Upload Part2Obstacle_avoidance (part 42)

.gitattributes

@@ -13467,18 +13467,44 @@ Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/fem_node.csv filte
 Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_15/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_15/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_15/width_08/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_15/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_15/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_15/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_15/width_10/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_17.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_17.5/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_17.5/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_17.5/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_17.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_17.5/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_17.5/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
-Part2/Free/digiy/ball_15A_17.5/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text

Part2/Obstacle_avoidance/cylinder_15A_10/position_12/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,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+14,0.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+18,0.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+19,0.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+20,0.333333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+21,0.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+22,0.366666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+23,0.383333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+25,0.416666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+26,0.433333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+27,0.450000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+28,0.466666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+29,0.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+30,0.500000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+31,0.516666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+32,0.533333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+33,0.550000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+34,0.566666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+35,0.583333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+36,0.600000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+37,0.616666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+38,0.633333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+39,0.650000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+40,0.666666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+41,0.683333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+42,0.700000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+43,0.716666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+44,0.733333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+45,0.750000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+46,0.766666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+47,0.783333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+48,0.800000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+49,0.816666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+50,0.833333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+51,0.850000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+52,0.866666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+53,0.883333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+54,0.900000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+55,0.916666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+56,0.933333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+57,0.950000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+58,0.966666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+59,0.983333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+60,1.000000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+61,1.