444102325,-0.000270137594936,2.37118993883e-05,1793245477209274112
+92,1.533333333,BASELINE,764,745,713.611908637,679.611908637,660.388091363,634,878,785,806,652.388091363,630,652,0.400956733427,0.00451484675822,0.0598388750672,0.999999951519,0.000154379498579,-0.000269397636394,2.35550606775e-05,1793245477225940224
+93,1.550000000,BASELINE,764,745,713.035302187,679.035302187,660.964697813,634,878,785,806,652.964697813,630,652,0.400958581204,0.00451682935585,0.0598388585657,0.999999951542,0.000155915297685,-0.00026846087909,2.31336691594e-05,1793245477242606848
+94,1.566666667,BASELINE,764,745,713,679,661,633.463942213,878.536057787,785,806.536057787,653,629.463942213,652.536057787,0.400958591557,0.00451475020576,0.0598384905607,0.999999951922,0.00015327803141,-0.000268531903415,2.35139734242e-05,1793245477259273472
+95,1.583333333,BASELINE,764,745,713.111568196,679,661,633.111568196,879,785,807,653,629.111568196,653,0.400958144353,0.00451294946632,0.0598381895398,0.999999952198,0.000150901759502,-0.000268822420163,2.38204369326e-05,1793245477275940608
+96,1.600000000,BASELINE,764,745,713.706544513,679,661,633.706544513,879,785,807,653,629.706544513,653,0.400956233832,0.00451350278563,0.059838278077,0.999999951956,0.000150835539645,-0.000269779190573,2.35804205814e-05,1793245477292607744
+97,1.616666667,BASELINE,764,745,713.706599775,679,661,634,878.706599775,785,807,653,630,652.706599775,0.400955809743,0.00451387697996,0.059838560153,0.99999995175,0.000151860088629,-0.000269960694637,2.36498593141e-05,1793245477309274624
+98,1.633333333,BASELINE,764,745,713.127647487,679,661,634,878.127647487,785,807,653,630,652.127647487,0.400956832326,0.00451407684068,0.0598390305907,0.999999951577,0.000153946229484,-0.000269387669894,2.4020475532e-05,1793245477325941504
+99,1.650000000,BASELINE,764,745,713.448373194,679.448373194,661,633.551626806,878,785,807,653,629.551626806,652,0.4009559979,0.00451429295891,0.0598381969843,0.999999951391,0.000153327912175,-0.000270451886753,2.3766345506e-05,1793245477342607616
+100,1.666666667,BASELINE,764,745,713.975941588,680,661,633,878,785,807,652.975941588,629.024058412,652,0.400954778645,0.00451450542239,0.0598371066579,0.999999951236,0.000152047365982,-0.000271780543745,2.33586497772e-05,1793245477359273728
+101,1.683333333,BASELINE,764,745,713.388698744,680,661,633,878,785,807,652.388698744,629.611301256,652,0.400956846231,0.0045145246904,0.0598386408869,0.999999951958,0.000153170990795,-0.000268459255353,2.34925953828e-05,1793245477375940352
+102,1.700000000,BASELINE,764,745,713,679.80409605,661,633,878,785,807,652.19590395,630,652,0.400957699325,0.00451450053814,0.0598392236802,0.999999952167,0.000153876186946,-0.000267268643337,2.35572000717e-05,1793245477392606976
+103,1.716666667,BASELINE,764,745,713,679.224662168,661,633,878,785,807,652.775337832,630,652,0.400956174753,0.00451439138011,0.059837943805,0.999999951385,0.000153762206444,-0.000270249352251,2.34860529281e-05,1793245477409273600
+104,1.733333333,BASELINE,764,745.353252582,713,679,660.646747418,633.353252582,878,785,807,653,630,652,0.400956777851,0.00451410959089,0.0598385439703,0.999999951761,0.00015298694518,-0.000269299411121,2.34661036748e-05,1793245477425940480
+105,1.750000000,BASELINE,764,745.930205386,713,679,660.069794614,633.930205386,878,785,807,653,630,652,0.400958728313,0.0045137184815,0.0598403346871,0.999999952863,0.000151792922201,-0.000265860352497,2.34785759166e-05,1793245477442607872
+106,1.766666667,BASELINE,764,745.495033795,713,679,660.504966205,634,878,785,807,653,629.495033795,652,0.400958929696,0.00451440356201,0.0598404865804,0.999999952646,0.000153384376943,-0.000265766144595,2.34488444126e-05,1793245477459274752
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878,785,807,652,629,652,0.400956426049,0.00451300780364,0.0598380312119,0.999999951994,0.000149950082893,-0.000270138746268,2.34926965502e-05,1793245477501896448
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.421951166,744.421951166,713.421951166,679.578048834,660,634,878.578048834,785,807,652.578048834,629,652,0.400956709017,0.00451379682003,0.0598386291448,0.999999951903,0.000151945290971,-0.00026936732358,2.33914847096e-05,1793245477518563072
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.156081421,744.156081421,713.156081421,680,660.156081421,634,879,785,807,653,629.156081421,652,0.400957285026,0.00451438255983,0.0598393061186,0.99999995191,0.000153623843455,-0.000268387195286,2.34119010024e-05,1793245477535229696
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.734070216,744.734070216,713.734070216,680,660.734070216,634,879,785,807,653,629.734070216,652,0.400958653161,0.00451441881809,0.0598401967501,0.999999952188,0.000154446437166,-0.000266842909772,2.3761093153e-05,1793245477551896064
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.690455848,660.690455848,634,878.690455848,785,807,653,630,652,0.400958511733,0.0045140399951,0.0598401752823,0.99999995234,0.000153167320639,-0.000267015002477,2.37213385433e-05,1793245477568562688
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.117125053,660.117125053,634,878.117125053,785,807,653,630,652,0.400957083888,0.00451330744909,0.0598393765436,0.999999952376,0.000150097173336,-0.00026864975462,2.3350132133e-05,1793245477585229824
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713.528055072,679,660,634,878,785.471944928,807,653,630,652,0.400956100786,0.00451401472002,0.0598388376004,0.999999951766,0.000151672721864,-0.000270039469032,2.32962092339e-05,1793245477601896448
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.063336553,679.063336553,660,634,878.063336553,785.936663447,806.936663447,653,630,652,0.400955730907,0.00451499374109,0.0598385964705,0.999999951152,0.000154130269568,-0.000270915711427,2.33153210706e-05,1793245477618562560
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713.640773581,679.640773581,660,634,878.640773581,785.359226419,806.359226419,653,630,652,0.40095941173,0.00451517807377,0.0598402312848,0.999999951913,0.00015406567837,-0.000268134761275,2.32660572973e-05,1793245477635229184
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.217179351,745,714,680,660,634,878.782820649,785,806.217179351,652.782820649,630,652,0.400966833022,0.00451526592066,0.0598434830734,0.999999953469,0.000153859086544,-0.000262386921348,2.32890631866e-05,1793245477651896064
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.791887369,745,714,680,660,634,878.208112631,785,806.791887369,652.208112631,630,652,0.400980412013,0.00451519492908,0.0598493967844,0.999999956267,0.000153418728035,-0.00025175487818,2.34310420662e-05,1793245477668563456
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.623411471,745,714,680,660.376588529,634,878.376588529,785,807,652.376588529,629.623411471,652,0.401011293201,0.00451479506218,0.059861495003,0.999999961376,0.000153692595737,-0.000230360241608,2.36616404624e-05,1793245477685229568
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.033037246,745,714,680,660.966962754,634,878.966962754,785,807,652.966962754,629.033037246,652,0.401051996681,0.00451420849591,0.0598771041077,0.999999967223,0.00015437192268,-0.00020285578285,2.39425473078e-05,1793245477701895680
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,661,634,878.453603216,785,806.453603216,652.453603216,629.546396784,652,0.401117335863,0.00451338828863,0.0598972103852,0.999999973259,0.000153416288918,-0.000171312565641,2.44478517017e-05,1793245477718562560
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.875429656,679.875429656,661,634,878,785.124570344,806.124570344,652.124570344,630,652,0.40118694216,0.00451270742697,0.059915851586,0.999999978114,0.000151911634057,-0.00014172218753,2.47012485976e-05,1793245477735229696
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.299473432,679.299473432,661,634,878,785.700526568,806.700526568,652.700526568,630,652,0.401266718978,0.00451258167411,0.0599282180658,0.999999981437,0.000148768755729,-0.000120075491065,2.39936493622e-05,1793245477751896832
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785.718349605,807,653,629.718349605,652,0.401350973234,0.00451308466988,0.0599364351369,0.99999998342,0.000146322993571,-0.000105883883377,2.32141306688e-05,1793245477768563200
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785.131628502,807,653,629.131628502,652,0.40144007724,0.00451426869713,0.0599401577595,0.999999984314,0.000144632315709,-9.97672850557e-05,2.23567121895e-05,1793245477785229312
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.449418497,745.449418497,713,679.449418497,661,634,878,785.449418497,807,653,629,652,0.40155195836,0.00451285573042,0.0599443640087,0.999999985283,0.000142645850626,-9.28197296892e-05,2.16810113435e-05,1793245477801895936
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.971273007,745.971273007,713,680,661,634,878.028726993,785.971273007,807,653,629,652,0.401671663716,0.00451091677432,0.0599485032119,0.999999986203,0.000140672760254,-8.58151592876e-05,2.10118731577e-05,1793245477818562560
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.393823974,745.393823974,713,680,661,634,878.606176026,785.393823974,807,653,629,652,0.401814984144,0.0045132784874,0.0599486898394,0.99999998654,0.000140589292918,-8.23123549271e-05,1.94641460052e-05,1793245477835228928
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.817453141,745,713,679.817453141,661,634,879,785,807,653,629.182546859,652,0.401966730198,0.00451446169392,0.0599489757854,0.999999987213,0.000138528748835,-7.78838073622e-05,1.783016867e-05,1793245477851895552
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.243394813,745,713,679.243394813,661,634,879,785,807,653,629.756605187,652,0.402136546825,0.0045131173363,0.0599494747415,0.999999988576,0.00013222793339,-7.14698024668e-05,1.60112092458e-05,1793245477868562432
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.339811235,745,713.339811235,679,661,634,879,785,807.339811235,653,630,652,0.40232660296,0.00451310573887,0.0599510632775,0.999999989596,0.000128126860923,-6.47904406137e-05,1.39253022904e-05,1793245477885229568
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.9297508,745,713.9297508,679,661,634,879,785,807.9297508,653,630,652,0.402531557015,0.00451407515971,0.0599534538318,0.999999990362,0.000125644975099,-5.79157540839e-05,1.16429003477e-05,1793245477901896704
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.510338989,660.489661011,633.489661011,879,785,807.489661011,653,629.489661011,652.510338989,0.402774049762,0.00451321965143,0.0599547593257,0.999999991227,0.000121842047929,-5.11207797858e-05,9.30852205796e-06,1793245477918563072
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660.088889268,633,878.911110732,785,807,653,629.088889268,652.911110732,0.403027014721,0.00451225776617,0.0599553411447,0.999999992013,0.000117705258471,-4.55245469679e-05,6.89986681917e-06,1793245477935229184
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660.663213759,633,878.336786241,785,807,653,629.663213759,652.336786241,0.403309458462,0.00451206211985,0.0599527718861,0.999999992561,0.000112720407612,-4.64159419719e-05,4.12394447097e-06,1793245477951895808
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.761983258,660.761983258,633,878,785,807,652.761983258,630,652,0.40360301572,0.0045115916234,0.0599479528313,0.999999993052,0.000105959434351,-5.16479977536e-05,1.07440655442e-06,1793245477968562432
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679.186501893,660.186501893,633,878,785,807,652.186501893,630,652,0.403912329917,0.00451073143928,0.0599399439731,0.999999993337,9.66802415721e-05,-6.30343241133e-05,-2.36306850406e-06,1793245477985229056
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.399912906,660.399912906,633.399912906,878,785,807,652,630,652,0.404234380759,0.00450991965355,0.059927469175,0.999999992342,8.94970940313e-05,-8.52792574381e-05,-5.7396060567e-06,1793245478001895680
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.991569882,660.991569882,633.991569882,878,785,807,652,630,652,0.404562538362,0.00450913107316,0.0599128531172,0.999999990134,8.33189261403e-05,-0.00011273050774,-9.08692613165e-06,1793245478018563072
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.569447928,745,713.430552072,679.430552072,660.430552072,634,878,784.430552072,806.430552072,652.569447928,629.430552072,652,0.404951939962,0.00451136850949,0.0599050579701,0.999999988833,7.69942196055e-05,-0.000127442353683,-1.28571526745e-05,1793245478035229440
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.853539477,745,713,679,660,633.853539477,878.146460523,784.146460523,806.146460523,652.853539477,629.146460523,652,0.405362979739,0.00451224881351,0.0599022027224,0.999999988534,6.89229731062e-05,-0.000133813868581,-1.66057853258e-05,1793245478051896320
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.278476807,745,713,679,660,633.278476807,878.721523193,784.721523193,806.721523193,652.278476807,629.721523193,652,0.405834750858,0.00450902960706,0.0599135150823,0.999999991476,5.5746850792e-05,-0.000116317095889,-2.02733364222e-05,1793245478068562944
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713.295892019,679.295892019,660.295892019,633.295892019,878.704107981,784.704107981,807,652.295892019,629.704107981,652,0.406336509517,0.00450744856419,0.0599359166248,0.99999999564,4.47325496319e-05,-7.83585599062e-05,-2.40739335066e-05,1793245478085229824
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713.869609433,679.869609433,660.869609433,633.869609433,878.130390567,784.130390567,807,652.869609433,629.130390567,652,0.406866424786,0.00450740566124,0.0599687302659,0.999999998745,3.57480711506e-05,-2.11876162024e-05,-2.79994534096e-05,1793245478101896704
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745.459014599,713.540985401,679.540985401,661,633.540985401,878,784.459014599,807,653,629.459014599,652,0.407402305678,0.00450704041992,0.0599883182753,0.999999999142,2.65615885831e-05,5.68642691748e-06,-3.12697774771e-05,1793245478118563584
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.948520355,713,679,660.948520355,633,878,785,807,652.948520355,630,652,0.407940937359,0.00450641694887,0.0600016810728,0.999999999074,1.73094455317e-05,1.92759182468e-05,-3.43569980638e-05,1793245478135230464
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.371908698,713,679,660.371908698,633,878,785,807,652.371908698,630,652,0.408489731301,0.00450412642604,0.0599912219141,0.999999999194,7.99356814476e-06,-1.1749450005e-05,-3.75421648126e-05,1793245478151897088
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713,679.20395409,660.20395409,633,877.79604591,784.79604591,807,652,629.79604591,652,0.409060807702,0.0045028905735,0.0599802797781,0.999999998324,-1.43311472035e-06,-4.04674763009e-05,-4.13709289938e-05,1793245478168563712
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713,679.778456284,660.778456284,633,877.221543716,784.221543716,807,652,629.221543716,652,0.409672367311,0.00450357086841,0.0599684601595,0.999999996752,-1.10611107532e-05,-6.4993473065e-05,-4.63689944553e-05,1793245478185230592
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.361343457,713,680,661,633,877.722686914,784.361343457,807,652.361343457,629.361343457,652,0.410322261535,0.00450281489256,0.0599722774208,0.999999997159,-2.07396884222e-05,-5.11626307424e-05,-5.13330591971e-05,1793245478201896960
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.949493661,713,680,661,633,878.898987322,784.949493661,807,652.949493661,629.949493661,652,0.41099621747,0.00450115740346,0.0599859095826,0.999999997865,-3.04500146055e-05,-1.32561061668e-05,-5.62757822535e-05,1793245478218563328
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.46796488,713.53203512,679.46796488,661.53203512,633.53203512,878.46796488,784.46796488,807,652.46796488,630,652,0.411689778079,0.00449967756037,0.0599853801266,0.999999997701,-3.18419674957e-05,-1.50487924421e-05,-5.79465835484e-05,1793245478235229696
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,679.113075449,661.886924551,633.886924551,878,784.113075449,807,652,630,652,0.412381052057,0.00449689460703,0.0599778214891,0.999999997823,-1.86715877814e-05,-3.21227141381e-05,-5.45264086295e-05,1793245478251896064
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,679.690118143,661.309881857,633.309881857,878,784.690118143,807,652,630,652,0.413055386766,0.00448869630352,0.0599468795816,0.999999993536,5.10441156341e-05,-9.65959309691e-05,-3.14782851064e-05,1793245478268562432
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713.735000407,679.735000407,661,633,878,784.735000407,807.264999593,652,630,652,0.413772868559,0.00447795042836,0.059924715301,0.999999987218,7.49967392732e-05,-0.0001396612894,-2.08514242849e-05,1793245478285229056
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.162625724,679.162625724,661,633,878,784.162625724,807.837374276,652,630,652,0.414540397078,0.00446424960398,0.0599127322539,0.999999986179,4.58684203666e-05,-0.000157895515585,-2.46320798766e-05,1793245478301895936
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713,679.424466949,661.424466949,633,878,784.424466949,807.575533051,652.424466949,630,652,0.415375676644,0.00446497865911,0.0599487089455,0.99999999477,4.09924402451e-05,-8.91685523873e-05,-2.87729097506e-05,1793245478318562560
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.016956719,745,713.016956719,680,662,633,878.016956719,785,807.016956719,653,630,652.016956719,0.416236432948,0.00447121652875,0.0600022351879,0.999999998351,4.57464429241e-05,1.10236098429e-05,-3.29064863341e-05,1793245478335229952
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.594751211,745,713.594751211,680,662,633,878.594751211,785,807.594751211,653,630,652.594751211,0.417050454795,0.00447023498699,0.0600066376099,0.999999998149,5.06474775828e-05,1.03737881782e-05,-3.20721576886e-05,1793245478351896576
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.171408689,714,680,661.828591311,633,879.171408689,785,808,652.828591311,630,652.828591311,0.417873196868,0.00446831641704,0.0600059053269,0.999999998122,5.1922471801e-05,5.97873024941e-06,-3.20189298088e-05,1793245478368563200
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.745395691,714,680,661.254604309,633,879.745395691,785,808,652.254604309,630,652.254604309,0.418716419619,0.00446419709975,0.0599931134401,0.999999998405,4.46811807491e-05,-7.21256139259e-06,-3.3800231077e-05,1793245478385230080
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.671651734,713.671651734,680,661.328348266,633,879.671651734,785,808,652,630,652,0.419559961572,0.00446592296191,0.0599719803901,0.999999998533,-1.10075681167e-05,-3.87769049515e-05,-3.61778800052e-05,1793245478401896448
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.081552047,713.081552047,680,661.918447953,633,879.081552047,785,808,652,630,652,0.420403757944,0.00447230846219,0.059944197964,0.999999990081,-0.000105317476858,-8.49878072706e-05,-3.90309227052e-05,1793245478418562304
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,713.499284357,680,661.500715643,633,879,785,808,652,630,652,0.421229463091,0.00446938709827,0.0599082848589,0.999999981461,-0.000111453547665,-0.000152148517165,-3.88278138196e-05,1793245478435229184
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.921862726,745,714,680,660.921862726,633,879,785,808,652.078137274,630,652,0.422065199406,0.00446596898033,0.0598776237587,0.999999972033,-0.000103461179646,-0.00020914753578,-3.85671449717e-05,1793245478451895808
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.346181119,745,714,680,660.346181119,633,879,785,808,652.653818881,630,652,0.422983282793,0.00446889117422,0.0598887075663,0.999999978384,-9.55410977568e-05,-0.000180049010467,-4.10606575533e-05,1793245478468562944
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.228811786,745,714,680,660.686435357,633,879,785,808,653,630.228811786,652.228811786,0.423927840337,0.00446955608047,0.0599234883885,0.999999987864,-8.95816637222e-05,-0.000120209676476,-4.23833803052e-05,1793245478485229568
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.802765931,745,714,680,662.408297793,633,879,785,808,653,630.802765931,652.802765931,0.424912331947,0.00446681606822,0.0599940140649,0.999999995274,-8.65796919147e-05,-1.40005436682e-05,-4.19400701442e-05,1793245478501896192
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.388907719,714,680,662.611092281,633,879,785,808.388907719,652.611092281,630.611092281,653,0.425870403618,0.00446404113754,0.0600260013198,0.999999995067,-8.14055905562e-05,3.85145857272e-05,-4.18939947348e-05,1793245478518562560
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.981430386,714,680,662.018569614,633,879,785,808.981430386,652.018569614,630.018569614,653,0.426814642915,0.00446124792526,0.060037811551,0.999999994317,-7.50942583381e-05,6.29178942449e-05,-4.20558941108e-05,1793245478535228928
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.441224948,714,680,661.441224948,633.558775052,879,785.558775052,809,652,630,652.441224948,0.427725838678,0.00446196663763,0.0600146430654,0.999999995758,-7.11673112522e-05,3.70612669641e-05,-4.52277676753e-05,1793245478551895552
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.135228749,661.135228749,633.864771251,879,785.864771251,809,652,630,652.135228749,0.428620525837,0.00446292061541,0.0599888664035,0.999999996732,-6.52190145279e-05,3.92515840506e-06,-4.7618957616e-05,1793245478568562176
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.710381461,661.710381461,633.289618539,879,785.289618539,809,652,630,652.710381461,0.429464985358,0.00446427031364,0.0599582864863,0.99999999638,-5.24439323082e-05,-4.7602422112e-05,-4.71536309032e-05,1793245478585229056
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.707488462,661.414976924,633,879,785,809,652.292511538,630.292511538,652.707488462,0.430336877805,0.00446309370912,0.0599348424207,0.999999994052,-4.59180845082e-05,-8.69748023867e-05,-4.7152609156e-05,1793245478601895936
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.118281248,660.236562496,633,879,785,809,652.881718752,630.881718752,652.118281248,0.431236595533,0.00445935466507,0.059918636281,0.99999999132,-4.5730862148e-05,-0.000114018109219,-4.76225339791e-05,1793245478618563328
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.463288707,661.38986612,633,879,785,809.463288707,652.536711293,631,652,0.432197461546,0.00445583923674,0.0599564931966,0.999999996664,-4.79494360619e-05,-4.40348502943e-05,-4.93241878011e-05,1793245478635229952
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.957448835,745,714,681,663,633,879.085102331,785.042551165,809.957448835,652,631,652,0.433165960658,0.00445264078612,0.0600039430146,0.999999996531,-5.01201993176e-05,4.24873519222e-05,-5.11986960368e-05,1793245478651896320
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.383052335,745,714,681,663,633,880.23389533,785.616947665,809.383052335,652,631,652,0.434037899915,0.00445270222675,0.0600015722484,0.999999997222,-4.41407892934e-05,3.11305207644e-05,-5.13669020865e-05,1793245478668562944
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,714,681,662.422608884,633.192463705,880.807536295,785.807536295,809.192463705,652,631,652.192463705,0.434897449614,0.00445098339429,0.0599886041888,0.999999997788,-4.16004032214e-05,4.85876521928e-06,-5.16634671536e-05,1793245478685229312
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660.689336813,633.770221062,880.229778938,785.229778938,809.770221062,652,631,652.770221062,0.435732196778,0.00444570062794,0.0599544213765,0.999999996267,-4.59446080445e-05,-5.12712228977e-05,-5.22169944465e-05,1793245478701895936
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745.353129771,713.646870229,681.353129771,660.706259542,633.646870229,880.353129771,785,809.646870229,652,631,653,0.436558803507,0.00444441210273,0.0599335734243,0.999999993781,-4.35874748228e-05,-8.80514321604e-05,-5.27727699863e-05,1793245478718562304
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745.939440013,713.060559987,681.939440013,661.878880025,633.060559987,880.939440013,785,809.060559987,652,631,653,0.437380034852,0.00444576107574,0.0599215308178,0.999999991623,-3.68052793104e-05,-0.000112054492411,-5.33300301174e-05,1793245478735228928
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745.477629785,713.522370215,681.477629785,661.477629785,633,880.477629785,785,809,652,631,653,0.438162871989,0.00444186003578,0.0599044418805,0.999999985886,-3.67610357756e-05,-0.000155264042064,-5.26191697736e-05,1793245478751896064
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.103232001,745,714,681,661,633,880,784.896767999,809.103232001,652,630.896767999,652.896767999,0.438953732548,0.00443779512665,0.0598974366038,0.999999981795,-3.79165378426e-05,-0.000179600711818,-5.21239755293e-05,1793245478768563200
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.676449413,745,714,681,661,633,880,784.323550587,809.676449413,652,630.323550587,652.323550587,0.439801255961,0.00443573736204,0.0599389856938,0.999999991915,-4.10006415065e-05,-0.000107942423181,-5.32756701391e-05,1793245478785229824
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.748681162,745.251318838,714,681.251318838,661,633,880.251318838,784.251318838,810,652,630.251318838,652.251318838,0.440608882489,0.00443593715712,0.0599688616636,0.999999996035,-3.74219887111e-05,-6.0559307986e-05,-5.35069250228e-05,1793245478801896192
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.171670892,745.828329108,714,681.828329108,661,633,880.828329108,784.828329108,810,652,630.828329108,652.828329108,0.441364805411,0.00443906259,0.0599836100922,0.999999997306,-2.52088749085e-05,-4.46351061188e-05,-5.25453553179e-05,1793245478818562560
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+245,4.083333333,HOLD_POSE2,764,745,714,682,651,626,881,784,811,653,630,653,0.453291969986,0.00462128312889,0.0596771978335,0.999999868599,0.000116600992374,-0.000494546821419,-6.80407225979e-05,1793245479828628480
+246,4.100000000,HOLD_POSE2,764.57570891,745,714,682,651,626,880.42429109,783.42429109,810.42429109,653,630,653,0.45329209951,0.00462204768881,0.0596771481105,0.999999868095,0.00011643258906,-0.000495530285964,-6.85820347266e-05,1793245479845294592
+247,4.116666667,HOLD_POSE2,764.844709245,745,714,682,651,626,880.155290755,783,810,652.844709245,630,653,0.453292461741,0.0046228543575,0.0596773737871,0.999999867858,0.000117108314866,-0.000495799930363,-6.89420849936e-05,1793245479861960704
+248,4.133333333,HOLD_POSE2,764.254274828,745,714,682,651,626,880.745725172,783,810,652.254274828,630,653,0.453293476045,0.0046237790203,0.059678371167,0.999999868363,0.000120149393524,-0.000494069363756,-6.87942175102e-05,1793245479878627328
+249,4.150000000,HOLD_POSE2,764.329270797,745,713.670729203,682,651,626,880.670729203,783,810,652.329270797,630,653,0.453294116345,0.00462278693975,0.0596788925418,0.999999868965,0.000119948216927,-0.00049296940334,-6.82835831042e-05,1793245479895293952
+250,4.166666667,HOLD_POSE2,764.907605628,745,713.092394372,682,651,626,880.092394372,783,810,652.907605628,630,653,0.453294473742,0.0046203450135,0.059679053861,0.99999986964,0.000117294562785,-0.000492346440449,-6.74985478365e-05,1793245479911960576
+251,4.183333333,HOLD_POSE2,765,745,713,682,651,626,880,783,810,652.515826436,630,653,0.453293443205,0.00462109798453,0.0596777214768,0.999999868488,0.000118658734807,-0.000494368639526,-6.74034084467e-05,1793245479928627712
+252,4.200000000,HOLD_POSE2,764.94023715,745,713,682,651,626,880,783,810,652.05976285,630,653,0.453292464196,0.00462240612851,0.0596763447655,0.999999867227,0.000120618777986,-0.000496431834753,-6.74760866431e-05,1793245479945294592
+253,4.216666667,HOLD_POSE2,764.370136116,745,713,682,651,626,880,783,810,652.629863884,630,653,0.453294178717,0.00462326775328,0.0596770147606,0.999999868069,0.000121143701047,-0.000494550326552,-6.78616831867e-05,1793245479961960960
+254,4.233333333,HOLD_POSE2,764.208304423,745,713,682,651,626,880,783,810,653,630,653,0.453294951161,0.00462339297449,0.0596771524057,0.999999868368,0.00012117627617,-0.000493919143612,-6.80016455925e-05,1793245479978627584
+255,4.250000000,HOLD_POSE2,764.802181365,745,713,682,651,626,880,783,810,653,630,653,0.453293979815,0.00462215510899,0.0596763046682,0.999999867663,0.000120297512768,-0.000495602319129,-6.76869379522e-05,1793245479995293952
+256,4.266666667,HOLD_POSE2,765,745.382137425,713.382137425,682,651,626,880,783,810,653,630,653,0.453293742924,0.00462228799575,0.0596763194314,0.99999986737,0.000120507010723,-0.000496161825505,-6.75382866042e-05,1793245480011960320
+257,4.283333333,HOLD_POSE2,765,745.955140496,713.955140496,682,651,626,880,783,810,653,630,653,0.453293872872,0.00462310553013,0.0596767649865,0.999999867284,0.000121260060979,-0.000496160094578,-6.74725751323e-05,1793245480028626944
+258,4.300000000,HOLD_POSE2,764.465959696,745.465959696,713.465959696,682,651,626,880,783.534040304,810,653,630,653,0.453293634201,0.00462250813792,0.0596757825567,0.999999867023,0.000121059519923,-0.000496716795578,-6.76026957044e-05,1793245480045293824
+259,4.316666667,HOLD_POSE2,764,745,713.112655124,682,651,626,880.112655124,783.887344876,810.112655124,653,630,653,0.453293960179,0.00462186470598,0.0596753061554,0.999999867105,0.00012069754692,-0.00049663088692,-6.76779262543e-05,1793245480061960704
+260,4.333333333,HOLD_POSE2,764,745,713.688042252,682,651,626,880.688042252,783.311957748,810.688042252,653,630,653,0.453296734059,0.00462152581046,0.0596774064723,0.999999868649,0.000120005183314,-0.000493710625133,-6.74593728873e-05,1793245480078627072
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,746,713,682,651,626,880,783,810,653,630,653,0.453293437295,0.00462266853478,0.0596761617377,0.999999867069,0.000117561852362,-0.000497376454609,-6.8244545972e-05,1793245480115813632
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.423124559,745.423124559,713,682,651,626,880,783,810,652.423124559,630,653,0.453294800853,0.0046221968892,0.0596768217532,0.999999867688,0.000119203730201,-0.000495774238889,-6.79943263302e-05,1793245480132480512
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.153579413,682,651,626,880,783,810,652,630,653,0.453296049195,0.00462206322424,0.0596773534625,0.999999868151,0.00012090918967,-0.000494467056218,-6.76916940943e-05,1793245480149147136
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.729811633,682,651,626,880,783,810,652,630,653,0.453296980462,0.00462285968682,0.0596775320717,0.999999868196,0.000122789627092,-0.000493971808486,-6.72448215729e-05,1793245480165813504
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.31354208,745,713.68645792,682.31354208,651,626,880.31354208,783,810,652,630,653,0.45329669343,0.00462326519532,0.0596774186181,0.999999867958,0.000123419460682,-0.000494294488825,-6.72580329655e-05,1793245480182480128
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.903892241,745,713.096107759,682.903892241,651,626,880.903892241,783,810,652,630,653,0.45329533083,0.00462332555314,0.0596770473191,0.999999867472,0.000122945208706,-0.000495339270358,-6.76774257376e-05,1793245480199146752
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.515373015,745,713.484626985,682.515373015,651,626,880.515373015,783,810,652.484626985,630,653,0.45329524328,0.00462335450446,0.0596763554498,0.999999867376,0.000122481275765,-0.000495660173373,-6.758099278e-05,1793245480215813376
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.062943121,745,713.937056879,682.062943121,651,625.937056879,880,783.062943121,810,652.937056879,630,653,0.453295260766,0.00462323134464,0.0596756298667,0.999999867367,0.000121962412878,-0.00049583029275,-6.7404973219e-05,1793245480232480000
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.63680423,745,713.36319577,682.63680423,651,625.36319577,880,783.63680423,810,652.36319577,630,653,0.453294118292,0.00462192305025,0.0596751366181,0.999999867443,0.000120981388309,-0.000495919061719,-6.73971256073e-05,1793245480249146624
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.210616772,682.789383228,651,625.210616772,880,783.789383228,810,652,630,653,0.453289830502,0.00462150051637,0.0596731712544,0.999999866088,0.000120308887956,-0.000498790156145,-6.75098971766e-05,1793245480265813248
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.784345522,682.215654478,651,625.784345522,880,783.215654478,810,652,630,653,0.453280120058,0.00462260507016,0.059668667904,0.999999862229,0.000120168296138,-0.000506458094064,-6.78306211736e-05,1793245480282480128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.628739901,745.371260099,714,682,651,626,880,783,810,652,630,652.628739901,0.453253769704,0.00462316512412,0.0596575589959,0.999999852349,0.000121571917112,-0.00052527639353,-6.78779742295e-05,1793245480299146752
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.033883946,745.966116054,714,682,651,626,880,783,810,652,630,652.033883946,0.453217397764,0.00462339724664,0.0596424718108,0.999999838332,0.00012390555872,-0.000550810132684,-6.77606863474e-05,1793245480315813376
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.543195934,745.456804066,714,682,651,626,880.543195934,783,810,652.543195934,630,652.543195934,0.453165193618,0.00462309918931,0.0596252924428,0.999999824593,0.00012311817751,-0.000575361447975,-6.79371456574e-05,1793245480332480256
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,651,626,880.880705495,783,810,653,630,653,0.453108657762,0.00462333577696,0.0596088645256,0.999999811406,0.000122810080961,-0.000597868831971,-6.82588045672e-05,1793245480349146880
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,651,626,880.304252648,783,810,653,630,653,0.453039186706,0.00462574394374,0.0595958005823,0.99999980205,0.000125061121046,-0.000612770909756,-6.90689007201e-05,1793245480365813504
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.721678696,745,714,682,651,626,880,783,810,653,630,653,0.452965629407,0.00462699995036,0.0595881204912,0.999999796577,0.000128320302087,-0.000620987740384,-6.89442546001e-05,1793245480382479872
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.132262895,745,714,682,651,626,880,783,810,653,630,653,0.452887504702,0.00462696812627,0.0595864582182,0.999999795622,0.000132706335686,-0.00062173211455,-6.77747973793e-05,1793245480399146496
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,745,714,682,651,626,880,783.449284211,810.449284211,653,630,652.550715789,0.452790407221,0.00462717133418,0.0595861192551,0.999999796228,0.000132733973551,-0.000620785838917,-6.74594368507e-05,1793245480415813376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.028439572,745,714,682,651,626,880,783.971560428,810.943120856,652.971560428,630,652.028439572,0.452686477802,0.00462739852248,0.0595861797614,0.999999797171,0.000131668275827,-0.000619507214477,-6.7320806541e-05,1793245480432480000
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.605373608,745,714,682,651,626,880,783.394626392,809.789252785,652.394626392,630,652.605373608,0.452556651468,0.00462677675132,0.0595865606345,0.9999997959,0.000133835540388,-0.000621252448759,-6.58248837507e-05,1793245480449146624
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.818665665,682,651,626,880.181334335,783.181334335,809.181334335,652.181334335,630,653,0.452418569218,0.00462699711346,0.0595870253575,0.999999795026,0.000137057088778,-0.000622100080696,-6.44562354096e-05,1793245480465813248
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.244811851,682,651,626,880.755188149,783.755188149,809.755188149,652.755188149,630,653,0.452262616083,0.00462904037217,0.0595876715836,0.999999795007,0.000142560758129,-0.000621004746647,-6.33630877643e-05,1793245480482480128
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.661056202,745,713.338943798,682,651,626,881,783.661056202,810,653,630.338943798,653,0.452088044686,0.00463103681032,0.0595880797273,0.999999793594,0.000148232126592,-0.000622066766986,-6.22184479269e-05,1793245480499146496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.069933386,745,713.930066614,682,651,626,881,783.069933386,810,653,630.930066614,653,0.45189962102,0.00463299841352,0.0595883107344,0.999999791129,0.000154028266158,-0.000624733889618,-6.1035497049e-05,1793245480515813376
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,745,713.490824135,682,651,626.509175865,881,783,810,652.490824135,630.490824135,652.490824135,0.451669608975,0.00463159048168,0.0595865411489,0.999999788572,0.000156254308335,-0.000628489298788,-5.86668993101e-05,1793245480532481024
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.086408139,745,713,682,651.086408139,627,880.913591861,783,810,652.086408139,630,652,0.451428640156,0.00463006745348,0.0595843330598,0.999999785487,0.00015862038746,-0.000633017859185,-5.61512837784e-05,1793245480549148672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.662139998,745,713,682,651.662139998,627,880.337860002,783,810,652.662139998,630,652,0.451157224861,0.00463045299846,0.0595811619121,0.999999779526,0.000164492242929,-0.000641097787047,-5.37040343429e-05,1793245480565814528
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.757041026,745,713,682,652,627,880,783.242958974,810,653,630.242958974,652.242958974,0.450872697144,0.00463170397392,0.0595754293685,0.999999771812,0.00017128274306,-0.000651449542966,-5.15030488586e-05,1793245480582480640
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.168996628,745,713,682,652,627,880,783.831003372,810,653,630.831003372,652.831003372,0.450569545288,0.0046341841587,0.0595660587607,0.999999761548,0.000179378034657,-0.000665028076686,-4.96518431491e-05,1793245480599147264
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,652,627,880,783.58843866,809.58843866,653,630.58843866,653,0.450231427162,0.00463594241077,0.0595610856488,0.999999755165,0.000186640503129,-0.000672737562865,-4.75286902702e-05,1793245480615813888
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,652,627,880,783.010899889,809.010899889,653,630.010899889,653,0.449879207594,0.00463740951653,0.0595578859911,0.999999750344,0.000193567104476,-0.000678080136798,-4.52958646158e-05,1793245480632480512
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,745,713.566781515,682,652.566781515,627,880,783.566781515,809.566781515,653,630,653,0.449475887934,0.00463786526828,0.0595508342388,0.999999743344,0.00020127258684,-0.000686315931309,-4.20958287618e-05,1793245480649148160
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,745,713.855935733,682,653,627.144064267,880,784,810,653,630,653,0.449067900954,0.00463838104242,0.0595470143543,0.999999738845,0.000209315044453,-0.000690650517956,-3.87134293364e-05,1793245480665815296
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,745,713.279856778,682,653,627.720143222,880,784,810,653,630,653,0.448648865532,0.00463913514872,0.0595531082843,0.999999742235,0.000218323080594,-0.000683119409359,-3.48399581457e-05,1793245480682481152
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,745.302886207,713,681.697113793,653.302886207,628,880.302886207,784,809.697113793,653,630,652.697113793,0.448218024512,0.00464108894356,0.0595609073991,0.99999974752,0.000229207337731,-0.000671898111896,-3.12498617179e-05,1793245480699147520
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713,681.045452376,656,630,879.045452376,784,809.954547624,652.954547624,630,653,0.443830123924,0.0046326190893,0.0596214026001,0.999999791909,0.00029356353995,-0.000574440015212,4.49362465553e-06,1793245480832479744
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.028082359,659.971917641,633,878,785,807,652.028082359,629.028082359,652,0.402965050685,0.00453398944356,0.0598211416117,0.999999950633,0.000149049791102,-0.000274080004565,3.73880522415e-05,1793245481782480640
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.60449466,659.39550534,633,878,785,807,652.60449466,629.60449466,652,0.40273826276,0.00453502608547,0.0598338603773,0.999999942587,0.00022242328705,-0.000252799138903,3.80347014454e-05,1793245481799147264
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.820217554,659.179782446,633,878,785,807,652.820217554,630,652,0.402515074523,0.00453493210618,0.0598415764281,0.999999933019,0.000271683752989,-0.000242133615199,3.89944738833e-05,1793245481815813632
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.247388303,659.752611697,633,878,785,807,652.247388303,630,652,0.402299756084,0.00453236632229,0.0598383553633,0.999999930771,0.000268227443951,-0.000254675736839,4.06388078435e-05,1793245481832480768
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.335425928,745,713.335425928,679,660,633,878,785,807.335425928,652.335425928,629.664574072,652,0.402104279261,0.00453110133146,0.0598330435838,0.999999928345,0.000263727179386,-0.000268482132498,4.09286756262e-05,1793245481849147392
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.925830435,745,713.925830435,679,660,633,878,785,807.925830435,652.925830435,629.074169565,652,0.401923885291,0.0045308251559,0.0598261425189,0.999999925683,0.000258433337442,-0.000283249584541,4.01889276957e-05,1793245481865813760
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.915574365,679.915574365,660,633.915574365,879,785,807,652.915574365,630,651.084425635,0.401629138198,0.0045246886107,0.0598248225649,0.999999947362,0.000142480496378,-0.000291179908919,1.37756235659e-05,1793245481899146752
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,713.338757283,679.338757283,660,633.338757283,879,785,807,652.338757283,630,651.661242717,0.401520514844,0.00451999339256,0.0598269829544,0.999999949672,0.000138106943752,-0.00028521889659,1.5283483749e-05,1793245481915813632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,713.236629086,679.236629086,660,633,878.763370914,785,807,652.236629086,630,652,0.401419869336,0.00451835969567,0.0598286031075,0.999999950703,0.000138638496918,-0.000281252117785,1.64211717908e-05,1793245481932480512
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,713.809979525,679.809979525,660,633,878.190020475,785,807,652.809979525,630,652,0.401330576249,0.00452108252004,0.0598294545082,0.999999949941,0.000146149977827,-0.00028012311817,1.70321076585e-05,1793245481949146880
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713.798237834,679.798237834,660,633,877.201762166,785,806.201762166,653,629.798237834,652,0.400967079199,0.00451638975271,0.0598315036543,0.999999949753,0.000145750253782,-0.000280654310704,2.19916345165e-05,1793245482132481024
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.222707345,679.222707345,660,633,877.777292655,785,806.777292655,653,629.222707345,652,0.400962383079,0.00451845690357,0.0598314732671,0.999999949401,0.000148189964358,-0.00028064196549,2.1877977345e-05,1793245482149147648
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633,878,785,807,653,629.363561924,652,0.400961331914,0.00451756662145,0.0598325878261,0.999999950156,0.000146247163932,-0.000278955763572,2.19780670585e-05,1793245482165814272
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633,878,785,807,653,629.956609652,652,0.400962581501,0.00451480956268,0.0598344250925,0.99999995159,0.000141538055964,-0.000276212997897,2.22130770534e-05,1793245482182480640
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,713.535266983,679,660,633,878,785,806.464733017,653,630,652,0.400962030385,0.00451516892365,0.0598350294306,0.999999951991,0.000141494457047,-0.000274795076741,2.20139506633e-05,1793245482199147264
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.887820502,745,714,679.112179498,660,633,878,785,806.112179498,653,630,652,0.400961296202,0.00451562953515,0.0598353909498,0.999999952185,0.000141956547681,-0.000273862652512,2.18454623227e-05,1793245482215813888
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.313416757,745,714,679.686583243,660,633,878,785,806.686583243,653,630,652,0.400960393415,0.00451549366978,0.0598351529893,0.999999951862,0.000142984743573,-0.000274499740994,2.1944425356e-05,1793245482232480256
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,745,713.739658589,679.739658589,659.739658589,633.260341411,878,785,807,653,630,652,0.400958910194,0.00451539240225,0.0598346161133,0.99999995147,0.000143439078306,-0.000275687593672,2.19568000374e-05,1793245482249147136
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,745,713.166675611,679.166675611,659.166675611,633.833324389,878,785,807,653,630,652,0.400956729934,0.00451533268289,0.0598337202724,0.999999950994,0.000143204268677,-0.000277536854007,2.186519159e-05,1793245482265814272
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.421968177,745,713,679,659.421968177,633.578031823,878,785,807,653,629.578031823,652,0.400958822038,0.00451669354955,0.059835387913,0.999999951433,0.000145026918207,-0.000275009523448,2.16947352892e-05,1793245482282480896
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745.016531473,713.016531473,679,660,633,878,785,806.983468527,653,629.016531473,652,0.400962513487,0.00451853147539,0.059838010073,0.999999952205,0.000147585341836,-0.000270823295415,2.15090149286e-05,1793245482299147776
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745.593965855,713.593965855,679,660,633,878,785,806.406034145,653,629.593965855,652,0.400961004712,0.0045167832607,0.0598373386019,0.99999995224,0.000146471326959,-0.000271267397636,2.1902840371e-05,1793245482315814144
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745.82993712,713.82993712,679,660,633,878,785,806.17006288,653,629.82993712,652,0.400960207916,0.00451533607674,0.0598372923066,0.999999952529,0.00014483126496,-0.000271066066113,2.21225601086e-05,1793245482332480512
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745.257008224,713.257008224,679,660,633,878,785,806.742991776,653,629.257008224,652,0.400961097743,0.00451460201178,0.0598387270053,0.999999953414,0.000141945037454,-0.000269335751174,2.1929836664e-05,1793245482349146880
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633.324856333,877.675143667,785,807,652.675143667,629,652,0.400960998982,0.00451466409595,0.0598387883276,0.999999953448,0.000141671995137,-0.000269353594514,2.19357734574e-05,1793245482365813504