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+62,1.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+63,1.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+64,1.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+65,1.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+66,1.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+67,1.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+68,1.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+69,1.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+70,1.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+71,1.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+72,1.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+73,1.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+74,1.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+75,1.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+76,1.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+77,1.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+78,1.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+79,1.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+80,1.333333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+81,1.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+82,1.366666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+83,1.383333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+84,1.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+85,1.416666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+86,1.433333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+87,1.450000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+88,1.466666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+89,1.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+90,1.500000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+91,1.516666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+92,1.533333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+93,1.550000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+94,1.566666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+95,1.583333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+96,1.600000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+97,1.616666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+98,1.633333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+99,1.650000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+100,1.666666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+101,1.683333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+102,1.700000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+103,1.716666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+104,1.733333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+105,1.750000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+106,1.766666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+107,1.783333333,pose1_to_pose2_press,0.575666772144,0.0101818432329,1.07002055895,0.546237917474,0.0188560725102,1.06969225566
+108,1.800000000,pose1_to_pose2_press,0.575666792434,0.0101818128413,1.0700204466,0.546237938841,0.0188560459879,1.06969214896
+109,1.816666667,pose1_to_pose2_press,0.575666876116,0.0101817910469,1.07002040305,0.546238023082,0.0188560262232,1.06969210887
+110,1.833333333,pose1_to_pose2_press,0.575667003092,0.0101817719597,1.07002039365,0.546238150384,0.0188560083349,1.06969210207
+111,1.850000000,pose1_to_pose2_press,0.575667035883,0.0101817670305,1.07002039122,0.546238183258,0.0188560037154,1.06969210031
+112,1.866666667,pose1_to_pose2_press,0.575667186988,0.0101817443163,1.07002038004,0.546238334749,0.0188559824279,1.06969209221
+113,1.883333333,pose1_to_pose2_press,0.575667220165,0.0101817393291,1.07002037758,0.546238368011,0.018855977754,1.06969209043