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633.913990214,877.086009786,785,807,652.086009786,629,652,0.400960095985,0.00451537386444,0.0598377323789,0.999999952791,0.000143524834781,-0.000270793601942,2.21033245958e-05,1793245482382480128
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.494314311,745,713,679.494314311,660,634,877.494314311,785,806.505685689,652.494314311,629,652,0.400959731374,0.00451567917673,0.0598383317292,0.999999952879,0.000143962885313,-0.00027025218463,2.19332991598e-05,1793245482399147520
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.854176726,745,713.072911637,679.927088363,660,633.927088363,877.927088363,785,806.072911637,653,629.072911637,652,0.400959741469,0.00451592069969,0.0598392362182,0.999999953112,0.000144294713952,-0.000269223415858,2.17549516196e-05,1793245482415814912
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.700035116,745,713.649982442,679.350017558,660,633.350017558,877.350017558,785,806.649982442,653,629.649982442,652,0.400961706109,0.00451619923699,0.0598402939557,0.999999953476,0.000145564435457,-0.000267166962714,2.19180991584e-05,1793245482432481536
+401,6.683333333,POSE2_TO_POSE3_RETREAT,763.226399393,745.226399393,713.773600607,679,660,633,877,785,807,653,630,652,0.400962632822,0.00451622170357,0.0598407320843,0.999999953748,0.000145391514401,-0.000266241935701,2.19297251765e-05,1793245482449148160
+402,6.700000000,POSE2_TO_POSE3_RETREAT,763.801808472,745.801808472,713.198191528,679,660,633,877,785,807,653,630,652,0.400961959502,0.0045158494202,0.0598402150451,0.99999995388,0.00014299466431,-0.000267061076831,2.17077707417e-05,1793245482465814272
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745.612987684,713.387012316,679.387012316,660,633,877.387012316,785,807,653,629.612987684,652,0.400962334978,0.00451594904592,0.0598404716496,0.999999954022,0.00014277668156,-0.000266653275635,2.15985993376e-05,1793245482482480128
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745.022637669,713.977362331,679.977362331,660,633,877.977362331,785,807,653,629.022637669,652,0.400963261496,0.00451629661446,0.0598411347293,0.999999954171,0.000143703483902,-0.00026560083436,2.15486845678e-05,1793245482499146752
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65c46218b07a276b80f274f74e8c852b38d735dc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/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,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+1,0.016666667,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+2,0.033333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+3,0.050000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+4,0.066666667,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+5,0.083333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+6,0.100000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+15,0.250000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+16,0.266666667,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+17,0.283333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+18,0.300000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+20,0.333333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+21,0.350000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+379,6.316666667,pose2_to_pose3_retreat,0.575697638072,0.00987778177487,1.0500511736,0.546269272418,0.0185534716591,1.04971767109
+380,6.333333333,pose2_to_pose3_retreat,0.575689202134,0.00987776423279,1.05005085797,0.546260836773,0.018553454987,1.04971735224
+381,6.350000000,pose2_to_pose3_retreat,0.575683102754,0.00987776327109,1.05005069946,0.546254736417,0.0185534507366,1.0497171944
+382,6.366666667,pose2_to_pose3_retreat,0.575678799747,0.00987776865698,1.0500506237,0.546250432106,0.0185534517754,1.04971712067
+383,6.383333333,pose2_to_pose3_retreat,0.575676390887,0.00987779816856,1.0500506699,0.546248023342,0.0185534816572,1.049717168
+384,6.400000000,pose2_to_pose3_retreat,0.575674834383,0.00987781897578,1.05005070557,0.546246466955,0.0185535028876,1.0497172044
+385,6.416666667,pose2_to_pose3_retreat,0.575674006288,0.00987783004568,1.05005072454,0.546245638922,0.0185535141827,1.04971722376
+386,6.433333333,pose2_to_pose3_retreat,0.575673721379,0.00987783385433,1.05005073107,0.546245354034,0.0185535180688,1.04971723042
+387,6.450000000,pose2_to_pose3_retreat,0.57567340578,0.00987783150509,1.05005076729,0.54624503857,0.0185535161168,1.04971726504
+388,6.466666667,pose2_to_pose3_retreat,0.575672643657,0.0098778257271,1.0500508552,0.546244276775,0.0185535113032,1.04971734908
+389,6.483333333,pose2_to_pose3_retreat,0.575672225793,0.0098778225591,1.0500509034,0.546243859092,0.018553508664,1.04971739516
+390,6.500000000,pose2_to_pose3_retreat,0.575672067251,0.00987782135712,1.05005092169,0.546243700618,0.0185535076626,1.04971741264
+391,6.516666667,pose2_to_pose3_retreat,0.575671987634,0.00987782075351,1.05005093087,0.546243621035,0.0185535071598,1.04971742142
+392,6.533333333,pose2_to_pose3_retreat,0.575671818615,0.0098778194721,1.05005095037,0.546243452089,0.0185535060923,1.04971744005
+393,6.550000000,pose2_to_pose3_retreat,0.57567124974,0.00987781515922,1.05005101599,0.54624288346,0.0185535024992,1.04971750278
+394,6.566666667,pose2_to_pose3_retreat,0.575670987814,0.00987782434935,1.05005104019,0.546242621231,0.0185535106703,1.04971752714
+395,6.583333333,pose2_to_pose3_retreat,0.575670715417,0.00987784425117,1.0500510598,0.546242348135,0.0185535282623,1.04971754829
+396,6.600000000,pose2_to_pose3_retreat,0.575670571941,0.00987785473379,1.05005107012,0.546242204291,0.0185535375283,1.04971755943
+397,6.616666667,pose2_to_pose3_retreat,0.575670519383,0.00987785857376,1.05005107391,0.546242151599,0.0185535409226,1.04971756352
+398,6.633333333,pose2_to_pose3_retreat,0.575670450834,0.00987786358206,1.05005107884,0.546242082874,0.0185535453497,1.04971756884
+399,6.650000000,pose2_to_pose3_retreat,0.575670266738,0.00987787703247,1.05005109209,0.546241898306,0.018553557239,1.04971758313
+400,6.666666667,pose2_to_pose3_retreat,0.575670056762,0.00987789237367,1.0500511072,0.546241687792,0.0185535707997,1.04971759944
+401,6.683333333,pose2_to_pose3_retreat,0.575669804511,0.00987788919018,1.05005103558,0.546241435949,0.0185535690986,1.04971753026
+402,6.700000000,pose2_to_pose3_retreat,0.575669511111,0.00987785144408,1.05005087438,0.546241144205,0.0185535371088,1.0497173727
+403,6.716666667,pose2_to_pose3_retreat,0.575669459857,0.00987774790511,1.05005097619,0.546241093921,0.0185534368014,1.04971747299
+404,6.733333333,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b31f8ae248537096437f91ab6c8c19040d6d110
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d8487478ad0995d59ff8f80270cb433f09aa8629c41cc76767580ecc6fc849c
+size 25730111
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdefa0523e05a9dbe18e949bbb100cf56358f190
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,745,714,680,660,633,878,785,807,652,629,652,0.400962317725,0.00451506752238,0.0598409902134,0.999999954464,0.000143118240652,-0.000264823065647,2.13978294154e-05,1793245482643646208
+1,0.016666667,BASELINE,764,745,714,680,660,633.569365119,878.569365119,785,807,652.569365119,629.569365119,652,0.400962571731,0.00451609791447,0.0598419705135,0.999999954532,0.000143133341115,-0.000264561074798,2.13570413413e-05,1793245482660312576
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+4,0.066666667,BASELINE,764,745,713,679,660,633.329261119,878,785,807,653,629.670738881,652,0.400962088611,0.00451541750944,0.0598414737121,0.999999954843,0.000140254875521,-0.000264893945662,2.17450621724e-05,1793245482710311936
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+7,0.116666667,BASELINE,764,745.926633486,714,679,660,634,878.853266971,785,807,653,630,652.073366514,0.400962783236,0.00451341683594,0.0598407131058,0.999999954925,0.000138506119821,-0.000265522493539,2.15296351339e-05,1793245482760312064
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+16,0.266666667,BASELINE,763.283098917,745.716901083,714,679,660,634,878,785,807,653,629,652.283098917,0.400959985579,0.00451450720465,0.0598406309035,0.999999954137,0.000139409663863,-0.000268010871847,2.14581319093e-05,1793245482910311936
+17,0.283333333,BASELINE,763.841389217,745.158610783,714,679,660,634,878,785,807,653,629,652.841389217,0.400962337135,0.00451419241752,0.0598422709374,0.999999954597,0.000140779328463,-0.000265534396603,2.18722196611e-05,1793245482926978560
+18,0.300000000,BASELINE,764,745,713.572197689,679,660,634,878.427802311,785,807,653,629,652.572197689,0.400963403769,0.00451400221927,0.0598428271901,0.999999955126,0.000140392547494,-0.000263729380003,2.20075683129e-05,1793245482943645440
+19,0.316666667,BASELINE,764,745,713.024918659,679,660,633.975081341,878.975081341,785,806.975081341,653,629,652,0.400963858201,0.00451384932103,0.0598428831325,0.999999955629,0.000139382823253,-0.000262353371134,2.20228939838e-05,1793245482960312064
+20,0.333333333,BASELINE,764,745,713.611727432,679,660,633.388272568,878.388272568,785,806.388272568,653,629,652,0.400962006162,0.00451342262239,0.0598413557493,0.999999954938,0.000140043824245,-0.000264642533917,2.18261063037e-05,1793245482976978688
+21,0.350000000,BASELINE,764,745.195882896,713.804117104,679.195882896,660,633.195882896,878,785,806.195882896,653,629.195882896,652,0.400961228444,0.0045130752674,0.0598407317562,0.999999954768,0.000139655423276,-0.000265495712458,2.17224399272e-05,1793245482993645312
+22,0.366666667,BASELINE,764,745.774849277,713.225150723,679.774849277,660,633.774849277,878,785,806.774849277,653,629.774849277,652,0.400962551748,0.00451288308292,0.0598418745017,0.999999955622,0.000137214731967,-0.000263540570764,2.18008886753e-05,1793245483010312192
+23,0.383333333,BASELINE,764,745.648144332,713,680,660,634,878,785.351855668,807,653,629.648144332,652,0.400962946065,0.00451355031884,0.0598425762546,0.999999955755,0.000137910300609,-0.000262673416499,2.17628742853e-05,1793245483026979072
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+27,0.450000000,BASELINE,764,745,713.329587869,679,660,633.329587869,878,785,807,653,629.670412131,652,0.400962844705,0.00451430126072,0.0598426579166,0.999999955499,0.000139111833406,-0.000263045217562,2.1397772034e-05,1793245483093645056
+28,0.466666667,BASELINE,764,745,713,679,660,633,878,785,807,653,630,652,0.400962589067,0.00451421642383,0.0598424752133,0.999999955554,0.000138270567198,-0.000263280265793,2.13741957473e-05,1793245483110311680
+29,0.483333333,BASELINE,764,745,713,679,660,633,878,785,807,653,630,652,0.400963724175,0.00451330359461,0.0598429020412,0.999999955846,0.000138126162058,-0.000262216207784,2.17389774911e-05,1793245483126978560
+30,0.500000000,BASELINE,763.588887939,745,713.411112061,679,660,633.411112061,878,785.411112061,807,653,630,652.411112061,0.400962843397,0.00451387833418,0.0598420134201,0.999999955313,0.000138711394509,-0.000263944971135,2.15999760829e-05,1793245483143645184
+31,0.516666667,BASELINE,763.013179148,745,713.986820852,679,660,633.986820852,878,785.986820852,807,653,630,652.986820852,0.40096115552,0.00451504865094,0.0598405981335,0.999999954443,0.000139588751597,-0.000266791894991,2.12592752591e-05,1793245483160311808
+32,0.533333333,BASELINE,763.558866221,745,714,679.558866221,660,633.441133779,878,785.441133779,807,653,629.441133779,652.441133779,0.400960647262,0.00451540522214,0.0598405440241,0.999999954362,0.000141211863761,-0.000266209517838,2.16166575483e-05,1793245483176978688
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+40,0.666666667,BASELINE,764,745,713,679.779647604,660,634,877.220352396,785,807,652.779647604,629.779647604,652,0.400961905044,0.00451494345583,0.0598422214082,0.99999995556,0.000137684783205,-0.000263576195849,2.12188125814e-05,1793245483310312192
+41,0.683333333,BASELINE,764,745,713,679.199178592,660,634,877.800821408,785,807,652.199178592,629.199178592,652,0.400963007319,0.00451631718382,0.0598427218355,0.999999955622,0.000139341945168,-0.00026250493087,2.07464397399e-05,1793245483326978816
+42,0.700000000,BASELINE,764.376485301,745,713.376485301,679.376485301,660,633.623514699,877.623514699,785.376485301,806.623514699,652.376485301,629.376485301,652,0.400963873644,0.00451539469382,0.0598430230222,0.999999955733,0.000139544337754,-0.000261957400592,2.09716139603e-05,1793245483343645440
+43,0.716666667,BASELINE,764.949639076,745,713.949639076,679.949639076,660,633.050360924,877.050360924,785.949639076,806.050360924,652.949639076,629.949639076,652,0.400964616714,0.00451327270493,0.0598432201294,0.99999995587,0.000138986787538,-0.000261683458997,2.15611729847e-05,1793245483360312064
+44,0.733333333,BASELINE,764.474454504,745,714,679.474454504,660,633.525545496,877.525545496,785.474454504,806.525545496,653,630,652,0.400962475423,0.00451425244701,0.0598425020901,0.999999955398,0.000139232392968,-0.00026335950291,2.14722160744e-05,1793245483376978688
+45,0.750000000,BASELINE,764.101186547,745,713.898813453,679,660.101186547,633.898813453,878,785,807,653,630,652,0.400960668296,0.00451508486592,0.0598420283272,0.999999955086,0.000139227200016,-0.000264550076366,2.13575792668e-05,1793245483393645056
+46,0.766666667,BASELINE,764.67435278,745,713.32564722,679,660.67435278,633.32564722,878,785,807,653,630,652,0.400961715889,0.00451383640465,0.0598431051818,0.999999955812,0.000137691288988,-0.000262600010825,2.14280368598e-05,1793245483410311680
+47,0.783333333,BASELINE,764.741693961,745.258306039,713.258306039,679,660.741693961,633.258306039,878,785,807,653,629.741693961,652,0.400962517595,0.00451385910342,0.0598435522151,0.99999995606,0.000137743456509,-0.000261637214649,2.127680005e-05,1793245483426978560
+48,0.800000000,BASELINE,764.143548718,745.856451282,713.856451282,679,660.143548718,633.856451282,878,785,807,653,629.143548718,652,0.4009629958,0.00451555419813,0.0598431706268,0.999999955684,0.000139884972371,-0.000261973314797,2.08338919844e-05,1793245483443645440
+49,0.816666667,BASELINE,764,745.564374731,713.564374731,679.435625269,660,633.564374731,877.564374731,785,806.564374731,653,629.435625269,652,0.400962402597,0.00451554883944,0.059842992379,0.999999955496,0.000140305313552,-0.000262448412869,2.10593876126e-05,1793245483460312064
+50,0.833333333,BASELINE,764.00884779,745,713.00884779,679.99115221,660,633.00884779,877.00884779,785,806.00884779,652.99115221,630,652,0.400961497648,0.00451500154384,0.0598428908309,0.999999955377,0.000140155087626,-0.000262946641998,2.14913044979e-05,1793245483476978688
+51,0.850000000,BASELINE,764.584578913,745,713.584578913,679.415421087,660,633.584578913,877.584578913,785,806.584578913,652.415421087,630,652,0.400962295275,0.0045141350565,0.0598435895449,0.999999955855,0.000138270543257,-0.000262114731679,2.16258255305e-05,1793245483493645056
+52,0.866666667,BASELINE,764.834590711,745.165409289,714,679,660,633.834590711,878,785,807,652,630,652,0.40096273183,0.00451364499318,0.0598438444327,0.999999956074,0.000137263499655,-0.000261799520197,2.16966688961e-05,1793245483510311680
+53,0.883333333,BASELINE,764.240546372,745.759453628,714,679,660,633.240546372,878,785,807,652,630,652,0.400962232712,0.00451413038015,0.0598429492069,0.999999955633,0.000138530376749,-0.000262823261585,2.16025004803e-05,1793245483526978304
+54,0.900000000,BASELINE,764,745.657221482,713.657221482,679,660,633.342778518,878,785.342778518,807,652.342778518,629.657221482,652.342778518,0.40096216999,0.00451367849773,0.0598428282783,0.999999955655,0.000138268106752,-0.000262870761711,2.16847107757e-05,1793245483543645184
+55,0.916666667,BASELINE,764,745.081190929,713.081190929,679,660,633.918809071,878,785.918809071,807,652.918809071,629.081190929,652.918809071,0.400962404225,0.00451258882738,0.0598432342391,0.999999955992,0.000136965291121,-0.000262253954525,2.18869422877e-05,1793245483560311808
+56,0.933333333,BASELINE,764,745,713,679.493358457,660,634,878,785.506641543,807,653,629.493358457,652.506641543,0.400962012688,0.00451355261187,0.0598428177057,0.999999955547,0.0001385021836,-0.000263159692911,2.16669786492e-05,1793245483576978432
+57,0.950000000,BASELINE,764,745,713,680,660,634,878,785,807,653,630,652,0.400961828074,0.00451466343671,0.0598425204904,0.999999955142,0.000140141844005,-0.000263853200834,2.13959796273e-05,1793245483593645568
+58,0.966666667,BASELINE,764,745,713,680,660,634,878,785,807,653,630,652,0.400963961567,0.0045143525262,0.0598441271186,0.999999956022,0.000139062354048,-0.000261087158801,2.12615259416e-05,1793245483610311936
+59,0.983333333,BASELINE,764,745,713.244415305,679.755584695,660.244415305,634,878,785,806.755584695,653,630,652,0.400964103468,0.00451467436084,0.059844386093,0.99999995613,0.000138956679202,-0.000260734035536,2.11776733989e-05,1793245483626978560
+60,1.000000000,BASELINE,764,745,713.821342445,679.178657555,660.821342445,634,878,785,806.178657555,653,630,652,0.40096153593,0.0045158570059,0.0598428116684,0.999999955192,0.000140175819148,-0.000263663537932,2.11626605477e-05,1793245483643645440
+61,1.016666667,BASELINE,764,745,713.602080803,679.397919197,660.602080803,634,878,785,806.397919197,653,629.602080803,652,0.400961816644,0.00451577512606,0.0598433992495,0.999999955391,0.00014057072593,-0.000262688461416,2.12759125337e-05,1793245483660311808
+62,1.033333333,BASELINE,764,745,713.025661265,679.974338735,660.025661265,634,878,785,806.974338735,653,629.025661265,652,0.400963375039,0.00451512600001,0.0598449566728,0.999999956096,0.000140595894505,-0.000259961851563,2.14467021247e-05,1793245483676978688
+63,1.050000000,BASELINE,764,745,713.546902091,680,660.546902091,634,878.546902091,785,806.453097909,653,629,652,0.400962352463,0.00451487298474,0.0598438537055,0.999999955514,0.000141497440184,-0.000261688338719,2.16777784414e-05,1793245483693645312
+64,1.066666667,BASELINE,764,745,713.875944884,680,661,633.875944884,878.875944884,785,806.124055116,653,629,652,0.400961279149,0.0045145054367,0.0598426768804,0.999999955039,0.000141426180809,-0.000263522438924,2.18201282401e-05,1793245483710311936
+65,1.083333333,BASELINE,764,745,713.280675922,680,661,633.280675922,878.280675922,785,806.719324078,653,629,652,0.400960469891,0.00451363274167,0.0598416903434,0.999999955206,0.000137504696124,-0.000264977196729,2.16147877015e-05,1793245483726978560
+66,1.100000000,BASELINE,764,745,713,680,660.694305371,633,878,785,806.694305371,652.694305371,629,652,0.400959966475,0.00451389815462,0.0598413212926,0.999999955148,0.000136984785098,-0.000265477998089,2.14775040213e-05,1793245483743645184
+67,1.116666667,BASELINE,764,745,713,680,660.1158739,633,878,785,806.1158739,652.1158739,629,652,0.400959735929,0.00451517897302,0.059841503155,0.999999954895,0.000139499714842,-0.000265127691622,2.1400939812e-05,1793245483760311808
+68,1.133333333,BASELINE,764,745,713.460320393,679.539679607,660,633,878,785,806.460320393,652.460320393,629.460320393,652,0.400961995377,0.0045143100613,0.0598436101648,0.999999955827,0.000139323362228,-0.000261660297372,2.16748484226e-05,1793245483776978432
+69,1.150000000,BASELINE,764,745,714,679,660.035782958,633,878.035782958,785.035782958,807,653,630,652,0.400964646584,0.0045131349398,0.0598459710907,0.999999956919,0.000138674007915,-0.000257775743964,2.19726876071e-05,1793245483793645056
+70,1.166666667,BASELINE,764,745,714,679,660.608673643,633,878.608673643,785.608673643,807,653,630,652,0.400963815391,0.00451544686844,0.0598449044952,0.999999956195,0.000141044447305,-0.000259350284906,2.13118981531e-05,1793245483810311936
+71,1.183333333,BASELINE,763.81217569,745,714,679,660.81217569,633.18782431,878.81217569,786,807,652.81217569,629.81217569,652,0.400962984226,0.00451647417487,0.0598439170121,0.999999955716,0.00014148489772,-0.000260980673007,2.09387010777e-05,1793245483826978304
+72,1.200000000,BASELINE,763.219532745,745,714,679,660.219532745,633.780467255,878.219532745,786,807,652.219532745,629.219532745,652,0.400962153123,0.00451473272929,0.0598431000401,0.999999955772,0.000137765634099,-0.000262731429051,2.11853531092e-05,1793245483843645184
+73,1.216666667,BASELINE,763.365404556,745,713.634595444,679,660,634,878.365404556,785.634595444,807,652.365404556,629,652,0.400961946787,0.00451410807094,0.0598429503121,0.999999955626,0.000137901835805,-0.000263184344056,2.1552387148e-05,1793245483860312064
+74,1.233333333,BASELINE,763.945807932,745,713.054192068,679,660,634,878.945807932,785.054192068,807,652.945807932,629,652,0.400962108054,0.00451414051433,0.0598431931809,0.999999955364,0.000140306538441,-0.000262873627832,2.19902522248e-05,1793245483876978944
+75,1.250000000,BASELINE,764,745,713,679,660,634,878.479949632,785,806.479949632,653,629.520050368,652.520050368,0.400963657101,0.00451361772639,0.0598443001258,0.999999955858,0.000140056222547,-0.000261138832492,2.1789235136e-05,1793245483893645568
+76,1.266666667,BASELINE,764,745,713,679,660,633.903920572,878,785,806.096079428,653,629.903920572,652.903920572,0.400964786932,0.00451319072697,0.0598450763088,0.999999956262,0.000139550407764,-0.000259877270396,2.15632880479e-05,1793245483910312448
+77,1.283333333,BASELINE,764,745,713,679,660,633.315484611,878,785,806.684515389,653,629.315484611,652.315484611,0.400963036107,0.0045135476144,0.0598437014989,0.999999955821,0.000139136470637,-0.000261792331725,2.15467552614e-05,1793245483926978816
+78,1.300000000,BASELINE,764,745,713.269606839,679,660,633.269606839,878,785,807,653,629,652,0.400962184294,0.00451326561392,0.0598431108162,0.999999955786,0.000138139670968,-0.00026244742435,2.1619927385e-05,1793245483943645184
+79,1.316666667,BASELINE,764,745,713.850832569,679,660,633.850832569,878,785,807,653,629,652,0.400962371586,0.00451224516943,0.059843426449,0.999999956221,0.000136469183005,-0.000261646210865,2.17967828765e-05,1793245483960312064
+80,1.333333333,BASELINE,764,745,713.57301379,679,660,634,878,785,806.57301379,653,629.42698621,652,0.400961921157,0.00451326337838,0.0598431986608,0.999999956045,0.000136570464298,-0.000262294343131,2.14579878476e-05,1793245483976978688
+81,1.350000000,BASELINE,764,745,713.001389948,679,660,633.998610052,878,785.001389948,806.001389948,653,630,652,0.400961258666,0.00451498243337,0.059842788965,0.99999995566,0.000137280328621,-0.000263431121668,2.09430456995e-05,1793245483993645056
+82,1.366666667,BASELINE,764,745,713.57628066,679,660,633.42371934,878,785.57628066,806.57628066,653,630,652,0.400963942552,0.00451546535284,0.0598447343089,0.999999956703,0.000136703891963,-0.000259724687383,2.12039812241e-05,1793245484010311936
+83,1.383333333,BASELINE,764,745,713.844290504,679,660,633,878,785.844290504,807,652.844290504,630,652,0.400965055559,0.00451551042485,0.0598456184019,0.999999957113,0.000136798179702,-0.000258073183535,2.14145364399e-05,1793245484026979072
+84,1.400000000,BASELINE,764,745,713.252141595,679,660,633,878,785.252141595,807,652.252141595,630,652,0.400961765536,0.00451432825078,0.0598435279061,0.999999955771,0.000138772446176,-0.000262181460075,2.14838803385e-05,1793245484043645696
+85,1.416666667,BASELINE,764.329882789,745,713.329882789,679,660,633,878,785,806.670117211,652.329882789,629.670117211,652,0.400959928553,0.00451319882456,0.0598421057748,0.999999955045,0.000139007910697,-0.00026480229667,2.15891764781e-05,1793245484060312064
+86,1.433333333,BASELINE,764.904399024,745,713.904399024,679,660,633,878,785,806.095600976,652.904399024,629.095600976,652,0.400959169112,0.00451210851501,0.0598411792871,0.999999954785,0.000137953919786,-0.00026632008196,2.1721133964e-05,1793245484076978432
+87,1.450000000,BASELINE,764.520845426,745,713.520845426,679,660,633.479154574,878,785,806.479154574,652.520845426,629,652,0.400960126742,0.00451388977851,0.0598418983914,0.999999955061,0.000138492922551,-0.000265026185306,2.14208793416e-05,1793245484093645312
+88,1.466666667,BASELINE,764.055739486,745,713,679,660.055739486,634,877.944260514,785,807,652.055739486,629,652,0.400961267179,0.00451592088547,0.0598428296398,0.999999955431,0.000138988672838,-0.000263393057233,2.10743750749e-05,1793245484110311936
+89,1.483333333,BASELINE,764.649521772,745,713,679,660.649521772,634,877.350478228,785,807,652.649521772,629,652,0.400960863605,0.00451483047167,0.0598426377953,0.999999955707,0.000135997387302,-0.000263903201067,2.11142579787e-05,1793245484126978560
+90,1.500000000,BASELINE,764.763639324,745,713.236360676,679.236360676,660.763639324,634,877.236360676,785,807.236360676,653,629,652,0.400960631519,0.00451367973686,0.059842450526,0.999999955862,0.000134694377438,-0.000263977344502,2.11849710644e-05,1793245484143645184
+91,1.516666667,BASELINE,764.186802377,745,713.813197623,679.813197623,660.186802377,634,877.813197623,785,807.813197623,653,629,652,0.400960646459,0.00451244211005,0.0598422698475,0.999999955853,0.000135823319772,-0.000263423431687,2.13000948561e-05,1793245484160312064
+92,1.533333333,BASELINE,764,745,714,679.612324295,660.387675705,634,878,785,807.612324295,653,629,652,0.400961181131,0.00451271052513,0.0598424299512,0.999999955913,0.000136139086051,-0.000263033327586,2.13121730799e-05,1793245484176978688
+93,1.550000000,BASELINE,764,745,714,679.038975913,660.961024087,634,878,785,807.038975913,653,629,652,0.400961964721,0.00451370024098,0.0598427532686,0.999999956005,0.000136065391411,-0.000262721677677,2.12748988621e-05,1793245484193645312
+94,1.566666667,BASELINE,764,745,714,679,661,634,878.536328207,785,806.463671793,653,629.536328207,652,0.400963253893,0.00451262782577,0.0598441022362,0.999999956526,0.000135054562304,-0.000261231353572,2.15820816405e-05,1793245484210311936
+95,1.583333333,BASELINE,764,745,714,679,660.884676237,633.884676237,878.884676237,785,806.115323763,652.884676237,629.884676237,652,0.400963983701,0.00451193991922,0.0598450026685,0.999999956833,0.000134467065599,-0.000260342699773,2.17694360754e-05,1793245484226978304
+96,1.600000000,BASELINE,764,745,714,679,660.29095919,633.29095919,878.29095919,785,806.70904081,652.29095919,629.29095919,652,0.400962240145,0.00451347098365,0.0598437321338,0.999999956133,0.000135919206608,-0.00026230655747,2.13554905641e-05,1793245484243644928
+97,1.616666667,BASELINE,764,745,714,679.292895564,660,633.292895564,878,785,807,652.292895564,629,652,0.400961598781,0.00451384960015,0.0598430552431,0.999999955963,0.000136442555114,-0.000262697051849,2.11419117731e-05,1793245484260311808
+98,1.633333333,BASELINE,764,745,714,679.867272333,660,633.867272333,878,785,807,652.867272333,629,652,0.400962016655,0.00451312068039,0.0598429488617,0.999999956308,0.000136073306772,-0.000261575497946,2.11208912856e-05,1793245484276978432
+99,1.650000000,BASELINE,764,745.443130986,713.556869014,679.556869014,660.443130986,634,878,785,807,653,629.443130986,652,0.400961849692,0.00451385916003,0.0598431315821,0.99999995599,0.000137587484249,-0.000261977492969,2.13954307098e-05,1793245484293645056
+100,1.666666667,BASELINE,764,745.980018787,713,679,660.980018787,634,878,785,807,652.980018787,630,652,0.400961558583,0.00451497050325,0.0598434317485,0.999999955517,0.000139520469297,-0.000262729111375,2.17401924058e-05,1793245484310311936
+101,1.683333333,BASELINE,764,745.387517289,713,679,660.387517289,634,878,785,807,652.387517289,630,652,0.400962746325,0.00451412971774,0.0598446076334,0.999999956452,0.000137235356269,-0.000260379198155,2.15519643172e-05,1793245484326978560
+102,1.700000000,BASELINE,764,745,713.199344563,679,660,634,878,785,806.800655437,652.199344563,629.800655437,652,0.400963263013,0.00451344118482,0.0598450022734,0.999999956926,0.00013551762717,-0.000259471750762,2.13737461708e-05,1793245484343645696
+103,1.716666667,BASELINE,764,745,713.775544749,679,660,634,878,785,806.224455251,652.775544749,629.224455251,652,0.400962511091,0.00451304048147,0.0598439199901,0.999999956543,0.00013487252264,-0.000261291247127,2.12144515769e-05,1793245484360312064
+104,1.733333333,BASELINE,764.351761341,745,714,679,660.351761341,634,878,785,806.351761341,652.648238659,629.351761341,652,0.400961366069,0.0045134222872,0.0598429248292,0.999999955855,0.000136531290433,-0.000263048962174,2.13179028399e-05,1793245484376978432
+105,1.750000000,BASELINE,764.92798846,745,714,679,660.92798846,634,878,785,806.92798846,652.07201154,629.92798846,652,0.400959970201,0.00451430342722,0.0598419852626,0.999999954964,0.000139660204058,-0.000264767253533,2.15890173468e-05,1793245484393645056
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,713,679,660,634,877,785,807,653,630,652,0.400961844976,0.00451388926808,0.0598428916034,0.999999955938,0.000137515380729,-0.000262244108362,2.10153389163e-05,1793245484424835840
+107,1.783333333,POSE1_TO_POSE2_PRESS,763.404428139,745,713.595571861,679,660.595571861,633.404428139,877.595571861,785,807,653,629.404428139,652,0.400962172912,0.00451466260291,0.0598436584739,0.999999955904,0.000139199278068,-0.000261478136892,2.1069700228e-05,1793245484441502976
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.1847866,745,714,679,660.8152134,633.1847866,877.8152134,785,807,653,629,652,0.40096250932,0.00451496447432,0.0598441775569,0.999999955928,0.000139945451192,-0.000260982357872,2.11435213444e-05,1793245484458169856
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.760550839,745,714,679,660.239449161,633.760550839,877.239449161,785,807,653,629,652,0.400962863655,0.00451426880786,0.0598441723628,0.999999956078,0.00013870755653,-0.000261058260886,2.12585161732e-05,1793245484474836480
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660.335869028,633.664130972,877,785,807,653,629.335869028,652,0.400962263992,0.00451389653796,0.059843931453,0.999999956005,0.000137785679338,-0.000261821044789,2.13452223126e-05,1793245484491502848
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660.910869605,633.089130395,877,785,807,653,629.910869605,652,0.400960985105,0.00451375451952,0.0598435227186,0.99999995577,0.000137088799886,-0.000263072873158,2.14117875047e-05,1793245484508169216
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679,660.500591601,633.499408399,877.499408399,785,806.500591601,653,629.500591601,652,0.400961812043,0.00451323841573,0.059843771893,0.999999955906,0.000136952035912,-0.000262630027199,2.13993338493e-05,1793245484524835840
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713.911463394,679,660.088536606,634,878,785,806.088536606,653,629,652,0.400962667224,0.00451283963202,0.0598440106272,0.999999955987,0.000137175706397,-0.000262200781541,2.14177003523e-05,1793245484541502464
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.33282025,679,660.66717975,634,878,785,806.66717975,653,629,652,0.400961540316,0.00451347016759,0.0598435234721,0.999999955395,0.000138825822855,-0.000263567737373,2.1686918473e-05,1793245484558169088
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785,807,653,629.243733429,652,0.400964642536,0.00451366972348,0.0598449227634,0.999999955872,0.000139618542448,-0.000261319129655,2.17938894701e-05,1793245484574835712
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785,807,653,629.81745813,652,0.400973470582,0.00451328577489,0.0598488761191,0.999999957767,0.000139250430237,-0.000254175401681,2.16811936759e-05,1793245484591502592
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785,807,653,629.606913687,652,0.400997866936,0.00451352868503,0.0598588893512,0.999999962211,0.000138861322327,-0.000236281729648,2.16189350052e-05,1793245484608169728
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785,807,653,629.030397211,652,0.4010295281,0.00451406411308,0.0598717303698,0.999999967417,0.000138462416874,-0.000213371692993,2.15802123414e-05,1793245484624836608
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661,633.439429516,878,785,807,652.439429516,629.560570484,652,0.401084127072,0.00451466767134,0.059889549874,0.999999974031,0.000137912717426,-0.000180165692382,2.14037617169e-05,1793245484641502976
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744.851412604,713.148587396,679,660.851412604,633,878,785,806.851412604,652.148587396,629.851412604,652,0.401143499449,0.00451469549853,0.059906468776,0.999999979037,0.000136914452836,-0.000150739625809,2.1407704838e-05,1793245484658169600
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.274227206,713.725772794,679,660.274227206,633,878,785,806.274227206,652.725772794,629.274227206,652,0.401212957952,0.00451305170021,0.0599199906066,0.999999981734,0.000134646519596,-0.000133869744532,2.19541033164e-05,1793245484674836224
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.302115095,714,679,660.302115095,633.302115095,878,785,806.302115095,653,629.302115095,652,0.401292635903,0.00451175080688,0.0599300072067,0.999999983971,0.000132241004192,-0.000118723454782,2.18162249686e-05,1793245484691502848
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744.87769422,714,679,660.87769422,633.87769422,878,785,806.87769422,653,629.87769422,652,0.401381564139,0.00451076029925,0.0599368509938,0.999999985839,0.000129710954363,-0.000105137300896,2.10589631074e-05,1793245484708169728
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713.536347531,679.463652469,660.536347531,633.536347531,878,785,807,653,629.536347531,652,0.401481896852,0.00451156080992,0.0599407932874,0.999999986483,0.000130092371552,-9.84571729608e-05,2.03934848658e-05,1793245484724836096
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713,679.948470871,660,633,878,785,807,653,629,652,0.401587892723,0.00451275941711,0.0599439471262,0.999999986899,0.00013082137828,-9.32747859338e-05,1.96836254539e-05,1793245484741503232
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713,679.369621734,660,633,878,785,807,653,629,652,0.401720351378,0.00451308644138,0.0599470441596,0.999999988203,0.000127068085207,-8.43500582369e-05,1.82661551442e-05,1793245484758169856
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.791265019,745.208734981,713.208734981,679,660.417469962,633,878,785,807,653,629.208734981,652,0.401861196084,0.0045133339344,0.0599487093781,0.99999998913,0.000123782736868,-7.83533090336e-05,1.66864139478e-05,1793245484774836480
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.213778277,745.786221723,713.786221723,679,661.572443447,633,878,785,807,653,629.786221723,652,0.402016855596,0.00451344092727,0.0599478451483,0.999999989525,0.000121324061327,-7.75291352167e-05,1.48200047335e-05,1793245484791503360
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.362076678,745.637923322,714,679.362076678,661.275846643,633.362076678,878,785,807,653,630,652,0.402200040013,0.00451276981501,0.0599497027718,0.99999999045,0.000117773991756,-7.11214462441e-05,1.30917240212e-05,1793245484808169728
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.936972567,745.063027433,714,679.936972567,660.126054866,633.936972567,878,785,807,653,630,652,0.402399402864,0.00451164135291,0.0599531602293,0.999999991597,0.000113582429048,-6.14319128843e-05,1.14446314538e-05,1793245484824836096
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679.475232187,660,634,878,785.524767813,807,653,630,652,0.402621383806,0.004511060267,0.0599529781474,0.99999999243,0.000108601631711,-5.71324057251e-05,9.04452461227e-06,1793245484841502464
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.104878157,660.104878157,634,878,785.895121843,807,653,629.895121843,652,0.402855153162,0.00451040873989,0.0599527201055,0.999999993237,0.000103387005097,-5.2869536081e-05,6.54538031706e-06,1793245484858169088
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.646382604,660.646382604,634,878,785.353617396,807,653,629.353617396,652,0.403126405335,0.00450918335719,0.0599540115315,0.999999994171,9.76034822943e-05,-4.59961550701e-05,4.01993549948e-06,1793245484874835968
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.784827915,661,634,878.215172085,785,807,653,629,652,0.403407635381,0.00450864474483,0.0599545652581,0.999999994965,9.12450924748e-05,-4.17569911657e-05,1.21329862423e-06,1793245484891502592
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.164686008,661,634,878.835313992,785,807,653,629,652,0.403707644508,0.00450939868526,0.0599537305794,0.999999995584,8.38047606497e-05,-4.24756196434e-05,-2.12256240673e-06,1793245484908169216
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661,633.57879969,878.57879969,785,807,653,629,652,0.404027937973,0.00450931624612,0.0599424777123,0.99999999515,7.76109306784e-05,-6.03840539733e-05,-5.46922738419e-06,1793245484924835840
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661,633.00529969,878.00529969,785,807,653,629,652,0.404355565943,0.0045089313847,0.0599274577851,0.999999993808,7.18678171263e-05,-8.45080631803e-05,-8.81979883073e-06,1793245484941502464
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660.411095232,633,878,785,807,653,629,652,0.404711160977,0.00450766376352,0.0599137900366,0.999999991875,6.14982890389e-05,-0.000110974524428,-1.23568128344e-05,1793245484958169344
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.822411338,679,660,633.177588662,878,785,807,653,629.177588662,652,0.40508806607,0.0045064943579,0.0599045504675,0.999999990046,5.25270160543e-05,-0.000129997428104,-1.58294403692e-05,1793245484974835968
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713.246541681,679,660,633.753458319,878,785,807,653,629.753458319,652,0.405512178512,0.00450556368783,0.0599052137654,0.999999989973,4.6788410202e-05,-0.000132277540379,-1.91537668218e-05,1793245484991502592
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713,679,660.329216954,633.670783046,878,785,807,653,629.670783046,652,0.405986888722,0.00450530902236,0.0599224731976,0.999999993569,3.88133187638e-05,-0.000104096002813,-2.2798487159e-05,1793245485008169216
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,679,660.904892535,633.095107465,878,785,807,653,629.095107465,652,0.406499477513,0.00450556042785,0.0599521568397,0.999999997808,2.91639472216e-05,-5.31102434574e-05,-2.66830612944e-05,1793245485024836096
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661,633.492103482,878,785,807,653,629.492103482,652,0.407046432502,0.00450428239778,0.0599807325485,0.999999999346,1.95879647965e-05,-4.74543589427e-06,-3.00292113283e-05,1793245485041502976
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.07999965,679,661,633.92000035,878.07999965,785,807,652.92000035,629.92000035,652,0.407597582145,0.00450280013213,0.0600045086504,0.999999998834,1.01399330511e-05,3.34828388152e-05,-3.32733846953e-05,1793245485058169600
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713.657951306,679,661,633.342048694,878.657951306,785,807,652.342048694,629.342048694,652,0.40813250723,0.00450193065679,0.0599997747718,0.999999999261,1.39791241839e-06,1.18456513226e-05,-3.65460730229e-05,1793245485074836736
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.235296547,713.764703453,679.235296547,661,633,878.764703453,785,807,652,629.235296547,652,0.408682898985,0.00450102539589,0.0599916499799,0.999999999093,-7.33283170868e-06,-1.19927038957e-05,-4.02029584581e-05,1793245485091503616
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.811762479,713.188237521,679.811762479,661,633,878.188237521,785,807,652,629.811762479,652,0.409255716681,0.00450006824758,0.0599786085166,0.999999998123,-1.60472248837e-05,-3.9022651773e-05,-4.44169121829e-05,1793245485108169728
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.613210427,713,680,661,633,878,784.613210427,807,652,629.613210427,652,0.409881730255,0.00449876878761,0.0599767836089,0.999999997526,-2.63064034798e-05,-4.3547938033e-05,-4.85741007046e-05,1793245485124836096
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.038880988,713,680,661,633,878,784.038880988,807,652,629.038880988,652,0.410533536515,0.00449730335349,0.0599803971918,0.999999997224,-3.7314590769e-05,-3.71615508396e-05,-5.27037657747e-05,1793245485141502976
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713,680,661,633,878,784.535925608,807,652.535925608,629.535925608,652,0.411245634726,0.0044926952031,0.059989458676,0.999999996874,-5.24402358913e-05,-1.41607706652e-05,-5.74639672366e-05,1793245485158169344
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.885083729,745,713,679.885083729,661,633.114916271,877.885083729,785,807,652.885083729,630,652,0.41195406741,0.00448517459988,0.0599934447956,0.999999997237,-4.96299359718e-05,-2.29042484299e-06,-5.52870413761e-05,1793245485174835968
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.288708612,745,713,679.288708612,661,633.711291388,877.288708612,785,807,652.288708612,630,652,0.412628800204,0.00446640794073,0.0599745095192,0.999999998392,2.95783244945e-05,-4.21072410567e-05,-2.38541589442e-05,1793245485191502848
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.592627798,745,713.296313899,679,660.407372202,633.703686101,877.592627798,785,807.296313899,652,630,652,0.413307469665,0.00446181849889,0.0599461589419,0.99999999242,7.3658461126e-05,-9.80799195668e-05,-1.06963795337e-05,1793245485208169728
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.741366796,745,713.870683398,679,659.258633204,633.129316602,878.741366796,785,807.870683398,652,630,652,0.4139898333,0.00447053269904,0.0599089732145,0.999999981982,8.47750112665e-05,-0.0001692129715,-1.46876224924e-05,1793245485224836352
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.554209514,745,713.554209514,679,659.891580971,633,878.554209514,784.554209514,808,652,630,652,0.414799795492,0.00446980793074,0.0599279057434,0.999999988756,7.2341592334e-05,-0.000129709515519,-2.07356349772e-05,1793245485241502720
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.021723068,745,713,679.021723068,661.021723068,633,878.021723068,784,808,652,630,652,0.415647253818,0.00446633206306,0.0599632334535,0.999999996487,5.3561823604e-05,-5.84538148767e-05,-2.72007631657e-05,1793245485258169088
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.61370069,745,713,679.61370069,661.61370069,633,878.61370069,784,808,652,630,652,0.4165057525,0.0044626338532,0.0600009029372,0.999999998436,4.78140437946e-05,2.43794243512e-06,-2.89273530199e-05,1793245485274835968
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.799795187,745,713.200204813,680,661.599590374,633,878.799795187,784.200204813,808,652,630,652,0.417353897766,0.00446262379893,0.060021814821,0.999999997654,4.95166583234e-05,3.60771544068e-05,-3.06212731349e-05,1793245485291502592
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.22357127,745,713.77642873,680,660.44714254,633,878.22357127,784.77642873,808,652,630,652,0.418182597482,0.004469540736,0.0600112530448,0.999999997182,6.52123966008e-05,1.85313910948e-05,-3.2253833909e-05,1793245485308169216
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,713.64790164,680,660.35209836,633,878.35209836,784.64790164,808,652,630,652,0.419016838428,0.0044688333687,0.0599935136311,0.999999997006,6.89118460172e-05,-1.01525749463e-05,-3.37180115439e-05,1793245485324835840
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713.072583432,680,660.927416568,633,878.927416568,784.072583432,808,652,630,652,0.419854592317,0.00446329241982,0.05997122381,0.999999996219,6.50060058467e-05,-4.589782826e-05,-3.50754392074e-05,1793245485341502720
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713,680.515784722,661.515784722,633,879,784.515784722,808,652,630,652,0.420697220244,0.00446696961752,0.0599387087159,0.999999992526,6.91240399073e-05,-9.33566699234e-05,-3.81469743728e-05,1793245485358169344
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713,680.896042147,661.896042147,633,879,785,808,652,630,652,0.421543536772,0.00447069036534,0.0599071874431,0.999999987762,5.18486002746e-05,-0.000141886515497,-4.06958929258e-05,1793245485374835968
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,713,680.317363528,661.317363528,633,879,785,808,652,630,652,0.422403483509,0.00446853250791,0.0598869459065,0.999999979277,-6.84096663584e-05,-0.00018758435093,-3.97281937531e-05,1793245485391502336
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.259760672,745,713.259760672,680,661.259760672,633,879,785,808,652,630,652.259760672,0.423325405079,0.00446513897557,0.0599052137811,0.999999977229,-0.000134271572981,-0.000161050485054,-3.97011942357e-05,1793245485408168960
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.83499713,745,713.83499713,680,661.83499713,633,879,785,808,652,630,652.83499713,0.42432259435,0.00446024473265,0.0599702508063,0.999999989085,-0.000134069860197,-4.679221279e-05,-4.08166617019e-05,1793245485424835840
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.590246473,745,714,680,662.409753527,633,879.409753527,785,808,652,630,652.590246473,0.425275676816,0.00446095322042,0.0600117316503,0.999999991087,-0.000125000611655,2.2154982909e-05,-4.13541201223e-05,1793245485441502464
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.015683199,745,714,680,662.984316801,633,879.984316801,785,808,652,630,652.015683199,0.426211018724,0.00446391522083,0.0600437377989,0.999999990164,-0.000112364691542,7.28772960864e-05,-4.16590935773e-05,1793245485458169344
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.575066421,745,714,680,661.849867158,633,879.424933579,785,808,652.575066421,630,652,0.427153343318,0.00445959594634,0.0600303679514,0.999999990863,-0.000110869931093,6.38219710392e-05,-4.36800603347e-05,1793245485474835968
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.837053833,745,713.837053833,680,661.162946167,633,879.162946167,785,808.162946167,652.837053833,630,652,0.42807969243,0.00445657223664,0.0600120138929,0.999999992163,-0.000107817549411,4.45007013414e-05,-4.54884360974e-05,1793245485491502592
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.257669436,745,713.257669436,680,661.742330564,633,879.742330564,785,808.742330564,652.257669436,630,652,0.428964712493,0.0044573817676,0.0599841760208,0.999999993909,-9.99853753231e-05,3.23004112829e-06,-4.66304311922e-05,1793245485508169216
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.31903269,745,713.31903269,680,661.68096731,633,880,785,809,652,630.31903269,652.31903269,0.429826553176,0.00445793040533,0.0599513851522,0.999999993352,-8.96563416454e-05,-5.54547730822e-05,-4.67091780648e-05,1793245485524836096
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.89358649,745,713.89358649,680,661.10641351,633,880,785,809,652,630.89358649,652.89358649,0.430669828882,0.00445827008723,0.0599146273083,0.999999987752,-7.73275119267e-05,-0.000128087008494,-4.59363431348e-05,1793245485541502976