+114,1.900000000,pose1_to_pose2_press,0.575667809653,0.0101817150367,1.07002048691,0.546238958165,0.0188559555695,1.06969219577
+115,1.916666667,pose1_to_pose2_press,0.575669876435,0.0101817010849,1.07002052817,0.546241025571,0.0188559435815,1.06969223298
+116,1.933333333,pose1_to_pose2_press,0.575676413869,0.0101817491754,1.07002054553,0.546247560441,0.0188559829593,1.06969224981
+117,1.950000000,pose1_to_pose2_press,0.575689169495,0.0101818271687,1.07002062152,0.54626031734,0.0188560654169,1.06969232959
+118,1.966666667,pose1_to_pose2_press,0.575712540703,0.0101817458984,1.07002050554,0.546283688675,0.01885598459,1.06969221394
+119,1.983333333,pose1_to_pose2_press,0.575746484253,0.0101817182179,1.07002053295,0.546317632966,0.0188559592108,1.06969223563
+120,2.000000000,pose1_to_pose2_press,0.575792352117,0.0101818411854,1.07002030569,0.546363499004,0.0188560761201,1.06969201188
+121,2.016666667,pose1_to_pose2_press,0.57584853674,0.0101817211833,1.07002046721,0.546419685238,0.0188559619017,1.06969218179
+122,2.033333333,pose1_to_pose2_press,0.575915143799,0.0101816714022,1.07002045379,0.546486293155,0.0188559147411,1.06969216063
+123,2.050000000,pose1_to_pose2_press,0.575989874068,0.0101817789932,1.07002053192,0.546561021386,0.0188560152549,1.06969223434
+124,2.066666667,pose1_to_pose2_press,0.576072863543,0.0101816807177,1.07002027493,0.546644012685,0.0188559232808,1.06969198029
+125,2.083333333,pose1_to_pose2_press,0.576167217771,0.0101817394486,1.07002030187,0.546738366091,0.0188559793267,1.06969200985
+126,2.100000000,pose1_to_pose2_press,0.576273296488,0.0101817695234,1.07002045618,0.546844443938,0.0188560065401,1.06969216668
+127,2.116666667,pose1_to_pose2_press,0.576392938404,0.0101817832963,1.07002073878,0.546964085634,0.0188560191968,1.06969243948
+128,2.133333333,pose1_to_pose2_press,0.576527080058,0.0101817490595,1.07002056867,0.547098226302,0.0188559814428,1.06969226483
+129,2.150000000,pose1_to_pose2_press,0.57667650763,0.0101817799954,1.07002058678,0.547247655154,0.0188560173145,1.06969229853
+130,2.166666667,pose1_to_pose2_press,0.576838527928,0.0101816789444,1.07002016324,0.547409675794,0.0188559172802,1.06969187105
+131,2.183333333,pose1_to_pose2_press,0.577012438783,0.0101819252922,1.07002044773,0.547583584243,0.0188561555615,1.06969215802
+132,2.200000000,pose1_to_pose2_press,0.577202300833,0.0101818124456,1.07002039643,0.547773446999,0.0188560452199,1.06969210958
+133,2.216666667,pose1_to_pose2_press,0.577408904857,0.0101817997286,1.0700204523,0.547980051875,0.0188560352316,1.06969216119
+134,2.233333333,pose1_to_pose2_press,0.577634790721,0.0101818561492,1.07002048714,0.548205936986,0.0188560892185,1.06969219906
+135,2.250000000,pose1_to_pose2_press,0.577884407418,0.0101818335882,1.07002054066,0.54845555439,0.0188560690175,1.06969225156
+136,2.266666667,pose1_to_pose2_press,0.578158922162,0.0101817348693,1.07002062775,0.548730071262,0.0188559770094,1.06969232514
+137,2.283333333,pose1_to_pose2_press,0.578456934889,0.0101816857291,1.07002052724,0.549028083692,0.0188559268035,1.06969222309
+138,2.300000000,pose1_to_pose2_press,0.578776520472,0.0101817227228,1.0700203507,0.549347669404,0.0188559647547,1.06969206019
+139,2.316666667,pose1_to_pose2_press,0.57911826742,0.010181743324,1.07002029592,0.549689416567,0.0188559862247,1.06969200904
+140,2.333333333,pose1_to_pose2_press,0.579478895797,0.0101816988296,1.0700205054,0.550050045483,0.018855943306,1.06969221181
+141,2.350000000,pose1_to_pose2_press,0.579857958551,0.0101819677253,1.07002040395,0.550429104591,0.0188561998784,1.06969211159
+142,2.366666667,pose1_to_pose2_press,0.580255479192,0.0101819012401,1.07002060146,0.550826627386,0.0188561408909,1.06969231403
+143,2.383333333,pose1_to_pose2_press,0.580671370462,0.0101817844685,1.07002051088,0.551242518666,0.0188560240779,1.06969222138
+144,2.400000000,pose1_to_pose2_press,0.581103678455,0.0101817312549,1.07002029651,0.551674828785,0.0188559781554,1.06969200908
+145,2.416666667,pose1_to_pose2_press,0.581556330349,0.0101817956201,1.07002019422,0.552127477311,0.018856030827,1.06969189967
+146,2.433333333,pose1_to_pose2_press,0.582039769578,0.0101817828032,1.07002046613,0.5526109152,0.0188560133775,1.06969216929
+147,2.450000000,pose1_to_pose2_press,0.582554046795,0.0101817938937,1.07002042192,0.553125193844,0.0188560294287,1.06969212817
+148,2.466666667,pose1_to_pose2_press,0.583100657402,0.0101818523964,1.07002026226,0.553671805358,0.0188560911032,1.06969197099
+149,2.483333333,pose1_to_pose2_press,0.58367095544,0.0101818040655,1.07002052959,0.554242103237,0.0188560420429,1.06969223332
+150,2.500000000,pose1_to_pose2_press,0.584257772333,0.01018166863,1.07002068039,0.554828919913,0.0188559056779,1.06969237898
+151,2.516666667,pose1_to_pose2_press,0.584848681805,0.0101816895413,1.07002055005,0.555419829076,0.0188559255468,1.06969224873
+152,2.533333333,pose1_to_pose2_press,0.585447852399,0.0101818098313,1.07002051808,0.556018999818,0.0188560463305,1.06969221663
+153,2.550000000,pose1_to_pose2_press,0.586062655862,0.0101817497326,1.07002040344,0.556633804324,0.0188559900215,1.06969210857
+154,2.566666667,pose1_to_pose2_press,0.586700815365,0.0101817611819,1.07002032775,0.557271963163,0.0188559999104,1.06969205117
+155,2.583333333,pose1_to_pose2_press,0.587363508832,0.0101819216121,1.07002050363,0.557934654039,0.0188561509592,1.06969221143
+156,2.600000000,pose1_to_pose2_press,0.588046098664,0.0101817027789,1.07002057664,0.558617247761,0.0188559447312,1.06969226873
+157,2.616666667,pose1_to_pose2_press,0.588743980687,0.0101817928865,1.07002065872,0.559315129148,0.0188560329706,1.06969235855
+158,2.633333333,pose1_to_pose2_press,0.589459934742,0.010181785716,1.07002045642,0.560031081892,0.0188560213156,1.06969215521
+159,2.650000000,pose1_to_pose2_press,0.590191991788,0.0101816703803,1.07002050176,0.560763140601,0.0188559117827,1.06969220487
+160,2.666666667,pose1_to_pose2_press,0.590940291925,0.010181787397,1.07002031747,0.561511439849,0.0188560260534,1.0696920277
+161,2.683333333,pose1_to_pose2_press,0.591704933286,0.0101817094254,1.07002075174,0.562276081433,0.0188559482826,1.06969244733
+162,2.700000000,pose1_to_pose2_press,0.592480602435,0.0101817216331,1.0700204991,0.563051750603,0.01885596078,1.06969220051
+163,2.716666667,pose1_to_pose2_press,0.593259145815,0.0101817881067,1.07002041051,0.563830292809,0.0188560235467,1.06969211918
+164,2.733333333,pose1_to_pose2_press,0.594038789469,0.0101817779203,1.07002058081,0.564609937163,0.0188560155997,1.06969228598
+165,2.750000000,pose1_to_pose2_press,0.594817498727,0.0101817365772,1.07002061158,0.565388646835,0.018855975372,1.0696923091
+166,2.766666667,pose1_to_pose2_press,0.595602424276,0.0101816765097,1.07002060021,0.566173572566,0.0188559158195,1.06969229504
+167,2.783333333,pose1_to_pose2_press,0.596394840606,0.010181624658,1.07002065909,0.566965990181,0.0188558684659,1.06969235758
+168,2.800000000,pose1_to_pose2_press,0.597191819221,0.0101817187706,1.07002062668,0.567762967003,0.0188559565813,1.0696923276
+169,2.816666667,pose1_to_pose2_press,0.597994290357,0.0101818603385,1.07002051443,0.568565436003,0.0188560911356,1.06969222152
+170,2.833333333,pose1_to_pose2_press,0.598802342645,0.0101818185534,1.07002052002,0.569373489666,0.0188560540547,1.06969222813
+171,2.850000000,pose1_to_pose2_press,0.599619816758,0.0101817482956,1.07002063245,0.570190964658,0.0188559867306,1.06969233931
+172,2.866666667,pose1_to_pose2_press,0.600451400261,0.0101818053316,1.07002047875,0.571022549086,0.0188560472502,1.06969219479
+173,2.883333333,pose1_to_pose2_press,0.601281899633,0.0101818601188,1.07002061633,0.571853045732,0.0188560925158,1.06969232522