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.479399461,713.520600539,680.479399461,661.479399461,633,880,785,809,652,630.520600539,653,0.431608219687,0.00445538065621,0.0599377883144,0.999999992793,-7.61418961537e-05,-7.97287782656e-05,-4.75438830295e-05,1793245485558169344
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.933292901,713,680.933292901,662.066707099,633,880,785.066707099,809,652,630,653,0.432566586101,0.00445217708213,0.0599735409604,0.999999995793,-7.68041430475e-05,-8.02383304046e-06,-4.95009800772e-05,1793245485574835968
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.354164008,713,680.354164008,662.645835992,633,880,785.645835992,809,652,630,653,0.433512314756,0.00445219881459,0.0600013923537,0.99999999564,-7.22035721158e-05,3.17578424188e-05,-4.9986818318e-05,1793245485591502848
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.223644069,680.223644069,662.552711862,633,879.776355931,785.776355931,809,652,630,652.776355931,0.434422945607,0.00444985006705,0.0600074607275,0.999999995474,-7.10057596877e-05,3.8145010532e-05,-5.05489409417e-05,1793245485608169728
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713.799372866,680.799372866,661.401254269,633,879.200627134,785.200627134,809,652,630,652.200627134,0.435278321835,0.00444376945305,0.0599792359161,0.99999999583,-7.51649377567e-05,-8.04106737259e-06,-5.12311588089e-05,1793245485624836352
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.62433266,745,713.62433266,681,661.37566734,633,879.37566734,785,809,652,630.37566734,652.37566734,0.436115435045,0.00444166590609,0.0599532480492,0.999999994422,-7.37014087907e-05,-5.52810448873e-05,-5.16531969649e-05,1793245485641502976
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.04773566,745,713.04773566,681,661.95226434,633,879.95226434,785,809,652,630.95226434,652.95226434,0.436942780035,0.00444168953595,0.0599284566375,0.999999990942,-6.9230515038e-05,-0.00010308470893,-5.19360751452e-05,1793245485658169344
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.539959572,745,713.539959572,681,661.460040428,633,880,785,809,652,631,652.460040428,0.437714642472,0.00444391392591,0.0599084418109,0.999999986149,-5.93407684791e-05,-0.000146550817606,-5.19887104303e-05,1793245485674836224
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.873446098,680.873446098,661.126553902,633,880,785.126553902,809.126553902,652,630.873446098,652,0.43850324746,0.00444405233782,0.0598968759922,0.999999982181,-5.30981162535e-05,-0.000173502175691,-5.21187992798e-05,1793245485691502848
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.29437026,680.29437026,661.70562974,633,880,785.70562974,809.70562974,652,630.29437026,652,0.439369626121,0.00443602157246,0.0599139798619,0.99999998652,-6.16454011768e-05,-0.000142801271062,-5.26001517366e-05,1793245485708169472
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.282379603,680.282379603,661.717620397,633,880,785.717620397,810,652,630,652.282379603,0.440213237827,0.00443300979423,0.0599452367716,0.999999992168,-6.2453843624e-05,-9.47860570189e-05,-5.27204370266e-05,1793245485724836096
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.856724499,680.856724499,661.143275501,633,880,785.143275501,810,652,630,652.856724499,0.441033309674,0.00443518737873,0.0599911271607,0.99999999668,-5.52607392878e-05,-2.88687817171e-05,-5.2467398162e-05,1793245485741502720
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.567219446,681,660.567219446,632.567219446,880,785,809.567219446,652,630,652.567219446,0.441750809077,0.00443809080083,0.0599706792238,0.999999995721,-4.44850482853e-05,-6.2144460286e-05,-5.21183844213e-05,1793245485758169600
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.00961988,680.99038012,659.99038012,632,880,785,809.019239759,652,630.00961988,652.00961988,0.442433402449,0.00444125888633,0.059927914878,0.999999989853,-3.249722334e-05,-0.000128680874421,-5.17671138036e-05,1793245485774836736
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.599394212,680.400605788,659.400605788,632,880,785,810.198788424,652,630.599394212,652.599394212,0.443066914156,0.00444583907306,0.0598690249621,0.999999975756,-1.92199856186e-05,-0.000212811883245,-5.3203530794e-05,1793245485791503616
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.185760739,714,680.371521478,658.814239261,632,880.185760739,784.814239261,811,652,630.814239261,652.814239261,0.443711040827,0.00445047058448,0.0598247275618,0.999999960037,-8.40030998824e-06,-0.000277268641539,-5.45629779937e-05,1793245485808169984
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.764910601,714,681.529821202,658.235089399,632,880.764910601,784.235089399,811,652,630.235089399,652.235089399,0.444377647132,0.00445521078805,0.0598113330037,0.999999953423,-2.78505905308e-06,-0.000300060876049,-5.5759425709e-05,1793245485824836352
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.658541299,714,681.658541299,658,631.658541299,880.658541299,784,810.658541299,652,630,652,0.445001976279,0.00446019619776,0.0598003773614,0.999999946057,4.79315753509e-06,-0.000323650513024,-5.57979948811e-05,1793245485841502720
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.083770963,714,681.083770963,658,631.083770963,880.083770963,784,810.083770963,652,630,652,0.445597418283,0.00446534915146,0.0597910881802,0.999999937914,1.3712627423e-05,-0.000347784997078,-5.50454096198e-05,1793245485858169600
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,631,880,784,810,652,630,652.502458287,0.446137957073,0.00448506858184,0.0597643762622,0.999999921441,3.67604718809e-05,-0.000390820629827,-5.5008995881e-05,1793245485874836736
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.91072603,745,714,681,657.821452059,631,880,784,810,652.08927397,630,653,0.446673055459,0.00450927556049,0.0597392284069,0.999999904583,6.39554049199e-05,-0.000428472001299,-5.61685571412e-05,1793245485891503872
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.33142271,745,714,681,656.66284542,631,880,784,810,652.66857729,630,653,0.447229708293,0.00454447334966,0.0597389822411,0.999999905208,0.000100682633015,-0.000418867885388,-6.32221886845e-05,1793245485908170240
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713.753522137,681.246477863,656,630.753522137,880,784,810.246477863,652.753522137,630,652.753522137,0.44777998699,0.00457259927966,0.0597471969343,0.999999908948,0.000127127635246,-0.000401236283717,-7.03723891887e-05,1793245485924836864
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713.177497118,681.822502882,656,630.177497118,880,784,810.822502882,652.177497118,630,652.177497118,0.448321743262,0.00459126995174,0.0597667240105,0.999999917693,0.000139825037806,-0.000372871731086,-7.76517043282e-05,1793245485941503744
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.396534172,745.396534172,713.396534172,682,656,630,880.396534172,784,810.603465828,652.396534172,630,652.396534172,0.448780503658,0.00460030256074,0.0597590756027,0.999999913626,0.000130506834702,-0.000386106113809,-8.14712427291e-05,1793245485958170368
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.969677541,745.969677541,713.969677541,682,656,630,880.969677541,784,810.030322459,652.969677541,630,652.969677541,0.449202299229,0.00460504255121,0.0597393237243,0.999999902983,0.000111383277338,-0.000417867912207,-8.37498592865e-05,1793245485974836992
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,682,655.439143699,629.439143699,880.439143699,784,810.560856301,652.439143699,630,653,0.449573654047,0.00460106485488,0.0597066340918,0.999999886567,3.66292109153e-05,-0.000467379937699,-8.41440795614e-05,1793245485991503360
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.850285496,745.850285496,713.850285496,682,654.850285496,629,880,784,811,652,630,653,0.449942540777,0.00459899735527,0.0596782687855,0.999999867034,-1.96360195138e-05,-0.000508239696564,-8.50757154143e-05,1793245486008169728
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.270976685,745.270976685,713.270976685,682,654.270976685,629,880,784,811,652,630,653,0.450312430675,0.00460380836317,0.0596643855682,0.999999860101,-1.39320343951e-05,-0.000521427301986,-8.78514730673e-05,1793245486024836352
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,745,713,682,654,628.694631096,880.305368904,784,811,652.305368904,630,652.694631096,0.450675811741,0.00460411693223,0.0596665291043,0.999999865053,1.85070621277e-05,-0.000513227480551,-7.84134741529e-05,1793245486041502976
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745,713,682,654,628.12088976,880.87911024,784,811,652.87911024,630,652.12088976,0.451033472521,0.00460046854781,0.0596827576994,0.999999877323,7.44422208078e-05,-0.000486231388716,-5.82414560324e-05,1793245486058169856
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.464289946,745,713,682,653.535710054,628,880.535710054,784,811,653,630,652.464289946,0.451342359026,0.00460468241706,0.059692735884,0.999999884241,9.67648497892e-05,-0.000468266772664,-5.36750900011e-05,1793245486074836224
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713,682,653,628,880.051631296,784,810.948368704,652.948368704,630,653,0.451635472177,0.00461055712071,0.0597009591808,0.999999890048,0.000108518851088,-0.000453056100938,-5.3559332803e-05,1793245486091503104
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713,682,653,628,880.629876236,784,810.370123764,652.370123764,630,653,0.451900506626,0.00461196431843,0.059708301992,0.999999895613,0.000103997643562,-0.000441343563211,-5.63468078467e-05,1793245486108169728
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713.208383203,682,653,627.791616797,881,784,810.208383203,652.208383203,630,653,0.45214884353,0.00461278654024,0.0597122358937,0.99999989895,9.97043746022e-05,-0.000434400270839,-5.87874930351e-05,1793245486124836352
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713.787356101,682,653,627.212643899,881,784,810.787356101,652.787356101,630,653,0.452367485415,0.00461256843795,0.0597101073737,0.999999898551,9.58164731938e-05,-0.000435938628777,-6.06114451867e-05,1793245486141503232
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.635077251,745.364922749,713.635077251,682,652.635077251,627,880.635077251,783.635077251,811,652.635077251,630,653,0.452563712339,0.00461312096078,0.0597065061083,0.999999896983,9.27345689014e-05,-0.000439941372804,-6.23429075326e-05,1793245486158169600
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.058326837,745.941673163,713.058326837,682,652.058326837,627,880.058326837,783.058326837,811,652.058326837,630,653,0.452746928012,0.00461412081038,0.0597020499545,0.999999894711,9.01205234974e-05,-0.00044537462562,-6.40206822499e-05,1793245486174835968
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+213,3.550000000,POSE1_TO_POSE2_PRESS,764,745,713.887806741,682,652,626.887806741,880.887806741,783,810,652,630,652.112193259,0.453032158079,0.00461566392474,0.0597016892614,0.999999891037,8.71758691998e-05,-0.000453817123423,-6.61577445051e-05,1793245486208169728
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745,713.305918947,682,652,626.305918947,880.305918947,783,810,652,630,652.694081053,0.45314930892,0.00461711548719,0.0596953711989,0.999999886675,8.94448062647e-05,-0.000462752774686,-6.71503025591e-05,1793245486224836864
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+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745,713.848115027,682,652,626,880,783,810,652,630,652.151884973,0.453351623343,0.00462262636172,0.0596902448205,0.999999881361,9.59269591117e-05,-0.000472673684837,-6.82354255054e-05,1793245486258169600
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745,713.005446649,682,651.005446649,626,880,783,810.994553351,652,630,652,0.453500690058,0.00462253133735,0.0596818804773,0.999999874273,9.22309158605e-05,-0.000487989172468,-6.93773641758e-05,1793245486291503104
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.403631493,745,713,682,650.596368507,626,880,783.596368507,810.596368507,652,629.403631493,653,0.453765169728,0.00462861083689,0.059667350353,0.999999861608,0.000106833448659,-0.000510483878679,-6.91132697223e-05,1793245486624836096
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+251,4.183333333,HOLD_POSE2,764.939515521,745.939515521,713.939515521,682,650.939515521,625,880.060484479,783,810.939515521,653,630,652.939515521,0.453766069124,0.00462802734726,0.0596658645541,0.999999859431,0.000111313945459,-0.000513946802833,-6.78611689251e-05,1793245486867360768
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+253,4.216666667,HOLD_POSE2,764.206988179,745.206988179,713.206988179,682,650.206988179,625.206988179,881,783,810,653,630,652.206988179,0.453767247902,0.00462925403157,0.0596671154343,0.999999860202,0.000110179441899,-0.00051254406903,-6.89567513009e-05,1793245486900694528
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+256,4.266666667,HOLD_POSE2,764.037462128,745.037462128,714,682,651,626,880.037462128,783,810,653,630.962537872,653,0.453765905775,0.00462796072265,0.0596626907386,0.999999858145,0.000109746788654,-0.000516861276261,-6.72327104643e-05,1793245486950694656
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,682,651,626,880,783,810,652,630,653,0.453766406179,0.00462756007613,0.0596644893599,0.999999858349,0.000108834646415,-0.000516512994515,-6.83498080011e-05,1793245487066721024
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.346805447,713,680,658.693610895,633,878.346805447,785,808,652.653194553,629.346805447,652.346805447,0.4182908122,0.00457279529431,0.0597297612621,0.999999904195,0.000117075377428,-0.000420692956731,3.03493245781e-05,1793245488283387392
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.94037639,713,680,659.88075278,633,878.94037639,785,808,652.05962361,629.94037639,652.94037639,0.417474619804,0.00457398384578,0.0597688863658,0.999999929903,0.000116912845202,-0.000354432072519,3.00417675541e-05,1793245488300054016
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,746,713.518445074,680,660,633,879,785,808,652.518445074,630,653,0.416682242154,0.00457313551433,0.0598068363472,0.999999929649,0.000215283869676,-0.00030552512809,3.1761779507e-05,1793245488316720640
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.905538623,713.905538623,680,659.811077245,633,878.905538623,785,808,652.905538623,629.905538623,652.905538623,0.415893134396,0.00457170158788,0.0598377926147,0.999999917167,0.00030393317704,-0.000268636921405,3.35311162898e-05,1793245488333387008
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.159404853,745,713,680,659.681190294,633,878,785,808,652.840595147,629,652.840595147,0.413594838829,0.00456894377032,0.0598359792693,0.999999924541,0.000269508502201,-0.000277677141313,3.43290638524e-05,1793245488383386624
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.422592345,745.422592345,713.422592345,680,660,633,878.422592345,785,808,653,629.422592345,652.577407655,0.412795755875,0.00456741217366,0.0598035678471,0.999999908909,0.000260282696515,-0.000336480016399,3.4879070226e-05,1793245488400053760
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,659.99714165,633,879,784.998570825,807.998570825,653,629.998570825,652,0.411976668307,0.00456470560921,0.0597581184452,0.99999987982,0.000249765218633,-0.000420354686628,3.5772061447e-05,1793245488416720640
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,658.844125689,633,879,784.422062845,807.422062845,653,629.422062845,652,0.411295672852,0.00456494479416,0.0597431780169,0.999999879907,0.000236673162171,-0.00042788622372,3.29513017733e-05,1793245488433387264
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.260548946,746,713.260548946,680,660.218353162,633,878.260548946,784.739451054,807,653,629.739451054,652.739451054,0.410059219807,0.00456162309977,0.059786475099,0.999999915064,0.000210868061788,-0.000352592957868,3.29229768272e-05,1793245488466720256
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.321442432,745.678557568,713,680,660.357115136,633,878,785,807.321442432,653,630,652.678557568,0.409469791726,0.00455852258965,0.0598233190716,0.999999935549,0.00019945970788,-0.000296519511286,3.4563197449e-05,1793245488483386880
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.902449422,745.097550578,713,680,659.195101156,633,878,785,807.902449422,653,630,652.097550578,0.408874351674,0.00455514546521,0.0598553733044,0.999999951038,0.000189169558433,-0.00024663128357,3.62307223137e-05,1793245488500053504
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.520507207,745,713,680,659,633,878,785,807.520507207,652.520507207,630,652,0.408280643481,0.00455535208422,0.0598525720993,0.99999995228,0.000180384653512,-0.000248349834912,3.49943195957e-05,1793245488516720384
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,745,713.055431277,679.944568723,659.110862555,633,878,785,807,652,630,652,0.407692665658,0.004555965193,0.0598420838582,0.999999950404,0.00017186543444,-0.000261814704608,3.32858584223e-05,1793245488533387008
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745,713.628520376,679.371479624,660.257040752,633,878,785,807,652,630,652,0.407154938754,0.00455362139167,0.0598254881206,0.99999994479,0.0001629909835,-0.000287730313912,3.26409712498e-05,1793245488550053888
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.208759264,745,713.791240736,679,660.582481471,633,878,785,807,652.208759264,630,652,0.406644507176,0.0045510061992,0.0598168024137,0.999999942953,0.000153865363568,-0.00029897421794,3.21542362276e-05,1793245488566720512
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.802172076,745,713.197827924,679,659.395655848,633,878,785,807,652.802172076,630,652,0.406184369205,0.00454789094983,0.0598226914932,0.999999948985,0.000144276948326,-0.000283184476085,3.19589077064e-05,1793245488583387136
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.614158381,745,713,679.385841619,659.771683238,633,878,785,807,653,630,652,0.405734951857,0.00454685007436,0.0598273879565,0.999999952195,0.000139193319622,-0.000274232027725,3.21332568983e-05,1793245488600053504
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.035361295,745,713,679.964638705,660.929277411,633,878,785,807,653,630,652,0.405290895742,0.00454684657189,0.0598314880051,0.999999954075,0.000136362487978,-0.000268698838874,3.24924781383e-05,1793245488616720128
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.543614175,745,713,679.456385825,659.91277165,633,878,785,807,653,630,652,0.404851253671,0.00454506440128,0.05981167217,0.999999945877,0.000134466094563,-0.000298534597796,3.22846027199e-05,1793245488633386752
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,659,633,878,785.696309883,807,652.303690117,629.303690117,652,0.404045673237,0.00454510888003,0.0597671176447,0.999999921171,0.000138033819274,-0.000370871619865,3.25311353998e-05,1793245488666720000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.722544909,745,713.277455091,679.277455091,659.277455091,633,878,785.722544909,807,652.277455091,629.554910182,652,0.403712811618,0.00454340841538,0.0597612975052,0.999999918679,0.000138676823774,-0.000377219453637,3.34069146364e-05,1793245488683386624
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.552429369,660,633,878,785,807,652.552429369,630.552429369,652,0.403174057805,0.00453720731646,0.0597946947435,0.99999993981,0.000141923579774,-0.000314532403402,3.61540058581e-05,1793245488716720640
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633,878,785,807,652,630,652,0.402699545204,0.00453640092937,0.0598314568868,0.999999940436,0.00022745326879,-0.000256690082599,3.87822336156e-05,1793245488750053888
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745.177625446,713.822374554,679,660,633,878,785,807,652.177625446,630,652,0.402478454268,0.00453541110392,0.0598403893325,0.999999931039,0.000277514299429,-0.000243507615126,4.01564788958e-05,1793245488766720000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745.751401876,713.248598124,679,660,633,878,785,807,652.751401876,630,652,0.402266188462,0.00453387077656,0.0598358499487,0.999999928185,0.000276141115967,-0.000256225396971,4.15357588027e-05,1793245488783386624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745.664746851,713.335253149,679,660,633,878,785,807,652.664746851,630,652,0.402071541867,0.00453375968273,0.0598287220898,0.999999924229,0.000274219523782,-0.000273066568448,4.21984947705e-05,1793245488800053504
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745.073193319,713.926806681,679,660,633,878,785,807,652.073193319,630,652,0.401890365103,0.00453474123499,0.0598196153461,0.999999919204,0.000271878673985,-0.000293060064581,4.23134344236e-05,1793245488816719872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.492425811,679,660,633,878,785,807,652.507574189,630,652.507574189,0.401746062117,0.00453238023931,0.0598193277863,0.999999919837,0.000267222469461,-0.000295115074194,4.27149376013e-05,1793245488833387008
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.085912327,745,713.085912327,679.085912327,660,633,878,785,807,653,630,652.914087673,0.401611495019,0.00452977495293,0.0598204565519,0.999999924297,0.000251684046832,-0.000294011076133,4.023363257e-05,1793245488850053632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.659109882,745,713.659109882,679.659109882,660,633,878,785,807,653,630,652.340890118,0.401502617271,0.00452846105592,0.0598225554487,0.999999942376,0.000176277203681,-0.000289356112612,2.11718547156e-05,1793245488866720512
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.761004995,745,714,679.761004995,660,633,878.238995005,785,807,653,629.761004995,652,0.401406233869,0.004524411372,0.0598265572683,0.999999951835,0.000128706072114,-0.000282216342826,1.09337024348e-05,1793245488883387136
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.171306509,745,714,679.171306509,660,633,878.828693491,785,807,653,629.171306509,652,0.401328184793,0.00451634716916,0.0598333514544,0.99999995563,0.00012198132684,-0.000271430347645,1.36434211968e-05,1793245488900053760
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,713.588902299,679.411097701,659.588902299,633.411097701,878.588902299,785,807,652.588902299,629.411097701,652.411097701,0.401256283274,0.00451797540263,0.0598338063558,0.999999955496,0.000123750131124,-0.000271106364485,1.39752686067e-05,1793245488916720640
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,713.009484672,679.990515328,659.009484672,633.990515328,878.009484672,785,807,652.009484672,629.990515328,652.990515328,0.401186898814,0.00452357210934,0.0598316656989,0.99999995376,0.000128996536197,-0.000275065949878,1.33335198303e-05,1793245488933387264
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745.567306442,713,680,659.567306442,634,878.567306442,785.567306442,807,652.567306442,630,653,0.401132677763,0.00452053898874,0.0598277556262,0.999999951888,0.000128875862048,-0.000281784363742,1.45989400737e-05,1793245488950053632
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,746,713,679.853741476,660,633.853741476,878.853741476,785.853741476,807,653,629.853741476,652.853741476,0.401083431248,0.00451759542829,0.0598248067386,0.999999950362,0.000128113695677,-0.000287426595703,1.576601276e-05,1793245488966720512
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,746,713,679.268167329,660,633.268167329,878.268167329,785.268167329,807,653,629.268167329,652.268167329,0.401048368752,0.0045153522557,0.0598248334033,0.999999950001,0.000125692966324,-0.000289698402409,1.65423464072e-05,1793245488983386880
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,746,713.891032117,679,660,633,878,785.891032117,807,653,629,652,0.400999241448,0.00451822809798,0.0598234982582,0.999999948814,0.000130832066472,-0.00029151675849,1.65375720827e-05,1793245489016720128
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745.529769085,713.529769085,679,660,633.470230915,878,785.529769085,807,653,629,652,0.400988273433,0.00451702866381,0.0598256211877,0.999999949944,0.000130151306749,-0.000287893826466,1.70028849461e-05,1793245489033387008
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.050103109,679,659.949896891,633.949896891,878,785,807,652.949896891,629,652,0.400980002132,0.00451537453856,0.0598283980536,0.999999951381,0.000128921708143,-0.000283389097431,1.75477101429e-05,1793245489050053376
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713.6337477,679,659.3662523,633.3662523,878,785,807,652.3662523,629,652,0.400974516353,0.00451811131862,0.0598307220716,0.999999951814,0.000133559714285,-0.000279709297254,1.72093711478e-05,1793245489066720000
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,659.215644057,633,878,785,807,652.215644057,629.215644057,652,0.400970056237,0.0045191528268,0.0598321508866,0.999999952263,0.000135301012732,-0.000277265546699,1.70842585731e-05,1793245489083386880
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,659.794595038,633,878,785,807,652.794595038,629.794595038,652,0.400967324111,0.00451733822083,0.0598320715057,0.999999952779,0.000132162074589,-0.000276904234403,1.73183798221e-05,1793245489100053504
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,713.04763516,678.04763516,659.04763516,633,878,785,807,653,629.04763516,652,0.400963945973,0.00451581735561,0.0598334933263,0.999999953776,0.000129590915889,-0.000274477435252,1.78032421178e-05,1793245489133386752
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745.529596738,713,678.529596738,659.529596738,633.529596738,878,785,807,653,629.529596738,652,0.400964376819,0.00451629914127,0.0598346046306,0.999999954143,0.000129350430717,-0.000273261673704,1.7602600818e-05,1793245489150053632
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,746,713.106392228,679,660,633.893607772,878,785,806.893607772,653,629.893607772,652,0.400964592825,0.00451634495639,0.0598353413297,0.999999954475,0.000128669734986,-0.000272379789965,1.74074357111e-05,1793245489166720512
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,746,713.681911185,679,660,633.318088815,878,785,806.318088815,653,629.318088815,652,0.400963112265,0.00451406712774,0.0598343353152,0.9999999547,0.000125792781904,-0.000272898391139,1.74123104367e-05,1793245489183387136
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9dde461f9ce47e6830b861219a6e07ea96be4520
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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+382,6.366666667,pose2_to_pose3_retreat,0.575681776722,0.00987787226245,1.05005103758,0.546253410385,0.0185535596465,1.04971753035
+383,6.383333333,pose2_to_pose3_retreat,0.57567831133,0.00987784560136,1.05005099665,0.546249945199,0.0185535338106,1.04971749269
+384,6.400000000,pose2_to_pose3_retreat,0.57567595191,0.00987775563355,1.05005099522,0.54624758622,0.0185534453389,1.04971749139
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+386,6.433333333,pose2_to_pose3_retreat,0.575673726514,0.00987772320198,1.05005102826,0.546245360728,0.0185534125277,1.04971752299
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+388,6.466666667,pose2_to_pose3_retreat,0.575672832106,0.00987775843411,1.05005107318,0.546244465813,0.0185534459588,1.04971756591
+389,6.483333333,pose2_to_pose3_retreat,0.575672778485,0.00987776054634,1.05005107588,0.546244412161,0.018553447963,1.04971756848
+390,6.500000000,pose2_to_pose3_retreat,0.575672683682,0.00987776428077,1.05005108064,0.546244317304,0.0185534515066,1.04971757303
+391,6.516666667,pose2_to_pose3_retreat,0.575672379006,0.00987777628243,1.05005109594,0.546244012455,0.0185534628947,1.04971758765
+392,6.533333333,pose2_to_pose3_retreat,0.575672195015,0.00987778353015,1.05005110519,0.546243828359,0.0185534697719,1.04971759648
+393,6.550000000,pose2_to_pose3_retreat,0.575671973629,0.00987779225087,1.05005111631,0.546243606848,0.0185534780468,1.04971760711
+394,6.566666667,pose2_to_pose3_retreat,0.575671539314,0.00987780935922,1.05005113812,0.546243172287,0.0185534942806,1.04971762795
+395,6.583333333,pose2_to_pose3_retreat,0.575671228879,0.00987780055139,1.05005113997,0.546242861986,0.0185534859128,1.0497176294
+396,6.600000000,pose2_to_pose3_retreat,0.57567108872,0.00987779456256,1.05005113948,0.546242721916,0.0185534802246,1.04971762877
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ba85019df312eef6041c39c417a492b5a09d7c1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e61837a606ba003ff687552476236829c0dd2d7a7b8caba1cb4489eaccb24f2d
+size 25871933
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..728da4e0057300554297e6f18dedfecf03544ed4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+11,0.183333333,BASELINE,764,745,713.387849539,679,659.612150461,633,877.612150461,785,807,653,629.612150461,652,0.400963955822,0.00451614965646,0.0598402088104,0.999999956357,0.000130017354352,-0.000264654022477,1.84450984396e-05,1793245489748977408
+12,0.200000000,BASELINE,764,745,713.966175595,679,659.033824405,633,877.033824405,785,807,653,629.033824405,652,0.400963291148,0.00451567583039,0.0598391787796,0.999999956073,0.00012977269486,-0.000265857584524,1.82217370555e-05,1793245489765644032
+13,0.216666667,BASELINE,764,745,714,679,659.543460265,633.543460265,877.543460265,785,806.456539735,653,629.543460265,652,0.400962952679,0.00451671286757,0.0598399449954,0.999999956025,0.000131153813223,-0.000265359398403,1.82544837503e-05,1793245489782310144
+14,0.233333333,BASELINE,764,745,713.877593463,679,660,634,878.122406537,785,806.122406537,653,630,652,0.400962641701,0.00451724697671,0.0598403994843,0.999999955977,0.000131967344463,-0.000265137419595,1.82592342534e-05,1793245489798976768
+15,0.250000000,BASELINE,764,745,713.292116367,679,660,634,878.707883633,785,806.707883633,653,630,652,0.400962358066,0.00451552342466,0.05983925257,0.99999995588,0.000130251600519,-0.000266360263879,1.80978874776e-05,1793245489815643648
+16,0.266666667,BASELINE,764,745.290110848,713,679.290110848,660,634,878.709889152,785,807,653,629.709889152,652,0.400962129141,0.00451489953556,0.0598386474102,0.999999955831,0.000129092779179,-0.000267107380652,1.80658338109e-05,1793245489832310016
+17,0.283333333,BASELINE,764,745.869101933,713,679.869101933,660,634,878.130898067,785,807,653,629.130898067,652,0.400961954696,0.00451537064488,0.0598385817069,0.999999955834,0.000128488518158,-0.000267380787814,1.81625248191e-05,1793245489848976640
+18,0.300000000,BASELINE,764,745.55296031,713.44703969,680,660,633.55296031,878,785.44703969,807,653,629.44703969,652,0.400962971576,0.00451594323516,0.0598393492931,0.999999956211,0.000128912610846,-0.00026576923868,1.80592511211e-05,1793245489865643264
+19,0.316666667,BASELINE,764,745,713.975389988,679.975389988,660,633,877.975389988,785.975389988,807,653,629.975389988,652,0.400964350731,0.00451647515702,0.0598403641005,0.999999956694,0.000129595621384,-0.000263620770071,1.79165369415e-05,1793245489882310144
+20,0.333333333,BASELINE,764,745,713.399158381,679.399158381,660,633,877.399158381,785.399158381,807,653,629.399158381,652,0.400966049556,0.00451543104045,0.0598414640538,0.999999957205,0.000129348711136,-0.000261779799502,1.81991094066e-05,1793245489898976768
+21,0.350000000,BASELINE,764,745,713,679,660,633,877.180536717,785,807,653,629.180536717,652,0.40096678069,0.00451499802107,0.0598420232743,0.999999957348,0.00012986963384,-0.000260958048455,1.8385684644e-05,1793245489915643392
+22,0.366666667,BASELINE,764,745,713,679,660,633,877.768039138,785,807,653,629.768039138,652,0.400965330457,0.00451594253653,0.0598413635752,0.999999956668,0.000132121404923,-0.000262433821374,1.83558629797e-05,1793245489932310016
+23,0.383333333,BASELINE,764,745,713,679,660,633,878,785,807,653,629.649370716,652,0.400964680759,0.0045163041771,0.0598412818651,0.999999956533,0.000131570472506,-0.000263231447336,1.82557287463e-05,1793245489948976640
+24,0.400000000,BASELINE,764,745,713,679,660,633,878,785,807,653,629.069985358,652,0.400964553342,0.00451628554098,0.059841577244,0.999999956752,0.000129191012351,-0.000263586639671,1.81097214811e-05,1793245489965643264
+25,0.416666667,BASELINE,764,745,713.507013946,679.507013946,660,633.507013946,878.507013946,785.507013946,807,653,629.507013946,652,0.400964811338,0.00451608709289,0.059841203337,0.999999956641,0.000129994892256,-0.000263609856289,1.81244286508e-05,1793245489982309888
+26,0.433333333,BASELINE,764,745,713.916650685,679.916650685,660,634,878.83330137,785.916650685,807,653,629.916650685,652,0.400964830574,0.00451592746582,0.0598406308083,0.999999956465,0.000130945384156,-0.000263807266247,1.81419362772e-05,1793245489998976768
+27,0.450000000,BASELINE,764,745,713.342295141,679.342295141,660,634,877.684590281,785.342295141,807,653,629.342295141,652,0.400963131359,0.004516142061,0.0598394298931,0.999999956171,0.00013018314219,-0.000265299522173,1.80458679723e-05,1793245490015643392
+28,0.466666667,BASELINE,764,745,713,679,660,633.761908835,877.238091165,785,807,653,629,652,0.400961519224,0.00451604625794,0.0598387432495,0.999999955921,0.000129393442773,-0.000266624639851,1.80686836271e-05,1793245490032309760
+29,0.483333333,BASELINE,764,745,713,679,660,633.172627034,877.827372966,785,807,653,629,652,0.400960035534,0.00451549260943,0.0598388151702,0.999999955736,0.000128563242949,-0.000267703224193,1.82668562071e-05,1793245490048976384
+30,0.500000000,BASELINE,764,745,713.410443271,679,660,633,878,785,806.589556729,653,629,652,0.400961842076,0.00451540402793,0.059840047431,0.999999956295,0.000129012464564,-0.000265393888514,1.82314239772e-05,1793245490065643008
+31,0.516666667,BASELINE,764,745,713.990940036,679,660,633,878,785,806.009059964,653,629,652,0.400965011815,0.00451550813146,0.05984176044,0.999999957149,0.00012999177184,-0.000261680881028,1.80992053727e-05,1793245490082309888
+32,0.533333333,BASELINE,764,745,713.433910857,679,660,633.566089143,877.433910857,785,806.566089143,653,629.566089143,652.566089143,0.400963261476,0.00451605512198,0.0598403870721,0.99999995652,0.000129614087438,-0.000264245085197,1.82680532356e-05,1793245490098976768
+33,0.550000000,BASELINE,764,745,713,679,660,634,877.144046679,785,807,653,629.855953321,653,0.40096186714,0.0045164026861,0.059839264162,0.999999955993,0.000129368438955,-0.000266345122946,1.83730745684e-05,1793245490115643392
+34,0.566666667,BASELINE,764,745,713,679,660,634,877.730897948,785,807,653,629.269102052,653,0.40096180696,0.00451611562092,0.0598390615918,0.999999955868,0.000129594810615,-0.000266712357856,1.82672174979e-05,1793245490132310016
+35,0.583333333,BASELINE,764,745,713,679,660,634,878,784.686548774,806.686548774,653,629.313451226,652.686548774,0.400962359036,0.00451639900016,0.0598394999665,0.999999955909,0.000130365976067,-0.000266192484122,1.8094340407e-05,1793245490148976640
+36,0.600000000,BASELINE,764,745,713,679,660,634,878,784.107635404,806.107635404,653,629.892364596,652.107635404,0.400963429632,0.0045171654893,0.059840481158,0.99999995609,0.000131598527933,-0.000264921317263,1.78647039846e-05,1793245490165643264
+37,0.616666667,BASELINE,764,745,713,679.470451665,660,633.529548335,878,784.470451665,806.470451665,653,630,652,0.400962983133,0.00451684632125,0.0598405140929,0.999999956055,0.000132128958019,-0.000264770995385,1.80944309472e-05,1793245490182310144
+38,0.633333333,BASELINE,764,745,713.048147561,679.951852439,660,633,878,785,807,653,630,652,0.400962240774,0.00451625810503,0.0598403218315,0.999999955987,0.000132350991974,-0.000264898123605,1.84073009113e-05,1793245490198976768
+39,0.650000000,BASELINE,764,745,713.623626516,679.376373484,660,633,878,785,807,653,630,652,0.40096205295,0.004515438854,0.0598400351234,0.999999956074,0.000130951652514,-0.000265260287869,1.84817239222e-05,1793245490215643392
+40,0.666666667,BASELINE,764,745,714,679.203322763,660,633,878,785,807,653,630,652,0.400961864615,0.00451496930889,0.0598398205766,0.999999956129,0.000129726153932,-0.000265654659467,1.84700480492e-05,1793245490232310016
+41,0.683333333,BASELINE,764,745,714,679.790991017,660,633,878,785,807,653,630,652,0.400961675315,0.00451516082061,0.0598397424379,0.999999956127,0.000128829270663,-0.000266109913274,1.82956175588e-05,1793245490248976640
+42,0.700000000,BASELINE,764,745.372351188,713.627648812,679.627648812,660,633.372351188,878,785,807,653,630,652,0.400961721302,0.00451471852468,0.0598393845834,0.99999995605,0.000128747783333,-0.00026643496849,1.83300103338e-05,1793245490265643264
+43,0.716666667,BASELINE,764,745.95022946,713.04977054,679.04977054,660,633.95022946,878,785,807,653,630,652,0.400961897161,0.00451392638524,0.059838872334,0.999999955932,0.000129116371001,-0.000266688157836,1.84796675163e-05,1793245490282310144
+44,0.733333333,BASELINE,764,745.474903133,713,679,660,633.474903133,878,785,807,652.474903133,630,652,0.400962575431,0.00451406979204,0.0598399538129,0.999999956283,0.000128885436693,-0.000265469400183,1.86747161723e-05,1793245490298976768
+45,0.750000000,BASELINE,764,745,713.100185049,679,660,633,877.899814951,785,807,652.100185049,629.899814951,652,0.400963185492,0.00451428805643,0.0598409141565,0.99999995661,0.000128746543443,-0.000264290004446,1.88273053396e-05,1793245490315643392
+46,0.766666667,BASELINE,764,745,713.677676754,679,660,633,877.322323246,785,807,652.677676754,629.322323246,652,0.400963245007,0.00451444290265,0.0598405818002,0.999999956626,0.000129315341089,-0.000263959040403,1.87572261305e-05,1793245490332310016
+47,0.783333333,BASELINE,764,745,713.738185044,679,660,633,877.261814956,785,807,653,629.261814956,652,0.400963219598,0.00451490833851,0.0598402306022,0.999999956507,0.000130501027877,-0.000263840793033,1.8542313197e-05,1793245490348976896
+48,0.800000000,BASELINE,764,745,713.145651051,679,660,633,877.854348949,785,807,653,629.854348949,652,0.400963086915,0.00451576610455,0.0598398556038,0.999999956216,0.000132465955875,-0.000263991244756,1.81444493993e-05,1793245490365643520
+49,0.816666667,BASELINE,763.566083079,745,713,679,660,633,877.566083079,785,807,653,630,652,0.400962560336,0.00451560651391,0.0598397989805,0.999999956033,0.000132463194818,-0.000264684319446,1.81435065397e-05,1793245490382310144
+50,0.833333333,BASELINE,763.009252298,745,713,679,660,633,877.009252298,785,807,653,630,652,0.400961916544,0.00451512677881,0.0598398581402,0.999999955894,0.000131802601053,-0.000265529132406,1.8268362565e-05,1793245490398976768
+51,0.850000000,BASELINE,763.584184895,745,713,679,660,633,877.584184895,785,807,653,630,652,0.40096195557,0.00451534642691,0.0598406519529,0.999999956298,0.000130132565282,-0.000264838309135,1.81750602233e-05,1793245490415643648
+52,0.866666667,BASELINE,764,745.163673198,713.163673198,679.163673198,660,633.163673198,878,785,807,652.836326802,630,652,0.400962113659,0.00451533503762,0.0598411543044,0.999999956641,0.000128707826994,-0.000264236231068,1.8189205951e-05,1793245490432310528
+53,0.883333333,BASELINE,764,745.755066705,713.755066705,679.755066705,660,633.755066705,878,785,807,652.244933295,630,652,0.400962582892,0.00451471988796,0.0598408949925,0.999999956834,0.000127924114437,-0.000263866067171,1.84841412203e-05,1793245490448976896
+54,0.900000000,BASELINE,763.662939024,745.662939024,713.662939024,679.662939024,660,633.662939024,877.662939024,785,807,652,630,652,0.400962202738,0.00451440061087,0.0598402679118,0.999999956674,0.000128008602651,-0.000264427301379,1.85383830399e-05,1793245490465643264
+55,0.916666667,BASELINE,763.087589656,745.087589656,713.087589656,679.087589656,660,633.087589656,877.087589656,785,807,652,630,652,0.400961222101,0.00451429050366,0.0598393808333,0.999999956263,0.000128706873509,-0.000265646996158,1.84224643734e-05,1793245490482309888
+56,0.933333333,BASELINE,763.489152386,745,713,679,660,633.489152386,877.489152386,785,807,652.489152386,629.510847614,652,0.400962366516,0.00451621444032,0.0598402479728,0.999999956189,0.000130711566797,-0.000264953459963,1.83254755085e-05,1793245490498976768
+57,0.950000000,BASELINE,764,745,713,679,660,633.934537746,877.934537746,785,807,653,629,652,0.400963492382,0.00451799500336,0.0598410860256,0.999999956153,0.0001324793009,-0.000264215199898,1.82453518524e-05,1793245490515643648
+58,0.966666667,BASELINE,764,745,713,679,660,633.363497451,877.363497451,785,807,653,629,652,0.400961527774,0.00451584725325,0.059839266516,0.999999955983,0.000130605077661,-0.000265784982932,1.82692279403e-05,1793245490532310016
+59,0.983333333,BASELINE,764,745,713,679.217567829,660.217567829,633,877.217567829,785,807,653,629,652,0.400960621998,0.00451472102784,0.0598385293587,0.999999955871,0.000129789898377,-0.000266608038478,1.82378738983e-05,1793245490548976640
+60,1.000000000,BASELINE,764,745,713,679.816191302,660.816191302,633,877.816191302,785,807,653,629,652,0.400961570695,0.00451538393491,0.0598396878698,0.999999955867,0.000130829564134,-0.000266123250543,1.8109787946e-05,1793245490565643520
+61,1.016666667,BASELINE,764,745,713.397678998,679.602321002,660.602321002,633,878,785,807,652.602321002,629.397678998,652,0.400962288453,0.00451589278612,0.0598402420942,0.999999955953,0.000131501644268,-0.000265471047776,1.80888886822e-05,1793245490582310144
+62,1.033333333,BASELINE,764,745,713.971573621,679.028426379,660.028426379,633,878,785,807,652.028426379,629.971573621,652,0.40096290388,0.00451633337358,0.0598405285528,0.999999956078,0.000132010843396,-0.000264744661818,1.81154849425e-05,1793245490598977024
+63,1.050000000,BASELINE,764,745,713.452630719,679.547369281,660.547369281,633.547369281,878,785,807,652,630,652,0.400962180815,0.00451593122541,0.0598399958806,0.999999955894,0.000131781991609,-0.00026554755982,1.81465124815e-05,1793245490615643648
+64,1.066666667,BASELINE,764,745,713,679.873289715,660.873289715,633.873289715,878,784.873289715,806.873289715,652.126710285,629.873289715,652,0.400961630372,0.00451579604305,0.0598395426114,0.999999955745,0.000131543825007,-0.00026622792637,1.81376141107e-05,1793245490632310528
+65,1.083333333,BASELINE,764,745,713,679.281293878,660.281293878,633.281293878,878,784.281293878,806.281293878,652.718706122,629.281293878,652,0.400961969942,0.00451680243962,0.0598395376658,0.999999955782,0.000131412690247,-0.000266165702595,1.7981258114e-05,1793245490648977152
+66,1.100000000,BASELINE,764,745,713,679,660,633,878,784.303919565,806.303919565,653,629,652,0.400963190142,0.00451674718892,0.0598402592775,0.999999956063,0.000132136130807,-0.000264731913517,1.81767502127e-05,1793245490665643520
+67,1.116666667,BASELINE,764,745,713,679,660,633,878,784.88299254,806.88299254,653,629,652,0.400965207619,0.00451573077641,0.0598416386775,0.99999995656,0.000133633260662,-0.000262056378559,1.86907877972e-05,1793245490682309888
+68,1.133333333,BASELINE,764,745,713,679,660,633.457220521,878,785,806.542779479,652.542779479,629,652,0.400963943092,0.00451443808748,0.0598412783773,0.999999956537,0.000130954671917,-0.000263493186858,1.86501307863e-05,1793245490698976512
+69,1.150000000,BASELINE,764,745,713,679,660,633.969645835,878,785,806.030354165,652,629.030354165,652,0.400961937033,0.00451323408183,0.0598404944825,0.999999956364,0.000127535035038,-0.000265830197992,1.84715794913e-05,1793245490715643136
+70,1.166666667,BASELINE,764,745,713,679,660,633.394132422,878,785,806.605867578,652,629.605867578,652,0.400961539471,0.00451487931491,0.0598400149107,0.999999956128,0.000129797150098,-0.000265632096718,1.83391739997e-05,1793245490732310016
+71,1.183333333,BASELINE,764,745,713,679,660,633,878,785,806.81341999,652.18658001,629.81341999,652,0.400961387886,0.0045158066023,0.0598398451858,0.999999956067,0.000130590746987,-0.000265473806926,1.83089225972e-05,1793245490748976640
+72,1.200000000,BASELINE,764,745,713,679,660,633,878,785,806.221410218,652.778589782,629.221410218,652,0.400961770795,0.0045151738271,0.059840348744,0.999999956393,0.00012819332201,-0.000265402025617,1.85006472965e-05,1793245490765643264
+73,1.216666667,BASELINE,764,745,713.362375812,679,660.362375812,633,878,785,806.362375812,653,629.362375812,652,0.40096260885,0.00451507705886,0.0598410782789,0.99999995691,0.000126958720246,-0.000264048572239,1.84491833537e-05,1793245490782310144
+74,1.233333333,BASELINE,764,745,713.941248632,679,660.941248632,633,878,785,806.941248632,653,629.941248632,652,0.400963718825,0.00451530052146,0.0598419428207,0.999999957539,0.000126418833167,-0.000261929399527,1.82524293122e-05,1793245490798977024
+75,1.250000000,BASELINE,764,745.516467256,713.483532744,679.516467256,660.483532744,633.516467256,878,785,807,653,630,652,0.400962966804,0.00451421085638,0.0598413923381,0.999999957265,0.000127103511201,-0.000262630062373,1.84259925503e-05,1793245490815643648
+76,1.266666667,BASELINE,763.909641912,745.909641912,713.090358088,679.909641912,660,633.909641912,877.909641912,785,807,653,629.909641912,652,0.400962162366,0.00451345263637,0.0598407053963,0.999999956871,0.000128002994915,-0.000263683577319,1.85423858025e-05,1793245490832310016
+77,1.283333333,BASELINE,763.340598572,745.340598572,713.659401428,679.340598572,660,633.340598572,877.340598572,785,807,653,629.340598572,652,0.40096219447,0.00451523607934,0.0598401423017,0.999999956384,0.000129307655671,-0.000264918970456,1.81343124196e-05,1793245490848976640
+78,1.300000000,BASELINE,763.24047727,745,714,679,660,633.24047727,877.24047727,785,807,653,629,652,0.400962586692,0.00451606605304,0.059840178104,0.999999956199,0.000130804006243,-0.000264891518908,1.80210453728e-05,1793245490865643520
+79,1.316666667,BASELINE,763.839492855,745,714,679,660,633.839492855,877.839492855,785,807,653,629,652,0.40096351583,0.00451547445662,0.0598411068286,0.999999956463,0.000132586155614,-0.000262981235636,1.83473183127e-05,1793245490882310144
+80,1.333333333,BASELINE,764,745,714,679,660,633.577388957,878,785,807,652.577388957,629.422611043,652,0.400962804108,0.00451459865162,0.0598409814093,0.999999956538,0.000130685364008,-0.00026363726402,1.8435658169e-05,1793245490898976768
+81,1.350000000,BASELINE,764,745,714,679,660,633.000089643,878,785,807,652.000089643,629.999910357,652,0.400961491781,0.00451361881775,0.0598404701419,0.999999956536,0.000127436506078,-0.00026523263901,1.84369074321e-05,1793245490915643392
+82,1.366666667,BASELINE,764,745,714,679.574649293,660,633.574649293,878,785,806.425350707,652.574649293,630,652,0.400960280276,0.00451517850424,0.0598396372156,0.999999955809,0.000130080091865,-0.000266684723125,1.84489128196e-05,1793245490932310272
+83,1.383333333,BASELINE,764,745,713.846872638,680,660,633.846872638,878,785,806.153127362,653,630,652,0.400959835503,0.00451592949051,0.0598393124902,0.999999955458,0.000131494728294,-0.000267305094815,1.84627637737e-05,1793245490948976640
+84,1.400000000,BASELINE,764,745,713.2577469,680,660,633.2577469,878,785,806.7422531,653,630,652,0.400961573795,0.00451437674814,0.0598404349034,0.999999956196,0.000129407581519,-0.000265557401722,1.84818648421e-05,1793245490965643264
+85,1.416666667,BASELINE,763.673544164,745.326455836,713.326455836,679.673544164,660,633,878,785,806.673544164,653,630,652,0.400961617492,0.00451396434156,0.0598404375603,0.999999956417,0.000128196306511,-0.000265312434667,1.84765723166e-05,1793245490982309888
+86,1.433333333,BASELINE,763.093170579,745.906829421,713.906829421,679.093170579,660,633,878,785,806.093170579,653,630,652,0.40096034313,0.00451443888964,0.0598395692692,0.99999995624,0.000127666285755,-0.000266236289867,1.84523064226e-05,1793245490998976512
+87,1.450000000,BASELINE,763.484211773,745.515788227,714,679.484211773,660,633.484211773,878,785,806.484211773,653,630,652,0.400961188463,0.00451405496494,0.0598404080587,0.9999999566,0.00012730678562,-0.000265053249194,1.84180037642e-05,1793245491015643136
+88,1.466666667,BASELINE,764,745,713.939511942,679.939511942,660.060488058,633.939511942,877.939511942,785,807,652.939511942,630,652,0.400962385463,0.00451365248001,0.0598414051162,0.999999957001,0.000127185679717,-0.000263596161464,1.83939831068e-05,1793245491032310016
+89,1.483333333,BASELINE,764,745,713.367749575,679.367749575,660.632250425,633.367749575,877.367749575,785,807,652.367749575,630,652,0.400963128617,0.00451448076418,0.05984098058,0.99999995689,0.000128803964827,-0.000263228315827,1.84730944793e-05,1793245491048976896
+90,1.500000000,BASELINE,764,745,713,679,661,633,877,785,807,652,629.787463783,652,0.400963167562,0.00451553702781,0.0598405764466,0.999999956654,0.000130486134681,-0.00026330532482,1.83410505935e-05,1793245491065643520
+91,1.516666667,BASELINE,764,745,713,679,661,633,877,785,807,652,629.191813891,652,0.400961937114,0.00451700424272,0.0598402090908,0.999999956195,0.000132283461766,-0.000264184220215,1.7828382312e-05,1793245491082309888
+92,1.533333333,BASELINE,764,745,713.390847446,679.390847446,660.609152554,633.390847446,877.390847446,785,807,652.390847446,629.390847446,652,0.400962576679,0.00451593325412,0.059840724952,0.999999956506,0.000131197000718,-0.000263537490676,1.79605839232e-05,1793245491098976512
+93,1.550000000,BASELINE,764,745,713.967339533,679.967339533,660.032660467,633.967339533,877.967339533,785,807,652.967339533,629.967339533,652,0.400964104462,0.00451365667027,0.0598416603235,0.999999957178,0.000128740798718,-0.000262166120189,1.83990856616e-05,1793245491115643136
+94,1.566666667,BASELINE,764,745,713.459249186,680,660,633.459249186,878,785,807,653,630,652,0.400963218475,0.0045135757447,0.0598409934988,0.999999957004,0.000128110325261,-0.000263129363594,1.84936829805e-05,1793245491132309760
+95,1.583333333,BASELINE,763.882562939,745,713,680,660,633,877.882562939,785,806.882562939,653,630,652.117437061,0.400962471662,0.00451359312893,0.0598404234556,0.999999956855,0.000127725839598,-0.000263881323599,1.85376441669e-05,1793245491148976384
+96,1.600000000,BASELINE,763.291935145,745,713,680,660,633,877.291935145,785,806.291935145,653,630,652.708064855,0.400962869727,0.00451347531714,0.0598406310827,0.99999995701,0.000127890716236,-0.000263217014648,1.84607963402e-05,1793245491165643008
+97,1.616666667,BASELINE,763.292568266,745,713,679.707431734,660,633.292568266,877.292568266,785,806.292568266,652.707431734,630,652.707431734,0.400963114846,0.00451400515164,0.0598410387769,0.99999995705,0.000128611217668,-0.000262719462011,1.83972363445e-05,1793245491182309888
+98,1.633333333,BASELINE,763.871085817,745,713,679.128914183,660,633.871085817,877.871085817,785,806.871085817,652.128914183,630,652.128914183,0.400963210479,0.00451516798027,0.0598416420119,0.999999956975,0.000129874773588,-0.000262384893079,1.83466635643e-05,1793245491198976512
+99,1.650000000,BASELINE,764,745,713.448337039,679.448337039,660,634,878,785,807,652.448337039,630,652,0.40096314248,0.00451569504358,0.0598415052174,0.999999956983,0.000129653304672,-0.000262459983913,1.84011100285e-05,1793245491215643136
+100,1.666666667,BASELINE,764,745,713.974468922,679.974468922,660,634,878,785.025531078,807,653,630,652,0.400963087908,0.004515916525,0.0598411947998,0.999999957033,0.000128947668028,-0.000262612044838,1.84829243929e-05,1793245491232309760
+101,1.683333333,BASELINE,764,745,713.390584606,679.390584606,660,634,878,785.609415394,807,653,630,652,0.400964353036,0.00451344171557,0.0598417277734,0.999999957478,0.000126965538095,-0.000261878583234,1.85047258917e-05,1793245491248977408
+102,1.700000000,BASELINE,764,745,713,679,660.192575077,634,878,785.807424923,807,653,630,652,0.400965121772,0.00451228079593,0.0598420658759,0.9999999577,0.000126138294061,-0.000261429817731,1.85149075939e-05,1793245491265644544
+103,1.716666667,BASELINE,764,745,713,679,660.774270484,634,878,785.225729516,807,653,630,652,0.400964887487,0.00451377474361,0.0598420102188,0.999999957476,0.000127644631477,-0.000261556313887,1.85016101442e-05,1793245491282310144
+104,1.733333333,BASELINE,764,745,713,679,660.646339157,634,878,785,807,652.646339157,629.646339157,652,0.400963447832,0.00451524666611,0.0598414010553,0.999999956727,0.000130307698017,-0.000263108603074,1.84262632347e-05,1793245491298976512
+105,1.750000000,BASELINE,764,745,713,679,660.068410449,634,878,785,807,652.068410449,629.068410449,652,0.400961243813,0.00451670462185,0.0598404408954,0.999999955632,0.00013370428434,-0.0002655650341,1.83115687394e-05,1793245491315643136
+106,1.766666667,BASELINE,764,745,713,679,660,634,877.494143829,785.505856171,807,652,629.505856171,652.505856171,0.400962165483,0.0045164081931,0.0598406153016,0.999999956079,0.000131750020657,-0.000264856428231,1.83064580899e-05,1793245491332310272
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,714,680,660,634,878,785,807,653,630,652,0.400961591441,0.00451381190827,0.0598402609672,0.999999956506,0.00012964342073,-0.00026423739065,1.8970797644e-05,1793245491374921984
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,746,713.422016697,679.422016697,660,634,878,785,807,653,630,652,0.400963318598,0.00451524165044,0.0598412291638,0.999999956881,0.000130288184004,-0.000262535974894,1.83932466964e-05,1793245491391588608
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745.844177757,713,679.155822243,660,633.844177757,878,785,807,652.844177757,629.844177757,652,0.40096417134,0.00451613244444,0.0598417473178,0.999999957073,0.000130593912125,-0.000261676817756,1.80398705444e-05,1793245491408255232
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745.266729311,713,679.733270689,660,633.266729311,878,785,807,652.266729311,629.266729311,652,0.400962658077,0.0045155649446,0.0598410477395,0.999999956775,0.0001299822739,-0.000263096656473,1.82930698491e-05,1793245491424922112
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713,680,660,633,878,785,807,652.307990233,629.307990233,652,0.400961893523,0.00451487758396,0.0598408564556,0.999999956652,0.00012966958536,-0.000263695909719,1.85863162929e-05,1793245491441588992
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713,680,660,633,878,785,807,652.88036718,629.88036718,652,0.400961771681,0.00451408733178,0.0598411015047,0.999999956681,0.000129613522936,-0.000263590751265,1.89139402133e-05,1793245491458255360
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745.468344677,713,680,660,633.468344677,878,785,807,653,629.531655323,652,0.400962201792,0.00451402925374,0.0598411816515,0.999999956704,0.000129311061436,-0.000263659926891,1.88184455397e-05,1793245491474921984
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.940969497,713.059030503,679.940969497,660,634,878,785,807,653,629,652,0.400962865947,0.00451411714732,0.0598412888073,0.999999956787,0.000128749480959,-0.000263633918689,1.86210741686e-05,1793245491491588608
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.362720404,713.637279596,679.362720404,660,634,878,785,807,653,629,652,0.40096430586,0.00451378726298,0.0598420167909,0.999999957412,0.000126481427895,-0.000262365510476,1.85110261939e-05,1793245491508255232
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.785522485,679,660,634,878,785,807,653,629,652,0.400968494899,0.00451363474882,0.05984396346,0.999999958259,0.000125839990427,-0.000259429385007,1.85292879808e-05,1793245491524922112
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.210093679,679,660,634,878,785,807,653,629,652,0.400977310533,0.00451378073681,0.0598479610947,0.999999959462,0.000127936038281,-0.000253686603223,1.87634865132e-05,1793245491541588480
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.363570769,679,660,633.636429231,878,785,807,653,629,652,0.401003411868,0.00451339275691,0.059859039687,0.999999964217,0.000127281660988,-0.000234539264622,1.8886937616e-05,1793245491558255104
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.936220641,679,660,633.063779359,878,785,807,653,629,652,0.401039453715,0.00451269770741,0.059874190335,0.999999970436,0.000125045593348,-0.000207683349887,1.89467010655e-05,1793245491574921728
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660,633,878.529010734,785,807,653,629.529010734,652,0.401096072452,0.00451283888333,0.0598921347597,0.999999976117,0.000125859598014,-0.000177647215405,1.91636751742e-05,1793245491591588352
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.120057976,745,713.879942024,679,660,633.120057976,878.879942024,785,806.879942024,653,629.879942024,652,0.401158408504,0.00451283492396,0.0599094562552,0.99999998065,0.0001264353648,-0.000149459476524,1.94054856695e-05,1793245491608254976
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.694939924,745,713.305060076,679,660,633.694939924,878.305060076,785,806.305060076,653,629.305060076,652,0.401232633642,0.00451188408552,0.0599230913405,0.999999983615,0.000124660376505,-0.000129784153554,1.96667395801e-05,1793245491624921856
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.729459529,745,713.270540471,678.729459529,660,633.729459529,877.729459529,785,806.270540471,652.729459529,629.270540471,652,0.401313791131,0.00451088038257,0.0599326297108,0.999999985818,0.000121813632451,-0.000114671705072,1.93974416949e-05,1793245491641588736
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.15304657,745,713.84695343,678.15304657,660,633.15304657,877.15304657,785,806.84695343,652.15304657,629.84695343,652,0.401402786317,0.00450981691117,0.0599375363428,0.999999987412,0.000117755163722,-0.000104718034122,1.85283030523e-05,1793245491658255360
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,678.867356187,660,633,877.433678094,785,807,652,630,652,0.401510881654,0.0045109606791,0.0599429468037,0.999999988298,0.000118446632758,-9.52300576679e-05,1.74551424583e-05,1793245491674921984
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.976526699,680,660,633.023473301,878,785,807,652,629.976526699,652,0.401626745244,0.00451278363596,0.0599484199119,0.9999999889,0.000120584029336,-8.59819351291e-05,1.630948636e-05,1793245491691588352
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.402153514,680,660,633.597846486,878,785,807,652,629.402153514,652,0.40176287608,0.00451182018571,0.0599510887738,0.999999990041,0.000116357264419,-7.84119927349e-05,1.51933598576e-05,1793245491708254976
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679.826807964,660,633.826807964,878,785,807,652.173192036,629.173192036,652,0.401906058659,0.00451129419672,0.0599525236891,0.999999990968,0.000112276846692,-7.25699319027e-05,1.38484011227e-05,1793245491724921856
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679.249191912,660,633.249191912,878,785,807,652.750808088,629.750808088,652,0.402065707877,0.00451178973195,0.059951077192,0.999999991534,0.000108538167677,-7.07626812468e-05,1.19690920475e-05,1793245491741588736
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.327670007,679,660,633.327670007,877.672329993,785,806.672329993,653,629.672329993,652,0.402245792898,0.00451258745514,0.0599502642219,0.999999992055,0.000105203325938,-6.87156855987e-05,1.00155189063e-05,1793245491758255360
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.903959788,679,660,633.903959788,877.096040212,785,806.096040212,653,629.096040212,652,0.402441383611,0.00451361446364,0.0599499319407,0.999999992538,0.000102174895528,-6.6486783132e-05,8.00559767142e-06,1793245491774921984
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.50516903,679,660,634,877,785,806.49483097,653,629.49483097,652,0.402676445738,0.00451233372808,0.0599513243291,0.999999993518,9.73956090965e-05,-5.86867265491e-05,5.77188965146e-06,1793245491791588608
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.085995938,745,713.085995938,679,660.085995938,633.914004062,877.085995938,785,807,653,630,652.085995938,0.402924539224,0.00451076249485,0.0599534394745,0.999999994503,9.23698200058e-05,-4.94876473475e-05,3.48180600428e-06,1793245491808255232
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.662213256,745,713.662213256,679,660.662213256,633.337786744,877.662213256,785,807,653,630,652.662213256,0.403201921344,0.00451016607529,0.0599577086062,0.999999995386,8.79347916459e-05,-3.86644622729e-05,1.12546551451e-06,1793245491824921856
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.762397954,745,714,679,660.762397954,633.237602046,878,785,807,653,630,652.762397954,0.403485614648,0.004510008297,0.0599573503256,0.999999995887,8.26458912214e-05,-3.7322922576e-05,-1.60791967025e-06,1793245491841588480
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.188182979,745,714,679,660.188182979,633.811817021,878,785,807,653,630,652.188182979,0.403778249044,0.00451047194575,0.0599504363488,0.999999995868,7.61473029334e-05,-4.94141146814e-05,-4.8754672789e-06,1793245491858255104
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.60233439,679,660,633.60233439,877.60233439,785,807,652.60233439,630,652,0.40409986951,0.00450999174171,0.0599385182317,0.999999995203,6.89225008594e-05,-6.90820773933e-05,-8.50153822047e-06,1793245491874921984
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.01081466,679,660,633.01081466,877.01081466,785,807,652.01081466,630,652,0.404435620105,0.00450905142809,0.0599241606954,0.99999999377,6.13436840874e-05,-9.24435655321e-05,-1.23023820963e-05,1793245491891588608
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,679.568879924,660.568879924,633.568879924,877.568879924,785,807,652,630,652,0.404801228515,0.00450749437186,0.0599103632456,0.999999991351,5.40113475127e-05,-0.00011893398439,-1.53238354799e-05,1793245491908255232
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713,680,660.852094687,633.852094687,878,785,806.852094687,652,629.852094687,652,0.405188967318,0.0045062756383,0.0599020450665,0.999999989578,4.582454138e-05,-0.000135647880055,-1.85569570871e-05,1793245491924922112
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713,680,660.27437412,633.27437412,878,785,806.27437412,652,629.27437412,652,0.405639401448,0.00450607345415,0.0599096194277,0.99999999147,3.51412947242e-05,-0.000123781698417,-2.24473698741e-05,1793245491941588736
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,679.700628178,660.299371822,633,878,785,806.299371822,652.299371822,629.299371822,652,0.406117831765,0.00450535941343,0.0599279309904,0.999999994911,2.65980724091e-05,-9.38231500306e-05,-2.58247508484e-05,1793245491958255104
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713,679.130477183,660.869522817,633,878,785,806.869522817,652.869522817,629.869522817,652,0.406621584438,0.00450418240293,0.059955954258,0.999999998259,1.99904819701e-05,-4.75002140134e-05,-2.87380994804e-05,1793245491974921728
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713,679,660.541787827,633,878,785,807,652.541787827,629.541787827,652,0.407173489079,0.0045025150715,0.0599835744783,0.999999999434,1.03925084065e-05,-3.17589330872e-06,-3.18398717878e-05,1793245491991588352
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713,679.051023137,660,633,878,784.948976863,807,652,629,652,0.407736866201,0.00450068606453,0.0600078242851,0.999999998807,-5.09995613572e-08,3.40705651517e-05,-3.50055448284e-05,1793245492008255232
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713,679.629568716,660,633,878,784.370431284,807,652,629,652,0.408271118539,0.00449868989356,0.0599984644005,0.999999999209,-1.00614304869e-05,4.27190423195e-06,-3.82537692368e-05,1793245492024921856
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713,679.793160114,660,633,877.793160114,784,807,652,629,652,0.408822468518,0.0044961170179,0.0599869985865,0.99999999857,-2.12687525821e-05,-2.57423150871e-05,-4.17729882153e-05,1793245492041588480
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713,679.218157355,660,633,877.218157355,784,807,652,629,652,0.409404251263,0.00449251764182,0.0599717843423,0.999999996778,-3.46064702103e-05,-5.61402139213e-05,-4.57745614754e-05,1793245492058255360
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.364992533,679,660.364992533,633,877.364992533,784.364992533,807,652,629.364992533,652,0.410031880081,0.00448722462582,0.0599729239226,0.999999996095,-4.97487189036e-05,-5.37483279947e-05,-4.94559370698e-05,1793245492074922240
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.953123145,679,660.953123145,633,877.953123145,784.953123145,807,652,629.953123145,652,0.410687536859,0.00448089620368,0.0599840614093,0.999999995931,-6.5994166637e-05,-3.13104155771e-05,-5.29415597588e-05,1793245492091589120
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.531481479,745,714,679.531481479,661,633.531481479,878,785,807,652,630,652,0.411403442209,0.00446527342335,0.0599909643645,0.999999994226,-9.17846640661e-05,-1.23113900752e-05,-5.45140170973e-05,1793245492108255488
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.890934267,745,714,679.890934267,660.890934267,634,877.890934267,785,807,652,629.890934267,652.109065733,0.412116711228,0.0044534535728,0.0599915473345,0.999999994713,-8.9648237279e-05,-5.68734718835e-06,-5.00470687371e-05,1793245492124921856
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.313039484,745,714,679.313039484,660.313039484,634,877.313039484,785,807,652,629.313039484,652.686960516,0.41279621747,0.00446144118444,0.0599665397495,0.999999997843,3.60881870882e-05,-5.09780363607e-05,-2.03314368467e-05,1793245492141588480
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745.263907213,714,679,660,633.736092787,877.263907213,784.736092787,807,652,629,652.736092787,0.413489853175,0.00447119651301,0.0599404810552,0.999999989331,0.000104555586985,-0.000101724678584,-7.57087281568e-06,1793245492158255104
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745.839733417,714,679,660,633.160266583,877.839733417,784.160266583,807,652,629,652.160266583,0.414200188958,0.00448304115453,0.0599131800235,0.999999981714,0.000105335213021,-0.000158919864321,-1.48499531232e-05,1793245492174921728
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.588551099,713.588551099,679.411448901,660.411448901,633,878.411448901,784.411448901,807.411448901,652.411448901,629.411448901,652,0.415007512267,0.00447679946255,0.0599371960738,0.999999989708,8.40592355582e-05,-0.000114529081502,-2.00289474924e-05,1793245492191588608
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.018421007,713.018421007,679.981578993,660.981578993,633,878.981578993,784.981578993,807.981578993,652.981578993,629.981578993,652,0.415852240168,0.00446358251505,0.0599810032968,0.99999999775,5.42771966374e-05,-3.09602037775e-05,-2.43980129374e-05,1793245492208255488
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.579593708,680,661.579593708,633,878.420406292,785,808.579593708,652.420406292,630,652,0.416719217397,0.00446776106355,0.0600096977175,0.999999997923,5.56256996274e-05,1.56859267337e-05,-2.85386388306e-05,1793245492224922112
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,713.828580742,680,661.828580742,633,878.171419258,785,808.828580742,652,630,652,0.417575998049,0.00447117635299,0.0600253056699,0.999999996842,5.97377466433e-05,4.17502276884e-05,-3.16977706985e-05,1793245492241588480
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,713.253521142,680,661.253521142,633,878.746478858,785,808.253521142,652,630,652,0.418407019546,0.00447142674859,0.0600112871414,0.999999996916,6.79095892402e-05,2.22534632504e-05,-3.25637419432e-05,1793245492258255104
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713.321767629,680,661.321767629,633,879,785,808,652,630,652,0.419244379082,0.00446999319763,0.0599913149905,0.999999996955,6.937056668e-05,-1.14155427229e-05,-3.38785991925e-05,1793245492274921728
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713.897237067,680,661.897237067,633,879,785,808,652,630,652,0.420086735889,0.00446723191743,0.0599666486303,0.999999995638,6.55402760709e-05,-5.62588330854e-05,-3.55473862747e-05,1793245492291588352
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.485432549,745,714,679.514567451,662,633,879,785,808,652.485432549,630,652,0.420903220945,0.00447386153907,0.0599319493004,0.99999999274,-2.7234329127e-05,-0.000111211345929,-3.75509276801e-05,1793245492308254976
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.074443059,713.925556941,679.074443059,661.925556941,633,879,785,808.074443059,652.925556941,630,652,0.421726923101,0.00448025848299,0.0598986632386,0.99999997809,-0.000124828956469,-0.000163383692096,-3.9287822972e-05,1793245492324921856
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.650308518,713.349691482,679.650308518,661.349691482,633,879,785,808.650308518,652.349691482,630,652,0.422637120242,0.00447133726753,0.0598895875609,0.999999974914,-0.000124650041872,-0.000182027047428,-3.87385112384e-05,1793245492341588480
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.772953621,713,680,661.454092759,633,879,785,808.772953621,652,630,652,0.423583228752,0.00446650920844,0.0599118434576,0.999999980873,-0.000123253534897,-0.000146684862784,-3.93259292978e-05,1793245492358255104
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.194866832,713,680,662.610266336,633,879,785,808.194866832,652,630,652,0.424584860601,0.0044680096492,0.0599825416523,0.999999991546,-0.000119974485687,-2.78746844356e-05,-4.16708648771e-05,1793245492374921472
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.389408379,680,662.610591621,633.389408379,879,785,808.389408379,652,630,652.389408379,0.425532481478,0.004468531682,0.0600221611826,0.9999999921,-0.000112333660969,3.74871878272e-05,-4.21342918629e-05,1793245492391588096
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.976830361,680,662.023169639,633.976830361,879,785,808.976830361,652,630,652.976830361,0.426452637793,0.00446855619569,0.0600459772523,0.999999991019,-0.000102474880287,7.56706660876e-05,-4.16409744395e-05,1793245492408254720
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.443939398,745.556060602,714,680,661.443939398,633.443939398,879,785.556060602,809,652,630,652.443939398,0.427390144299,0.00446462084947,0.060030385988,0.999999991833,-0.000101658998855,6.42198943181e-05,-4.33128271029e-05,1793245492424921600
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.865563837,713.865563837,680,661.268872325,633,879,785.865563837,809,652,630,652.134436163,0.428318086164,0.00446174080785,0.0600096475474,0.999999993267,-9.84237819245e-05,4.20279840253e-05,-4.48693601426e-05,1793245492441588224
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.288893301,713.288893301,680,662.422213398,633,879,785.288893301,809,652,630,652.711106699,0.429212221012,0.00446286712993,0.0599773002534,0.999999995216,-8.60085515075e-05,-8.79297027607e-06,-4.57540781834e-05,1793245492458255104
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,713,679.715667981,662.147003944,633,879.284332019,785,809,652,630.284332019,652.715667981,0.430088556092,0.00446284338743,0.0599462282345,0.999999994123,-7.55917162965e-05,-6.25747382347e-05,-4.60992855591e-05,1793245492474921728
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,713,679.145901274,660.437703823,633,879.854098726,785,809,652,630.854098726,652.145901274,0.430947022321,0.00446166512021,0.0599164364385,0.99999998957,-6.71810270056e-05,-0.00011932879906,-4.5902889918e-05,1793245492491588352
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679.442320182,660.884640365,633,880,784.557679818,809,652,631,652,0.431896342084,0.0044596580805,0.0599465585077,0.999999994704,-6.69186017825e-05,-6.20548066709e-05,-4.75634292902e-05,1793245492508254976
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.036023069,745,713,680,662.036023069,633,880,784.036023069,809,652,630.963976931,652.036023069,0.43287300575,0.00445738680025,0.0599949956319,0.999999995948,-6.90959223462e-05,2.93504586112e-05,-4.96915811567e-05,1793245492524921600
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.616559607,745,713,680,662.616559607,633,880,784.616559607,809,652,630.383440393,652.616559607,0.433790273547,0.00445543349999,0.06000854179,0.999999995686,-6.57557597604e-05,4.33782381008e-05,-4.92262718836e-05,1793245492541588224
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.805013809,745,713.194986191,680,662.415041428,633,880,785,809,652,630.194986191,652.805013809,0.434693097242,0.00445240842162,0.0600058599872,0.999999996153,-6.46351095009e-05,3.30680660907e-05,-4.92177422152e-05,1793245492558254848
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.230691931,745,713.769308069,680,660.692075792,633,880,785,809,652,630.769308069,652.230691931,0.435567820835,0.00444729825325,0.0599716075164,0.999999996142,-6.78324065446e-05,-2.45903467099e-05,-5.00978537925e-05,1793245492574921728
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660.697673088,633,880,785,809.348836544,652,630.651163456,652.348836544,0.436402938291,0.00444547787999,0.059947858223,0.9999999944,-6.49010388374e-05,-6.6537735499e-05,-5.05949820047e-05,1793245492591588096
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,661.86372074,633,880,785,809.93186037,652,630.06813963,652.93186037,0.437211466584,0.00444586607203,0.0599311601153,0.999999992238,-5.78552644918e-05,-9.79377109371e-05,-5.08349988548e-05,1793245492608254976
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745.517850187,713.482149813,680.517850187,661.482149813,633,879.482149813,785,810,652,630,653,0.438005985582,0.00444678477602,0.0599071217297,0.999999986027,-5.15203654836e-05,-0.000150621627501,-5.10339058702e-05,1793245492624921600
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745.897689286,713,681,661,633,879.102310714,785,810,652,630,652.897689286,0.438812727346,0.0044463290402,0.0598923423685,0.999999980281,-4.80160390285e-05,-0.000185748291741,-5.1290955033e-05,1793245492641588480
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745.322118509,713,681,661,633,879.677881491,785,810,652,630,652.322118509,0.439684584118,0.00443919077828,0.0599248860685,0.999999989004,-5.71699577648e-05,-0.000126630837654,-5.18421196453e-05,1793245492658255104
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,713,681,661,632.746950542,880,785,810,652,630.253049458,652.253049458,0.44053339331,0.00443861657548,0.0599560219918,0.999999994224,-5.50853941389e-05,-7.6178358894e-05,-5.20972606799e-05,1793245492674921728
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713,681,661,632.17229456,880,785,810,652,630.82770544,652.82770544,0.441352910722,0.00444638479078,0.059985368736,0.999999997225,-3.87175776454e-05,-3.67384064468e-05,-5.19761784416e-05,1793245492691588608
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.411563799,745,713,681,660.176872402,632,880,784.588436201,810,652,630.588436201,653,0.44206428303,0.00444746377151,0.0599583146879,0.999999995004,-2.88217978758e-05,-8.06352348971e-05,-5.15667625311e-05,1793245492708255488
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.999362744,745,713,681,659.001274513,632,880,784.000637256,810,652,630.000637256,653,0.442729346749,0.00444567836534,0.0599071093397,0.999999985628,-2.16973981519e-05,-0.000160217583295,-5.10338794074e-05,1793245492724922112
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.417872437,745,713,681,658.417872437,632,880,784.582127563,810,652,630,653,0.443382085958,0.00444711040066,0.0598502363398,0.999999968844,-1.60985273317e-05,-0.000243603407873,-5.20514871297e-05,1793245492741588480
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+191,3.183333333,POSE1_TO_POSE2_PRESS,764.736409087,745,713,681,658,632,880,785,810,652,630,652.263590913,0.444700657639,0.00445831094952,0.0598074956975,0.999999952256,-1.44289123023e-06,-0.00030408824004,-5.49241736906e-05,1793245492774921984
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+251,4.183333333,HOLD_POSE2,764.332885698,745,713.332885698,682.332885698,650,625,880,783.332885698,810,652.332885698,630,653,0.454262572944,0.00463377786865,0.0596726083078,0.999999865174,0.000120775298958,-0.000500366829031,-6.85477964447e-05,1793245493797390336
+252,4.200000000,HOLD_POSE2,764.907676688,745,713.907676688,682.907676688,650,625,880,783.907676688,810,652.907676688,630,653,0.454263505042,0.00463357971114,0.0596730786876,0.999999865512,0.000121571759091,-0.000499540531566,-6.8226962642e-05,1793245493814056960
+253,4.216666667,HOLD_POSE2,765,745,714,682.517753735,650,625,879.517753735,783.517753735,810,653,630,652.517753735,0.454262829685,0.00463281605689,0.05967185221,0.999999864876,0.000120944202584,-0.000500961489419,-6.82518495387e-05,1793245493830723584
+254,4.233333333,HOLD_POSE2,764.941263886,745,713.941263886,682,650,625,879.058736114,783.058736114,810,653,630,652.058736114,0.454261817272,0.00463214258081,0.059670388727,0.999999864075,0.000120110869074,-0.000502744512524,-6.83512179633e-05,1793245493847390208
+255,4.250000000,HOLD_POSE2,764.346875429,745,713.346875429,682,650,625,879.653124571,783.653124571,810,653,630,652.653124571,0.454260536197,0.00463327834703,0.059669725031,0.999999863504,0.000119885977957,-0.000503907750335,-6.85265132065e-05,1793245493864056832
+256,4.266666667,HOLD_POSE2,764,745,713,682,650,625,880,783.760046036,810,652.760046036,630,653,0.454260399545,0.00463409134128,0.0596696882364,0.999999863341,0.000120863758479,-0.000504001967839,-6.85001509511e-05,1793245493880722944
+257,4.283333333,HOLD_POSE2,764,745,713,682,650,625,880,783.183810291,810,652.183810291,630,653,0.454261866737,0.00463445198893,0.0596705300084,0.999999863743,0.000123527014663,-0.000502598014308,-6.81911772085e-05,1793245493897389568
+258,4.300000000,HOLD_POSE2,764,745,713,682,650,625,880,783,810,652.392610627,630,652.607389373,0.454261259374,0.00463482453714,0.0596699717355,0.999999863015,0.0001247862107,-0.000503756367342,-6.80342988138e-05,1793245493914056448
+259,4.316666667,HOLD_POSE2,764,745,713,682,650,625,880,783,810,652.969118328,630,652.030881672,0.454259680298,0.00463520265954,0.0596687576881,0.999999861754,0.000125387751431,-0.000506114893276,-6.79486611779e-05,1793245493930723328
+260,4.333333333,HOLD_POSE2,764.557430645,745,713.557430645,682,650,625,880,783,810,653,630,652.557430645,0.454262092749,0.00463438083437,0.0596705112869,0.999999863181,0.000123393935351,-0.000503760292655,-6.80988509451e-05,1793245493947389952
+261,4.350000000,HOLD_POSE2,764.856014024,745,714,682,650,625,880,783,810,652.856014024,630,653,0.454264000438,0.00463357768656,0.0596717345317,0.999999864371,0.000121501267848,-0.000501842123656,-6.81903779291e-05,1793245493964057088
+262,4.366666667,HOLD_POSE2,764.276789147,745,714,682,650,625,880,783,810,652.276789147,630,653,0.454263699448,0.00463303628984,0.059670846908,0.999999864414,0.000120358378356,-0.000502049541445,-6.80642332186e-05,1793245493980723712
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,683,650,625,880,783,810,652,630,653,0.454261468807,0.00463586697663,0.0596691234542,0.999999862155,0.000123774516279,-0.000505683372426,-6.82147225114e-05,1793245494017786368
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745,713,682.425323926,650,625,880,783,810,652.574676074,630,653,0.454261990567,0.00463337833646,0.0596698599194,0.999999862988,0.000121854146819,-0.000504564624508,-6.77488078614e-05,1793245494034452992
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,649.846087204,625,880.153912796,783,810,652.846087204,630,652.846087204,0.454262640701,0.00463196179492,0.0596704467203,0.999999863565,0.000121054879958,-0.000503647540708,-6.74854317695e-05,1793245494051119616
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,649.253862569,625,880.746137431,783,810,652.253862569,630,652.253862569,0.454263656416,0.00463359836822,0.0596706073083,0.999999863424,0.000123448281216,-0.000503304754397,-6.77988435354e-05,1793245494067786240
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745,713.33106343,681.66893657,649.33106343,625,880.66893657,783,810,652.33106343,629.66893657,652,0.454263936225,0.00463357082566,0.059671031566,0.999999863552,0.000123916599837,-0.00050294829679,-6.77090163802e-05,1793245494084452864
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.910513455,681.089486545,649.910513455,625,880.089486545,783,810,652.910513455,629.089486545,652,0.454263663905,0.00463229474863,0.0596716536469,0.999999863883,0.000122940588693,-0.000502581582055,-6.73166515871e-05,1793245494101119488
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713.514965447,681.485034553,649.514965447,625,880,783,810,653,629.485034553,652,0.45426425816,0.00463408744141,0.0596717300611,0.999999863993,0.000123919309942,-0.000502093384757,-6.75299688179e-05,1793245494117786112
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,649,625,880,783,810,653,630,652,0.454264520759,0.00463612342406,0.0596714514804,0.999999863884,0.00012506183346,-0.00050198799965,-6.78201517208e-05,1793245494134452736
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,649,625,880,783,810,653,630,652,0.454260482048,0.00463537465596,0.0596689311873,0.999999862216,0.000124508082581,-0.000505438309608,-6.78139771531e-05,1793245494151119360
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.216248556,745,713.216248556,682,649.216248556,625,880,783,810,652.783751444,630,652,0.454253574277,0.00463487504456,0.0596650950919,0.999999859505,0.000123608966018,-0.000510959213225,-6.80503859947e-05,1793245494167786240
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.809811206,745,713.809811206,682,649.809811206,625,880,783,810,652.190188794,630,652,0.454241660526,0.00463481016602,0.0596589631627,0.999999854936,0.000122107249696,-0.000520092922855,-6.8710058418e-05,1793245494184452864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.606094298,682,650,625,880.393905702,783.393905702,810,652,630.393905702,652,0.45421410498,0.00463544511022,0.059647430379,0.999999844833,0.000123007353605,-0.000538947599363,-6.88430626537e-05,1793245494201119488
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.026463939,682,650,625,880.973536061,783.973536061,810,652,630.973536061,652,0.454179174401,0.00463641001749,0.0596333511175,0.999999831682,0.000125039904098,-0.000562385665907,-6.87277453815e-05,1793245494217786112
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.455759207,745,713.544240793,682,650,625,880.455759207,784,810.544240793,652,630.455759207,652.544240793,0.454119573063,0.00463672867141,0.0596126578317,0.999999814367,0.000125417407239,-0.000592237936933,-6.92213881723e-05,1793245494234452736
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.118952022,745,714,682,650,625,880,783.881047978,810.881047978,652.118952022,630,653,0.454056692728,0.0046366873884,0.0595935668484,0.999999798061,0.000125633549253,-0.00061908004674,-6.95289645345e-05,1793245494251119616
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.711307832,745,714,682,650,625,880,783.288692168,810.288692168,652.711307832,630,653,0.45398545989,0.00463533667725,0.0595821119679,0.999999789575,0.000125522623658,-0.000632721123901,-6.89800926251e-05,1793245494267786240
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.70306796,745,714,682,650,625,880.29693204,783,810,653,630,653,0.453906075292,0.00463497419032,0.0595749420791,0.99999978295,0.000126602589071,-0.000642972750428,-6.82431748532e-05,1793245494284452864
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.1238435,745,714,682,650,625,880.8761565,783,810,653,630,653,0.453818940844,0.00463555120533,0.05957184592,0.999999778186,0.000128814731087,-0.000650002035421,-6.73274824711e-05,1793245494301119488
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745,713.546760082,681.546760082,650,625,880.546760082,783,810,653,630,653,0.453717939785,0.0046359350189,0.0595698631969,0.999999775732,0.000131520903879,-0.00065331305816,-6.64783898849e-05,1793245494317786112
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.029625742,745,713,681.029625742,650,625,880,783,810,653,630,653,0.453611677887,0.00463632845195,0.059568177422,0.999999773909,0.000134405983122,-0.000655595326043,-6.56586555565e-05,1793245494334452992
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.603891545,745,713,681.603891545,650,625,880,783,810,653,630,653,0.453478028682,0.00463786466743,0.0595663839664,0.999999772158,0.000138110105965,-0.00065755492166,-6.50456686818e-05,1793245494351119360
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,650,625,880,783,810,652.816803623,629.816803623,653,0.45333746637,0.00463947131864,0.0595663013574,0.999999771792,0.000142247646742,-0.00065730265998,-6.43094056799e-05,1793245494367785984
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,650,625,880,783,810,652.226295277,629.226295277,653,0.453181533731,0.00464123457381,0.0595700225805,0.999999774502,0.000147348832247,-0.000652132637282,-6.3299055231e-05,1793245494384452864
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.354577265,681.645422735,650,625.354577265,880.354577265,783.354577265,809.645422735,652.354577265,629.354577265,652.645422735,0.453006211573,0.00464153990107,0.0595744061817,0.999999777162,0.000150818918211,-0.000647418799489,-6.14654110102e-05,1793245494401119744
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.929462882,681.070537118,650,625.929462882,880.929462882,783.929462882,809.070537118,652.929462882,629.929462882,652.070537118,0.452818842172,0.00464093937885,0.0595792013364,0.999999779789,0.000153275558841,-0.000642988401091,-5.91202322203e-05,1793245494417786368
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.492786669,745,714,681.507213331,650.507213331,625.492786669,880.492786669,783.492786669,809.507213331,652.492786669,630,652.507213331,0.45260432192,0.00464086322281,0.0595823681592,0.99999978302,0.00015868089359,-0.000636775622223,-5.74282204661e-05,1793245494434452992
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,745,713.915037583,682.084962417,651,625.084962417,880,783,809.915037583,652.084962417,630,653,0.452379664197,0.00464092912686,0.0595850926122,0.999999785908,0.000163998868597,-0.000631015073728,-5.57599701813e-05,1793245494451119616
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,745,713.339609094,682.660390906,651,625.660390906,880,783,809.339609094,652.660390906,630,653,0.452118405999,0.00464139175305,0.0595865780354,0.999999786696,0.000166431872928,-0.000629304160741,-5.37015448886e-05,1793245494467785984
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745,713,682.757575019,651,626,880,783,809.242424981,652.757575019,630,653,0.451842191355,0.00464266419926,0.059587463356,0.999999786033,0.000172026778927,-0.000629033223631,-5.15546222499e-05,1793245494484452608
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,745,713,682.166028115,651,626,880,783,809.833971885,652.166028115,630,653,0.451544437598,0.00464510288634,0.0595874844546,0.999999783215,0.00018217521379,-0.00063083602974,-4.92802526201e-05,1793245494501118976
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.414944531,745,713,682,651,626,880,783.414944531,810,652,630,653,0.451195437155,0.00464652732594,0.059583318967,0.99999977644,0.000190033615902,-0.000639404374287,-4.65776255533e-05,1793245494517786112
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.99179132,745,713,682,651,626,880,783.99179132,810,652,630,653,0.450826441385,0.00464755602834,0.0595775199653,0.999999767992,0.000196998497179,-0.000650612483475,-4.37079018713e-05,1793245494534453504
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+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.263337688,745,713,682,652,627,880.526675376,783.736662312,810,653,630,653,0.449583568041,0.00465070885806,0.0595538368015,0.999999740777,0.000220812216297,-0.000684457460961,-3.47269377983e-05,1793245494584452864
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.062589024,659.937410976,633.062589024,878,785,806.937410976,652.062589024,629.937410976,652,0.402069522171,0.00453371059621,0.0598291742769,0.99999995259,0.000137230545885,-0.000272589705388,4.10121213995e-05,1793245495767785984
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,713.322790675,680,660,634,877.677209325,785,807,652.322790675,629.322790675,652,0.401620356976,0.00453248907299,0.0598235869097,0.999999949588,0.000129866805456,-0.000286897137094,4.06097166125e-05,1793245495817785856
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.703398981,660,633,878,785,807,652,630,652,0.400964886772,0.00451377484234,0.0598368388681,0.999999963008,1.1285056177e-05,-0.000271214540061,1.72731841939e-05,1793245496134454016
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.13190413,659.13190413,633.86809587,878,785,807,652,630,652,0.400962309304,0.00451292044577,0.0598355276606,0.999999962484,1.09894602409e-05,-0.000273152396469,1.73011693245e-05,1793245496167787520
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,659.886801201,633.556599399,878,785,807,652,630,652,0.400963061378,0.00451355486171,0.0598365753507,0.999999962872,1.26228517406e-05,-0.000271647933351,1.74392331821e-05,1793245496184453632
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.017485111,679,660.982514889,633,877.982514889,785,807,652,629.982514889,652,0.40096446438,0.00451444835673,0.0598382274217,0.999999963458,1.48738981853e-05,-0.000269354932264,1.76443762891e-05,1793245496201120000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,713.593226716,679,660.406773284,633,877.406773284,785,807,652,629.406773284,652,0.400964682233,0.00451379088166,0.059838662239,0.999999963608,1.49420003365e-05,-0.000268793118198,1.76413988227e-05,1793245496217786624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,713.82642584,679,660,633,877.17357416,785,807,652,629.17357416,652,0.400964729991,0.00451346553483,0.0598389229576,0.999999963753,1.46922901091e-05,-0.000268269892211,1.7576033173e-05,1793245496234452992
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,713.234990361,679,660,633,877.765009639,785,807,652,629.765009639,652,0.400964368267,0.00451393975145,0.0598387645523,0.999999963887,1.36774803971e-05,-0.000267839562949,1.73604746121e-05,1793245496251119616
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,713.347892717,679,660,633,877.652107283,785,807,652.347892717,629.652107283,652,0.40096541762,0.00451355741797,0.0598398642058,0.9999999644,1.36199502655e-05,-0.000265905664701,1.75891170322e-05,1793245496267786240
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745,713.925137506,679,660,633,877.074862494,785,807,652.925137506,629.074862494,652,0.400967397243,0.00451261039446,0.0598417932485,0.999999965156,1.41935171912e-05,-0.000262980522193,1.81106038085e-05,1793245496284452864
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,713.500362108,679,660,633,877,785,807,653,629,652,0.400965655235,0.00451231832074,0.059840760747,0.999999964665,1.31182622864e-05,-0.000264902266642,1.80104667895e-05,1793245496301120000
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.075680299,660,633.075680299,877.075680299,785,807,652.924319701,629.075680299,652,0.400963446585,0.00451251286759,0.059839378472,0.999999964007,1.22955822865e-05,-0.000267430873167,1.77613281924e-05,1793245496317787136
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.664962698,660,633.664962698,877.664962698,785,807,652.335037302,629.664962698,652,0.400961834722,0.00451534750917,0.0598386174375,0.999999963515,1.48544251067e-05,-0.000269176341834,1.71296342392e-05,1793245496334453248
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,660,633.749728735,878,785,807,652.250271265,630,652,0.400960888125,0.00451611804326,0.0598381114439,0.999999963343,1.58051195126e-05,-0.000269773983858,1.69175931673e-05,1793245496351119360
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,660,633.169656694,878,785,807,652.830343306,630,652,0.400960818199,0.00451416855214,0.059837941536,0.999999963601,1.46366393264e-05,-0.000268859050895,1.72585593451e-05,1793245496367786496
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.591658405,660,633,877.591658405,785,807,652.591658405,630,652,0.400961218813,0.00451371632225,0.0598384656036,0.999999963714,1.45769388605e-05,-0.000268425561175,1.75399946584e-05,1793245496384452864
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.014517394,660,633,877.014517394,785,807,652.014517394,630,652,0.400961813938,0.00451388302728,0.0598392765454,0.999999963766,1.49755835659e-05,-0.000268191089538,1.7796821204e-05,1793245496401119232
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.559390736,659.440609264,633,877.559390736,785,807,652.559390736,629.440609264,652,0.400963409373,0.00451256307326,0.0598407167838,0.999999964324,1.44788345233e-05,-0.000266118925059,1.79560182461e-05,1793245496417786112
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47ce98b6d0439fdeb5c3b576bb74a2eeeb9756cd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.575684141535,0.00987773167353,1.05005075348,0.546255774558,0.0185534172864,1.04971725668
+385,6.416666667,pose2_to_pose3_retreat,0.575680514644,0.00987771200539,1.05005071734,0.546252147994,0.0185533988818,1.04971722465
+386,6.433333333,pose2_to_pose3_retreat,0.575677973463,0.00987776250135,1.050050846,0.546249606175,0.0185534469796,1.04971734719