+174,2.900000000,pose1_to_pose2_press,0.602107988367,0.0101817126329,1.0700206215,0.572679138044,0.0188559572555,1.06969233277
+175,2.916666667,pose1_to_pose2_press,0.602921997806,0.0101818823551,1.07002051241,0.57349314473,0.0188561175807,1.06969222225
+176,2.933333333,pose1_to_pose2_press,0.603719874005,0.0101817829796,1.07002062244,0.574291022092,0.0188560218354,1.06969232389
+177,2.950000000,pose1_to_pose2_press,0.60450069923,0.0101817126712,1.07002058888,0.575071848419,0.0188559550832,1.06969228566
+178,2.966666667,pose1_to_pose2_press,0.605279549249,0.0101818489738,1.07002060456,0.575850696657,0.0188560855524,1.06969230686
+179,2.983333333,pose1_to_pose2_press,0.606061491524,0.0101818036228,1.07002048498,0.576632639266,0.0188560415947,1.06969219421
+180,3.000000000,pose1_to_pose2_press,0.606852191166,0.0101817698868,1.07002031888,0.577423338317,0.018856005821,1.0696920273
+181,3.016666667,pose1_to_pose2_press,0.607643099571,0.0101818311598,1.07002038514,0.578214245864,0.0188560641642,1.0696920931
+182,3.033333333,pose1_to_pose2_press,0.608402894419,0.010181872188,1.07002060612,0.578974040718,0.0188561052579,1.06969231544
+183,3.050000000,pose1_to_pose2_press,0.60912454379,0.0101819166459,1.07002065314,0.579695689082,0.0188561462464,1.06969236114
+184,3.066666667,pose1_to_pose2_press,0.609801208948,0.0101818582581,1.07002047556,0.580372355543,0.0188560922618,1.06969218314
+185,3.083333333,pose1_to_pose2_press,0.610452131379,0.0101817945788,1.07002040515,0.581023280924,0.0188560385289,1.06969211109
+186,3.100000000,pose1_to_pose2_press,0.611088536136,0.0101818921729,1.07002051462,0.581659682084,0.0188561239146,1.06969222056
+187,3.116666667,pose1_to_pose2_press,0.611735827953,0.0101817864853,1.07002040182,0.582306975517,0.0188560238214,1.06969211078
+188,3.133333333,pose1_to_pose2_press,0.612394254225,0.0101817696315,1.07002038435,0.582965402886,0.0188560106036,1.06969209102
+189,3.150000000,pose1_to_pose2_press,0.613056024148,0.0101818366175,1.07002060795,0.583627171518,0.0188560729442,1.06969230772
+190,3.166666667,pose1_to_pose2_press,0.613699356527,0.0101818612197,1.07002055798,0.584270503197,0.0188560953497,1.0696922625
+191,3.183333333,pose1_to_pose2_press,0.614315165386,0.0101818589738,1.0700204113,0.584886311768,0.0188560923859,1.06969212301
+192,3.200000000,pose1_to_pose2_press,0.614897028265,0.0101818245946,1.07002037041,0.585468175981,0.0188560625516,1.06969208185
+193,3.216666667,pose1_to_pose2_press,0.615447597471,0.0101817437314,1.07002059353,0.586018746451,0.0188559858013,1.06969229664
+194,3.233333333,pose1_to_pose2_press,0.615970508633,0.0101816866509,1.07002083973,0.586541658069,0.0188559302913,1.06969253693
+195,3.250000000,pose1_to_pose2_press,0.616469763411,0.0101817060987,1.07002082189,0.587040912643,0.0188559494936,1.06969252247
+196,3.266666667,pose1_to_pose2_press,0.616947215815,0.0101817828515,1.07002061336,0.587518363835,0.0188560227246,1.06969232015
+197,3.283333333,pose1_to_pose2_press,0.617411739651,0.0101818899033,1.07002051885,0.587982886035,0.0188561244697,1.0696922234
+198,3.300000000,pose1_to_pose2_press,0.617866594548,0.0101819041429,1.07002052322,0.588437740385,0.0188561370803,1.06969222704
+199,3.316666667,pose1_to_pose2_press,0.618313449704,0.0101818254142,1.07002052151,0.588884595658,0.0188560591794,1.06969222709
+200,3.333333333,pose1_to_pose2_press,0.61874886352,0.0101818198245,1.07002076903,0.589320009573,0.0188560540586,1.06969246919
+201,3.350000000,pose1_to_pose2_press,0.619159321871,0.010181819844,1.07002064988,0.58973046859,0.0188560569251,1.06969235592
+202,3.366666667,pose1_to_pose2_press,0.619538538218,0.010181680787,1.07002043759,0.590109686994,0.0188559252308,1.06969214318
+203,3.383333333,pose1_to_pose2_press,0.619881459026,0.0101816930317,1.07002057677,0.590452607242,0.0188559359083,1.06969228333
+204,3.400000000,pose1_to_pose2_press,0.620195134953,0.010181761658,1.07002074378,0.590766281413,0.0188559986067,1.0696924424