+387,6.450000000,pose2_to_pose3_retreat,0.575676341525,0.00987779492969,1.05005092862,0.546247973828,0.0185534778679,1.04971742588
+388,6.466666667,pose2_to_pose3_retreat,0.575675838107,0.00987780493312,1.05005095411,0.546247470284,0.0185534873963,1.04971745015
+389,6.483333333,pose2_to_pose3_retreat,0.575675390249,0.00987781383254,1.05005097678,0.546247022314,0.018553495873,1.04971747175
+390,6.500000000,pose2_to_pose3_retreat,0.575674449365,0.00987783365686,1.05005096841,0.546246081875,0.0185535171549,1.04971746205
+391,6.516666667,pose2_to_pose3_retreat,0.575673885624,0.00987784576513,1.05005095196,0.546245518538,0.0185535306153,1.049717445
+392,6.533333333,pose2_to_pose3_retreat,0.575673769319,0.00987784826317,1.05005094857,0.546245402317,0.0185535333923,1.04971744148
+393,6.550000000,pose2_to_pose3_retreat,0.57567374075,0.00987784887677,1.05005094773,0.546245373769,0.0185535340744,1.04971744062
+394,6.566666667,pose2_to_pose3_retreat,0.575673623797,0.00987785138874,1.05005094432,0.5462452569,0.0185535368669,1.04971743708
+395,6.583333333,pose2_to_pose3_retreat,0.575673336216,0.00987785756551,1.05005093593,0.546244969526,0.0185535437334,1.04971742838
+396,6.600000000,pose2_to_pose3_retreat,0.575673007113,0.0098778646341,1.05005092633,0.546244640659,0.0185535515914,1.04971741842
+397,6.616666667,pose2_to_pose3_retreat,0.575672597473,0.00987787343253,1.05005091437,0.546244231313,0.0185535613724,1.04971740603
+398,6.633333333,pose2_to_pose3_retreat,0.575672461571,0.00987787635148,1.05005091041,0.546244095509,0.0185535646173,1.04971740192
+399,6.650000000,pose2_to_pose3_retreat,0.575672282314,0.00987788020162,1.05005090518,0.546243916381,0.0185535688974,1.0497173965
+400,6.666666667,pose2_to_pose3_retreat,0.575671928447,0.00987788780211,1.05005089485,0.546243562769,0.0185535773466,1.04971738579
+401,6.683333333,pose2_to_pose3_retreat,0.575671363966,0.00987786056414,1.05005090214,0.546242998233,0.0185535498413,1.04971739099
+402,6.700000000,pose2_to_pose3_retreat,0.575670560071,0.00987781141387,1.05005091879,0.546242194138,0.0185534998835,1.04971740426
+403,6.716666667,pose2_to_pose3_retreat,0.575670063722,0.00987783491437,1.05005094256,0.546241696993,0.0185535207414,1.04971742953
+404,6.733333333,pose2_to_pose3_retreat,0.575669906778,0.00987787541165,1.05005095835,0.546241539384,0.0185535590865,1.04971744802
+405,6.750000000,pose2_to_pose3_retreat,0.575669755409,0.00987791447035,1.05005097359,0.546241387374,0.0185535960694,1.04971746585
+406,6.766666667,pose2_to_pose3_retreat,0.575669552646,0.00987787429069,1.05005098677,0.546241185017,0.0185535573896,1.04971748224
+407,6.783333333,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ba5c7573f90ad92d99331ef4ef679f088d38589
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5b6a49ffdb52930ef46c56068a81ae9153c0c61e0189a275cf898c3447cdfcf
+size 25648676
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1b0492cc941f22170f5f8e09ebf2407e3056ea9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,713,679,662,633,878,786,807,653,629,653,0.400941432957,0.00455998343933,0.049933279337,0.999999974573,8.83819505066e-05,-0.000206058403705,-2.41173575503e-05,1793245497665614080
+1,0.016666667,BASELINE,765,745,713,679.588240545,662,633,878,786,807,653,629.588240545,653,0.400942618382,0.00455876704224,0.0499343301831,0.999999975418,8.44632309086e-05,-0.000203623332096,-2.38380739101e-05,1793245497682281216
+2,0.033333333,BASELINE,764.825585913,745,713,679.825585913,662,633,878,786,807,653.174414087,630,652.825585913,0.40094365313,0.00455830713361,0.0499351617777,0.999999975938,8.28757680597e-05,-0.000201728734425,-2.36929949586e-05,1793245497698947840
+3,0.050000000,BASELINE,764.244234911,745,713,679.244234911,662,633,878,786,807,653.755765089,630,652.244234911,0.400944336321,0.00455961223741,0.0499354818225,0.999999975735,8.67275120351e-05,-0.000201095151369,-2.3861037689e-05,1793245497715614464
+4,0.066666667,BASELINE,764.330979937,745,713,679.330979937,662,633,878,786,807,653.669020063,630,652.330979937,0.400943708724,0.00455933909648,0.0499347014313,0.999999975594,8.5914295372e-05,-0.00020213920356,-2.38835895237e-05,1793245497732281344
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+7,0.116666667,BASELINE,765,745,713,679.948037612,662.051962388,634,877.051962388,786,807,653,629.051962388,652,0.400943468189,0.00455769423448,0.0499341371277,0.999999975742,8.21154635709e-05,-0.000203007917952,-2.3690486967e-05,1793245497782280704
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+9,0.150000000,BASELINE,765,745,713,679.237086184,663,633.762913816,877.762913816,786,806.762913816,653,630,652,0.400943450567,0.00455881829443,0.0499349960253,0.999999975606,8.41931263618e-05,-0.000202830241689,-2.36579816573e-05,1793245497815614208
+10,0.166666667,BASELINE,765,745,713,679.811499609,663,633.188500391,877.188500391,786,806.188500391,653,630,652,0.400942797022,0.00455977201982,0.0499337979617,0.999999975451,8.31848151154e-05,-0.000203937347166,-2.42559091463e-05,1793245497832280832
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+12,0.200000000,BASELINE,765,745,713,679.037773071,663.962226929,633.962226929,877.962226929,786,806,653,629.037773071,652,0.400942501976,0.00456056474332,0.0499337138666,0.999999975221,8.60443951299e-05,-0.00020392149744,-2.38792955765e-05,1793245497865614080
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+14,0.233333333,BASELINE,764.863443951,745,713,679,662,633.136556049,878,786,807,653,630,652,0.400945035667,0.00455808707774,0.0499342763446,0.999999975977,8.29424986969e-05,-0.000201544397919,-2.33564531173e-05,1793245497898947584
+15,0.250000000,BASELINE,764.28501774,745,713,679,662,633.71498226,878,786,807,653,630,652,0.400941241975,0.00455917747128,0.049931740181,0.999999974885,8.49623616894e-05,-0.000206021150591,-2.37912149284e-05,1793245497915614208
+16,0.266666667,BASELINE,764,745,713,679,662.292166225,634,878,786,807,653,630,652,0.400940311483,0.00455923122997,0.0499314725465,0.999999974664,8.54351577116e-05,-0.000206882034811,-2.3914600164e-05,1793245497932280832
+17,0.283333333,BASELINE,764,745,713,679,662.868143433,634,878,786,807,653,630,652,0.400942162313,0.00455827799897,0.0499334085669,0.999999975301,8.44051289828e-05,-0.000204230455325,-2.37355134083e-05,1793245497948947712
+18,0.300000000,BASELINE,764.442544458,745,713,679,662.557455542,633.557455542,878,786,807.442544458,653.442544458,630,652,0.400942872409,0.0045566026031,0.04993373876,0.999999975629,8.22553272771e-05,-0.000203544505594,-2.3343055684e-05,1793245497965614336
+19,0.316666667,BASELINE,765,745,713,679.017070236,662.017070236,633.017070236,878,786,807.982929764,653.982929764,630,652,0.400943247046,0.00455483726677,0.0499336031476,0.999999975854,7.9895854047e-05,-0.000203429657786,-2.29110869018e-05,1793245497982280704
+20,0.333333333,BASELINE,765,745,713,679.611648517,662.611648517,633.611648517,878,786,807.388351483,653.388351483,630,652,0.400943730566,0.00455728276291,0.0499338381328,0.99999997581,8.16902485005e-05,-0.000202892563995,-2.32855682057e-05,1793245497998947328
+21,0.350000000,BASELINE,765,745,713,680,663,634,878,786,807,653,630,652,0.400943465906,0.00455841623337,0.0499335202279,0.999999975676,8.27575575762e-05,-0.000203095122498,-2.34897034768e-05,1793245498015614208
+22,0.366666667,BASELINE,765,745,713,680,663,634,878,786,807,653,630,652,0.400941792328,0.00455707899151,0.0499321611601,0.999999975378,8.24556717588e-05,-0.000204690540863,-2.33730553552e-05,1793245498032281088
+23,0.383333333,BASELINE,765,745,713,679.646743627,662.646743627,634,877.646743627,785.646743627,807,653,629.646743627,652,0.400942270344,0.00455765960641,0.0499325176881,0.999999975339,8.38128001289e-05,-0.000204314604595,-2.35353169766e-05,1793245498048947712
+24,0.400000000,BASELINE,765,745,713,679.070354833,662.070354833,634,877.070354833,785.070354833,807,653,629.070354833,652,0.4009441074,0.00455945162472,0.0499339578624,0.999999975456,8.62178355422e-05,-0.000202693473305,-2.38737503724e-05,1793245498065614336
+25,0.416666667,BASELINE,764.483009728,745,713,679,662.516990272,633.483009728,877.516990272,785,807,653.516990272,629,652,0.400944083314,0.00455920613928,0.0499336990252,0.999999975418,8.62545395668e-05,-0.000202866023295,-2.38609724887e-05,1793245498082280960
+26,0.433333333,BASELINE,764.104239101,745,713,679.104239101,662.895760899,633,878.104239101,785.104239101,807,653.895760899,629.104239101,652,0.400943723058,0.00455859352082,0.0499331705375,0.999999975401,8.54626385927e-05,-0.000203295652467,-2.37753238257e-05,1793245498098947328
+27,0.450000000,BASELINE,764.684098468,745,713,679.684098468,662.315901532,633,878.684098468,785.684098468,807,653.315901532,629.684098468,652,0.400943009585,0.00455759828958,0.0499324894983,0.999999975569,8.2392396765e-05,-0.000203760416898,-2.35799802638e-05,1793245498115613952
+28,0.466666667,BASELINE,765,745,713,679.738855465,662.261144535,633.261144535,878.738855465,786,806.738855465,653,630,652.261144535,0.400942797938,0.00455765561614,0.049932523848,0.999999975554,8.23907743836e-05,-0.000203844937784,-2.34622936674e-05,1793245498132280576
+29,0.483333333,BASELINE,765,745,713,679.165176357,662.834823643,633.834823643,878.165176357,786,806.165176357,653,630,652.834823643,0.400943186869,0.00455897263103,0.0499334143664,0.999999975321,8.60616382724e-05,-0.000203474387835,-2.34375459857e-05,1793245498148947200
+30,0.500000000,BASELINE,765,745,713,679.407866731,663,633.592133269,878,786,806.407866731,653.407866731,630,653,0.400942776214,0.00455862166399,0.0499330895585,0.999999975378,8.50484346943e-05,-0.000203607879698,-2.35464399759e-05,1793245498165613824
+31,0.516666667,BASELINE,765,745,713,679.980652633,663,633.019347367,878,786,806.980652633,653.980652633,630,653,0.40094204225,0.00455759625553,0.0499322733385,0.999999975549,8.21412483428e-05,-0.000203945178723,-2.37093714061e-05,1793245498182280704
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+34,0.566666667,BASELINE,764.258057586,745,713.741942414,679.258057586,663,634,878,786,807,653.741942414,629.741942414,652.258057586,0.400942570459,0.00455819268378,0.0499326863259,0.999999975378,8.54455502059e-05,-0.000203475186313,-2.32600376846e-05,1793245498232280832
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+38,0.633333333,BASELINE,765,745,713,680,662,633.933043191,878,786,807.066956809,653,630,652.066956809,0.40093992428,0.00455723127534,0.0499308676889,0.999999974841,8.38232298292e-05,-0.000206776120335,-2.31432222866e-05,1793245498298947328
+39,0.650000000,BASELINE,765,745,713,680,662,633.354739209,878,786,807.645260791,653,630,652.645260791,0.400943141036,0.00455732805903,0.0499322374075,0.999999975576,8.25668717464e-05,-0.000203686823944,-2.33021563501e-05,1793245498315613952
+40,0.666666667,BASELINE,765,745,713,680,662.223020585,633,878,786,807.55395883,653,630,652.776979415,0.400944849952,0.00455719212203,0.0499330653571,0.999999975999,8.21435812984e-05,-0.000201767342652,-2.33489903003e-05,1793245498332280832
+41,0.683333333,BASELINE,765,745,713,680,662.799916858,633,878,786,806.400166285,653,630,652.200083142,0.40094416632,0.0045566869178,0.0499330336601,0.99999997594,8.30421526813e-05,-0.000201704053977,-2.32179505053e-05,1793245498348947712
+42,0.700000000,BASELINE,765,745,713,680,662.624986884,633.375013116,878,785.624986884,806.375013116,653,630,652.375013116,0.4009429283,0.00455670896127,0.0499318240436,0.99999997563,8.25216270447e-05,-0.000203443537361,-2.32567713232e-05,1793245498365614336
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+44,0.733333333,BASELINE,765,745,713,680,662.538609925,634,878,785.538609925,807,653.538609925,630,653,0.400942872204,0.00455676107239,0.0499316267935,0.999999975643,8.17655091675e-05,-0.000203681562931,-2.32808226744e-05,1793245498398947584
+45,0.750000000,BASELINE,765,745,713,680,663,634,878,786,807,653.873025913,630,652.873025913,0.400944053873,0.0045568197628,0.0499330878578,0.999999975983,8.27204422734e-05,-0.000201620253513,-2.32464528856e-05,1793245498415614208
+46,0.766666667,BASELINE,765,745,713,680,663,634,878,786,807,653.293851538,630,652.293851538,0.400943145134,0.00455816841577,0.0499327176302,0.999999975588,8.46115947965e-05,-0.000202758227681,-2.3544458709e-05,1793245498432280832
+47,0.783333333,BASELINE,765,745,713,680,663,633.715833757,878,786,807.284166243,653,630,652,0.400942442447,0.00455828790973,0.0499325515326,0.999999975448,8.47468213047e-05,-0.000203400954986,-2.34552972295e-05,1793245498448947456
+48,0.800000000,BASELINE,765,745,713,680,663,633.139007072,878,786,807.860992928,653,630,652,0.400941951974,0.00455714150324,0.0499325956667,0.999999975573,8.30736344915e-05,-0.000203533631815,-2.29673954114e-05,1793245498465614080
+49,0.816666667,BASELINE,764.567850022,745,713,679.567850022,662.567850022,633.432149978,878,785.567850022,807.567850022,653,630,652.432149978,0.400942524225,0.00455706051664,0.0499324921325,0.999999975603,8.34945289245e-05,-0.000203226681238,-2.28282180162e-05,1793245498482281216
+50,0.833333333,BASELINE,764.001572494,745,713,679.001572494,662.001572494,634,878,785.001572494,807.001572494,653,630,652.998427506,0.400943432991,0.00455731656411,0.0499323415714,0.999999975604,8.45759471188e-05,-0.000202779776113,-2.2800686139e-05,1793245498498947840
+51,0.850000000,BASELINE,764.595715278,745,713,679.595715278,662.595715278,634,878,785.595715278,807.595715278,653,630,652.404284722,0.400944003323,0.00455710716895,0.049932137368,0.999999975762,8.40204574527e-05,-0.00020219211202,-2.31221159354e-05,1793245498515614464
+52,0.866666667,BASELINE,765,745,713,680,663,634,878.185070212,786,807.814929788,653,630,652,0.400944854848,0.0045572124896,0.0499323401895,0.999999975976,8.33891664646e-05,-0.00020136281133,-2.33955888357e-05,1793245498532280832
+53,0.883333333,BASELINE,765,745,713,680,663,634,878.76422984,786,807.23577016,653,630,652,0.400946305148,0.00455798796764,0.0499334097316,0.999999976307,8.25964638033e-05,-0.000200018968516,-2.35669420668e-05,1793245498548947456
+54,0.900000000,BASELINE,764.659041704,745,713,680,663,634,878.659041704,785.659041704,807,653,630,652,0.400946266261,0.00455763180273,0.0499336980282,0.999999976354,8.23259502149e-05,-0.000199911256376,-2.34516265932e-05,1793245498565614336
+55,0.916666667,BASELINE,764.083982506,745,713,680,663,634,878.083982506,785.083982506,807,653,630,652,0.400945204901,0.00455649865528,0.0499334499239,0.999999976206,8.24139700464e-05,-0.000200652267754,-2.31394852753e-05,1793245498582280704
+56,0.933333333,BASELINE,764,745,712.510588615,679.510588615,663,633.510588615,877.510588615,785.489411385,807,653,630,652,0.400944450948,0.00455472416304,0.0499330556005,0.999999976302,7.90749208526e-05,-0.000201524692533,-2.30372544352e-05,1793245498598947584
+57,0.950000000,BASELINE,764,745,712.065228861,679,663,633,877,785.934771139,807,653,629.934771139,652,0.400943757367,0.00455313523616,0.0499326046356,0.999999976367,7.58630472097e-05,-0.000202439659396,-2.2994169967e-05,1793245498615614208
+58,0.966666667,BASELINE,764,745,712.663164641,679,663,633,877,785.336835359,807,653,629.336835359,652,0.400943127497,0.00455395750877,0.0499318953111,0.999999975943,7.84762061523e-05,-0.000203518517042,-2.31409465884e-05,1793245498632280832
+59,0.983333333,BASELINE,764,745,713,679,662.748560137,633.251439863,877.251439863,785,806.748560137,653,629.251439863,652,0.400943200126,0.00455477525339,0.0499316684528,0.999999975758,8.0319786492e-05,-0.000203700968637,-2.31875899867e-05,1793245498648947456
+60,1.000000000,BASELINE,764,745,713,679,662.172747541,633.827252459,877.827252459,785,806.172747541,653,629.827252459,652,0.400944179019,0.00455558715673,0.0499320640051,0.99999997589,8.11705639317e-05,-0.000202727001988,-2.31050554502e-05,1793245498665614336
+61,1.016666667,BASELINE,764,745,713.403494679,679,662.403494679,633.596505321,878,785.403494679,806.403494679,653,630,652,0.400945140836,0.00455622021071,0.049932717029,0.999999976075,8.20107249441e-05,-0.000201450963994,-2.3258016775e-05,1793245498682280960
+62,1.033333333,BASELINE,764,745,713.979920995,679,662.979920995,633.020079005,878,785.979920995,806.979920995,653,630,652,0.400946095334,0.00455677661254,0.0499334804013,0.999999976283,8.28463358671e-05,-0.000200045462908,-2.35119080227e-05,1793245498698947584
+63,1.050000000,BASELINE,764,745,713.43197479,679,663,633.56802521,878.56802521,786,807,653,630,652,0.400945018435,0.00455798837804,0.0499333067333,0.999999976049,8.35609890997e-05,-0.000200900224885,-2.36458029589e-05,1793245498715614208
+64,1.066666667,BASELINE,764,745,713,679,663,633.845867813,878.845867813,786,806.845867813,653,629.845867813,652,0.400943786067,0.00455816912729,0.0499328221925,0.999999975827,8.32249709757e-05,-0.000202148704399,-2.35598282819e-05,1793245498732280832
+65,1.083333333,BASELINE,764,745,713,679,663,633.266434852,878.266434852,786,806.266434852,653,629.266434852,652,0.400942327013,0.00455543970254,0.0499315731685,0.999999975677,8.00018549364e-05,-0.000204258487513,-2.28791118823e-05,1793245498748947456
+66,1.100000000,BASELINE,764.310490505,745,713,679.310490505,662.689509495,633,878,786,806.310490505,653,629,652,0.40094232682,0.00455440407766,0.0499316102029,0.999999975796,7.86836798558e-05,-0.000204205754223,-2.27263542554e-05,1793245498765614336
+67,1.116666667,BASELINE,764.885281272,745,713,679.885281272,662.114718728,633,878,786,806.885281272,653,629,652,0.400943568463,0.00455481027399,0.0499327419749,0.99999997615,7.89870566049e-05,-0.00020231221203,-2.30230134408e-05,1793245498782281216
+68,1.133333333,BASELINE,764.529641064,745,713,680,662.470358936,633.470358936,878,786,807,653,629.470358936,652,0.400945113494,0.00455433000419,0.04993329154,0.9999999766,7.78060973907e-05,-0.000200541295061,-2.30021325357e-05,1793245498798947840
+69,1.150000000,BASELINE,764,745,713,679.94283829,663,634,878,786,807,653,630,652.05716171,0.400946390497,0.00455386711373,0.0499335612937,0.999999976962,7.66245238638e-05,-0.00019919584036,-2.29361488206e-05,1793245498815614208
+70,1.166666667,BASELINE,764,745,713,679.363705654,663,634,878,786,807,653,630,652.636294346,0.400944529216,0.00455558134361,0.0499326016006,0.999999976333,7.88170701249e-05,-0.000201456277377,-2.31813262298e-05,1793245498832280576
+71,1.183333333,BASELINE,764,745,713,679.214593884,662.785406116,634,878,786,807,653,630,653,0.400943515726,0.00455670673689,0.0499320778032,0.999999975853,8.1308316644e-05,-0.000202832452885,-2.32620423349e-05,1793245498848947456
+72,1.200000000,BASELINE,764,745,713,679.791486996,662.208513004,634,878,786,807,653,630,653,0.400943933563,0.00455683799657,0.049932289929,0.999999975634,8.43038596834e-05,-0.000202715728514,-2.30650981732e-05,1793245498865614080
+73,1.216666667,BASELINE,764.367039018,745,713,680,662.367039018,634,878,786,807,653,630,652.632960982,0.400944500015,0.00455714768962,0.0499328193838,0.999999975802,8.41505728614e-05,-0.000201936200011,-2.3168253019e-05,1793245498882280448
+74,1.233333333,BASELINE,764.941831911,745,713,680,662.941831911,634,878,786,807,653,630,652.058168089,0.400945150586,0.00455755838072,0.0499335284551,0.999999976189,8.22149641519e-05,-0.000200781506694,-2.3441271921e-05,1793245498898947072
+75,1.250000000,BASELINE,765,745,713,679.471358314,663.528641686,633.471358314,878,786,807,653,630,652,0.400944260753,0.00455607586345,0.0499334206196,0.999999976192,8.08131066151e-05,-0.00020134865635,-2.33216343141e-05,1793245498915614720
+76,1.266666667,BASELINE,765,745,713,679.115884023,663.884115977,633.115884023,877.884115977,786,807,653,630,652.115884023,0.40094347776,0.00455507680598,0.0499332372757,0.999999976174,8.00611442574e-05,-0.000201751331406,-2.32219708554e-05,1793245498932281856
+77,1.283333333,BASELINE,765,745,713,679.699411919,663.300588081,633.699411919,877.300588081,786,807,653,630,652.699411919,0.400943825817,0.00455688892556,0.0499331203922,0.999999976248,8.1689283896e-05,-0.000200707939242,-2.33813199032e-05,1793245498948948224
+78,1.300000000,BASELINE,765,745.278003419,713,680,663,634,877.278003419,785.721996581,807,653,630,652.721996581,0.400943125268,0.00455718912042,0.0499323894436,0.999999976085,8.1873792029e-05,-0.000201444387596,-2.33810634442e-05,1793245498965614592
+79,1.316666667,BASELINE,765,745.851350578,713,680,663,634,877.851350578,785.148649422,807,653,630,652.148649422,0.400941310708,0.00455588308491,0.0499310061279,0.999999975666,8.05246227676e-05,-0.000204071693186,-2.32112461554e-05,1793245498982280960
+80,1.333333333,BASELINE,765,745.571771144,713,679.571771144,663,634,877.571771144,785.428228856,807,653.428228856,629.571771144,652,0.400942352822,0.00455531888151,0.049931455911,0.999999975726,8.11688737311e-05,-0.000203562004824,-2.28690653092e-05,1793245498998947328
+81,1.350000000,BASELINE,764.993566137,745,713,679.006433863,662.993566137,633.993566137,877.006433863,786,807,653.993566137,629.006433863,652,0.40094438278,0.00455502663718,0.0499325403638,0.99999997595,8.25078903834e-05,-0.000201960292765,-2.24739316262e-05,1793245499015614208
+82,1.366666667,BASELINE,764.407181124,745,713,679.592818876,662.407181124,633.407181124,877.592818876,786,807,653.407181124,629.592818876,652,0.400945328617,0.00455584390931,0.0499329994765,0.999999976069,8.35804547385e-05,-0.000200896072338,-2.27437239036e-05,1793245499032280832
+83,1.383333333,BASELINE,764.176987784,745,713,679.823012216,662.176987784,633.176987784,878,786,806.823012216,653,630,652,0.400945804917,0.00455655740918,0.0499333501202,0.999999976129,8.42144735918e-05,-0.000200302685796,-2.30035929233e-05,1793245499048947200
+84,1.400000000,BASELINE,764.756121446,745,713,679.243878554,662.756121446,633.756121446,878,786,806.243878554,653,630,652,0.400945214347,0.00455703512126,0.0499334543041,0.999999976058,8.38520438506e-05,-0.000200779112467,-2.32409146931e-05,1793245499065614592
+85,1.416666667,BASELINE,765,745,713,679,662.667702254,634,878,786,806.332297746,653,630,652,0.400944669309,0.00455685026873,0.0499333672228,0.999999976078,8.26037344373e-05,-0.000201191378687,-2.32980068108e-05,1793245499082281472
+86,1.433333333,BASELINE,765,745,713,679,662.093677295,634,878,786,806.906322705,653,630,652,0.400944157393,0.00455618343908,0.0499331410073,0.999999976161,8.07109992981e-05,-0.000201556971895,-2.32239923631e-05,1793245499098948096
+87,1.450000000,BASELINE,764.507555303,745,713,679.492444697,662.492444697,634,878,786,807,653,630,652.492444697,0.40094393432,0.00455649717948,0.0499325324049,0.999999976117,8.1121953104e-05,-0.000201613429624,-2.31976142045e-05,1793245499115614208
+88,1.466666667,BASELINE,764.080097894,745,713,679.919902106,663,633.919902106,878.080097894,786,807,653,629.919902106,653,0.400943775912,0.0045568532453,0.0499318989507,0.99999997605,8.1550861626e-05,-0.000201766896356,-2.32090550883e-05,1793245499132280576
+89,1.483333333,BASELINE,764.662558282,745,713,679.337441718,663,633.337441718,878.662558282,786,807,653,629.337441718,653,0.400943669776,0.00455627539957,0.0499315773418,0.999999975998,7.92746545373e-05,-0.000202906904398,-2.33994259154e-05,1793245499148947200
+90,1.500000000,BASELINE,765,745,713,679.242197,663,633.242197,878.757803,786,807,653,629.242197,653,0.400944029284,0.00455612484822,0.0499318216958,0.999999976083,7.86787060746e-05,-0.000202713938744,-2.34699906084e-05,1793245499165614080
+91,1.516666667,BASELINE,765,745,713,679.817949643,663,633.817949643,878.182050357,786,807,653,629.817949643,653,0.400945030084,0.00455656277016,0.0499328454987,0.999999976358,8.03968233988e-05,-0.000200685190976,-2.33755573209e-05,1793245499182280704
+92,1.533333333,BASELINE,765,745.391602266,713,680,663,634,878,786,807,653,630,653,0.400944060178,0.00455566970533,0.0499325026213,0.999999976236,7.95208818354e-05,-0.000201683707531,-2.29716922885e-05,1793245499198947328
+93,1.550000000,BASELINE,765,745.964283876,713,680,663,634,878,786,807,653,630,653,0.400942179005,0.00455416118391,0.0499315277824,0.999999975925,7.74454313185e-05,-0.000204082049919,-2.24247440673e-05,1793245499215614208
+94,1.566666667,BASELINE,765,745.447995183,713,679.447995183,663,634,878.552004817,785.447995183,807,653,630,653,0.400942669083,0.0045565671401,0.0499312185542,0.999999975779,8.061867137e-05,-0.000203496697081,-2.30392705384e-05,1793245499232281088
+95,1.583333333,BASELINE,765,745,713,679,663,634,878.860800151,785.139199849,807,653,630,652.860800151,0.400943455368,0.00455818914127,0.0499312325571,0.999999975732,8.29978224499e-05,-0.000202728484026,-2.3433409543e-05,1793245499248947968
+96,1.600000000,BASELINE,765,745,713,679,663,634,878.278463708,785.721536292,807,653,630,652.278463708,0.400944682509,0.00455648657881,0.0499321346106,0.999999975994,8.17376338159e-05,-0.000202009931168,-2.28800163991e-05,1793245499265614336
+97,1.616666667,BASELINE,765,745,713,679.299729087,663,634,878,786,807,653,630,652,0.400945273155,0.00455601621075,0.0499330274436,0.9999999761,8.20736523924e-05,-0.000201383870711,-2.25280569752e-05,1793245499282280704
+98,1.633333333,BASELINE,765,745,713,679.874124681,663,634,878,786,807,653,630,652,0.400945280529,0.00455667500424,0.049933911827,0.999999976064,8.38724074839e-05,-0.000200842568719,-2.2360687931e-05,1793245499298947328
+99,1.650000000,BASELINE,764.551290052,745,713,680,663,633.551290052,878,785.551290052,807,653,629.551290052,652,0.400944467,0.00455535401849,0.0499326923455,0.999999975994,8.21196684224e-05,-0.000201900759173,-2.24457976801e-05,1793245499315613952
+100,1.666666667,BASELINE,764,745,713,680,662.975915547,633,878,785.024084453,807,653,629,652,0.400943539445,0.00455365309452,0.0499310332566,0.999999975922,7.95982657677e-05,-0.000203246955442,-2.25967013718e-05,1793245499332280832
+101,1.683333333,BASELINE,764,745,713,680,662.383162635,633,878,785.616837365,807,653,629,652,0.400945359252,0.00455610018976,0.0499329355613,0.999999976185,8.2461407686e-05,-0.000200794427345,-2.26280565774e-05,1793245499348947968
+102,1.700000000,BASELINE,764,745,713,679.795783752,662.204216248,633,878,786,807,653,629.204216248,652.204216248,0.400946010292,0.00455755304787,0.0499337222482,0.999999976268,8.41371631427e-05,-0.000199664622664,-2.27974727959e-05,1793245499365614848
+103,1.716666667,BASELINE,764,745,713,679.21822947,662.78177053,633,878,786,807,653,629.78177053,652.78177053,0.400944524654,0.00455718829062,0.0499324694177,0.999999976041,8.36421971421e-05,-0.000200952955723,-2.32192853204e-05,1793245499382281216
+104,1.733333333,BASELINE,764,745,713,679.35642357,663,633,878,785.64357643,807,653,629.64357643,652.64357643,0.400943657255,0.00455668166411,0.0499320699073,0.999999976015,8.22643196174e-05,-0.000201640368774,-2.33055113638e-05,1793245499398947584
+105,1.750000000,BASELINE,764,745,713,679.929314649,663,633,878,785.070685351,807,653,629.070685351,652.070685351,0.400943165333,0.00455608887581,0.0499321886456,0.999999976109,8.03502214526e-05,-0.000201962823884,-2.31879249742e-05,1793245499415614208
+106,1.766666667,BASELINE,764,745,713,680,663,633,878,785.518314555,807,653,629.518314555,652.518314555,0.400943258512,0.00455606523801,0.0499321335743,0.999999975919,8.14155630708e-05,-0.000202501316691,-2.29543483208e-05,1793245499432280576
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,878,785,807,653,629,653,0.40094187403,0.00455700100077,0.0499310966517,0.999999975232,8.37794640411e-05,-0.000204892072456,-2.31764045669e-05,1793245499474684416
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.424139536,745,713,679,663,633.424139536,878,785.575860464,807,653,629.575860464,653,0.400942787747,0.00455648874784,0.0499311409721,0.999999975621,8.27806815229e-05,-0.000203391952427,-2.31908646849e-05,1793245499491351296
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.154641173,679,663,633,878.154641173,785.845358827,807,653,629.845358827,652.845358827,0.400943167077,0.00455608317259,0.0499310392249,0.999999975833,8.17364828731e-05,-0.000202767127608,-2.31968597842e-05,1793245499508018176
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.741585629,679,663,633,878.741585629,785.258414371,807,653,629.258414371,652.258414371,0.400942052518,0.00455597581733,0.0499305291419,0.999999975558,8.05653220593e-05,-0.000204589212194,-2.31791907137e-05,1793245499524684544
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.676438855,679,662.676438855,633,878.676438855,785,807,653,629,652,0.40094207105,0.00455659000914,0.0499307966787,0.999999975448,8.13698936218e-05,-0.000204814590012,-2.31279553016e-05,1793245499541351168
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.098371831,679,662.098371831,633,878.098371831,785,807,653,629,652,0.400942980846,0.00455777175358,0.0499316758736,0.999999975465,8.37285316631e-05,-0.000203784034284,-2.30503173651e-05,1793245499558017280
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713,679,662,633,877.5184888,785,807,653,629,652,0.40094801099,0.00455766957753,0.0499328457338,0.999999976216,8.32171522786e-05,-0.000200301876621,-2.28552912732e-05,1793245499574683648
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713,679,662.061087862,633.061087862,877,785.061087862,807,653,629,652,0.400954957857,0.00455729266166,0.049934486629,0.999999977255,8.22409969553e-05,-0.000195474490055,-2.27152670337e-05,1793245499591350272
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679,662.634966657,633.634966657,877,785.634966657,807,653,629,652,0.400970901399,0.00455681967892,0.0499395811808,0.999999979493,8.23039150291e-05,-0.000183575099363,-2.3239021976e-05,1793245499608017152
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745.213929639,713,679.213929639,663,634,877.213929639,786,807,653,629,652,0.400992416396,0.0045563839975,0.0499454646901,0.999999982232,8.14273777238e-05,-0.000168367120376,-2.3633130719e-05,1793245499624683776
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745.801779025,713,679.801779025,663,634,877.801779025,786,807,653,629,652,0.401023669533,0.00455601351373,0.0499527271885,0.999999985744,7.89088008985e-05,-0.000147376182828,-2.38006355811e-05,1793245499641350656
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.383697561,745.616302439,713,680,663,634,878,786,807,653,629.383697561,652,0.401061700525,0.00455626999056,0.0499576605163,0.999999988494,7.9786914221e-05,-0.000126685393765,-2.4426550553e-05,1793245499658017792
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.962598866,745.037401134,713,680,663,634,878,786,807,653,629.962598866,652,0.401103179711,0.00455684542964,0.0499614088937,0.999999990652,8.23930722618e-05,-0.00010614730145,-2.52856788242e-05,1793245499674684928
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,713,679.454140505,662.454140505,634,878,786,807,653.545859495,630,652.545859495,0.401156802983,0.00455599004839,0.0499652903663,0.999999992834,8.04072835492e-05,-8.48228136223e-05,-2.58996291843e-05,1793245499691350784
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,713,679.126545044,662.126545044,634,878,785.873454956,807,653.873454956,630,653,0.401213745155,0.00455536992267,0.0499685485754,0.999999994187,7.86700409383e-05,-6.89109149503e-05,-2.62506707343e-05,1793245499708016896
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,713,679.697138213,662.697138213,634,878,785.302861787,807,653.302861787,630,653,0.40127939009,0.00455592209292,0.0499695874885,0.99999999395,7.89178793258e-05,-7.21824482676e-05,-2.57385849131e-05,1793245499724683776
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.724208175,745,713,680,663,634,878,785,807,653,630,652.724208175,0.401357275058,0.00455559542654,0.0499714662421,0.999999994095,7.86895079336e-05,-7.06265492659e-05,-2.51152194678e-05,1793245499741350400
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.136436505,745,713,680,663,634,878,785,807,653,630,652.136436505,0.401449006129,0.00455427460696,0.0499742950356,0.999999994644,7.79224408828e-05,-6.36097862597e-05,-2.43659728738e-05,1793245499758016768
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.444373214,745,713,679.555626786,663,633.555626786,878,785.444373214,807,653,630,652,0.401554804135,0.00455436734131,0.0499748141268,0.999999994884,7.60055832132e-05,-6.23427735533e-05,-2.38282674813e-05,1793245499774683904
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.977064306,745,713,679,662.977064306,633.022935694,878,785.977064306,807,653,629.977064306,652.022935694,0.401666086003,0.00455473387337,0.0499746842943,0.999999995046,7.36610790865e-05,-6.27549657371e-05,-2.33092312913e-05,1793245499791350784
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.401936522,745,713,679,662.401936522,633.598063478,878,785.401936522,807,653,629.401936522,652.598063478,0.401807016915,0.00455140447739,0.0499757411175,0.999999995451,6.93888321397e-05,-6.17486761191e-05,-2.17000798537e-05,1793245499808017664
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679,662.177065883,634,878,785.177065883,807,653,629.177065883,652.822934117,0.401956102654,0.00454911183684,0.0499768635202,0.999999995767,6.62750739058e-05,-6.04872740946e-05,-2.03550469974e-05,1793245499824684544
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679,662.765060298,634,878,785.765060298,807,653,629.765060298,652.234939702,0.402124113822,0.00454922526378,0.0499781381175,0.99999999592,6.58498978238e-05,-5.86338159395e-05,-1.96229718664e-05,1793245499841351168
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679.346874774,663,634,878,785.653125226,807,653,630,652,0.402312050032,0.00454714229113,0.049974937401,0.999999995874,6.19149799353e-05,-6.38872286961e-05,-1.83818874995e-05,1793245499858017536
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713,679.924576879,663,634,878,785.075423121,807,653,630,652,0.402513245349,0.00454359772748,0.0499687585934,0.999999995582,5.56445092577e-05,-7.38698984943e-05,-1.68020835787e-05,1793245499874683904
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,679.49582693,663,634,878,785,807,653,630,652,0.402748510168,0.00454132032523,0.0499677241124,0.999999995682,5.26762527906e-05,-7.50327734139e-05,-1.5230593876e-05,1793245499891350528
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.083260498,745,713,679,662.916739502,634,878,785,807,653,629.916739502,652.083260498,0.402996615968,0.00453899137101,0.0499685568811,0.999999996045,4.94781346116e-05,-7.26463725853e-05,-1.35986802755e-05,1793245499908017152
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.657669232,745,713,679,662.342330768,634,878,785,807,653,629.342330768,652.657669232,0.403290291388,0.00453523586936,0.0499758476157,0.999999997418,4.19989923399e-05,-5.71355536878e-05,-1.16029647096e-05,1793245499924683776
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,713,679.237369303,662.237369303,634,878,785,807,653,629,652.762630697,0.403598038691,0.00453229085384,0.0499837473764,0.999999998454,3.68094271469e-05,-4.05630266023e-05,-9.52448773194e-06,1793245499941350400
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,713,679.824874423,662.824874423,634,878,785,807,653,629,652.175125577,0.403926542958,0.00453054136053,0.0499925454913,0.999999999109,3.49971438318e-05,-2.24244088953e-05,-7.32393218172e-06,1793245499958017024
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.592798889,745,713,679.592798889,663,633.592798889,878,785.407201111,807,653,629,652.407201111,0.404296478195,0.00452732495832,0.0500015506865,0.999999999531,2.97199378406e-05,-5.70040560458e-06,-4.72464869021e-06,1793245499974683904
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.012671343,745,713,679.012671343,663,633.012671343,878,785.987328657,807,653,629,652.987328657,0.404684007947,0.00452348560272,0.0500106438224,0.99999999968,2.29712803003e-05,1.04228517452e-05,-1.9560371281e-06,1793245499991350528
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.563924948,745,713,679,663,633.563924948,878.563924948,785.436075052,807,653,629,652.436075052,0.405097688731,0.00451995176325,0.0500139081471,0.999999999634,1.70854364458e-05,2.09534167407e-05,2.84704770794e-07,1793245500008017152
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,713.140003753,679.140003753,663,633.859996247,878.859996247,785.140003753,807,653,629,652,0.405510861061,0.00451584581292,0.0500104183906,0.999999999781,1.09323486436e-05,1.75977234782e-05,2.80502419877e-06,1793245500024683776
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713.714720491,679.714720491,663,633.285279509,878.285279509,785.714720491,807,653,629,652,0.405920641375,0.00450994227059,0.0499863612881,0.999999999567,3.88964366324e-06,-2.84871657668e-05,6.23003398941e-06,1793245500041350400
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,713.702695067,680,663,633.297304933,878.297304933,786,807,653,629.297304933,652,0.406354024897,0.00450498827596,0.0499644730827,0.999999997608,-1.24648299608e-06,-6.8483120367e-05,9.59683460766e-06,1793245500058017024
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,713.112355869,680,663,633.887644131,878.887644131,786,807,653,629.887644131,652,0.406810672625,0.00450097018846,0.049944722616,0.999999994656,-4.5034194089e-06,-0.000102477610948,1.29062626167e-05,1793245500074683648
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633.530912146,878.530912146,786,807,653,630,652.469087854,0.407346398381,0.00449723154289,0.0499413067249,0.999999994372,-3.4938379004e-06,-0.000104822078734,1.6009850721e-05,1793245500091350272
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.951838521,745,713,680,663,633,878,785.951838521,807,653,630,653,0.407905892152,0.00449303889062,0.0499440053517,0.999999995252,7.4946925828e-07,-9.55401190842e-05,1.91642427821e-05,1793245500108016896
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.375823496,745,713,680,663,633,878,785.375823496,807,653,630,653,0.408522156782,0.00448315036055,0.0499716367819,0.999999998478,2.94428263706e-05,-4.03716015619e-05,2.34057578786e-05,1793245500124683776
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.203908495,745,713,680,663,633,878,785.203908495,807,653,630,652.796091505,0.409138988941,0.00447521983491,0.0499958313857,0.999999998702,4.32051043152e-05,3.73475992911e-06,2.67406318779e-05,1793245500141350400
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.790618382,745,713,680,663,633,878,785.790618382,807,653,630,652.209381618,0.409756886495,0.00447096510972,0.050013573967,0.999999998812,2.89369747229e-05,2.70739167375e-05,2.83734507477e-05,1793245500158017024
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633,878,785.627195418,807.372804582,653,630,652,0.410382524245,0.00446329586511,0.0500102177312,0.999999999498,4.24225889547e-06,1.36353197997e-05,2.82746579986e-05,1793245500174683648
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633,878,785.047519458,807.952480542,653,630,652,0.411012457053,0.00445373188443,0.0499951536416,0.999999999081,-2.6238228361e-05,-2.02114622948e-05,2.72149840363e-05,1793245500191350528
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633,878,785,807.470031206,653,630,652,0.411675533311,0.00444652714958,0.049963372374,0.999999995611,-3.74280674177e-05,-8.10427558079e-05,2.84586948046e-05,1793245500208016896
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713,680.106403773,663,633,878,785,807,653,629.893596227,652,0.412362168983,0.00444012738514,0.0499409657958,0.999999991252,-4.44615107951e-05,-0.000121011285774,2.95937658876e-05,1793245500224683520
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713,680.679079106,663,633,878,785,807,653,629.320920894,652,0.413139074932,0.00443633189861,0.049966181511,0.999999996995,-4.08297294297e-05,-5.89980236867e-05,2.93514443193e-05,1793245500241350144
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.739825568,745,713.260174432,680.739825568,663,633,878,785,807,652.739825568,629.260174432,652,0.413904133199,0.0044340676629,0.0499829520224,0.999999998677,-3.39144945348e-05,-2.40567543189e-05,3.02759368986e-05,1793245500258017024
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.147996881,745,713.852003119,680.147996881,663,633,878,785,807,652.147996881,629.852003119,652,0.41465408888,0.0044337553704,0.0499889571141,0.999999998926,-2.28137160361e-05,-2.3625176776e-05,3.26878119846e-05,1793245500274683648
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.433747114,745,713.566252886,680,663,633.433747114,878,785.433747114,807.433747114,652.433747114,630,652,0.415412743162,0.00444447382059,0.0499656499234,0.999999997325,-1.91078705844e-05,-6.31623396123e-05,3.15471250469e-05,1793245500291350272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.012081421,745.012081421,713,680,663,633.987918579,878.012081421,785.987918579,808,653,630,652,0.416176292853,0.00445856907368,0.0499335033792,0.999999992869,-1.78802675499e-05,-0.000114389839728,2.92928542594e-05,1793245500308016896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.588226711,745.588226711,713,680,663,633.411773289,878.588226711,785.411773289,808,653,630,652,0.417032980745,0.00445859117278,0.0499450060412,0.999999995415,-1.72307880423e-05,-8.91722976555e-05,3.0354740112e-05,1793245500324683776
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.835701799,745.835701799,713.164298201,680,663.164298201,633,879,785,808,653,630,652,0.417891049911,0.00445665424405,0.0499599585135,0.999999997591,-1.70223292886e-05,-5.9590767515e-05,3.12668785118e-05,1793245500341350400
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.259815224,745.259815224,713.740184776,680,663.740184776,633,879,785,808,653,630,652,0.418752579295,0.00444980969569,0.049983553209,0.999999999152,-1.79186849645e-05,-1.90768808711e-05,3.18038799988e-05,1793245500358017024
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663.674396891,633,879,785,808,653,630.325603109,652,0.419583329177,0.00444562545203,0.0499824091301,0.999999998878,-2.13201786392e-05,-2.69364208551e-05,3.26130119655e-05,1793245500374683648
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663.081143344,633,879,785,808,653,630.918856656,652,0.420388777822,0.00444362801743,0.0499609294217,0.999999996296,-2.67809317073e-05,-7.45596150563e-05,3.36458390466e-05,1793245500391350272
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.497611993,745,713.502388007,680,663,633,878.502388007,785,808.497611993,652.502388007,630.502388007,652,0.421309744723,0.00444245525097,0.0499753237992,0.999999998484,-3.1405872175e-05,-3.12021045544e-05,3.27467886233e-05,1793245500408016896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,713.073609854,680,663.073609854,633.073609854,878.073609854,785.073609854,808.926390146,652.073609854,630,652,0.422245285498,0.00444188288916,0.0499935773358,0.999999998692,-3.47344008344e-05,1.99094465833e-05,3.18384345938e-05,1793245500424683264
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,713.64648575,680,663.64648575,633.64648575,878.64648575,785.64648575,808.35351425,652.64648575,630,652,0.423155527572,0.0044444965639,0.0499994522597,0.999999998669,-3.01681321533e-05,2.58369300696e-05,3.29431597262e-05,1793245500441349888
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.779256748,745,713.779256748,680,663.779256748,633.779256748,879,785.779256748,808.220743252,653,630,652,0.424058743118,0.00444618588649,0.0499978945948,0.999999998758,-2.90870807351e-05,2.23766462459e-05,3.37185704716e-05,1793245500458016768
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.202772617,745,713.202772617,680,663.202772617,633.202772617,879,785.202772617,808.797227383,653,630,652,0.424950635137,0.00444638556103,0.0499843588718,0.999999998851,-3.36226634898e-05,3.78741801344e-06,3.3963271664e-05,1793245500474683648
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.385051802,633,879,785,809.385051802,652.614948198,630,652,0.425856318287,0.00444249681609,0.0499937044059,0.999999998558,-3.85146754288e-05,1.12867554451e-05,3.56725083491e-05,1793245500491350272
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.979029326,633,879,785,809.979029326,652.020970674,630,652,0.426769484331,0.00443638973068,0.0500154651096,0.999999997778,-4.36000824261e-05,3.29415203244e-05,3.81763890904e-05,1793245500508016896
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713,680,664,633,879.55388798,785,809.44611202,652,630,652.55388798,0.427625013798,0.00443737535689,0.0499934307916,0.999999998475,-2.92894005933e-05,-2.51248678176e-05,3.95198659861e-05,1793245500524683520
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713,680.128313311,663.871686689,633,880,785,809,652,630,653,0.428494604705,0.00443839739038,0.0499710464976,0.999999996226,-1.92985484335e-05,-7.45356872314e-05,4.02383455178e-05,1793245500541350144
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713,680.703666677,663.296333323,633,880,785,809,652,630,653,0.42942053419,0.00443864190933,0.0499530269831,0.999999995386,-2.68309643709e-05,-8.36258918342e-05,3.89273090967e-05,1793245500558016768
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.286090034,680.713909966,663.286090034,633,880,785.286090034,809,652,630.286090034,653,0.430332489745,0.00443881956365,0.0499492967662,0.999999995757,-3.09734464365e-05,-7.7779164373e-05,3.84277866831e-05,1793245500574683648
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.876022039,680.123977961,663.876022039,633,880,785.876022039,809,652,630.876022039,653,0.431229604228,0.00443892620436,0.0499607425014,0.999999997179,-3.15156481298e-05,-5.60686648991e-05,3.87901329432e-05,1793245500591350272
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.542549322,680,664,633,879.542549322,785.542549322,809.457450678,652.457450678,630.542549322,652.542549322,0.432095014717,0.00443720887108,0.0499484810562,0.999999995574,-3.4202385645e-05,-7.82523487736e-05,3.94820612768e-05,1793245500608017152
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713,680,664,633,879.036352651,785,810,652.963647349,630.036352651,652,0.432954854771,0.0044349549865,0.0499325250237,0.999999992741,-3.73839878436e-05,-0.000107240814537,4.02365903912e-05,1793245500624683776
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713,680,664,633,879.611340131,785,810,652.388659869,630.611340131,652,0.433857146634,0.00443194187844,0.0499552895414,0.999999996349,-3.94433644234e-05,-6.40071935092e-05,4.06193292132e-05,1793245500641350400
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.809541803,745,713,680.190458197,664,633,879.809541803,785,810,652.190458197,630.809541803,652,0.434741474167,0.00443036412311,0.0499744585742,0.999999997775,-4.10201784975e-05,-3.24477053632e-05,4.14164967335e-05,1793245500658017024
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.221807654,745,713,680.778192346,664,633,879.221807654,785,810,652.778192346,630.221807654,652,0.435588330149,0.00443178036343,0.0499861278045,0.999999997889,-4.1590417985e-05,-2.52392339723e-05,4.30781195306e-05,1793245500674683904
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.360968919,745,713,680.639031081,664,633,879.360968919,785,810,652.639031081,630,652.360968919,0.436397976545,0.00443345736815,0.0499731435719,0.999999996279,-4.14997303772e-05,-6.10575878365e-05,4.46193271568e-05,1793245500691350272
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.940740406,745,713,680.059259594,664,633,879.940740406,785,810,652.059259594,630,652.940740406,0.43718506817,0.00443529243603,0.0499452155562,0.999999990538,-4.10084193461e-05,-0.000122956801938,4.60875444708e-05,1793245500708016896
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713,680.519555284,663.480444716,633,880,785,810,652,630.519555284,652.480444716,0.438032497498,0.00443502307869,0.0499656526297,0.999999996316,-3.0270233174e-05,-6.70083005746e-05,4.42938607509e-05,1793245500724683776
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713,681,663.09713793,633,880,785,810,652.09713793,631,652.09713793,0.438870332137,0.00443473367854,0.0499866035952,0.999999998844,-1.9135898283e-05,-1.1565084965e-05,4.25740693093e-05,1793245500741350400
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713,681,663.669228109,633,880,785,810,652.669228109,631,652.669228109,0.439627666369,0.00443551772675,0.049983144361,0.999999998712,-1.17686237988e-05,-2.41934219682e-05,4.30313383841e-05,1793245500758017280
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713,681,663.75082422,633,880,785,810,652.75082422,630.75082422,653,0.440369373425,0.00443463720322,0.0499722721629,0.999999997989,-1.25391723847e-05,-4.43384460773e-05,4.35751076956e-05,1793245500774683648
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713,681,663.160106433,633,880,785,810,652.160106433,630.160106433,653,0.44108966045,0.00443147507276,0.0499512391115,0.999999995926,-2.44641299857e-05,-7.47864945397e-05,4.42374416977e-05,1793245500791350272
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713,681,663,632.576994832,880,785,810.423005168,652,630,652.576994832,0.441804338145,0.00443362208356,0.0499517181256,0.999999996099,-2.88652601081e-05,-7.11196906702e-05,4.37011321767e-05,1793245500808017152
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713,681.003256929,663,632.003256929,880,785,810.996743071,652.003256929,630.003256929,652.003256929,0.442516479308,0.00443777438848,0.0499601113505,0.999999997117,-3.03713601408e-05,-5.49276827104e-05,4.27295625799e-05,1793245500824683776
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713,681.577926603,663,632.577926603,880,785,810.422073397,652.577926603,630.577926603,652.577926603,0.443149499021,0.00444741668951,0.0499537264244,0.99999999672,-1.47572458213e-05,-6.66500449206e-05,4.35843692401e-05,1793245500841350400
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713,681.844205246,662.844205246,633,879.844205246,785,810.155794754,653,631,653,0.443757600374,0.00445746902081,0.0499332822191,0.9999999938,2.1927627291e-06,-0.000102353891577,4.38003311488e-05,1793245500858017280
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713,681.25749014,662.25749014,633,879.25749014,785,810.74250986,653,631,653,0.444296778956,0.00446865547715,0.049873950762,0.999999977959,2.28377902305e-05,-0.000204389304853,4.22492809469e-05,1793245500874683904
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.324809882,681,661.675190118,632.350380236,879.324809882,785,811,653,631,653,0.444845382982,0.00448030203896,0.0498331183478,0.999999963686,3.76888973537e-05,-0.000263821408669,4.00844360302e-05,1793245500891350528
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.903656787,681,661.096343213,631.192686427,879.903656787,785,811,653,631,653,0.445401358708,0.00449230845314,0.0498067542218,0.999999956116,4.80085209184e-05,-0.000289933037641,3.74395365156e-05,1793245500908017152
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713.51748032,681,661,631,880.48251968,785,811,653,630.51748032,653,0.4459608872,0.0045056076332,0.0498110148739,0.999999960231,5.96007859308e-05,-0.000273593794809,3.36410173094e-05,1793245500924683776
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713,680.939119041,660.939119041,631,880.939119041,785,811.060880959,652.939119041,630.060880959,653,0.446511329382,0.00451964816039,0.0498192625842,0.999999964918,7.21609968235e-05,-0.000253131878752,2.96949048268e-05,1793245500941350400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713,680.36501325,660.36501325,631,880.36501325,785,811.63498675,652.36501325,630.63498675,653,0.446979194075,0.00453776218589,0.0498095721638,0.999999959253,9.07388019075e-05,-0.000269371046782,2.6446406592e-05,1793245500958017024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713,680,660,630.785972193,880,785,811.785972193,652,631,653,0.447425221639,0.00455342633977,0.0497899677684,0.999999949032,0.000108991399663,-0.000299153895712,2.37333188277e-05,1793245500974683904
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713,680,660,630.198315694,880,785,811.198315694,652,631,653,0.447833128043,0.00456481374688,0.0497530565317,0.999999929579,0.00012667628037,-0.000352579968413,2.19548983059e-05,1793245500991350528
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713,680,660,630,880,784.61476298,811,652,631,653,0.448230938391,0.00456968192053,0.0497321877271,0.999999917289,0.000134448095159,-0.000383256411685,2.14756823649e-05,1793245501008016896
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713,680,660,630,880,784.033300528,811,652,631,653,0.448623606221,0.00457122943979,0.0497194903384,0.999999909417,0.000137170563999,-0.000402345043667,2.16582328459e-05,1793245501024683520
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713.542488885,680.542488885,660,630,880.542488885,784.542488885,811,652.542488885,631,653,0.449010421525,0.00457438271204,0.0497367582975,0.999999918808,0.000143326803368,-0.000375974926729,2.19991306432e-05,1793245501041350400
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.116625551,714,681,660,629.883374449,880.883374449,785,811,652.883374449,631,652.883374449,0.449384479694,0.00457740287115,0.0497542882403,0.99999992756,0.000148165504756,-0.000349899205504,2.23058243001e-05,1793245501058017024
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.685687694,714,681,660,629.314312306,880.314312306,785,811,652.314312306,631,652.314312306,0.449710427277,0.00457952820319,0.0497657725616,0.999999932591,0.000147083717627,-0.000335678866115,2.24425088653e-05,1793245501074683648
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.733276474,713.733276474,681,659.733276474,629,880,784.733276474,811,652.266723526,631,652,0.450022919865,0.00458108898369,0.0497726604376,0.999999935388,0.000148032361295,-0.000326796687866,2.26710563527e-05,1793245501091350272
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.137467447,713.137467447,681,659.137467447,629,880,784.137467447,811,652.862532553,631,652,0.450318811561,0.00458195321609,0.0497738771842,0.999999935611,0.000151486165904,-0.000324500774064,2.30129450032e-05,1793245501108017152
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.446460861,713,681,659,628.553539139,880.446460861,784.446460861,811,653,631,652.446460861,0.450560074482,0.00458254862474,0.0497693834728,0.999999931785,0.000152714928467,-0.000335487607856,2.35894647148e-05,1793245501124683776
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.97345999,713,680.97345999,659,627.97345999,881,784.97345999,811,653,630.97345999,653,0.450784264112,0.00458332646756,0.0497632347748,0.999999926573,0.000153606445647,-0.000350251185566,2.41659821346e-05,1793245501141350144
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.399279061,713,680.399279061,659,627.399279061,881,784.399279061,811,653,630.399279061,653,0.450994240018,0.00458953244847,0.0497582769843,0.999999921651,0.000161309367564,-0.000360742072001,2.32903712923e-05,1793245501158016768
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713,680.178900217,659,627.178900217,880.821099783,784.178900217,811,653,630,652.821099783,0.451190487481,0.00459394183857,0.0497536018789,0.999999917309,0.000166738751699,-0.00037022318135,2.26958843926e-05,1793245501174683648
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,713,680.766207142,659,627.766207142,880.233792858,784.766207142,811,653,630,652.233792858,0.451355394601,0.00459424983681,0.049749572109,0.999999914586,0.000166977933837,-0.000377399095205,2.27431682453e-05,1793245501191350272
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713,681,659,627.651243272,880.348756728,784.651243272,811,652.651243272,630.348756728,652.348756728,0.451504865577,0.00459524776131,0.0497461028335,0.999999910698,0.00016810944518,-0.000387065347483,2.28801274083e-05,1793245501208016896
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713,681,659,627.071839847,880.928160153,784.071839847,811,652.071839847,630.928160153,652.928160153,0.451644128033,0.00459670196152,0.049743004235,0.99999990596,0.000169831089332,-0.000398378560311,2.3076392424e-05,1793245501224683520
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,713.507404153,681,659.507404153,627,880.492595847,784.507404153,811,652.507404153,630.492595847,652.492595847,0.451759324204,0.00459875876819,0.0497397606035,0.999999902144,0.000174160894853,-0.000406002740001,2.32841491796e-05,1793245501241350144
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.085482168,714,681,659.829035663,627,880.085482168,784.914517832,811,653,630,652.085482168,0.451868125431,0.00460085211687,0.0497370569717,0.999999898911,0.000178336292555,-0.000412098593826,2.34371075271e-05,1793245501258017024
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.657058368,714,681,658.685883264,627,880.657058368,784.342941632,811,653,630,652.657058368,0.45195993184,0.00460266824928,0.049737540776,0.999999898546,0.000179534451038,-0.000412472782129,2.32692057947e-05,1793245501274683648
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.764127023,713.764127023,681,658.235872977,627,880.764127023,784,811,653,630,653,0.452044462475,0.00460418914722,0.0497386631295,0.999999898972,0.000181016591187,-0.00041080300162,2.30253262173e-05,1793245501291351040
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.174455159,713.174455159,681,658.825544841,627,880.174455159,784,811,653,630,653,0.452118079769,0.00460526720656,0.049740743278,0.999999900567,0.000182924691021,-0.000406067359532,2.26674832897e-05,1793245501308019456
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713,681,658.591569258,626.591569258,880.816861484,784.408430742,811,653,630,653,0.45217568999,0.00460749641682,0.0497403377492,0.999999899773,0.000186170664483,-0.000406565789369,2.23416880252e-05,1793245501324685312
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,713,681,658.011534524,626.011534524,881.976930952,784.988465476,811,653,630,653,0.452226574768,0.00461020928823,0.0497388878521,0.999999897963,0.000189978751449,-0.000409263337907,2.20293577374e-05,1793245501341350400
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713,681,658,626,880.870648052,784.435324026,811,653,630,653,0.452259993037,0.00460937213619,0.0497351843329,0.999999896171,0.000187751729849,-0.000414652518106,2.16973082232e-05,1793245501358017280
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.140029623,713,681,658.140029623,626,880,784.140029623,811,653,630.140029623,653,0.452290373147,0.00460886643768,0.0497316007487,0.999999894467,0.000186304534379,-0.000419404211142,2.13729782295e-05,1793245501374683904
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.712974014,713,681,658.712974014,626,880,784.712974014,811,653,630.712974014,653,0.452312456108,0.00460960813998,0.0497285293175,0.999999893123,0.00018764680695,-0.000422016214764,2.1073750844e-05,1793245501391350784
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.703848024,713.296151976,681,658.703848024,626,880.296151976,785,811,653,630.703848024,652.703848024,0.452331237754,0.004609843227,0.0497279638923,0.999999892542,0.000188606722958,-0.00042296547815,2.10765561196e-05,1793245501408017664
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.110396778,713.889603222,681,658.110396778,626,880.889603222,785,811,653,630.110396778,652.110396778,0.452346705299,0.00460956973621,0.049729914181,0.999999892731,0.000189182801312,-0.000422245560146,2.13825640976e-05,1793245501424684544
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,626,881,784.529596963,811,653,630,652.470403037,0.452354988919,0.00461119062932,0.0497282321943,0.999999891454,0.000191067685822,-0.00042442043373,2.1277369748e-05,1793245501441351168
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.048119579,713.951880421,681,658,626,880.951880421,784,811,653,630,653,0.452361423917,0.00461306967677,0.0497259135908,0.999999889979,0.000192978194327,-0.000427032901798,2.10675864126e-05,1793245501458017792
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.623732612,713.376267388,681,658,626,880.376267388,784,811,653,630,653,0.452365591766,0.0046130326949,0.0497257161572,0.999999890128,0.000191890677784,-0.000427190091569,2.07414593218e-05,1793245501474684416
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.796893445,713,681,658,626,880,784.203106555,811,653,630,653,0.452368332714,0.00461307001819,0.049724924724,0.999999889783,0.000191331252144,-0.000428263736216,2.04036032972e-05,1793245501491350784
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.210420773,713,681,658,626,880,784.789579227,811,653,630,653,0.452368380367,0.00461324759335,0.0497230121094,0.999999888502,0.000191768604629,-0.000431067200684,2.00436087857e-05,1793245501508017152
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713,681,658,626,880,785,810.628009355,652.628009355,630,653,0.452368712326,0.00461407824715,0.0497222174699,0.999999887867,0.000192194736801,-0.000432358820158,1.98313726455e-05,1793245501524684288
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,681,658,626,880,785,810.04787044,652.04787044,630,653,0.452369203368,0.00461527433268,0.049722048396,0.999999887596,0.000192614590605,-0.000432804483001,1.97018150727e-05,1793245501541351168
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713.530246549,680.469753451,658,626,880.530246549,784.469753451,810.530246549,652.530246549,630.530246549,652.469753451,0.452369501238,0.00461446883717,0.0497215030404,0.999999887375,0.00019159585951,-0.000433764966246,1.97011141436e-05,1793245501558018304
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.106262109,658,626,881,784,811,653,630.893737891,652.106262109,0.45236983225,0.00461362459082,0.0497209603435,0.999999887236,0.000190317283271,-0.00043465253313,1.96299368791e-05,1793245501574685184
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.673942168,658,626,881,784,811,653,630.326057832,652.673942168,0.452370382614,0.00461339375287,0.0497205761405,0.999999887432,0.000188472199995,-0.000435022425722,1.92024106876e-05,1793245501591351808
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.253700352,745,714,681,658,626,880.746299648,784.253700352,811,653,630,653,0.452370943084,0.00461414878104,0.049720445648,0.999999887199,0.000189794216589,-0.000434995463386,1.89666433961e-05,1793245501608018176
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.849757485,745,714,681,658,626,880.150242515,784.849757485,811,653,630,653,0.45237151719,0.0046162341895,0.0497206575258,0.999999886365,0.000195390086319,-0.0004344329639,1.8989645726e-05,1793245501624684288
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.566911963,745.433088037,713.566911963,681.433088037,658,626,880,785,811,653,630,652.566911963,0.452370948427,0.00461543774272,0.0497198692341,0.9999998862,0.000193014598014,-0.0004358742176,1.89691860153e-05,1793245501641350912
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.987953334,713.012046666,681.987953334,658,626,880,784.987953334,811,653,630,652,0.452370067841,0.00461374221583,0.0497188128892,0.999999886247,0.000188168226503,-0.000437881951639,1.89381739055e-05,1793245501658017280
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.412871417,713.587128583,681.412871417,658,626,880,784.412871417,811,653,630,652,0.452372614696,0.00461541762431,0.049720981948,0.999999886589,0.000193394683674,-0.000434804711553,1.90985344987e-05,1793245501674684416
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.165817167,714,681,658,626,880.165817167,784.165817167,811,653,630,652.165817167,0.452374156859,0.00461637740397,0.0497221153638,0.999999886567,0.000197006133213,-0.000433225242072,1.92544590618e-05,1793245501691351552
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.753685698,714,681,658,626,880.753685698,784.753685698,811,653,630,652.753685698,0.452373141802,0.00461551570671,0.0497206127766,0.999999885692,0.000196506933454,-0.000435458020573,1.93990926717e-05,1793245501708018432
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.663402952,714,681,658,626,880.663402952,784.663402952,811,653,630,653,0.452372511137,0.00461594083602,0.0497195473027,0.999999885276,0.000195901975133,-0.000436703679846,1.89575222208e-05,1793245501724685312
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.084066533,714,681,658,626,880.084066533,784.084066533,811,653,630,653,0.452372157678,0.00461729396956,0.0497187970562,0.999999885192,0.00019522074829,-0.000437237470926,1.80932065087e-05,1793245501741352448
+244,4.066666667,HOLD_POSE2,765,745,714,681,658,625,880,784,811,653,630,653,0.452371921385,0.00461591292394,0.0497184983018,0.999999885102,0.000194520003808,-0.000437760700877,1.7981882993e-05,1793245501772523520
+245,4.083333333,HOLD_POSE2,765,745,714,681,658,625.573525911,880,784.573525911,811,653,630,653,0.45237223309,0.00461541464278,0.0497185294988,0.999999885057,0.000194348529964,-0.000437923975432,1.83872804448e-05,1793245501789189632
+246,4.100000000,HOLD_POSE2,765,745,714,681,658,625.84909793,880,785,811,653,630,653,0.452372554518,0.00461521853883,0.0497185968403,0.999999885086,0.000194299952066,-0.000437866666467,1.86662031371e-05,1793245501805855744
+247,4.116666667,HOLD_POSE2,765,745,714,681,658,625.260555294,880,785,811,653,630,653,0.452372904143,0.00461589879787,0.0497187690063,0.999999885333,0.000194607792379,-0.00043716962943,1.85783285343e-05,1793245501822522368
+248,4.133333333,HOLD_POSE2,765,745,714,681,658,625,880,785,811,653,630.322957487,653,0.452372942434,0.00461644368444,0.04971870345,0.999999885094,0.000195153387537,-0.000437481138623,1.83535094291e-05,1793245501839189248
+249,4.150000000,HOLD_POSE2,765,745,714,681,658,625,880,785,811,653,630.902474483,653,0.452372733399,0.00461688103022,0.0497184490457,0.999999884469,0.00019588785666,-0.000438593843485,1.80199007336e-05,1793245501855856128
+250,4.166666667,HOLD_POSE2,765,745,713.521608402,681.478391598,658,625.478391598,880,784.521608402,811,653,630.521608402,653,0.452372796642,0.00461708095211,0.0497176646495,0.999999883989,0.000196550314493,-0.00043938834781,1.81074824944e-05,1793245501872522240
+251,4.183333333,HOLD_POSE2,765,745,713.054465523,681.945534477,658,626,880,784,811,653,629.945534477,652.945534477,0.452372999406,0.00461718530515,0.049717035699,0.999999883647,0.000197157645139,-0.000439885526908,1.82921789889e-05,1793245501889189120
+252,4.200000000,HOLD_POSE2,765,745,713.639157013,681.360842987,658,626,880,784,811,653,629.360842987,652.360842987,0.452374024092,0.0046168269617,0.0497189639915,0.999999884377,0.000197370155058,-0.000438115008347,1.85926412638e-05,1793245501905855488
+253,4.216666667,HOLD_POSE2,765,745,714,681,658,625.777235173,880,784,811,653,629.222764827,652,0.452374684191,0.00461610324176,0.0497198516745,0.99999988499,0.000196763824945,-0.000436976137647,1.88658348098e-05,1793245501922535936
+254,4.233333333,HOLD_POSE2,765,745,714,681,658,625.195374297,880,784,811,653,629.804625703,652,0.452374756579,0.00461479053635,0.0497190618985,0.999999885415,0.000194837527815,-0.000436855481056,1.90950712402e-05,1793245501939238912
+255,4.250000000,HOLD_POSE2,765,745,713.615772337,681,658.384227663,625,880,784,811,653,630,652,0.452374890044,0.00461444244252,0.0497190728108,0.999999885515,0.000194378694441,-0.000436829971725,1.91177685169e-05,1793245501955894016
+256,4.266666667,HOLD_POSE2,765,745,713.037312237,681,658.962687763,625,880,784,811,653,630,652,0.452375054385,0.00461458197315,0.049719488482,0.999999885452,0.000194661684264,-0.000436852560651,1.90360573951e-05,1793245501972524800
+257,4.283333333,HOLD_POSE2,765,745,713,681,658.46276255,625,880.53723745,784,811,652.46276255,630.53723745,652.53723745,0.452376342063,0.00461507211925,0.0497191517824,0.999999886249,0.000193155498062,-0.000435713597803,1.85927125099e-05,1793245501989189376
+258,4.300000000,HOLD_POSE2,764.888555842,745,713.111444158,681,658,625.111444158,880.888555842,784,811,652.111444158,630.888555842,653,0.452377120881,0.00461557949412,0.0497187582817,0.999999886743,0.000191966530434,-0.000435123545452,1.81847577594e-05,1793245502005856000
+259,4.316666667,HOLD_POSE2,764.314653359,745,713.685346641,681,658,625.685346641,880.314653359,784,811,652.685346641,630.314653359,653,0.452375466677,0.00461605804452,0.0497183443436,0.999999885742,0.000192605841862,-0.000437143644286,1.80271320611e-05,1793245502022522368
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,657,625,880,785,811,653,630,652,0.452373902657,0.00461567474653,0.0497181946874,0.999999884801,0.000193146549923,-0.000439040759583,1.8336744907e-05,1793245502059709696
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745.576149154,713.576149154,680.576149154,657,625.576149154,880,784.423850846,811,653,630,652,0.452373890083,0.00461730145434,0.049717011542,0.999999884157,0.000195746051756,-0.000439359804364,1.82240094181e-05,1793245502076376576
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745.848119136,713.848119136,681,657.151880864,625.848119136,880,784,811,653,630,652.151880864,0.452373995507,0.0046181876512,0.0497163759061,0.999999883809,0.000197362369773,-0.000439431832909,1.8173470428e-05,1793245502093043712
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.273549053,713.273549053,681,657.726450947,625.273549053,880,784,811,653,630,652.726450947,0.452374429323,0.00461701298316,0.0497172640065,0.999999884297,0.000196242456931,-0.000438816407583,1.82960262227e-05,1793245502109710336
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,658,625,880,784,811,652.698379321,630,653,0.452374028898,0.00461673707711,0.0497174054776,0.999999884113,0.000196289199023,-0.00043920962239,1.84074980074e-05,1793245502126376704
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,658,625,880,784,811,652.122664698,630,653,0.452372870366,0.0046172779096,0.0497168684587,0.999999883317,0.000197396123965,-0.000440519426082,1.85088973321e-05,1793245502143043328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.531803266,657.531803266,625,880,784,810.531803266,652.468196734,630,652.531803266,0.452374005112,0.00461627760691,0.0497179863593,0.99999988439,0.000194757182683,-0.000439257389239,1.84901940998e-05,1793245502159709952
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.061070228,713.061070228,680.061070228,657.061070228,625.061070228,880,784,810,653,630,652.061070228,0.4523752366,0.00461499214719,0.0497190972171,0.999999885643,0.000191581530165,-0.000437800164325,1.84572556414e-05,1793245502176376320
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.636354423,713.636354423,680.636354423,657.636354423,625.636354423,880,784,810,653,630,652.636354423,0.452372054556,0.00461481906098,0.0497163759658,0.999999884266,0.000192426396551,-0.000440562609334,1.85782601643e-05,1793245502193042944
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.788527875,714,681,658,625.788527875,880,784,810.211472125,653,630.211472125,653,0.452366130535,0.00461490357209,0.0497128117098,0.999999882028,0.000193198528641,-0.000445287554912,1.83543615088e-05,1793245502209709568
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.213696309,714,681,658,625.213696309,880,784,810.786303691,653,630.786303691,653,0.452355495142,0.00461543069671,0.0497077989712,0.999999878279,0.000193845685805,-0.000453384543239,1.75378370922e-05,1793245502226376192
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.371509346,880,784.371509346,811,653,630.628490654,652.628490654,0.452327532603,0.00461611433485,0.0496955540774,0.999999868502,0.000193779017578,-0.000474499392238,1.71952134921e-05,1793245502243042560
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.962853767,880,784.962853767,811,653,630.037146233,652.037146233,0.452289316982,0.00461689058755,0.0496790296639,0.999999854509,0.000193289953833,-0.000503317365225,1.71330134931e-05,1793245502259709440
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.458560384,745,714,680.458560384,658,626,880,785,811,653,630.541439616,652.541439616,0.452224087313,0.0046183570487,0.0496554926614,0.99999983336,0.000195949360152,-0.000542778147305,1.66296045009e-05,1793245502276376576
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.118389262,745,714,680.118389262,658,625.881610738,880.118389262,784.881610738,811,653,630.881610738,653,0.452155929042,0.00461968357691,0.0496335147048,0.999999812867,0.000198783756544,-0.000578353551255,1.6047138763e-05,1793245502293043712
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.692333703,745,714,680.692333703,658,625.307666297,880.692333703,784.307666297,811,653,630.307666297,653,0.452083469012,0.00462029363569,0.0496193445208,0.999999801839,0.000201479465731,-0.00059623330338,1.52742619501e-05,1793245502309710080
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.726340302,681,658.273659698,625,880.726340302,784,811,653,630,653,0.452005504663,0.00462095869343,0.0496107224166,0.999999795199,0.000202484085188,-0.000606950599574,1.45977875381e-05,1793245502326376448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.136485456,681,658.863514544,625,880.136485456,784,811,653,630,653,0.451921180453,0.0046216872987,0.0496085107418,0.999999793914,0.000201534765506,-0.000609392164743,1.40326995871e-05,1793245502343042816
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.43578548,681,658.56421452,625.43578548,880,784,811,653,630,653,0.451825754549,0.00462250947463,0.0496125421039,0.999999796119,0.000203048710638,-0.000605255608234,1.4078948137e-05,1793245502359709440
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.00286953,713.99713047,681,658,626,880,784,810.99713047,653,630.00286953,653,0.451726814753,0.00462336823972,0.0496184299166,0.999999799325,0.000205313213232,-0.00059916009399,1.43032801793e-05,1793245502376376320
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.591744658,713.408255342,681,658,626,880,784,810.408255342,653,630.591744658,653,0.451592798196,0.00462594650883,0.0496196214877,0.999999799524,0.000209415508457,-0.00059742775363,1.33109976944e-05,1793245502393042944
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,713.17613599,681,658,626,880,784.17613599,810,653,630.82386401,653,0.451452028307,0.00462799138341,0.0496204666163,0.999999800024,0.000213490176991,-0.000595164276201,1.23898580519e-05,1793245502409709824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,713.750392507,681,658,626,880,784.750392507,810,653,630.249607493,653,0.451295993867,0.00462883062495,0.0496205286798,0.999999801224,0.00021750240031,-0.000591700268855,1.16295228522e-05,1793245502426376960
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.333479623,746,713.666520377,681.333479623,658,626,880.333479623,785,810,653,630,652.666520377,0.451118561846,0.00463018062931,0.0496200888948,0.999999801712,0.000220739479069,-0.000589690461747,1.0746902951e-05,1793245502443044096
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.923356236,746,713.076643764,681.923356236,658,626,880.923356236,785,810,653,630,652.076643764,0.450924678202,0.00463192333556,0.0496192632618,0.999999801661,0.000223380585609,-0.000588798721289,9.77026394303e-06,1793245502459710720
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.49481306,745.49481306,713.50518694,681.49481306,658,626,880.49481306,784.49481306,810,652.49481306,630,652,0.450707721932,0.00463259854991,0.0496236622868,0.999999806337,0.000227107117955,-0.000579366983883,9.11946093949e-06,1793245502476376832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.084803359,714,681,658.084803359,626.084803359,880,784.084803359,810,652.084803359,630,652.084803359,0.450481457996,0.0046334858511,0.0496286773185,0.99999981134,0.000231193343966,-0.000569032766644,8.41654819473e-06,1793245502493043200
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.65858054,714,681,658.65858054,626.65858054,880,784.65858054,810,652.65858054,630,652.65858054,0.450221393221,0.00463651521713,0.0496327454702,0.999999814752,0.000236418935402,-0.000560848347141,7.13260655386e-06,1793245502509709824
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.767504194,714,681,658.767504194,627,880.232495806,784.767504194,810.232495806,652.767504194,630,653,0.44994473562,0.00463959010981,0.0496352952065,0.999999816916,0.000242566923938,-0.000554342159076,5.8865432537e-06,1793245502526376704
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.193386062,714,681,658.193386062,627,880.806613938,784.193386062,810.806613938,652.193386062,630,653,0.449643697035,0.00464273189778,0.0496356138285,0.999999817305,0.00025007025465,-0.000550301914191,4.69613732233e-06,1793245502543043072
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.606465639,681,658,627.393534361,880.606465639,784.393534361,810.606465639,652.393534361,630.393534361,652.606465639,0.449300771431,0.00464444960741,0.0496341366735,0.999999813586,0.000255856361438,-0.000554391677178,3.96243882965e-06,1793245502559710208
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.013042538,681,658,627.986957462,880.013042538,784.986957462,810.013042538,652.986957462,630.986957462,652.013042538,0.448936570074,0.00464544398182,0.0496317473856,0.999999807728,0.000260770234804,-0.000562610932353,3.46071674824e-06,1793245502576377088
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.566176602,681,658,627.433823398,880,784.433823398,810,653,631,652,0.448545259126,0.00465015784986,0.0496284820792,0.999999804218,0.000269039784449,-0.000564960613491,1.30023908625e-06,1793245502593043712
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.14381355,714,681,658.14381355,627.14381355,880,784.14381355,810,653,631,652,0.448141075086,0.00465482591478,0.049623855434,0.999999799726,0.000277054566138,-0.000569024122695,-8.87138629481e-07,1793245502609710336
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.717673647,714,681,658.717673647,627.717673647,880,784.717673647,810,653,631,652,0.447700218377,0.00465910706598,0.0496152168377,0.999999792251,0.000284082012958,-0.000578606933633,-3.04348808795e-06,1793245502626376704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.707926435,714,681,659,628.292073565,880,784.707926435,810,652.707926435,630.707926435,652,0.447246555561,0.00466126223256,0.0496102563882,0.999999787815,0.00028884775933,-0.00058387745834,-4.92807235016e-06,1793245502643043328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.133003675,714,681,659,628.866996325,880,784.133003675,810,652.133003675,630.133003675,652,0.446780491034,0.00466135855862,0.04960885792,0.999999786419,0.000291423235939,-0.000584971890158,-6.54947465607e-06,1793245502659710208
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.543912198,681,659.456087802,629,880,784.456087802,810,652.456087802,630,652.456087802,0.446279433552,0.00466223507294,0.0496174542442,0.999999793082,0.000294924179474,-0.000571655133444,-8.15401428067e-06,1793245502676377088
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,660,629.047955407,880,785,810,653,630,652.952044593,0.445766997013,0.00466324345355,0.0496310576521,0.999999803272,0.000298535760258,-0.000551578250392,-9.70660103058e-06,1793245502693043712
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,660,629.623452167,880,785,810,653,630,652.376547833,0.445245239406,0.00466311936378,0.049666651036,0.999999827416,0.000300300343253,-0.000504848789873,-1.07435026439e-05,1793245502709710848
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,660,630.199300284,880,785,810,652.800699716,630.199300284,652.199300284,0.444701916683,0.00466313438471,0.0496979930693,0.999999847002,0.000303335783353,-0.000462431531396,-1.18794333053e-05,1793245502726377728
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,660,630.775813375,880,785,810,652.224186625,630.775813375,652.775813375,0.444117778002,0.00466341269852,0.0497212886298,0.999999860574,0.000308776557269,-0.000428175920414,-1.32027948006e-05,1793245502743044608
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.642447792,660.357552208,631,880,785,810,652.357552208,631,652.642447792,0.443495169682,0.00466301384605,0.0497219854097,0.999999858241,0.000310400408098,-0.000432348995712,-1.56069222337e-05,1793245502759710976
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.057383822,660.942616178,631,880,785,810,652.942616178,631,652.057383822,0.442848083014,0.00466218411022,0.0497083025029,0.999999845652,0.000309595536722,-0.000460974384206,-1.86987448853e-05,1793245502776376832
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.47347137,745,713,680.52652863,661.52652863,631.52652863,880,785.52652863,810,652.47347137,631,652,0.442191567271,0.00464295696968,0.0497294894675,0.999999870828,0.000290556110267,-0.000416447822482,-2.21856947858e-05,1793245502793043200
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.108369234,745,713,681,662.108369234,632,879.891630766,785.891630766,810,652,630.891630766,652,0.441534438602,0.0046218106103,0.0497590503876,0.999999904272,0.000249290940262,-0.000358734331694,-2.48896164216e-05,1793245502809709824
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.681854848,745,713,681,662.681854848,632,879.318145152,785.318145152,810,652,630.318145152,652,0.440879080385,0.00460101383841,0.0498082768416,0.999999953573,0.00012114456414,-0.000278565975879,-2.40483898594e-05,1793245502826376704
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.256096343,713.256096343,680.743903657,662.743903657,632,879.256096343,785,810,652,630,652.256096343,0.44017292179,0.00459592351564,0.0498331431312,0.999999968759,5.99686915903e-05,-0.00024125723297,-2.60717298604e-05,1793245502843043328
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.831279716,713.831279716,680.168720284,662.168720284,632,879.831279716,785,810,652,630,652.831279716,0.439403467624,0.00461040287296,0.0498276575198,0.999999963003,8.22356946353e-05,-0.000257350054397,-3.16642193961e-05,1793245502859710464
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.416249561,745.583750439,713.583750439,680.416249561,662,632,880,785.416249561,810,652.416249561,630,652.583750439,0.438594345584,0.00462141905513,0.0497971097191,0.999999945816,0.000102408227656,-0.000310699774274,-3.66942389952e-05,1793245502876377088
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.994790511,745,713,681,662,632,880,785.994790511,809.994790511,652.994790511,630,652,0.43776870462,0.00463092403879,0.0497566667313,0.999999920026,0.000121618922836,-0.00037873047048,-4.14712960111e-05,1793245502893043712
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.413808701,745,713,681,662,632,880,785.413808701,809.413808701,652.413808701,630,652,0.436937196315,0.00463228832802,0.0497723662986,0.999999925663,0.000130613371591,-0.000360096891038,-4.40948651256e-05,1793245502909710080
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.164799563,713,680.835200437,662.164799563,632,880,785,809,652,630,652,0.436101438312,0.00463404546569,0.0497849251329,0.999999929378,0.000137691412443,-0.000346587917915,-4.64887994883e-05,1793245502926376192
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.737532483,713,680.262467517,662.737532483,632,880,785,809,652,630,652,0.435255160953,0.00463677503297,0.0497897096144,0.999999929253,0.00014002571026,-0.0003457640397,-4.83143118677e-05,1793245502943042560
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.68811217,713,680,662.68811217,632,880,785,809,652.31188783,630,652,0.434406529269,0.00463567557941,0.0497858803759,0.999999928131,0.000137600759367,-0.00034959369239,-5.08704334334e-05,1793245502959709440
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.112384368,713,680,662.112384368,632,880,785,809,652.887615632,630,652,0.433555905999,0.00463133698442,0.0497747644031,0.999999926086,0.000131149745361,-0.000357359976616,-5.40446101412e-05,1793245502976376320
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.479229786,632.479229786,879.520770214,785,809,653,630,652,0.432716569956,0.0046220507747,0.0497966860379,0.999999932229,0.000164234012686,-0.000326908542174,-4.12268551412e-05,1793245502993043200
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.927857263,745.072142737,713.072142737,680,663,633,879.072142737,785,809,652.927857263,630,652,0.431867926713,0.00461405711514,0.0498207349661,0.999999936638,0.000197579786236,-0.000294847597543,-2.74160966215e-05,1793245503009710080
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764.352753617,745.647246383,713.647246383,680,663,633,879.647246383,785,809,652.352753617,630,652,0.430935309729,0.00462344122772,0.0498037481194,0.999999935682,0.00016589439623,-0.000316191879318,-3.37247911546e-05,1793245503026376192
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.221856595,745.778143405,713.778143405,680,662.778143405,633,879.778143405,785.221856595,809,652,630,652,0.430009184849,0.00462887022921,0.0497851029071,0.999999929866,0.000147673580718,-0.000341986548622,-3.88146154406e-05,1793245503043042816
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.795684071,745.204315929,713.204315929,680,662.204315929,633,879.204315929,785.795684071,809,652,630,652,0.429093359412,0.0046280245305,0.0497638267297,0.999999917494,0.000150814028429,-0.000374841669035,-4.19707283975e-05,1793245503059709184
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713.381796599,680.381796599,662.381796599,633,879.381796599,786,809,652,629.618203401,652,0.428195767283,0.00463013264223,0.0497682373897,0.999999915852,0.000157659293806,-0.000376205329205,-4.36897555856e-05,1793245503076375808
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.974701926,680.974701926,662.974701926,633,879.974701926,786,809,652,629.025298074,652,0.427308257043,0.00463387401939,0.0497868512041,0.999999920279,0.000166553082633,-0.000360156254661,-4.46141674687e-05,1793245503093042432
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713.447613206,681,663,633,879.447613206,785.447613206,808.447613206,652,629.552386794,652,0.42638150891,0.00463950774359,0.0497751063048,0.999999914315,0.000175772578325,-0.00037223288995,-4.37787519082e-05,1793245503109709056
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.870916506,662.870916506,633,879,785.129083494,808,652,630,652,0.425467909325,0.00464220392664,0.0497722158589,0.999999915675,0.000180028356741,-0.000366541097754,-4.34336531159e-05,1793245503126375936
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.29529152,662.29529152,633,879,785.70470848,808,652,630,652,0.424605844596,0.00463444644213,0.0498046365615,0.999999941504,0.000167062815356,-0.000295046127212,-4.50560501218e-05,1793245503143042560
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.28668576,662.28668576,633,879,785.71331424,808.28668576,652,630,652,0.423738914665,0.00462795554108,0.0498268457192,0.999999955048,0.000159103349395,-0.000249898261255,-4.62730261464e-05,1793245503159708928
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.875354243,662.875354243,633,879,785.124645757,808.875354243,652,630,652,0.42286685999,0.00462279880626,0.0498382984627,0.99999995963,0.000156417074217,-0.000232503332806,-4.70629488383e-05,1793245503176375552
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.543103114,662.543103114,633,878.543103114,785.456896886,809,652.456896886,629.543103114,652,0.421946152039,0.00462602860644,0.0498128724664,0.999999946554,0.000159937399477,-0.000281140099659,-4.76644814235e-05,1793245503193042432
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.036311095,745,713,680,662,633.036311095,878,785.963688905,809,653,629.036311095,652,0.421016506222,0.00463143001611,0.0497805801155,0.99999992659,0.000164556891205,-0.000342674712992,-4.81239614538e-05,1793245503209709056
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.612538293,745,713,680,662,633.612538293,878,785.387461707,809,653,629.612538293,652,0.420148291581,0.00463562432445,0.0497934902574,0.999999930773,0.000160729947258,-0.000332248640363,-4.72236986603e-05,1793245503226375680
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.811465727,745.188534273,713,680,662,633.622931455,878,785,808.811465727,653,630,652,0.419268132888,0.00463888712431,0.049797823552,0.999999929855,0.000159180081946,-0.000335824164534,-4.66217690346e-05,1793245503243042304
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.235944246,745.764055754,713,680,662,632.471888493,878,785,808.235944246,653,630,652,0.418363457563,0.00464023790192,0.0497845519319,0.999999917978,0.000162304168732,-0.000368139495004,-4.66322006685e-05,1793245503259708928
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764.652054764,745.652054764,713,680,662,632.347945236,878.347945236,785,808,653,630,652,0.41752914451,0.00463958494535,0.0497791771547,0.999999915829,0.000163196071419,-0.000373406169834,-4.77153463513e-05,1793245503276375808
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.062351083,745.062351083,713,680,662,632.937648917,878.937648917,785,808,653,630,652,0.416743720453,0.00463753975908,0.049779289243,0.999999920807,0.000162537013362,-0.000359878963063,-4.95438325646e-05,1793245503293042432
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.51760872,745,713,680,662.51760872,633,878.48239128,785.51760872,807.48239128,653,630,652,0.415978283228,0.00463450601645,0.0498035056422,0.999999936223,0.000163722952388,-0.000313531621609,-4.94649791164e-05,1793245503309709056
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.904189894,633,878,786,807,652.904189894,630,652,0.415208803871,0.00463212407708,0.0498231239123,0.999999946862,0.000164189629477,-0.00027729241736,-4.92707910146e-05,1793245503326375680
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diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70833441f95e00890bef0d4655b5ff3f72cba957
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+338,5.633333333,pose2_to_pose3_retreat,0.586114703345,0.00987786886801,1.04005067527,0.556686336857,0.0185535561317,1.03971717766
+339,5.650000000,pose2_to_pose3_retreat,0.585493889337,0.00987792196154,1.04005084151,0.556065522995,0.0185536096771,1.03971734278
+340,5.666666667,pose2_to_pose3_retreat,0.584894115149,0.00987783923867,1.04005071599,0.55546574978,0.018553530433,1.03971722208
+341,5.683333333,pose2_to_pose3_retreat,0.584314188111,0.00987790532199,1.04005096792,0.554885822165,0.0185535942099,1.03971746502
+342,5.700000000,pose2_to_pose3_retreat,0.583754870765,0.00987782502391,1.04005083584,0.554326505149,0.01855351489,1.03971732926
+343,5.716666667,pose2_to_pose3_retreat,0.58321414323,0.00987771619955,1.04005082778,0.553785779461,0.0185534124401,1.03971732378
+344,5.733333333,pose2_to_pose3_retreat,0.582694600184,0.00987774005279,1.04005088012,0.553266236947,0.0185534380771,1.03971737552
+345,5.750000000,pose2_to_pose3_retreat,0.582196441268,0.00987780367996,1.04005089655,0.55276807662,0.0185534967949,1.03971738891
+346,5.766666667,pose2_to_pose3_retreat,0.581718686067,0.00987774899013,1.04005087361,0.552290319482,0.0185534355952,1.03971736729
+347,5.783333333,pose2_to_pose3_retreat,0.581258186411,0.00987779896259,1.04005076572,0.551829817359,0.0185534772211,1.03971725991
+348,5.800000000,pose2_to_pose3_retreat,0.580811198778,0.00987779060844,1.04005100484,0.551382832049,0.0185534765168,1.03971749308
+349,5.816666667,pose2_to_pose3_retreat,0.580376404363,0.00987779385794,1.04005090822,0.550948038832,0.0185534842011,1.03971740614
+350,5.833333333,pose2_to_pose3_retreat,0.579959215371,0.00987783477635,1.04005096338,0.550530849272,0.0185535231669,1.03971746058
+351,5.850000000,pose2_to_pose3_retreat,0.57956365442,0.0098778080575,1.04005085143,0.55013528835,0.0185534966372,1.03971735099
+352,5.866666667,pose2_to_pose3_retreat,0.579199600392,0.0098778377282,1.04005091167,0.549771233694,0.0185535241191,1.03971740965
+353,5.883333333,pose2_to_pose3_retreat,0.578865961839,0.00987790807806,1.04005103103,0.549437593907,0.0185535900896,1.03971752417
+354,5.900000000,pose2_to_pose3_retreat,0.578561378319,0.00987786878878,1.04005080637,0.54913301057,0.0185535515489,1.03971730279
+355,5.916666667,pose2_to_pose3_retreat,0.578277778452,0.0098777893145,1.04005108558,0.548849412375,0.0185534778264,1.03971758416
+356,5.933333333,pose2_to_pose3_retreat,0.578010754763,0.00987782855526,1.04005111822,0.548582388211,0.0185535153124,1.0397176132
+357,5.950000000,pose2_to_pose3_retreat,0.577752491994,0.00987776875589,1.04005091815,0.548324126585,0.0185534592328,1.03971740897
+358,5.966666667,pose2_to_pose3_retreat,0.577502920861,0.00987776824641,1.04005090954,0.548074555358,0.0185534583512,1.039717399
+359,5.983333333,pose2_to_pose3_retreat,0.577267894574,0.00987779152539,1.04005095566,0.547839528279,0.0185534791036,1.03971744929
+360,6.000000000,pose2_to_pose3_retreat,0.577050105066,0.00987776903692,1.04005086604,0.547621738641,0.0185534563519,1.03971736425
+361,6.016666667,pose2_to_pose3_retreat,0.576855841211,0.00987778873965,1.04005090787,0.547427474588,0.0185534753537,1.03971740528
+362,6.033333333,pose2_to_pose3_retreat,0.5766839484,0.00987778944864,1.04005101713,0.547255582763,0.0185534793876,1.03971751419
+363,6.050000000,pose2_to_pose3_retreat,0.576534752088,0.00987769430165,1.04005112572,0.547106386533,0.0185533843822,1.03971761922
+364,6.066666667,pose2_to_pose3_retreat,0.576403711368,0.00987770416244,1.04005115278,0.546975346326,0.0185533957426,1.03971763995