+205,3.416666667,pose1_to_pose2_press,0.620483487122,0.0101818244953,1.07002063227,0.591054632925,0.0188560598017,1.06969233867
+206,3.433333333,pose1_to_pose2_press,0.62075841641,0.0101818384751,1.07002047487,0.591329562531,0.0188560754982,1.06969219098
+207,3.450000000,pose1_to_pose2_press,0.621021616126,0.0101818151948,1.07002050054,0.591592762659,0.0188560537119,1.06969221187
+208,3.466666667,pose1_to_pose2_press,0.621271456493,0.0101818171012,1.07002050618,0.591842603293,0.0188560567064,1.06969221624
+209,3.483333333,pose1_to_pose2_press,0.621504594843,0.0101817726283,1.07002048545,0.592075741122,0.0188560108829,1.06969219743
+210,3.500000000,pose1_to_pose2_press,0.621718728702,0.0101816835323,1.07002049544,0.592289875307,0.0188559231181,1.06969220549
+211,3.516666667,pose1_to_pose2_press,0.621912984195,0.0101818488602,1.0700205147,0.592484130256,0.0188560866657,1.06969222157
+212,3.533333333,pose1_to_pose2_press,0.622088537684,0.0101818096663,1.0700206114,0.5926596828,0.0188560445134,1.06969232026
+213,3.550000000,pose1_to_pose2_press,0.622247806127,0.0101819060853,1.07002046323,0.592818950855,0.0188561395275,1.06969216297
+214,3.566666667,pose1_to_pose2_press,0.622393202471,0.0101817602141,1.07002041265,0.592964348284,0.0188559975343,1.06969211346
+215,3.583333333,pose1_to_pose2_press,0.622524719492,0.0101817439723,1.07002040562,0.593095866818,0.0188559867169,1.06969211014
+216,3.600000000,pose1_to_pose2_press,0.622642397052,0.0101818231235,1.07002065064,0.593213542123,0.0188560582729,1.06969235262
+217,3.616666667,pose1_to_pose2_press,0.622745574145,0.0101818682934,1.07002069688,0.593316718835,0.018856102357,1.0696924003
+218,3.633333333,pose1_to_pose2_press,0.62283399048,0.010181853176,1.0700206229,0.593405136093,0.0188560907228,1.06969233227
+219,3.650000000,pose1_to_pose2_press,0.622908974037,0.0101818676131,1.07002061047,0.593480117164,0.0188561030939,1.0696923234
+220,3.666666667,pose1_to_pose2_press,0.622971277813,0.0101818590114,1.07002052106,0.593542420006,0.0188560941996,1.06969223512
+221,3.683333333,pose1_to_pose2_press,0.623023840568,0.0101817622615,1.07002031738,0.593594986597,0.0188560029246,1.0696920342
+222,3.700000000,pose1_to_pose2_press,0.62306721098,0.0101817458701,1.07002020444,0.593638355738,0.0188559864168,1.06969192624
+223,3.716666667,pose1_to_pose2_press,0.6231033563,0.0101815999885,1.07002023373,0.593674503443,0.0188558472468,1.06969194898
+224,3.733333333,pose1_to_pose2_press,0.623132629759,0.0101817368433,1.07002058084,0.593703776202,0.0188559805578,1.06969228441
+225,3.750000000,pose1_to_pose2_press,0.623155749218,0.0101818131081,1.07002064108,0.593726895436,0.0188560555795,1.06969234706
+226,3.766666667,pose1_to_pose2_press,0.623174096016,0.010181833771,1.07002050881,0.593745241652,0.0188560735662,1.06969221897
+227,3.783333333,pose1_to_pose2_press,0.623188203697,0.0101818496011,1.07002043449,0.593759348819,0.018856086707,1.06969214587
+228,3.800000000,pose1_to_pose2_press,0.623198618189,0.010181901067,1.07002061909,0.593769763832,0.0188561391758,1.06969233018
+229,3.816666667,pose1_to_pose2_press,0.623205612932,0.0101818355834,1.07002056868,0.593776757836,0.0188560710781,1.06969227165
+230,3.833333333,pose1_to_pose2_press,0.623210527928,0.010181783635,1.07002061476,0.593781672723,0.0188560187666,1.06969231751
+231,3.850000000,pose1_to_pose2_press,0.623213757006,0.010181744447,1.07002071452,0.593784902077,0.0188559805963,1.06969242178
+232,3.866666667,pose1_to_pose2_press,0.623215858826,0.0101818029597,1.070020745,0.593787003384,0.0188560373853,1.06969245328
+233,3.883333333,pose1_to_pose2_press,0.623217295435,0.0101818901286,1.0700207465,0.593788439251,0.0188561220363,1.0696924544
+234,3.900000000,pose1_to_pose2_press,0.623218189842,0.0101819443984,1.07002074743,0.593789333197,0.0188561747385,1.0696924551