+365,6.083333333,pose2_to_pose3_retreat,0.576289357798,0.0098776659595,1.04005107096,0.546860993832,0.0185533612353,1.03971755938
+366,6.100000000,pose2_to_pose3_retreat,0.576187658519,0.00987776653513,1.04005096681,0.546759293105,0.0185534569958,1.03971745773
+367,6.116666667,pose2_to_pose3_retreat,0.576097560111,0.00987784002197,1.04005090205,0.546669193696,0.0185535271236,1.03971739424
+368,6.133333333,pose2_to_pose3_retreat,0.576019179902,0.00987774841004,1.04005089582,0.546590815229,0.0185534413912,1.03971738762
+369,6.150000000,pose2_to_pose3_retreat,0.575950059823,0.00987761828346,1.0400509051,0.546521697057,0.0185533176967,1.03971739592
+370,6.166666667,pose2_to_pose3_retreat,0.575890094423,0.00987782884043,1.04005078561,0.546461727643,0.0185535147815,1.03971728008
+371,6.183333333,pose2_to_pose3_retreat,0.575840438492,0.00987783752532,1.0400508428,0.54641207148,0.0185535227533,1.03971733903
+372,6.200000000,pose2_to_pose3_retreat,0.575800007493,0.00987769404107,1.04005087982,0.5463716422,0.0185533850511,1.03971737472
+373,6.216666667,pose2_to_pose3_retreat,0.575767575184,0.00987763373463,1.04005089402,0.546339210633,0.0185533271764,1.03971738676
+374,6.233333333,pose2_to_pose3_retreat,0.575741767377,0.00987770164373,1.04005089698,0.546313402193,0.0185533929234,1.03971738939
+375,6.250000000,pose2_to_pose3_retreat,0.575722485221,0.00987773386521,1.04005087,0.546294120134,0.018553425635,1.03971736651
+376,6.266666667,pose2_to_pose3_retreat,0.575706927016,0.009877781894,1.0400510133,0.54627856132,0.0185534711454,1.03971749812
+377,6.283333333,pose2_to_pose3_retreat,0.575694867772,0.00987779008954,1.04005098806,0.546266502226,0.0185534798881,1.03971747388
+378,6.300000000,pose2_to_pose3_retreat,0.575686102625,0.00987776563733,1.04005089692,0.546257737576,0.0185534573737,1.03971738932
+379,6.316666667,pose2_to_pose3_retreat,0.575679961189,0.00987772268902,1.04005089488,0.546251596354,0.0185534151739,1.03971738796
+380,6.333333333,pose2_to_pose3_retreat,0.575675828525,0.00987773105306,1.04005092739,0.546247463002,0.0185534209209,1.03971741317
+381,6.350000000,pose2_to_pose3_retreat,0.575673340988,0.00987775259529,1.04005093733,0.546244975192,0.0185534414471,1.03971742081
+382,6.366666667,pose2_to_pose3_retreat,0.575672389616,0.00987777321352,1.04005092861,0.546244023929,0.0185534625134,1.03971741399
+383,6.383333333,pose2_to_pose3_retreat,0.575671970657,0.00987778229323,1.04005092478,0.546243605018,0.0185534717904,1.03971741099
+384,6.400000000,pose2_to_pose3_retreat,0.575671910238,0.00987778360262,1.04005092422,0.546243544607,0.0185534731282,1.03971741055
+385,6.416666667,pose2_to_pose3_retreat,0.575671836624,0.00987778519799,1.04005092355,0.546243471001,0.0185534747582,1.03971741002
+386,6.433333333,pose2_to_pose3_retreat,0.57567182697,0.00987778540721,1.04005092346,0.546243461348,0.018553474972,1.03971740996
+387,6.450000000,pose2_to_pose3_retreat,0.575671676014,0.00987778867875,1.04005092208,0.546243310409,0.0185534783146,1.03971740887
+388,6.466666667,pose2_to_pose3_retreat,0.575671433605,0.00987779393226,1.04005091986,0.546243068028,0.0185534836823,1.03971740713
+389,6.483333333,pose2_to_pose3_retreat,0.575671071945,0.00987779696161,1.0400509148,0.546242706339,0.0185534866518,1.03971740315
+390,6.500000000,pose2_to_pose3_retreat,0.575670999339,0.00987779745017,1.04005091375,0.546242633725,0.0185534871226,1.03971740232
+391,6.516666667,pose2_to_pose3_retreat,0.575670707934,0.00987779941102,1.0400509095,0.54624234229,0.0185534890123,1.03971739897
+392,6.533333333,pose2_to_pose3_retreat,0.57567061667,0.00987780002514,1.04005090817,0.546242251015,0.0185534896041,1.03971739792
+393,6.550000000,pose2_to_pose3_retreat,0.575670470009,0.00987780101201,1.04005090604,0.546242104339,0.0185534905552,1.03971739624
+394,6.566666667,pose2_to_pose3_retreat,0.575670167604,0.00987780304688,1.04005090163,0.546241801902,0.0185534925162,1.03971739276
+395,6.583333333,pose2_to_pose3_retreat,0.57567012027,0.00987780336539,1.04005090094,0.546241754563,0.0185534928231,1.03971739222
+396,6.600000000,pose2_to_pose3_retreat,0.575669925541,0.00987782682933,1.04005090005,0.546241559348,0.018553514636,1.03971739123
+397,6.616666667,pose2_to_pose3_retreat,0.575669877731,0.00987783550266,1.04005090009,0.546241511358,0.0185535226931,1.03971739115
+398,6.633333333,pose2_to_pose3_retreat,0.575669725288,0.00987786315764,1.04005090021,0.54624135834,0.0185535483834,1.0397173909
+399,6.650000000,pose2_to_pose3_retreat,0.575669658739,0.00987787523041,1.04005090026,0.54624129154,0.0185535595985,1.03971739079
+400,6.666666667,pose2_to_pose3_retreat,0.575669601699,0.00987788557826,1.0400509003,0.546241234284,0.0185535692112,1.0397173907
+401,6.683333333,pose2_to_pose3_retreat,0.57566956708,0.00987787803153,1.04005089665,0.546241199343,0.0185535605817,1.03971738731
+402,6.700000000,pose2_to_pose3_retreat,0.575669557008,0.00987786704152,1.04005089324,0.546241189055,0.0185535488718,1.03971738421
+403,6.716666667,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7357719d3cfce27da16ffe3c99516a9154ad1e27
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd788c0fa0add8fc525708b683f826f6638d8c4bbc3f0c5f80f79d96bdad072
+size 25778075
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21c953136fb46520c854cf63e2a0a4cca0192ab3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+21,0.350000000,BASELINE,765,745,713,680,663,633,877.826459926,785,807,653,629.173540074,652,0.400981806834,0.00461062976589,0.0498514439118,0.999999957145,0.000133905751319,-0.000256565652085,-4.41925368825e-05,1793245504908601344
+22,0.366666667,BASELINE,765,745,713,680,663,633,877.238447919,785,807,653,629.761552081,652,0.400983696502,0.00461207939967,0.0498519114314,0.999999957442,0.0001343233749,-0.000255149161275,-4.44051866044e-05,1793245504925267968
+23,0.383333333,BASELINE,765,745,713,679.655101313,663,633,877.344898687,785.344898687,807,653,630,652,0.400983812611,0.00461306638466,0.0498518702947,0.999999957194,0.000136547868012,-0.000254928080295,-4.44820732053e-05,1793245504941934592
+24,0.400000000,BASELINE,765,745,713,679.074937054,663,633,877.925062946,785.925062946,807,653,630,652,0.400982718923,0.00461373778341,0.0498514821886,0.999999956565,0.000140004880187,-0.000255522423488,-4.44663517964e-05,1793245504958601216
+25,0.416666667,BASELINE,765,745.500086897,713,679,663,633.500086897,878,786,807,653,630,652,0.400983177671,0.00461326270649,0.0498517812562,0.999999956809,0.000138900410641,-0.000255178523111,-4.44248951517e-05,1793245504975267840
+26,0.433333333,BASELINE,764.925678323,745.925678323,713,679.074321677,663,634,878,786,807,653,629.925678323,652,0.400983778172,0.00461271941314,0.0498520927065,0.999999957117,0.000137398169932,-0.000254791358112,-4.43697721717e-05,1793245504991934464
+27,0.450000000,BASELINE,764.3516231,745.3516231,713,679.6483769,663,634,878,786,807,653,629.3516231,652,0.400983783541,0.00461286083607,0.0498518020879,0.999999957006,0.000137770583875,-0.000255049010282,-4.42484238958e-05,1793245505008601088
+28,0.466666667,BASELINE,764.229781648,745,713,679.770218352,663,633.770218352,878,786,806.770218352,653,629.229781648,652,0.40098400289,0.0046126384483,0.0498518478669,0.999999957214,0.000136662874115,-0.000254840029803,-4.41877890431e-05,1793245505025267968
+29,0.483333333,BASELINE,764.822804567,745,713,679.177195433,663,633.177195433,878,786,806.177195433,653,629.822804567,652,0.400984560502,0.0046118409447,0.0498524254269,0.999999957918,0.000133215369047,-0.000253893391455,-4.42231306223e-05,1793245505041934848
+30,0.500000000,BASELINE,765,745,713,679,663,633,878,786,806.405029512,653,629.594970488,652.405029512,0.40098427385,0.00461191766021,0.04985259001,0.999999957825,0.00013369002409,-0.000254039599926,-4.40515061197e-05,1793245505058601472
+31,0.516666667,BASELINE,765,745,713,679,663,633,878,786,806.982653131,653,629.017346869,652.982653131,0.400983627433,0.00461236690432,0.0498525786123,0.999999957392,0.000135836018476,-0.000254651500219,-4.37916877316e-05,1793245505075267840
+32,0.533333333,BASELINE,765,745.558648256,713,679,663,633,878,786,807,653,629,652.441351744,0.400984201406,0.00461115325243,0.0498528403529,0.999999957735,0.00013433582388,-0.000254142044538,-4.35382158495e-05,1793245505091934720
+33,0.550000000,BASELINE,765,746,713,679,663,633,878,786,807,653,629,652.133782891,0.400984535612,0.00461040732176,0.0498529096306,0.999999957917,0.00013352545633,-0.000253880898611,-4.33783081209e-05,1793245505108601344
+34,0.566666667,BASELINE,765,746,713,679,663,633,878,786,807,653,629,652.706261065,0.400983959679,0.00461136395186,0.0498523200608,0.999999957496,0.000135347327271,-0.000254547847531,-4.35245677761e-05,1793245505125267968
+35,0.583333333,BASELINE,765,745.711105557,713,679,662.711105557,633,878,786,807,653,629,652.711105557,0.400983678642,0.0046130187051,0.0498519132398,0.999999957109,0.000137200223076,-0.000254996280089,-4.39871360282e-05,1793245505141934848
+36,0.600000000,BASELINE,765,745.117770424,713,679,662.117770424,633,878,786,807,653,629,652.117770424,0.40098370837,0.00461540914962,0.0498516990019,0.999999956758,0.000139085813508,-0.000255214437368,-4.47830343765e-05,1793245505158601216
+37,0.616666667,BASELINE,765,745,713,679,662,633,878,785.537058295,807,653,629.462941705,652,0.400984887674,0.00461400962687,0.0498526280966,0.999999957301,0.000138054714034,-0.000253676303734,-4.4576125549e-05,1793245505175267840
+38,0.633333333,BASELINE,764.95954704,745,713,679,662.04045296,633.04045296,878,785.04045296,807,653,629.95954704,652,0.400986137324,0.00461184685982,0.0498537069369,0.999999957977,0.000136537533807,-0.000251904489967,-4.41236844004e-05,1793245505191934720
+39,0.650000000,BASELINE,764.383027453,745,713,679,662.616972547,633.616972547,878,785.616972547,807,653,629.383027453,652,0.400984546639,0.00461200730619,0.0498530181043,0.999999957548,0.000138150619855,-0.000252799607354,-4.3708429221e-05,1793245505208601088
+40,0.666666667,BASELINE,764,745,713,679.197291223,663,634,878.197291223,786,807,653,629.197291223,652,0.400983564287,0.00461253255032,0.0498523946928,0.999999957279,0.000138449927377,-0.000253703761266,-4.36799906216e-05,1793245505225267456
+41,0.683333333,BASELINE,764,745,713,679.785130352,663,634,878.785130352,786,807,653,629.785130352,652,0.400983786161,0.00461377992996,0.0498519007857,0.999999957328,0.000136148544084,-0.000254625803383,-4.44172749366e-05,1793245505241934080
+42,0.700000000,BASELINE,764.369209051,745,713,679.630790949,663,633.630790949,878.630790949,786,807,653,630,652,0.400984338314,0.00461392224414,0.0498522985443,0.999999957463,0.000136207373824,-0.000254067399397,-4.44064502505e-05,1793245505258600704
+43,0.716666667,BASELINE,764.951121325,745,713,679.048878675,663,633.048878675,878.048878675,786,807,653,630,652,0.400985080743,0.00461342792441,0.0498532099961,0.999999957646,0.000137625934452,-0.000252656102802,-4.39646361143e-05,1793245505275267584
+44,0.733333333,BASELINE,765,745,713,679,663,633,878,786,806.472973185,653,630,652,0.400985132075,0.00461345500183,0.0498530310755,0.999999957704,0.000137548532976,-0.000252422741639,-4.42198270324e-05,1793245505291934208
+45,0.750000000,BASELINE,765,745,713,679,663,633,877.895507848,786,806.104492152,653,629.895507848,652,0.400984832027,0.00461344180992,0.0498527105688,0.999999957685,0.00013742060203,-0.000252526249115,-4.4449808292e-05,1793245505308600832
+46,0.766666667,BASELINE,765,745,713,679,663,633,877.308292032,786,806.691707968,653,629.308292032,652,0.40098320147,0.00461302170936,0.049852197882,0.999999957362,0.000137692963833,-0.00025368699198,-4.42680605637e-05,1793245505325267712
+47,0.783333333,BASELINE,765,745,713,679,663,633.274964525,877.54992905,786,807,653,629.274964525,652,0.400982641277,0.00461281687184,0.0498520967488,0.999999957274,0.000137761502567,-0.000254029188836,-4.40858659795e-05,1793245505341934592
+48,0.800000000,BASELINE,765,745,713,679,663,633.85384502,878.707690039,786,807,653,629.85384502,652,0.400983264148,0.00461284996267,0.0498524505024,0.999999957446,0.00013760475742,-0.000253466653839,-4.39031774666e-05,1793245505358601472
+49,0.816666667,BASELINE,765,745,713,679,663,633.569813228,878.569813228,786,807,652.569813228,629.569813228,652,0.400983891005,0.00461271298248,0.0498527372124,0.999999957619,0.000137283030993,-0.00025297854333,-4.37791087348e-05,1793245505375268096
+50,0.833333333,BASELINE,764.994331831,745,713,679,663,633.005668169,878,786,807,652.005668169,629,652,0.40098450731,0.00461252322857,0.0498529937739,0.999999957788,0.000136908116365,-0.0002525321389,-4.36773157889e-05,1793245505391934720
+51,0.850000000,BASELINE,764.419136647,745,713,679,663,633.580863353,878,786,807,652.580863353,629,652,0.400983928024,0.00461280255903,0.0498524963261,0.99999995749,0.000136787907727,-0.000253750541081,-4.38243756029e-05,1793245505408601344
+52,0.866666667,BASELINE,764.160406889,745,713,679,662.839593111,634,877.839593111,785.839593111,807,653,629,652,0.400983693482,0.00461273476237,0.0498522049413,0.999999957378,0.000136543412157,-0.000254306018718,-4.39127213429e-05,1793245505425267968
+53,0.883333333,BASELINE,764.751629042,745,713,679,662.248370958,634,877.248370958,785.248370958,807,653,629,652,0.400984384842,0.00461173466369,0.049852466993,0.999999957771,0.000135965111055,-0.000253081036516,-4.38433748489e-05,1793245505441934592
+54,0.900000000,BASELINE,765,745,713,679,662.335210632,634,877.335210632,785.335210632,807,653,629.335210632,652,0.40098458646,0.00461128596768,0.0498525417418,0.999999957963,0.000135327711959,-0.000252674789866,-4.37615935077e-05,1793245505458601216
+55,0.916666667,BASELINE,765,745,713,679,662.91325716,634,877.91325716,785.91325716,807,653,629.91325716,652,0.400984433293,0.00461123672313,0.049852480803,0.999999958012,0.000134647500658,-0.000252861658055,-4.36708040208e-05,1793245505475267840
+56,0.933333333,BASELINE,764.510948027,745,713,679,663,634,878,786,807,653,630,652,0.400985720061,0.00461117920706,0.04985392727,0.999999958576,0.000134137548687,-0.000250893543507,-4.36773587586e-05,1793245505491934720
+57,0.950000000,BASELINE,764,745,713,679,662.935564789,634,878,786,807,653,629.935564789,652,0.400986848475,0.0046111943983,0.0498551920287,0.999999959046,0.000133886309963,-0.000249139324102,-4.37269629145e-05,1793245505508601088
+58,0.966666667,BASELINE,764,745,713,679,662.36029303,634,878,786,807,653,629.36029303,652,0.400984705954,0.00461179758442,0.0498529062683,0.999999958083,0.000135447810813,-0.000252097227894,-4.39816039501e-05,1793245505525267712
+59,0.983333333,BASELINE,764.22081779,745,713,679,662.22081779,634,878,785.77918221,806.77918221,653,629,652.22081779,0.400983956801,0.00461230800473,0.0498519592617,0.999999957652,0.000136542288679,-0.000253173022236,-4.42149716752e-05,1793245505541934080
+60,1.000000000,BASELINE,764.811714663,745,713,679,662.811714663,634,878,785.188285337,806.188285337,653,629,652.811714663,0.400985542859,0.00461266295446,0.0498532559362,0.999999958125,0.000136854060676,-0.000251094499938,-4.44126864844e-05,1793245505558600960
+61,1.016666667,BASELINE,765,745,713,679,663,634,878.39415239,785,806.39415239,653,629.39415239,652.60584761,0.40098607951,0.0046119119438,0.049853698559,0.99999995839,0.000134954251853,-0.000251096890117,-4.4248923661e-05,1793245505575267584
+62,1.033333333,BASELINE,765,745,713,679,663,634,878.972634078,785,806.972634078,653,629.972634078,652.027365922,0.400986125396,0.0046106437197,0.0498537417759,0.999999958551,0.000132020175173,-0.000252072439907,-4.39161122035e-05,1793245505591934464
+63,1.050000000,BASELINE,765,745.54865953,713,679,663,633.45134047,878.45134047,785.54865953,807,653,630,652.54865953,0.40098712016,0.00461065264994,0.0498545694617,0.999999959205,0.000131158623123,-0.000249917815523,-4.39228439025e-05,1793245505608600832
+64,1.066666667,BASELINE,765,745.873495373,713,679.126504627,662.873495373,633.126504627,878,785.873495373,807,653,630,652.873495373,0.400987316177,0.00461104757284,0.0498548372326,0.999999959422,0.000131582984939,-0.000248817427572,-4.39496342223e-05,1793245505625267712
+65,1.083333333,BASELINE,765,745.288615093,713,679.711384907,662.288615093,633.711384907,878,785.288615093,807,653,630,652.288615093,0.4009844473,0.00461261131063,0.0498529350703,0.999999957967,0.000136293823629,-0.000252100134697,-4.39880137374e-05,1793245505641934336
+66,1.100000000,BASELINE,764.705388666,745,713,679.705388666,662,634,878,785.294611334,807,653,629.705388666,652,0.400983130235,0.00461360547733,0.0498520127594,0.999999957334,0.000138176644722,-0.000253565051025,-4.40992058688e-05,1793245505658600960
+67,1.116666667,BASELINE,764.123773421,745,713,679.123773421,662,634,878,785.876226579,807,653,629.123773421,652,0.400983324914,0.00461404478027,0.0498520449984,0.999999957523,0.000137304472714,-0.000253259115173,-4.42813304555e-05,1793245505675267584
+68,1.133333333,BASELINE,764,745,713,679,662.453294689,633.546705311,878,786,807,653,629,652,0.400983288484,0.00461242020959,0.0498520005641,0.999999957481,0.000137572561906,-0.000253371109852,-4.37492514126e-05,1793245505691934464
+69,1.150000000,BASELINE,764,745,713,679,663,633,877.970890688,785.970890688,807,653,629,652,0.400983269333,0.00461040768218,0.0498519850058,0.999999957426,0.000138003787993,-0.000253467261976,-4.30862546023e-05,1793245505708601344
+70,1.166666667,BASELINE,764,745,713,679,663,633,877.39553119,785.39553119,807,653,629,652,0.400984746827,0.0046115851572,0.0498529002879,0.999999958304,0.000135711720583,-0.000251145926179,-4.35897353424e-05,1793245505725267712
+71,1.183333333,BASELINE,764.179527438,745,713,679,663,633,877.179527438,785.179527438,807,653,629,652,0.400985583457,0.00461206060811,0.0498533672661,0.999999958748,0.000134135463785,-0.000250168241639,-4.39048573384e-05,1793245505741934592
+72,1.200000000,BASELINE,764.753924412,745,713,679,663,633,877.753924412,785.753924412,807,653,629,652,0.40098501051,0.00461099196137,0.0498528482029,0.999999958256,0.000134133627754,-0.000252145909653,-4.38056854887e-05,1793245505758601728
+73,1.216666667,BASELINE,765,745.340537029,713,679.340537029,662.659462971,633.340537029,878,786,807,653,629,652.340537029,0.40098455893,0.00461105819211,0.0498527105853,0.999999957927,0.00013529284384,-0.000252834432995,-4.37860508204e-05,1793245505775268352
+74,1.233333333,BASELINE,765,745.936305185,713,679.936305185,662.063694815,633.936305185,878,786,807,653,629,652.936305185,0.400984198313,0.004611975009,0.0498528588598,0.999999957718,0.000137322263801,-0.000252556747494,-4.38260289543e-05,1793245505791934720
+75,1.250000000,BASELINE,765,745.487882997,713,679.487882997,662,634,877.487882997,785.487882997,806.487882997,653,629,652.487882997,0.400985031684,0.00461142358379,0.0498532458415,0.999999957876,0.000136361744505,-0.000252495258338,-4.35884032793e-05,1793245505808601344
+76,1.266666667,BASELINE,765,745,713,679,662.086151433,634,877.086151433,785.086151433,806.086151433,653,629,652,0.400985828747,0.0046108072789,0.0498536295405,0.999999958084,0.000135242988468,-0.000252307490346,-4.33808134628e-05,1793245505825268224
+77,1.283333333,BASELINE,765,745,713,679,662.66367414,634,877.66367414,785.66367414,806.66367414,653,629,652,0.400985603489,0.00461082341196,0.0498538315318,0.999999958341,0.000135263183367,-0.000251251867141,-4.35340773742e-05,1793245505841934848
+78,1.300000000,BASELINE,765,745.247474987,713,679.247474987,663,633.752525013,878,786,807,653,629,652,0.40098591862,0.00461094242927,0.0498540560339,0.999999958556,0.00013536543587,-0.000250332171207,-4.357057082e-05,1793245505858601472
+79,1.316666667,BASELINE,765,745.840030047,713,679.840030047,663,633.159969953,878,786,807,653,629,652,0.40098698727,0.00461120490877,0.0498543119251,0.999999958714,0.00013558210981,-0.00024960201287,-4.3444239067e-05,1793245505875267840
+80,1.333333333,BASELINE,765,745.57899325,713,679.57899325,663,633.42100675,878,786,807,652.57899325,629,652,0.400986224458,0.00461208226283,0.0498544122137,0.999999958613,0.000135543860532,-0.000249993791001,-4.36534921544e-05,1793245505891934464
+81,1.350000000,BASELINE,765,745.002298176,713,679.002298176,663,633.997701824,878,786,807,652.002298176,629,652,0.400984784371,0.00461318699757,0.0498544549605,0.999999958414,0.000135411340648,-0.000250800461255,-4.39868445282e-05,1793245505908601344
+82,1.366666667,BASELINE,765,745,713,679,663,633.429109281,878,785.429109281,807,652.570890719,629,652,0.400986351029,0.00461284197051,0.0498545440756,0.9999999588,0.000135872136459,-0.000249037238017,-4.38131350329e-05,1793245505925267712
+83,1.383333333,BASELINE,764.851285211,745,713,679.148714789,663,633,878,785.148714789,807,653,629,652,0.400987336038,0.00461234359759,0.0498545218518,0.999999959071,0.000135657194517,-0.000248076778855,-4.37458417941e-05,1793245505941934592
+84,1.400000000,BASELINE,764.259613028,745,713,679.740386972,663,633,878,785.740386972,807,653,629,652,0.400986552739,0.00461140575054,0.0498541674446,0.999999958997,0.000133422449811,-0.000249538034459,-4.4001559597e-05,1793245505958601216
+85,1.416666667,BASELINE,764,745,713,679.674984994,663,633,878,785.674984994,807,653,629,652,0.400985450783,0.00461105793011,0.0498537321909,0.999999958699,0.000132985573787,-0.000250948438707,-4.40711098086e-05,1793245505975267840
+86,1.433333333,BASELINE,764,745,713,679.095864307,663,633,878,785.095864307,807,653,629,652,0.400984099695,0.0046111714088,0.049853233729,0.999999958228,0.000133954321145,-0.000252319085877,-4.39951090554e-05,1793245505991934208
+87,1.450000000,BASELINE,764,745,713,679,663,633.478994586,878,785.478994586,807,653,629.478994586,652,0.400984332673,0.00461161502738,0.0498530790536,0.999999958072,0.000134912781306,-0.000252453148149,-4.38419105967e-05,1793245506008601088
+88,1.466666667,BASELINE,764,745,713,679,663,634,878,786,806.94693689,653,630,652,0.400984843642,0.00461207296622,0.0498530362479,0.999999957997,0.000135821865559,-0.000252286536474,-4.37105378757e-05,1793245506025267712
+89,1.483333333,BASELINE,764,745,713,679,663,634,878,786,806.372327264,653,630,652,0.4009849984,0.00461202796461,0.0498534226871,0.999999958105,0.000136265701601,-0.00025157569733,-4.39442023748e-05,1793245506041934336
+90,1.500000000,BASELINE,764.20913087,745,713,679.20913087,663,633.79086913,877.79086913,786,806.20913087,653,630,652,0.400984410781,0.00461179092412,0.0498532159809,0.999999958089,0.000135918977955,-0.00025181242036,-4.40220469173e-05,1793245506058601216
+91,1.516666667,BASELINE,764.803194513,745,713,679.803194513,663,633.196805487,877.196805487,786,806.803194513,653,630,652,0.400982456721,0.00461120041091,0.0498519175129,0.999999957841,0.000134117125542,-0.000253793255837,-4.38130843821e-05,1793245506075267840
+92,1.533333333,BASELINE,765,745,713,680,663,633.38496693,877.38496693,786,807,653,630,652,0.400984191435,0.00461145247301,0.0498528028329,0.999999958263,0.000134546387372,-0.000251897675732,-4.38066378852e-05,1793245506091934208
+93,1.550000000,BASELINE,765,745,713,680,663,633.960650207,877.960650207,786,807,653,630,652,0.400987753601,0.00461212195504,0.0498547700226,0.999999959005,0.000136080964653,-0.00024808168196,-4.39005197768e-05,1793245506108601088
+94,1.566666667,BASELINE,764.464907385,745,713,680,663,633.464907385,878,786,807,653,629.464907385,652,0.400987501661,0.00461176284698,0.0498549463673,0.999999959116,0.000135086125644,-0.000248195218593,-4.38155623421e-05,1793245506125267968
+95,1.583333333,BASELINE,764.112757831,745,713,679.887242169,663,633,878,786,807,653,629.112757831,652.112757831,0.400987030725,0.00461154613545,0.04985496301,0.999999959155,0.000134343700569,-0.000248444903131,-4.37780538292e-05,1793245506141934592
+96,1.600000000,BASELINE,764.704500136,745,713,679.295499864,663,633,878,786,807,653,629.704500136,652.704500136,0.400986818222,0.00461225488186,0.0498548593902,0.999999959093,0.000135461825411,-0.000248048250228,-4.39978409817e-05,1793245506158600960
+97,1.616666667,BASELINE,765,745,713,679,663,633,877.710217399,786,807,653,629.710217399,653,0.400986278061,0.00461256017435,0.0498548107229,0.999999958942,0.000135782342097,-0.000248478485667,-4.40125868564e-05,1793245506175267584
+98,1.633333333,BASELINE,765,745,713,679,663,633,877.131378616,786,807,653,629.131378616,653,0.400985411063,0.00461246302424,0.0498548168701,0.999999958702,0.000135307249985,-0.000249733536647,-4.38228054325e-05,1793245506191934464
+99,1.650000000,BASELINE,765,745,713,679,663,633.44317984,877,786,807,653,629.44317984,653,0.400985855728,0.00461187554408,0.0498545442457,0.999999958861,0.000134613419713,-0.000249503470744,-4.36523262404e-05,1793245506208601344
+100,1.666666667,BASELINE,765,745,713,679,662.983476325,634,877.016523675,786,806.983476325,653,629.983476325,653,0.40098669361,0.00461121098101,0.0498542163211,0.999999959124,0.000133929688589,-0.000248839119763,-4.35085157932e-05,1793245506225268224
+101,1.683333333,BASELINE,765,745,713,679,662.408709042,634,877.591290958,786,806.408709042,653,629.408709042,653,0.400987805129,0.00461280601494,0.0498547853725,0.999999959004,0.00013575691276,-0.000248234213654,-4.40742272406e-05,1793245506241934592
+102,1.700000000,BASELINE,764.828790698,745,713,679,662.171209302,633.828790698,878,786,806,653,629.171209302,652.828790698,0.400987729981,0.00461355582286,0.0498547181582,0.99999995873,0.000136857370722,-0.000248687750677,-4.43226956216e-05,1793245506258601216
+103,1.716666667,BASELINE,764.236194448,745,713,679,662.763805552,633.236194448,878,786,806,653,629.763805552,652.236194448,0.400984734167,0.00461222532765,0.0498530849422,0.999999958082,0.000136169083345,-0.000251746368906,-4.37903530297e-05,1793245506275267840
+104,1.733333333,BASELINE,764.347212413,745,713,679,663,633,878,786,806.347212413,653,630,652.347212413,0.40098346583,0.00461139796856,0.0498523273708,0.999999957791,0.000135952588346,-0.000253062795273,-4.35182600683e-05,1793245506291934720
+105,1.750000000,BASELINE,764.924529345,745,713,679,663,633,878,786,806.924529345,653,630,652.924529345,0.400983342327,0.00461090404757,0.049852150106,0.999999957741,0.000136048759399,-0.000253224637017,-4.34186396205e-05,1793245506308601088
+106,1.766666667,BASELINE,765,745,713,679,663,633.500831574,878,786,807,653,629.499168426,652.499168426,0.400983724864,0.00461203819231,0.0498529295257,0.999999958165,0.000134654688285,-0.000252264177163,-4.36081242025e-05,1793245506325267968
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,786,807,653,629,652,0.400983606572,0.00461228360039,0.0498525083558,0.999999957518,0.000135804344116,-0.000254180673932,-4.37351717798e-05,1793245506368688128
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.407033062,745,713,679,662.407033062,633.592966938,877.407033062,786,807,653,629,652,0.400984146216,0.00461202862655,0.0498527148522,0.999999957991,0.000134886386031,-0.000252764829549,-4.39638011561e-05,1793245506385355008
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.181085875,745,713,679,662.181085875,633.818914125,877.181085875,786,807,653,629,652,0.400984536898,0.00461174807488,0.0498529684558,0.999999958401,0.000133699864786,-0.00025174510397,-4.41222893289e-05,1793245506402021888
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.758592027,745,713,679,662.758592027,633.241407973,877.758592027,786,807,653,629,652,0.400984601481,0.00461141153003,0.049853325183,0.999999958675,0.000131925424059,-0.00025159253315,-4.41272294267e-05,1793245506418688256
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,786,806.664680848,653,629.335319152,652,0.400985396534,0.00461164859242,0.0498539633369,0.999999958686,0.000133656181527,-0.000250672577773,-4.39030017718e-05,1793245506435354624
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,786,806.088513304,653,629.911486696,652,0.400986716259,0.00461229765747,0.0498548036301,0.999999958494,0.00013790460425,-0.000249201436066,-4.35141706808e-05,1793245506452020992
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.502454684,745,713,679,663,633.497545316,878,786,806.497545316,653,630,652,0.400986371769,0.00461070115359,0.0498545532319,0.999999958767,0.000135398187288,-0.000249520193524,-4.32816855152e-05,1793245506468687872
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.084146717,745,713,679.084146717,663,634,878,786,807,653,629.915853283,652.084146717,0.400985995721,0.00460912884971,0.0498542960944,0.999999959074,0.000132302402874,-0.000249971487281,-4.31589831533e-05,1793245506485354752
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.663378726,745,713,679.663378726,663,634,878,786,807,653,629.336621274,652.663378726,0.400987211249,0.00461009702059,0.0498551640784,0.999999959142,0.000132952658114,-0.000249291098998,-4.35152332605e-05,1793245506502021376
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.758957205,745,713,679.758957205,663,633.758957205,878,786,807,653,629.241042795,652.758957205,0.400991259926,0.00461081611831,0.0498569240797,0.999999959768,0.000133301841657,-0.000246558427791,-4.36388868197e-05,1793245506518688256
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.183468692,745,713,679.183468692,663,633.183468692,878,786,807,653,629.816531308,652.183468692,0.400999239585,0.00461118962814,0.0498599217507,0.999999961146,0.000133233289611,-0.000240978223957,-4.34398137571e-05,1793245506535354880
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.390956986,744.609043014,713,679,663,633,878,786,807,653,630,652,0.401024763409,0.00461086775473,0.0498692016777,0.999999965542,0.000133328343205,-0.000221958614579,-4.32871051557e-05,1793245506552021504
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.964885299,744.035114701,713,679,663,633,878,786,807,653,630,652,0.401058498058,0.00461022043584,0.0498814217563,0.999999970822,0.000133499965609,-0.000196649243946,-4.3156095492e-05,1793245506568688384
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.555958525,713,679,663,633.555958525,878,786,807,653,630,652,0.401117633515,0.00460889928684,0.0499004248822,0.999999978069,0.000132673289435,-0.000156321729526,-4.26974253077e-05,1793245506585355008
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,713,679,662.855125429,634,877.855125429,786,806.855125429,653,630,652,0.40118208597,0.00460801601874,0.0499185003081,0.999999983162,0.000131655039153,-0.000120696841943,-4.21380416436e-05,1793245506602021632
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,713,679,662.276023843,634,877.276023843,786,806.276023843,653,630,652,0.401257513269,0.00460857681511,0.049932470228,0.99999998545,0.000130257591861,-0.000102100484387,-4.13407962063e-05,1793245506618688256
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,713,679,662.300004894,633.699995106,877.300004894,785.699995106,806.300004894,653,629.699995106,652,0.401337358001,0.00460814512055,0.0499420270683,0.999999986784,0.000130073317649,-8.87439782582e-05,-4.0460720895e-05,1793245506635354880
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,713,679,662.873235043,633.126764957,877.873235043,785.126764957,806.873235043,653,629.126764957,652,0.401421225843,0.00460680952875,0.0499475647571,0.999999987427,0.000130993923932,-8.01595945413e-05,-3.95052094916e-05,1793245506652021760
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713,679.448250195,662.551749805,633.448250195,878,785.448250195,807,653,629.448250195,652,0.401518648086,0.00460621496933,0.0499479011611,0.999999987547,0.000128933314828,-8.23497693639e-05,-3.87364385988e-05,1793245506668688384
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,713,679.975491131,662.024508869,634,878,785.975491131,807,653,629.975491131,652,0.401621079221,0.00460577293522,0.0499468013007,0.999999987527,0.000125965495539,-8.73725007475e-05,-3.80127973562e-05,1793245506685355264
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713,679.382133368,662.617866632,634,878,785.382133368,807,653,629.382133368,652,0.401750442918,0.00460398759951,0.0499466423148,0.999999988124,0.000121587601535,-8.71343308057e-05,-3.7105991957e-05,1793245506702021632
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,878,785,807,653,629.205494212,652.205494212,0.401894053362,0.00460265381448,0.0499482000004,0.999999988694,0.000118787726919,-8.48638937527e-05,-3.60560733462e-05,1793245506718688256
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,878,785,807,653,629.782755055,652.782755055,0.402063438071,0.00460213694548,0.0499528633751,0.999999989221,0.000118842701825,-7.89168125332e-05,-3.474724381e-05,1793245506735354624
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,713,679,662.641528103,634,878,785.358471897,807,653,629.641528103,652.641528103,0.402242232014,0.00460051176935,0.0499515520375,0.999999989154,0.000116493253458,-8.37806971529e-05,-3.31898865736e-05,1793245506752021248
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,713,679,662.066742906,634,878,785.933257094,807,653,629.066742906,652.066742906,0.402426703801,0.00459821780554,0.0499466353696,0.999999988626,0.000112692899901,-9.51682605102e-05,-3.14825597193e-05,1793245506768687872
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.479678749,745,713,679,662.520321251,633.479678749,878,786,807,653,629.520321251,652,0.402646684824,0.00459511187837,0.0499473015352,0.999999989323,0.000108404703201,-9.32531314986e-05,-3.0098982874e-05,1793245506785354752
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713,679,662.892570145,633,878,786,807,653,629.892570145,652,0.402881270706,0.00459202899857,0.0499494053885,0.99999999023,0.000103965296575,-8.89553615457e-05,-2.85966336449e-05,1793245506802021376
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713,679,662.312364745,633,878,786,807,653,629.312364745,652,0.40315960007,0.00458951697513,0.0499546085186,0.999999991387,9.91424894677e-05,-8.18629615073e-05,-2.63844186251e-05,1793245506818688000
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713,679,662.265824125,633,878,785.734175875,807,653,629,652,0.403462704776,0.00458618726117,0.0499617699531,0.999999992934,9.40670892805e-05,-6.85721890158e-05,-2.40892257098e-05,1793245506835354880
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713,679,662.841661216,633,878,785.158338784,807,653,629,652,0.403794703298,0.00458190392938,0.0499712152269,0.999999994676,8.86971068773e-05,-4.80526680951e-05,-2.16972613296e-05,1793245506852021504
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.416353848,745,713,679,663,633.416353848,878,785,807,653,629,652,0.4041496003,0.00457898725549,0.0499811201385,0.999999995778,8.49149768989e-05,-2.95851432074e-05,-1.89103963055e-05,1793245506868688128
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.990612423,745,713,679,663,633.990612423,878,785,807,653,629,652,0.404513181682,0.004576588895,0.0499911993703,0.999999996461,8.17350497103e-05,-1.18958507484e-05,-1.59737628636e-05,1793245506885354752
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.418056556,745,713,679,663,633.418056556,878,785.581943444,807,653,629.581943444,652,0.404911971464,0.00457217306823,0.0499980242262,0.999999997067,7.52069706602e-05,4.97964611524e-06,-1.3586192388e-05,1793245506902021376
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.16977171,745,713,679,663,633,878,786,807,653,630,652.16977171,0.405315528632,0.00456780767514,0.0499978604168,0.999999997544,6.8815048561e-05,7.34557552244e-06,-1.10723608335e-05,1793245506918687744
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.748479243,745,713,679,663,633,878,786,807,653,630,652.748479243,0.405729159712,0.0045636445251,0.0499809930074,0.999999997671,6.28851231886e-05,-2.52056887976e-05,-8.23242016258e-06,1793245506935354624
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.325149576,713,679,663,633,878.325149576,786,807,652.674850424,629.674850424,652.674850424,0.406166811641,0.0045596986201,0.049960646178,0.99999999628,5.79531005645e-05,-6.36658875376e-05,-5.24736331008e-06,1793245506952021504
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.900253897,713,679,663,633,878.900253897,786,807,652.099746103,629.099746103,652.099746103,0.406622929347,0.00455591971911,0.0499376245854,0.999999992862,5.37882027496e-05,-0.000106668510469,-2.15074986906e-06,1793245506968688128
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.525535905,713,679.474464095,663,633,878.525535905,785.525535905,807,652,629.474464095,652,0.407122623475,0.00455133177792,0.0499273469306,0.999999990981,4.91487493909e-05,-0.000124980655027,1.11214059364e-06,1793245506985355008
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633.050028314,878,785.050028314,807,652.050028314,630,652.050028314,0.407638755621,0.00454641141434,0.0499225882443,0.999999990245,4.41277911073e-05,-0.00013244823232,4.44511424394e-06,1793245507002021632
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633.642302406,878,785.642302406,807,652.642302406,630,652.642302406,0.408233948597,0.0045397280268,0.0499486643886,0.999999996234,3.60510825085e-05,-7.85284869521e-05,8.1595359824e-06,1793245507018688256
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.228524247,713,679.771475753,663,633.771475753,878.228524247,786,807,653,630,652.771475753,0.408847222763,0.00453316650872,0.0499738508932,0.999999998829,3.54352790595e-05,-3.06897958157e-05,1.20479237409e-05,1793245507035355136
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.805517184,713,679.194482816,663,633.194482816,878.805517184,786,807,653,630,652.194482816,0.409488068274,0.00452679082557,0.0499976808158,0.999999998771,4.61963513955e-05,7.87610341293e-06,1.62015860389e-05,1793245507052022016
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.381961003,745.618038997,713,679.381961003,663,633.381961003,878.618038997,786,807,652.618038997,630,652,0.410130622597,0.00452021263043,0.050001725312,0.999999996018,8.64930576916e-05,8.95746442244e-06,2.00708743365e-05,1793245507068688640
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.958125613,745.041874387,713,679.958125613,663,633.958125613,878.041874387,786,807,652.041874387,630,652,0.410774045726,0.00451353147062,0.0499957101387,0.999999989622,0.00014180681125,-9.01975099869e-06,2.37955758255e-05,1793245507085355264
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.455264464,745,713,679.455264464,663,633.455264464,878,786,807,652.544735536,629.455264464,652,0.411387281051,0.00450661187706,0.0499628902491,0.999999989084,0.000122433600727,-7.86792655578e-05,2.55281199236e-05,1793245507102021888
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713,679.13079329,663,633,878,785.86920671,807,653,629,652,0.412029778508,0.00449874519246,0.0499376219988,0.999999987835,8.54556541361e-05,-0.000128283283579,2.38768204003e-05,1793245507118688512
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713,679.712128901,663,633,878,785.287871099,807,653,629,652,0.412781224715,0.00448768044531,0.0499456033786,0.999999995408,7.99837018858e-06,-9.48494614563e-05,1.11070589382e-05,1793245507135354880
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.290472911,633,878,785,807.290472911,653,629.290472911,652,0.413551637795,0.00448020225824,0.0499618958122,0.999999997922,-2.0814755925e-05,-6.05843961098e-05,7.25199991744e-06,1793245507152021504
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663.865882407,633,878,785,807.865882407,653,629.865882407,652,0.414340656334,0.00447624227116,0.0499863408945,0.999999999599,-1.9108762907e-06,-2.55039271919e-05,1.21417303386e-05,1793245507168688128
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.549050435,713,679.549050435,663.549050435,633,878,785,808,653,630,652,0.415098458254,0.00448037819804,0.0499679572466,0.999999998278,9.42343101753e-06,-5.58452421503e-05,1.53738867416e-05,1793245507185355008
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.038369425,713,679.038369425,663,633,878.038369425,785.038369425,808.038369425,652.961630575,630,652,0.41585146558,0.00448794907586,0.049938480009,0.999999994375,1.92589490655e-05,-0.000102773868821,1.77905240789e-05,1793245507202021376
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.617579708,713,679.617579708,663,633,878.617579708,785.617579708,808.617579708,652.382420292,630,652,0.416670621112,0.00450925526593,0.0499361076829,0.999999993729,4.03957503423e-05,-0.00010324760154,1.58128747017e-05,1793245507218688000
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.19625447,633,879,786,808.80374553,652,630,652,0.417506633507,0.00451997872434,0.0499454534711,0.999999994826,5.43918902524e-05,-8.45999192961e-05,1.5234178786e-05,1793245507235354880
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.773888525,633,879,786,808.226111475,652,630,652,0.418375403645,0.0045101368522,0.049977570968,0.999999997949,5.45116444562e-05,-2.87937595596e-05,1.73740569133e-05,1793245507252021504
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,713.347094952,680,663.652905048,633,879,786,808,652,630,652.347094952,0.419212939419,0.00450031953274,0.0499817921577,0.999999998579,4.06091335835e-05,-2.91161183977e-05,1.86035855345e-05,1793245507268688128
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,713.917453353,680,663.082546647,633,879,786,808,652,630,652.917453353,0.420030384141,0.00449051800681,0.0499680694789,0.99999999751,1.76870179871e-05,-6.55422792076e-05,1.92475458572e-05,1793245507285355008
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,713.492807326,679.492807326,663.507192674,633,879,786,808,652,630,653,0.420935271288,0.0044880685715,0.0499707682568,0.999999998863,1.02507347205e-05,-4.2789772428e-05,1.8366396511e-05,1793245507302021632
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713,679.097543606,664,633,879.097543606,786,808.097543606,652,630,652.902456394,0.421854169723,0.00448753013222,0.0499776379908,0.999999999752,7.9872885316e-06,-1.13320405403e-05,1.74315218235e-05,1793245507318688512
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713,679.674774041,664,633,879.674774041,786,808.674774041,652,630,652.325225959,0.422769204687,0.00449027122638,0.0499913538312,0.999999999586,1.82754564009e-05,1.3689022003e-05,1.75015776115e-05,1793245507335354880
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.747775022,633,879.747775022,785.747775022,808.747775022,652,630,652,0.423668525312,0.00449403503443,0.0499910205678,0.999999999474,2.39434509301e-05,1.23821141898e-05,1.80271316589e-05,1793245507352021504
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663.170039435,633,879.170039435,785.170039435,808.170039435,652,630,652,0.424547565821,0.004499118713,0.0499725561426,0.999999999275,2.3648851696e-05,-2.29025259483e-05,1.91405319951e-05,1793245507368688128
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.404748744,633,879.404748744,785.404748744,808.404748744,652.404748744,630,652.404748744,0.425467553603,0.00449959133982,0.0499804015304,0.999999999537,1.96981377995e-05,-1.13299330608e-05,2.02453214431e-05,1793245507385355008
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.978307602,633,879.978307602,785.978307602,808.978307602,652.978307602,630,652.978307602,0.42640461937,0.00449814081726,0.0499992200539,0.999999999475,1.42225541241e-05,1.97855881259e-05,2.13465194374e-05,1793245507402021632
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713,680,664,633,880,785.429873401,809,653,630,652.429873401,0.427264807735,0.00448980641975,0.049998521604,0.999999999405,2.41582661981e-05,-6.99080738932e-06,2.36156567206e-05,1793245507418688000
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.841474355,633,880,785,809,652.841474355,630.158525645,652.158525645,0.428137196296,0.00448407458059,0.0499876709109,0.999999998407,3.04084577378e-05,-4.05135485901e-05,2.49162340672e-05,1793245507435354624
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.264010137,633,880,785,809,652.264010137,630.735989863,652.735989863,0.429049812374,0.00448593565411,0.0499520180901,0.999999995717,2.53179597636e-05,-8.58512695064e-05,2.35358571214e-05,1793245507452021248
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663.312436789,633.312436789,880.312436789,785,809,652,630.687563211,653,0.429971575824,0.00448795297538,0.0499430551723,0.999999995503,2.1714905553e-05,-8.93430924506e-05,2.32407095492e-05,1793245507468687872
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.888026862,633.888026862,880.888026862,785,809,652,630.111973138,653,0.430901043703,0.00449010189792,0.0499565721174,0.99999999787,1.93646672974e-05,-5.75897505516e-05,2.3859608299e-05,1793245507485354496
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.473849327,713.473849327,679.526150673,664.473849327,633.526150673,880.526150673,785,809,652,630,653,0.43178703704,0.00449430690916,0.0499448174674,0.999999996117,1.99820742309e-05,-8.25073223152e-05,2.36546421411e-05,1793245507502021120
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.938876833,745.938876833,713.938876833,679.061123167,664.877753666,633,880,785,809,652,630,653,0.432665181411,0.0044975161578,0.0499300665538,0.999999993006,2.13730197105e-05,-0.00011394237344,2.34258276173e-05,1793245507518688000
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.360239119,745.360239119,713.360239119,679.639760881,663.720478237,633,880,785,809,652,630,653,0.433565770934,0.0044880900429,0.0499416248259,0.999999995841,2.32447952625e-05,-8.46731296924e-05,2.46798136505e-05,1793245507535354880
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.217832631,745,713,680,663.217832631,633,880,785,809.217832631,652,630,653,0.434458924664,0.00448180073457,0.0499583513164,0.99999999794,2.20978938817e-05,-5.43696747215e-05,2.59802326097e-05,1793245507552021504
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.794970939,745,713,680,663.794970939,633,880,785,809.794970939,652,630,653,0.435339813513,0.00448068545396,0.0499836025653,0.999999999248,1.59718133819e-05,-2.23603276431e-05,2.7357240918e-05,1793245507568688128
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.629499955,633,880,785,810.370500045,652,630,653,0.436153257027,0.00448076367908,0.0499735249262,0.999999997988,1.02970407593e-05,-5.53891528047e-05,2.91467255723e-05,1793245507585355008
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.054857539,633,880,785,810.945142461,652,630,653,0.436929538683,0.00448149951576,0.0499439813692,0.999999991783,4.87093526409e-06,-0.000124253458722,3.1163480995e-05,1793245507602021376
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.533752066,713,680,663,633,880,785.533752066,810.466247934,652,630.533752066,653,0.437796735979,0.00448565099056,0.0499569680752,0.999999996268,2.61980448268e-06,-8.18742036241e-05,2.74369649322e-05,1793245507618688000
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.878491846,713.121508154,680,663.121508154,632.878491846,880,785.878491846,810,652,631,652.878491846,0.438655598157,0.00449006376169,0.0499722329007,0.999999998949,8.52346845193e-06,-3.79688149785e-05,2.42482753576e-05,1793245507635354368
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.299499313,713.700500687,680,663.700500687,632.299499313,880,785.299499313,810,652,631,652.299499313,0.439446951971,0.00449410309059,0.0499791751599,0.999999998187,4.38687433969e-05,-3.25211372395e-05,2.53666733577e-05,1793245507652020992
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.277592418,745,714,680,664,632.277592418,880,785,810,652,630.722407582,652.277592418,0.440208081138,0.00449460708323,0.0499715465814,0.99999999699,5.71469150681e-05,-4.52777239316e-05,2.65174685295e-05,1793245507668687616
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.852647251,745,714,680,664,632.852647251,880,785,810,652,630.147352749,652.852647251,0.440936822132,0.00449132268086,0.049948304188,0.999999995516,4.67784234735e-05,-7.75416320922e-05,2.77029797867e-05,1793245507685354496
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.572736466,745,713.572736466,680,663.572736466,632.572736466,880,785.427263534,810.427263534,652,630,652.572736466,0.441660519639,0.00448581270981,0.0499495420646,0.999999996298,3.41470008517e-05,-7.33206546731e-05,2.93546172204e-05,1793245507702021120
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.001783924,713,680.001783924,663,632,880,785.998216076,811,652,630.001783924,652,0.442382346965,0.00447958309814,0.049959176268,0.999999997696,2.08145508495e-05,-5.65967985238e-05,3.11640348168e-05,1793245507718687744
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.594575727,713,680.594575727,663,632,880,785.405424273,811,652,630.594575727,652,0.443060228745,0.00448896322161,0.0499563325362,0.999999996999,3.35230314114e-05,-6.2058536345e-05,3.20422869904e-05,1793245507735354368
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.817380309,713,680.817380309,662.817380309,632,880.182619691,785,810.817380309,652,631,652.182619691,0.443698868996,0.00450073288736,0.0499360593852,0.999999993416,5.12993908102e-05,-9.73018627959e-05,3.26928511256e-05,1793245507752021248
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.239609574,713,680.239609574,662.239609574,632,880.760390426,785,810.239609574,652,631,652.760390426,0.444252598864,0.00451767302759,0.0498780725939,0.999999976855,8.00415885879e-05,-0.000196986356364,3.28507456263e-05,1793245507768687872
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,680,661.66287101,632,880.66287101,785,810.33712899,652,631,653,0.44481583323,0.00453315418361,0.0498353088544,0.999999960353,0.000104346541903,-0.000259522741449,3.24749068588e-05,1793245507785354496
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,680,661.086863843,632,880.086863843,785,810.913136157,652,631,653,0.445385802129,0.00454760155185,0.0498033316569,0.999999947891,0.000125507412794,-0.000295737230771,3.17208829092e-05,1793245507802021120
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.498456025,713,680.498456025,661,631.501543975,880,785,811,652,630.501543975,653,0.445952350068,0.0045512828181,0.0498064787087,0.999999951651,0.00013029378847,-0.000280535480621,3.19587672883e-05,1793245507818687744
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.915636812,713.084363188,681,661,631,880.084363188,785,811,652,630.084363188,652.915636812,0.446510513895,0.00455325338948,0.049812955526,0.999999956452,0.000131451114366,-0.00026225867822,3.22048720476e-05,1793245507835354368
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.335990825,713.664009175,681,661,631,880.664009175,785,811,652,630.664009175,652.335990825,0.447023022509,0.00455640510641,0.0498023615489,0.999999952195,0.00012837434568,-0.000279533511211,3.14651084214e-05,1793245507852020992
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.758258327,680.758258327,660.758258327,630.758258327,880.758258327,785,811,652.241741673,631,652.241741673,0.447496338649,0.00455961944711,0.0497800962394,0.99999994454,0.000108638380048,-0.000313830476667,2.50601079223e-05,1793245507868687872
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.183164504,680.183164504,660.183164504,630.183164504,880.183164504,785,811,652.816835496,631,652.816835496,0.447915609886,0.00456292014325,0.0497417366277,0.999999928724,6.59300443702e-05,-0.000371600283178,1.08429711009e-05,1793245507885355008
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713,680.390540384,660.390540384,630,880,785,811,653,630.609459616,652.609459616,0.448334267603,0.0045609604806,0.0497239002291,0.999999920121,4.9095109166e-05,-0.000396601487207,7.41528831458e-06,1793245507902021632
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713,680.963596216,660.963596216,630,880,785,811,653,630.036403784,652.036403784,0.448752638634,0.00455654243806,0.0497156551617,0.99999991644,4.43518654506e-05,-0.000406288592674,9.02995615499e-06,1793245507918688256
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713.555129145,680.444870855,660.444870855,629.444870855,880,784.444870855,811,653,630.555129145,652.555129145,0.449154343347,0.0045604975866,0.0497333868243,0.99999992688,5.05619061494e-05,-0.000378909250369,1.05929695776e-05,1793245507935354880
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.144636186,659.855363814,629,880,784.144636186,811,652.855363814,630.855363814,653,0.449547420202,0.00456450008273,0.0497509824098,0.999999936034,5.73671642125e-05,-0.000352831250748,1.23030853188e-05,1793245507952021248
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680.724280596,659.275719404,629,880,784.724280596,811,652.275719404,630.275719404,653,0.44991794826,0.0045669366784,0.0497628689438,0.999999940665,6.37279047938e-05,-0.000338229489653,1.44661654016e-05,1793245507968688384
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,628.698254254,880.301745746,785,811,652,630,653,0.450251147898,0.00457314883472,0.0497676525603,0.999999938264,0.000109133005973,-0.000333611827359,1.62645382072e-05,1793245507985355264
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,628.122766154,880.877233846,785,811,652,630,653,0.450550483345,0.00458278616218,0.049765992442,0.999999924661,0.000189958971041,-0.000338051692941,1.77320500381e-05,1793245508002022144
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.549557316,745,714,680.549557316,659,628,880.549557316,785,811,652.450442684,630,653,0.450809592921,0.00460009426559,0.0497588101799,0.999999912611,0.000221361458456,-0.000354217959445,1.74978535364e-05,1793245508018688512
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.047760399,745,714,680.023880199,659,627.976119801,880,785,811,653,630.023880199,653,0.451056489479,0.004618830941,0.0497503056125,0.999999901767,0.000238580566497,-0.000373178105188,1.68414353404e-05,1793245508035354624
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.235041399,745,714,680.617520699,659,627.382479301,880,785,811,653,630.617520699,653,0.451272253991,0.0046220224953,0.049745980047,0.999999898413,0.000237164604089,-0.000382928425479,1.71211612029e-05,1793245508052021248
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.795409192,745,714,681,659,627,880,784.795409192,811,653,630.795409192,653,0.451476087413,0.00462216151181,0.0497399290639,0.999999894316,0.000233217060635,-0.000395811264572,1.766615458e-05,1793245508068687616
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.22024019,745,714,681,659,627,880,784.22024019,811,653,630.22024019,653,0.451658309862,0.00461677142357,0.0497307528083,0.999999888733,0.000224684029114,-0.000414368077707,1.86916306864e-05,1793245508085354240
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713.643977402,681,659,626.643977402,880,784,811,653,630,652.643977402,0.451825182834,0.00461559243075,0.0497268733449,0.99999988563,0.000220511349339,-0.000423967489771,1.91615691772e-05,1793245508102021120
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713.067035842,681,659,626.067035842,880,784,811,653,630,652.067035842,0.451982531173,0.00461702650419,0.0497262806433,0.999999884228,0.000219044352015,-0.000428008661759,1.92867858526e-05,1793245508118687744
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.520291698,713,681,659,626,880,784,811,653,630,652.520291698,0.452119321152,0.00461576069744,0.0497283037284,0.999999886784,0.000215817704234,-0.000423627221571,1.98541442162e-05,1793245508135354368
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.893131832,713.106868168,680.893131832,659,626,880,784.106868168,811.106868168,653,630,652.893131832,0.45224955012,0.00461473667247,0.0497308809285,0.999999889738,0.000212880858106,-0.000418085006419,2.02750415377e-05,1793245508152020992
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.315871128,713.684128872,680.315871128,659,626,880,784.684128872,811.684128872,653,630,652.315871128,0.452362796544,0.00461633921076,0.0497343834594,0.999999892283,0.000212237859094,-0.000412307398669,1.97954208232e-05,1793245508168687616
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.261034306,659,626,880.261034306,784.738965694,812,653,630,652.261034306,0.452462042324,0.00461766366112,0.0497351493782,0.999999893019,0.000212239522995,-0.00041053374065,1.94381042488e-05,1793245508185354496
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.837510387,659,626,880.837510387,784.162489613,812,653,630,652.837510387,0.452544369295,0.0046186520615,0.0497326082919,0.999999891594,0.00021302021716,-0.000413598577316,1.92285837372e-05,1793245508202021120
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.587691196,626,880.587691196,784.412308804,812,653,630,653,0.452609568902,0.00461858123154,0.049730075587,0.999999890828,0.000212297059498,-0.000415812843155,1.93165801454e-05,1793245508218687744
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.013551275,626,880.013551275,784.986448725,812,653,630,653,0.45266804602,0.00461809465387,0.049727546172,0.999999890319,0.000210983640299,-0.000417693260053,1.95213518855e-05,1793245508235354624
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.420453778,745,714,681,658,626,880.579546222,784.420453778,811.420453778,653,630,653,0.452708738564,0.00462012327804,0.049725220087,0.99999988814,0.000212747815094,-0.000422021792647,1.88471688761e-05,1793245508252021504
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.335299852,745,713.832350074,681,658,626,881,784,811,653,630,653,0.452747107547,0.0046220916142,0.0497238813694,0.99999988686,0.00021497161207,-0.000423952255627,1.81900616224e-05,1793245508268688384
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.485021672,745,713.257489164,681,658,626,881,784,811,653,630,653,0.452780876975,0.00462376583323,0.0497249289658,0.99999988789,0.000218131099614,-0.000419914217653,1.76260385699e-05,1793245508285355008
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.682055523,745,713.317944477,681,658,626,880.682055523,784.317944477,811,653,630,653,0.45280542387,0.00462553722576,0.0497250805534,0.999999887452,0.000220814403542,-0.000419550017361,1.77358376132e-05,1793245508302021632
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.106157153,745,713.893842847,681,658,626,880.106157153,784.893842847,811,653,630,653,0.452822488369,0.00462738745704,0.0497245051935,0.999999885829,0.00022311137175,-0.000422166465154,1.83923202013e-05,1793245508318688000
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,626,880,785,811,652.518296477,630.481703523,653,0.452831823684,0.00462787357394,0.0497211180602,0.999999883221,0.000223787904712,-0.000427953443098,1.82627392729e-05,1793245508335354624
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.070884887,714,681,658,626,880.070884887,784.929115113,811,652.070884887,630.929115113,653,0.452839270604,0.00462812170327,0.0497175752744,0.999999880661,0.000224281459058,-0.000433651238006,1.79829589222e-05,1793245508352020992
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.650150067,714,681,658,626,880.650150067,784.349849933,811,652.650150067,630.349849933,653,0.452845701485,0.0046288739437,0.049717473442,0.99999988029,0.000226089085348,-0.000433570672625,1.79000017887e-05,1793245508368687616
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,713.772316062,681,658.227683938,625.772316062,880.772316062,784,811.227683938,653,630,652.772316062,0.452849716138,0.00462973915261,0.0497168085105,0.999999879477,0.000227914338858,-0.000434485279723,1.79690371908e-05,1793245508385354496
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,713.197422409,681,658.802577591,625.197422409,880.197422409,784,811.802577591,653,630,652.197422409,0.452850046133,0.00463077663429,0.0497152848735,0.999999877988,0.000229766473125,-0.000436917488618,1.82698556795e-05,1793245508402021376
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.621966814,713.378033186,681,658.621966814,625,880.378033186,784.378033186,811.621966814,653,630,652.378033186,0.452850781345,0.00463071529466,0.0497141233685,0.999999877113,0.00022966530731,-0.000438967953774,1.83147529469e-05,1793245508418688256
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.046217333,713.953782667,681,658.046217333,625,880.953782667,784.953782667,811.046217333,653,630,652.953782667,0.452851728492,0.00463007925709,0.0497131512631,0.999999876557,0.000228542539979,-0.00044081876189,1.82258000633e-05,1793245508435355136
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.542704709,745,714,681,658,625.542704709,880.457295291,784.457295291,811,653,630,653,0.45285249544,0.00463175140473,0.0497133510352,0.999999876297,0.000230845241941,-0.000440220386742,1.7962596784e-05,1793245508452021504
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.869470655,745,714,681,658,625.869470655,880,784,811,653,630,653,0.452853210868,0.00463290428869,0.0497135806155,0.99999987614,0.000232534557275,-0.000439693293862,1.7823607335e-05,1793245508468687872
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.28938539,745,714,681,658,625.28938539,880,784,811,653,630,653,0.452853803021,0.00463157493791,0.0497135605928,0.999999876271,0.000231081614053,-0.000440147927347,1.81648021783e-05,1793245508485354496
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,625.289769125,880,784,811,653,630.289769125,653,0.45285433437,0.00463048792154,0.0497132029236,0.999999876394,0.000229801558136,-0.000440539187297,1.81488938007e-05,1793245508502021120
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,625.867997167,880,784,811,653,630.867997167,653,0.45285480519,0.0046296421437,0.0497125091345,0.99999987651,0.000228693607631,-0.000440867360315,1.77774969045e-05,1793245508518687488
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713.557370228,681,658,625.557370228,880,784,811,653,630.557370228,653,0.452855468693,0.00463114876385,0.0497127615964,0.999999876321,0.00022998211945,-0.000440629882236,1.76478896511e-05,1793245508535354368
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713.01665252,681,658,625,880.01665252,784,811,653,630,653,0.452856161921,0.00463331471217,0.0497132603847,0.999999876024,0.000231960197364,-0.000440268850906,1.75764489566e-05,1793245508552021248
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713.606289247,681,658,625,880.606289247,784,811,653,630,653,0.452855916729,0.00463422267222,0.049712603241,0.999999875224,0.000233272203483,-0.000441414153176,1.70453165795e-05,1793245508568688128
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713.807463122,681,658,625,880.807463122,784.192536878,811,653,630,653,0.452856164999,0.00463482428503,0.0497122536435,0.999999874733,0.000234665639553,-0.000441798443755,1.67425826365e-05,1793245508585355264
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713.22802587,681,658,625,880.22802587,784.77197413,811,653,630,653,0.452857404875,0.00463481029696,0.0497125220563,0.999999874869,0.000236222707982,-0.000440653491084,1.68988124337e-05,1793245508602021632
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,681.34956759,658,625,880,785,811,653,630,653,0.452857988494,0.0046350279069,0.0497126624652,0.999999875094,0.000235922147847,-0.000440300676295,1.6986886258e-05,1793245508618688256
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,681.925964616,658,625,880,785,811,653,630,653,0.452858146276,0.00463539579749,0.0497127198142,0.999999875376,0.000234416198898,-0.000440461868556,1.7030734635e-05,1793245508635354624
+244,4.066666667,HOLD_POSE2,765,745,713,681,658,625,880,785,810,653,630,653,0.452858158718,0.00463124569421,0.0497125000636,0.999999875741,0.00023189614111,-0.000440934925362,1.78565811687e-05,1793245508665945600
+245,4.083333333,HOLD_POSE2,765,745,713.579085308,681,658.579085308,625,880.579085308,784.420914692,810.579085308,653,630,653,0.452857712243,0.00463194425404,0.0497115117618,0.999999875235,0.000231310535745,-0.000442391585459,1.77652948114e-05,1793245508682612224
+246,4.100000000,HOLD_POSE2,765,745,714,681,658.842344093,625,880.842344093,784.157655907,811,653,630,652.842344093,0.452857323587,0.00463237134949,0.0497108609804,0.999999874783,0.000231277701252,-0.000443430752102,1.77346875738e-05,1793245508699279104
+247,4.116666667,HOLD_POSE2,765,745,714,681,658.265143085,625,880.265143085,784.734856915,811,653,630,652.265143085,0.452857088794,0.00463207603923,0.0497111083891,0.999999874479,0.000232715869629,-0.000443358908781,1.78655562029e-05,1793245508715945728
+248,4.133333333,HOLD_POSE2,765,745,714,681,658,625,880.31058649,784.68941351,811,653,630,652.31058649,0.452856759428,0.00463201372059,0.0497111188774,0.999999874326,0.000232640460318,-0.000443749815037,1.76776614927e-05,1793245508732612096
+249,4.150000000,HOLD_POSE2,765,745,714,681,658,625,880.885065813,784.114934187,811,653,630,652.885065813,0.452856349706,0.00463214936558,0.0497109280639,0.999999874302,0.000231279024922,-0.000444533900973,1.72189264036e-05,1793245508749278464
+250,4.166666667,HOLD_POSE2,765,745,714,681,657.529348558,625,880.529348558,784,811,653,630,652.529348558,0.452856968413,0.00463300339286,0.0497111449075,0.99999987422,0.00023248644289,-0.000444087924365,1.71835163537e-05,1793245508765945088
+251,4.183333333,HOLD_POSE2,765,745,713.941677368,681,657.058322632,625,880,784.058322632,811,653,630,652.058322632,0.452857758107,0.00463397829528,0.0497114564385,0.999999874151,0.000234097028319,-0.000443395524115,1.72437440014e-05,1793245508782611456
+252,4.200000000,HOLD_POSE2,765,745,713.360214769,681,657.639785231,625,880,784.639785231,811,653,630,652.639785231,0.45285777436,0.00463442581794,0.0497117027655,0.99999987434,0.000233561027969,-0.00044325225443,1.7212142044e-05,1793245508799278080
+253,4.216666667,HOLD_POSE2,765,745,713,681,658,625,880,785,811,653,630,653,0.45285707222,0.00463438207896,0.0497111305359,0.99999987397,0.000233422347835,-0.000444160404293,1.72155101217e-05,1793245508815944704
+254,4.233333333,HOLD_POSE2,765,745,713,681,658,625,880,785,811,653,630,653,0.452855200463,0.0046335385144,0.0497092256105,0.999999872683,0.000233930546807,-0.000446780375651,1.72758130935e-05,1793245508832611584
+255,4.250000000,HOLD_POSE2,765,745,713.370313177,681,658,625,880,785,811,653,630,652.629686823,0.452855374379,0.00463428974793,0.0497095374399,0.999999872553,0.000233868597749,-0.000447107548365,1.71717169802e-05,1793245508849278464
+256,4.266666667,HOLD_POSE2,765,745,713.945999496,681,658,625,880,785,811,653,630,652.054000504,0.452856682812,0.00463592544545,0.0497110786661,0.999999873066,0.00023349044856,-0.000446163150955,1.69764462698e-05,1793245508865945088
+257,4.283333333,HOLD_POSE2,765,745.533675421,713.466324579,681,658,625,880,784.466324579,811,653,630,652.533675421,0.452856865769,0.00463465162078,0.0497106793578,0.999999873411,0.000232807019213,-0.000445738953004,1.72115449061e-05,1793245508882611456
+258,4.300000000,HOLD_POSE2,765,746,713.120416313,681,658,625.120416313,880.120416313,784,811,653,630,653,0.452857004424,0.00463372230224,0.0497100258985,0.999999873594,0.000232332270349,-0.000445572347308,1.73132525057e-05,1793245508899278336
+259,4.316666667,HOLD_POSE2,765,746,713.698879805,681,658,625.698879805,880.698879805,784,811,653,630,653,0.452857417708,0.00463524904354,0.049709169757,0.99999987323,0.000232771515438,-0.000446180761914,1.67381036941e-05,1793245508915944960
+260,4.333333333,HOLD_POSE2,765,746,714,681,657.725176002,625.725176002,880.725176002,784.274823998,811,653,630,653,0.452857433638,0.00463639736613,0.0497093293719,0.999999872816,0.000233896130767,-0.00044653438503,1.635914242e-05,1793245508932611584
+261,4.350000000,HOLD_POSE2,765,746,714,681,657.151967126,625.151967126,880.151967126,784.848032874,811,653,630,653,0.452857018147,0.00463713482777,0.0497105918248,0.999999872345,0.000235764873645,-0.00044661137314,1.61931880321e-05,1793245508949278208
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,657,625,880,785,811,652,630,653,0.452858898649,0.00463477819345,0.0497112422653,0.999999873292,0.000235167668035,-0.000444780621392,1.67924034368e-05,1793245508981971456
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.578844105,657.578844105,625,880.578844105,785,811,652.578844105,630,653,0.452858345798,0.00463529971918,0.0497109599159,0.999999873052,0.0002352150548,-0.000445302098931,1.66318584273e-05,1793245508998637824
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,713.157685059,681,658,625,880.842314941,785,811,653,630,652.842314941,0.452858541562,0.00463518638303,0.0497110512306,0.99999987329,0.000234785179952,-0.000444996639021,1.65707412704e-05,1793245509015304448
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.736517726,681,658,625,880.263482274,785,811,653,630,652.263482274,0.452860736734,0.00463337744837,0.0497121405329,0.999999874801,0.000233080627677,-0.00044248258235,1.67751774699e-05,1793245509031971072
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.311696912,714,681,657.688303088,625,880,784.688303088,811,652.688303088,630,652,0.452859967006,0.00463401669101,0.0497116424113,0.999999874169,0.000233608053333,-0.000443633118967,1.66978723498e-05,1793245509048637952
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.883823501,714,681,657.116176499,625,880,784.116176499,811,652.116176499,630,652,0.452856720037,0.00463670144014,0.0497098179618,0.999999871735,0.000236000346105,-0.00044784550462,1.63851661023e-05,1793245509065304576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.530133654,745.530133654,714,681,657.469866346,625,880,784.469866346,811,652.469866346,630,652.469866346,0.452857299497,0.0046374058711,0.0497102066993,0.99999987207,0.00023697001361,-0.000446586499152,1.62793983141e-05,1793245509081970944
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.058508936,745,714,681,658,625,880.058508936,784.941491064,811,653,630,653,0.452858508244,0.00463733790363,0.0497109618545,0.99999987304,0.000237244009752,-0.000444263679407,1.63029669476e-05,1793245509098637568
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.638715371,745,714,681,658,625,880.638715371,784.361284629,811,653,630,653,0.452856634619,0.00463488198276,0.049709955954,0.999999873387,0.000234547145938,-0.000444886004406,1.70096169693e-05,1793245509115304192
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625,880.782927237,784.217072763,811,653,630,653,0.452849498702,0.00463372024645,0.0497067311563,0.999999871394,0.000233414433492,-0.000449926273854,1.71891503138e-05,1793245509131970816
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625,880.207621362,784.792378638,811,653,630,653,0.452833678477,0.00463469429082,0.0496998445338,0.999999865443,0.000234863025386,-0.000462257434817,1.64987879579e-05,1793245509148637696
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.367402783,658,625,880,784.632597217,810.632597217,653,630,653,0.452800260409,0.00463643936516,0.049685155776,0.999999853094,0.000237067898803,-0.00048720241502,1.56684227437e-05,1793245509165304320
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.942267896,658,625,880,784.057732104,810.057732104,653,630,653,0.452756905319,0.0046386198192,0.0496660613645,0.999999836342,0.000239699823717,-0.000519270075691,1.47590016568e-05,1793245509181970944
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.467956631,658,625,880,784,810.532043369,653,630,652.467956631,0.452694632803,0.00463889817048,0.0496459151631,0.999999820259,0.000238248908981,-0.000550012320573,1.43407642008e-05,1793245509198637824
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625,879.879345782,784,811,653,630.120654218,652,0.4526282945,0.00463888030487,0.0496278131114,0.999999805254,0.000237186592316,-0.000577095168314,1.40180691414e-05,1793245509215304448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625,879.301456389,784,811,653,630.698543611,652,0.452554551733,0.00463854460875,0.049617902611,0.999999796702,0.000239324246742,-0.000590870998821,1.38496395428e-05,1793245509231970816
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.725118908,681,658,625,879.274881092,784,811,653,630.725118908,652.274881092,0.452473098182,0.00463868267301,0.0496114403631,0.99999979043,0.000240944528005,-0.000600749714226,1.36361881006e-05,1793245509248637440
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.150473858,681,658,625,879.849526142,784,811,653,630.150473858,652.849526142,0.452383235853,0.00463933738354,0.0496087385121,0.999999786781,0.000242000602206,-0.00060637853798,1.33736393462e-05,1793245509265304064
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.434599366,681,658,625,880,784.434599366,811,653,630,653,0.452281031942,0.00464020741279,0.0496089256806,0.999999785119,0.000244881163844,-0.000607963334958,1.32864658083e-05,1793245509281971200
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.02312728,880.02312728,784.97687272,811,653,630,653,0.452172982249,0.00464116985779,0.0496101956724,0.999999784182,0.00024837414292,-0.000608087883786,1.32368243762e-05,1793245509298637824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.6057362,880.6057362,784.3942638,811,653,630,653,0.452029428446,0.00464252013683,0.0496128675474,0.99999978383,0.000251024881874,-0.000607592213997,1.25900930261e-05,1793245509315304448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.814158592,880.814158592,784,810.814158592,653,630,652.814158592,0.451876966042,0.00464409369346,0.0496141471721,0.999999782245,0.000253983534286,-0.000608984606186,1.18496208373e-05,1793245509331970816
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.23929449,880.23929449,784,810.23929449,653,630,652.23929449,0.451705855239,0.00464613463795,0.0496125123922,0.999999778065,0.000257586743058,-0.000614329287458,1.09129205905e-05,1793245509348637440
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.664359074,681,658,625,880,784,810.335640926,653,630,652,0.451517748228,0.00464838409108,0.0496104499062,0.999999775158,0.000261980523501,-0.000617207117856,1.02274254358e-05,1793245509365304320
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.089372745,681,658,625,880,784,810.910627255,653,630,652,0.45131752121,0.00465078223184,0.049608082423,0.999999773161,0.00026693806064,-0.000618325838485,9.72106443021e-06,1793245509381970944
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.499334597,681,658,625.499334597,880,784.499334597,810.500665403,652.500665403,630,652.499334597,0.451093548413,0.00465078481144,0.0496065731517,0.99999977379,0.000268748682748,-0.000616530474785,9.22024675848e-06,1793245509398637568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,626,880,784.91125541,810,652.08874459,630,653,0.450860529455,0.00465154915091,0.0496074894225,0.999999776974,0.00027131737334,-0.000610219223037,8.39212369719e-06,1793245509415304192
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,626,880,784.331920602,810,652.668079398,630,653,0.450601661125,0.00465896182698,0.0496209412222,0.999999791116,0.000281278421309,-0.000581908411895,5.74897911231e-06,1793245509431970816
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,626.245296227,880,784.245296227,810,653,630,652.754703773,0.450322986666,0.00466320344577,0.0496304773179,0.999999800503,0.000288096454428,-0.000562119581098,3.88739679657e-06,1793245509448637184
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,626.81967163,880,784.81967163,810,653,630,652.18032837,0.450017741146,0.00466319090609,0.0496347602679,0.999999804416,0.000290697949721,-0.000553763485511,3.07432594992e-06,1793245509465303808
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.597565289,681,658,627,880,784.597565289,810,653,630,652.402434711,0.44968338796,0.00466479510314,0.0496344675171,0.999999803453,0.000295798673915,-0.000552804651266,1.92259949681e-06,1793245509481970944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.010963758,681,658,627,880,784.010963758,810,653,630,652.989036242,0.449335714195,0.00466713916992,0.0496320807813,0.999999800244,0.000302043124027,-0.00055523103741,6.15893576119e-07,1793245509498637824
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.569637985,713.569637985,681,658,627.569637985,880,784.569637985,810.569637985,653,630.569637985,653,0.448928397354,0.00467083836052,0.049629595658,0.999999793217,0.000308893444489,-0.000564048590636,-1.93275136509e-07,1793245509515304192
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.850781406,713.850781406,681,658.149218594,628,880,785,811,653,631,653,0.448508123472,0.00467432087426,0.0496261569155,0.999999786938,0.000315099607691,-0.000571694214249,-1.49934662019e-06,1793245509531970560
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.27380058,713.27380058,681,658.72619942,628,880,785,811,653,631,653,0.448053962439,0.00467710825449,0.0496199898227,0.999999783299,0.000319426095562,-0.000575631331785,-4.25704545895e-06,1793245509548637440
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,659,628.301094171,880.301094171,785,810.698905829,653,630.698905829,653,0.447584487278,0.00467746345303,0.0496148820276,0.999999779963,0.000322316210662,-0.000579781584355,-6.34495646766e-06,1793245509565304320
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,659,628.874105063,880.874105063,785,810.125894937,653,630.125894937,653,0.447101181949,0.00467562216011,0.0496107308787,0.99999977691,0.000323909144811,-0.00058412431862,-7.8279855725e-06,1793245509581971456
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.461554506,713,680.538445494,659,629,881,785,810,653,630.461554506,653,0.446597188329,0.00467693294862,0.0496099010806,0.999999775222,0.000326199498433,-0.000585709709325,-9.66037146718e-06,1793245509598637824
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,713,680,659.051926888,629.051926888,881,785,809.948073112,653,630.948073112,653,0.446085847997,0.00467891285752,0.0496131123755,0.999999776777,0.000328751200907,-0.000581579095864,-1.15486454931e-05,1793245509615304192
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,713,680,659.630707372,629.630707372,881,785,809.369292628,653,630.369292628,653,0.445559070215,0.00467867671842,0.0496478363009,0.999999805777,0.000331962151991,-0.000527330816343,-1.3005909352e-05,1793245509631970816
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,713.20886769,680.20886769,660,630,881,785,809.20886769,653,630,652.79113231,0.445004663947,0.00467809110965,0.0496813186273,0.999999828469,0.000335129190674,-0.000480154416612,-1.42119324821e-05,1793245509648637440
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,713.785934725,680.785934725,660,630,881,785,809.785934725,653,630,652.214065275,0.444401553239,0.00467688944341,0.049712612217,0.999999843481,0.000338218819973,-0.000445444581516,-1.49750595356e-05,1793245509665304064
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.631678813,713.631678813,680.631678813,660,630.368321187,880.631678813,785,810,653,630,652,0.443772722955,0.00467725744216,0.0497208897511,0.999999845271,0.000342241251156,-0.00043820920487,-1.73924637101e-05,1793245509681970944
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.046155458,713.046155458,680.046155458,660,630.953844542,880.046155458,785,810,653,630,652,0.443128725637,0.00467855108588,0.0497155945185,0.999999839661,0.000346813763648,-0.000447175753758,-2.07854092907e-05,1793245509698638336
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.533369559,713,680.533369559,660.533369559,631.533369559,880,785,810,653,630,652.533369559,0.442472866486,0.00465594267844,0.049723531877,0.99999985735,0.000322585116054,-0.000425009881129,-2.45879854909e-05,1793245509715304960
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.888182238,713.111817762,681,661.223635523,632,880,785,809.888182238,652.888182238,630.111817762,652.888182238,0.441815599518,0.00463016363376,0.0497413458333,0.999999887893,0.000269828169603,-0.000388151426231,-2.72950841829e-05,1793245509731971328
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.312074031,713.687925969,681,662.375851939,632,880,785,809.312074031,652.312074031,630.687925969,652.312074031,0.441156701902,0.00459971227843,0.0497954676869,0.99999994835,0.000108849398353,-0.00030134823711,-2.53079834252e-05,1793245509748638208
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.735803548,680.735803548,663,632,880,785,809.264196452,652,631,652.264196452,0.440442587034,0.00458941010195,0.0498289396615,0.999999967996,3.15477270771e-05,-0.000249622571565,-2.64749767625e-05,1793245509765304832
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.159341191,680.159341191,663,632,880,785,809.840658809,652,631,652.840658809,0.439663208276,0.00460292316027,0.0498380046037,0.99999996945,5.31478400792e-05,-0.000239356637449,-3.13699390881e-05,1793245509781971456
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.573464974,632,879.573464974,785.426535026,810,652,630.573464974,652.573464974,0.438847876353,0.00461399006026,0.0498115123482,0.999999956266,7.27570507352e-05,-0.000284363849815,-3.62037395194e-05,1793245509798637824
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,632,879.015737284,785.984262716,810,652.015737284,630,652,0.438018993014,0.00462386382938,0.0497725992169,0.999999934139,9.13548939365e-05,-0.000348853246216,-4.09496897406e-05,1793245509815304192
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,632,879.595265438,785.404734562,810,652.595265438,630,652,0.43719665561,0.00462446989681,0.0497753166698,0.999999930997,0.000100966459148,-0.000354866196971,-4.33854253333e-05,1793245509831971072
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.173294449,680.173294449,662.173294449,632.173294449,879.826705551,785.173294449,809.826705551,652.826705551,630,652.173294449,0.436366767052,0.00462670500803,0.0497821804906,0.999999930981,0.000110968759914,-0.000351585118923,-4.59646682043e-05,1793245509848637696
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.747852157,680.747852157,662.747852157,632.747852157,879.252147843,785.747852157,809.252147843,652.252147843,630,652.747852157,0.435519393851,0.00463271216981,0.0497986452252,0.999999937985,0.000121875808172,-0.00032678371869,-4.88762019914e-05,1793245509865304576
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.348478794,663,632,880,785,809,652,630,652,0.431167784784,0.00460359778742,0.0498067468419,0.99999994993,2.79446738444e-05,-0.000309024939299,-6.21424471335e-05,1793245509948637952
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.770248621,632.229751379,879.770248621,785,809,652,630,652,0.430251137213,0.00460438659167,0.0497919736982,0.99999994328,5.00951792196e-05,-0.000328744056218,-5.34637915238e-05,1793245509965304320
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.196193872,632.803806128,879.196193872,785,809,652,630,652,0.429308772615,0.00460976997304,0.0497621726346,0.999999916038,0.000153235558772,-0.000378832160783,-3.04695872981e-05,1793245509981970944
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,632.621424004,879,785,808.621424004,652.378575996,630,652,0.428376898574,0.00461563255232,0.0497632927443,0.999999907905,0.000191734988458,-0.000383116518903,-2.54870653137e-05,1793245509998637568
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,632.046282863,879,785,808.046282863,652.953717137,630,652,0.427450471523,0.00462174394157,0.0497804678221,0.999999914105,0.000196671382512,-0.000363618543788,-2.98566140103e-05,1793245510015304192
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.547011961,662.547011961,632.547011961,879,785,808,653,629.452988039,652,0.426527039025,0.00462441871927,0.0497697453391,0.999999910333,0.000186596635411,-0.000378661541023,-3.36364935166e-05,1793245510031971072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.862590336,662.862590336,632.862590336,879,785.137409664,808,652.862590336,629,652,0.425625492011,0.00462436258878,0.0497674797964,0.999999914454,0.000172422413883,-0.00037415250046,-3.70459260306e-05,1793245510048637696
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.289092008,632.289092008,879,786,808,652,629.289092008,652,0.423930584632,0.00460795775927,0.0498249513889,0.9999999594,0.00013611983934,-0.000247091490971,-4.02079642895e-05,1793245510081970944
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.864230424,632.864230424,879,786,808,652,629.864230424,652,0.423038633422,0.00459859878811,0.0498423948539,0.999999965695,0.000132613783363,-0.000222426241188,-3.93744440518e-05,1793245510098637568
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.450567611,713,680,662.549432389,633,879,785.549432389,808,652,629.549432389,652,0.422107236652,0.00459829868486,0.0498193438426,0.999999954111,0.000137461442652,-0.000267083181751,-3.93649032794e-05,1793245510115304192
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.381286936,713,680,662,633,879,785,808,652.618713064,629.618713064,652,0.420289676165,0.00460967003262,0.0497931783417,0.999999934727,0.000143103199868,-0.000329469909482,-3.8953654906e-05,1793245510148637440
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.196439922,633,878.803560078,785.196439922,808,652.803560078,630,652,0.419410470097,0.00461657509324,0.049794668293,0.999999931644,0.000142808710312,-0.000338874427582,-3.85061462897e-05,1793245510165304320
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.771556269,633,878.228443731,785.771556269,808,652.228443731,630,652,0.418529774677,0.00462047510731,0.049786464525,0.999999922281,0.000144253853939,-0.000364908960869,-3.83498687719e-05,1793245510181970944
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.29190887,633,878.354045565,785.645954435,807.645954435,652,630,652,0.417687312966,0.00461955151914,0.0497808086982,0.999999920034,0.000146085071408,-0.000370166676782,-3.95920332509e-05,1793245510198637824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,661.117213376,633,878.941393312,785.058606688,807.058606688,652,630,652,0.416870045828,0.0046154493655,0.0497768318655,0.999999922725,0.000148170696391,-0.000361733281103,-4.17557163352e-05,1793245510215304704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.04298381,633,879,785,807.521491905,652.521491905,630,652.521491905,0.416093756563,0.00460747024239,0.0497998633407,0.999999938312,0.000143043456288,-0.000318134476871,-4.13025128896e-05,1793245510231971072
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.899600087,633,879,785.100399913,808,652.899600087,629.899600087,652.899600087,0.415317786916,0.00460090506798,0.049819312069,0.999999949896,0.000136434170241,-0.000282722093876,-4.07783930219e-05,1793245510248637440
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.322529816,633,879,785.677470184,808,652.322529816,629.322529816,652.322529816,0.4145217703,0.00460309316217,0.04980753791,0.99999994472,0.000126584293848,-0.000304682186824,-4.12947089875e-05,1793245510265304064
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.746847733,662,633,878.746847733,786,808,652.253152267,629.253152267,652,0.413738602625,0.00460610815031,0.0497896431693,0.999999935222,0.000125695217552,-0.000334614478732,-4.22959159239e-05,1793245510281970688
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.172924678,662,633,878.172924678,786,808,652.827075322,629.827075322,652,0.412971715984,0.00461017090069,0.0497639930031,0.999999919585,0.000136160426673,-0.000374648390936,-4.39115311153e-05,1793245510298637312
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.412478087,713,679.412478087,662.412478087,633,878,786,808,653,630,652,0.412256884791,0.00461313401691,0.0497745541835,0.999999922689,0.000146610104829,-0.000362291590308,-4.32605193561e-05,1793245510315304448
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.997226823,745.997226823,713,680,662.997226823,633,878,786,808,652.997226823,629.997226823,652,0.411564545609,0.00461561375792,0.0498006300804,0.999999933198,0.000156925129515,-0.000327483382583,-4.16419397871e-05,1793245510331971328
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.419004578,745.419004578,713,680,662.419004578,633,878,786,808,652.419004578,629.419004578,652,0.410881320093,0.00461618978536,0.049805769009,0.999999937376,0.000140688439964,-0.000322000604854,-4.20739350689e-05,1793245510348637952
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.698790815,663,633,878.698790815,786,807,652.698790815,629.698790815,652,0.40897585461,0.0046039130874,0.049789137044,0.999999929735,0.000132794323679,-0.000348060244454,-4.18183882773e-05,1793245510398637568
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.464467572,663,633,877.535532428,786,807,652.464467572,629,652,0.407867647343,0.00459486991294,0.0498182497342,0.999999947317,0.000118922060385,-0.000299231036591,-4.10442499679e-05,1793245510431970816
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.937721246,633,877.062278754,786,807.062278754,653,629,652,0.40731492929,0.00459716889564,0.049830098798,0.999999950752,0.000113201537714,-0.000289915939881,-4.03828542308e-05,1793245510448637696
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.358521204,633,877.641478796,786,807.641478796,653,629,652,0.406773591009,0.00459983505974,0.0498121185619,0.999999939935,0.000115476348113,-0.000324245267366,-4.07535763326e-05,1793245510465304832
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,633,878,785.780795883,807.780795883,653,629,652,0.40624987701,0.00460171147692,0.0497918158176,0.999999927531,0.000118384511605,-0.000359456772784,-4.13949285187e-05,1793245510481971456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,633,878,785.205466494,807.205466494,653,629,652,0.405754795975,0.00460230484843,0.0497677398617,0.999999913168,0.000122321638478,-0.000396101486515,-4.24759540601e-05,1793245510498638336
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.62265667,662,633,878,785,807,653,629,652.37734333,0.405317110628,0.00460627860947,0.0497647621282,0.999999910364,0.000128173161308,-0.000401196477656,-4.34197888248e-05,1793245510515304704
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.035691253,662,633,878,785,807,653,629,652.964308747,0.404911309734,0.00461213024742,0.0497735048947,0.999999914326,0.000135088171412,-0.000388764943753,-4.42874113686e-05,1793245510531971072
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,662,633,878,785.543669999,807,653,629.543669999,652.456330001,0.404557746784,0.00461279481567,0.0498041219815,0.99999993167,0.000139525125816,-0.000339546232153,-4.35942139792e-05,1793245510548637696
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,662,633,878,786,807,653,629.877787159,652.122212841,0.404214129985,0.00461309957308,0.0498335016645,0.999999945936,0.000143102426421,-0.000292912504544,-4.30423636984e-05,1793245510565304320
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,662,633,878,786,807,653,629.300458509,652.699541491,0.403894957529,0.00461331501757,0.0498529993904,0.999999953627,0.000144075874471,-0.000264774573804,-4.33932000648e-05,1793245510581970688
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.275065152,662.275065152,633,878,786,807.275065152,653,629,652.724934848,0.403577107311,0.00461467029228,0.0498577746356,0.999999954296,0.000146291083712,-0.00026087980186,-4.41518814575e-05,1793245510598637312
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.84863001,662.84863001,633,878,786,807.84863001,653,629,652.15136999,0.403260692,0.00461726250657,0.0498465730971,0.999999947616,0.000149853847673,-0.000283293619671,-4.53531547841e-05,1793245510615304192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.56447548,745,713,679.56447548,663,633,878,786,807.56447548,653,629.43552452,652,0.402972792368,0.00461628549073,0.0498337988914,0.999999940447,0.000150139807833,-0.000307321408183,-4.60129607008e-05,1793245510631971328
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.60631559,745,713,679,662.39368441,633.60631559,878.60631559,786,807,653,629.39368441,652,0.402452805677,0.00460814010849,0.0498126604388,0.999999921772,0.00018465897288,-0.000347994585352,-3.54557311444e-05,1793245510665304576
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.760198152,633.239801848,878.239801848,786,807,653,629,652,0.402053048757,0.00458794683335,0.0498116623726,0.999999933225,0.000121616179465,-0.000343459005271,-2.81880356586e-05,1793245510698637312
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.908605114,663,633,878,786,807,653,629,652,0.401754328149,0.00458311709977,0.0498239996618,0.999999945375,9.64140469259e-05,-0.000314593478962,-3.13770899562e-05,1793245510731970560
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.502383719,663,633,878,786,807,653,629,652,0.401637199616,0.00458614139111,0.0498314267894,0.99999994968,9.80798921976e-05,-0.000299866545415,-3.31685450352e-05,1793245510748637696
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.151642246,745,713,679.848357754,662,633,877.848357754,785,806.151642246,653,629.151642246,652,0.401081163195,0.00458626491284,0.0498412502585,0.999999956683,0.000107502232828,-0.000271647623411,-3.58401864495e-05,1793245510881971200
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.747535125,745,713.747535125,679,663,633,878.747535125,785.252464875,806.252464875,653,629.747535125,652.252464875,0.400985173215,0.00458546247747,0.0498475580419,0.999999960444,0.000105658580466,-0.000258198678518,-3.57894805219e-05,1793245511215304448
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