+235,3.916666667,pose1_to_pose2_press,0.623218729239,0.0101819399051,1.07002076129,0.593789872762,0.0188561707741,1.06969246774
+236,3.933333333,pose1_to_pose2_press,0.623219034229,0.0101818812926,1.07002078917,0.59379017852,0.0188561146817,1.06969249331
+237,3.950000000,pose1_to_pose2_press,0.623219178343,0.0101818535972,1.07002080234,0.593790322995,0.0188560881771,1.06969250539
+238,3.966666667,pose1_to_pose2_press,0.623219374785,0.0101818158454,1.07002082029,0.593790519931,0.0188560520484,1.06969252186
+239,3.983333333,pose1_to_pose2_press,0.623219889813,0.0101817168682,1.07002086737,0.593791036254,0.0188559573268,1.06969256504
+240,4.000000000,pose1_to_pose2_press,0.623220383046,0.0101816220797,1.07002091245,0.593791530727,0.0188558666137,1.06969260639
+241,4.016666667,pose1_to_pose2_press,0.623220721395,0.01018157132,1.07002092991,0.593791869791,0.0188558182196,1.06969262201
+242,4.033333333,pose1_to_pose2_press,0.623220974344,0.0101816472854,1.07002083542,0.593792122204,0.0188558925188,1.06969253191
+243,4.050000000,pose1_to_pose2_press,0.623221234255,0.0101817253413,1.07002073833,0.593792381563,0.0188559688626,1.06969243933
+244,4.066666667,pose1_to_pose2_press,0.623221572433,0.0101818131486,1.07002057314,0.593792718909,0.0188560540497,1.06969227991
+245,4.083333333,pose1_to_pose2_press,0.623221831937,0.0101818308731,1.07002037684,0.593792977916,0.0188560701818,1.06969208655
+246,4.100000000,pose1_to_pose2_press,0.623221899612,0.0101818151019,1.07002038575,0.593793046213,0.0188560564676,1.06969209417
+247,4.116666667,pose1_to_pose2_press,0.623221914911,0.0101818115367,1.07002038777,0.593793061655,0.0188560533672,1.06969209589
+248,4.133333333,pose1_to_pose2_press,0.623221914911,0.0101818115367,1.07002038777,0.593793061656,0.0188560533671,1.06969209589
+249,4.150000000,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061666,0.018856053364,1.06969209589
+250,4.166666667,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061667,0.0188560533633,1.06969209589
+251,4.183333333,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061668,0.0188560533614,1.06969209589
+252,4.200000000,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061668,0.0188560533631,1.06969209589
+253,4.216666667,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061669,0.0188560533624,1.06969209589
+254,4.233333333,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061668,0.0188560533647,1.06969209589
+255,4.250000000,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061669,0.0188560533644,1.06969209589
+256,4.266666667,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061669,0.0188560533641,1.06969209589
+257,4.283333333,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.59379306167,0.018856053363,1.06969209589
+258,4.300000000,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061671,0.0188560533633,1.06969209589
+259,4.316666667,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061671,0.0188560533627,1.06969209589
+260,4.333333333,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061672,0.0188560533628,1.06969209589
+261,4.350000000,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061672,0.0188560533627,1.06969209589
+262,4.366666667,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061673,0.0188560533621,1.06969209589
+263,4.383333333,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061673,0.0188560533618,1.06969209589
+264,4.400000000,pose2_hold,0.623221914911,0.0101818115367,1.07002038777,0.593793061674,0.0188560533615,1.06969209589
+265,4.416666667,pose2_to_pose3_retreat,0.623221914911,0.0101818115367,1.07002038777,0.593793061676,0.0188560533611,1.06969209589
+266,4.433333333,pose2_to_pose3_retreat,0.6232218414,0.0101818286677,1.07002037809,0.593792987489,0.0188560682588,1.06969208761
+267,4.450000000,pose2_to_pose3_retreat,0.623221748872,0.0101818404868,1.07002042347,0.593792894593,0.018856078808,1.06969213236
+268,4.466666667,pose2_to_pose3_retreat,0.623221693992,0.0101818421123,1.07002048219,0.593792839761,0.018856080532,1.0696921894
+269,4.483333333,pose2_to_pose3_retreat,0.623221630351,0.0101818439972,1.07002055029,0.593792776177,0.0188560825313,1.06969225553
+270,4.500000000,pose2_to_pose3_retreat,0.623221601647,0.0101818448473,1.07002058101,0.593792747498,0.018856083433,1.06969228536
+271,4.516666667,pose2_to_pose3_retreat,0.623221487959,0.0101818482145,1.07002070266,0.593792633911,0.0188560870045,1.0696924035
+272,4.533333333,pose2_to_pose3_retreat,0.62322108527,0.0101818522301,1.07002077108,0.593792231302,0.0188560913303,1.0696924729
+273,4.550000000,pose2_to_pose3_retreat,0.62322011837,0.0101818545939,1.07002068921,0.593791264328,0.0188560937455,1.0696923989
+274,4.566666667,pose2_to_pose3_retreat,0.62321620783,0.0101818027525,1.07002029093,0.593787353954,0.0188560425291,1.06969200286
+275,4.583333333,pose2_to_pose3_retreat,0.623208156886,0.0101818101749,1.07002062892,0.593779303092,0.0188560501102,1.06969233721
+276,4.600000000,pose2_to_pose3_retreat,0.623191615708,0.0101818518086,1.07002031335,0.593762762396,0.0188560931879,1.06969202066
+277,4.616666667,pose2_to_pose3_retreat,0.623165962882,0.0101817410661,1.07002056845,0.593737108878,0.0188559801387,1.06969227504
+278,4.633333333,pose2_to_pose3_retreat,0.623129384916,0.0101817768205,1.07002047224,0.593700530938,0.0188560158966,1.06969217082
+279,4.650000000,pose2_to_pose3_retreat,0.623083228098,0.0101817828271,1.07002054197,0.59365437371,0.0188560203716,1.06969224195
+280,4.666666667,pose2_to_pose3_retreat,0.623027328479,0.0101817905832,1.07002066335,0.593598475916,0.0188560336895,1.06969235977
+281,4.683333333,pose2_to_pose3_retreat,0.622964860124,0.0101819158893,1.07002052144,0.593536004906,0.0188561500319,1.06969222482
+282,4.700000000,pose2_to_pose3_retreat,0.622895773068,0.0101818829946,1.07002038714,0.593466917166,0.0188561154161,1.06969209468
+283,4.716666667,pose2_to_pose3_retreat,0.622817808024,0.0101816828935,1.07002060501,0.593388956402,0.0188559295439,1.06969231105
+284,4.733333333,pose2_to_pose3_retreat,0.622730125814,0.0101817451291,1.070020511,0.593301272869,0.0188559874172,1.06969222532
+285,4.750000000,pose2_to_pose3_retreat,0.622629883797,0.0101816759783,1.07002040352,0.593201031301,0.018855919614,1.06969211793
+286,4.766666667,pose2_to_pose3_retreat,0.622515238166,0.0101816888573,1.07002041887,0.593086385692,0.0188559323271,1.06969213104
+287,4.783333333,pose2_to_pose3_retreat,0.622384986695,0.0101818348327,1.07002047567,0.592956132181,0.0188560713226,1.06969219097
+288,4.800000000,pose2_to_pose3_retreat,0.622235919871,0.0101818696092,1.07002046634,0.592807064333,0.0188561024542,1.06969218383
+289,4.816666667,pose2_to_pose3_retreat,0.622069192575,0.0101817389072,1.0700205225,0.592640340071,0.0188559812848,1.06969222673
+290,4.833333333,pose2_to_pose3_retreat,0.621885485844,0.0101818910481,1.07002051019,0.592456630499,0.0188561235756,1.06969221585
+291,4.850000000,pose2_to_pose3_retreat,0.621684948633,0.0101818302169,1.0700203944,0.592256094556,0.0188560669653,1.06969210295
+292,4.866666667,pose2_to_pose3_retreat,0.621465866379,0.0101818005367,1.07002061969,0.592037012774,0.0188560384418,1.0696923202
+293,4.883333333,pose2_to_pose3_retreat,0.621231078306,0.0101819049676,1.07002075963,0.591802223093,0.0188561370166,1.06969245593
+294,4.900000000,pose2_to_pose3_retreat,0.620979757051,0.0101818212456,1.07002063692,0.59155090329,0.0188560581829,1.06969233934
+295,4.916666667,pose2_to_pose3_retreat,0.62070760691,0.0101817059886,1.07002055577,0.591278754915,0.0188559489124,1.06969226456
+296,4.933333333,pose2_to_pose3_retreat,0.620416083165,0.0101817344518,1.07002053171,0.590987230941,0.0188559765112,1.06969224488
+297,4.950000000,pose2_to_pose3_retreat,0.620104846897,0.0101818232855,1.07002036473,0.590675993975,0.0188560628573,1.06969208298
+298,4.966666667,pose2_to_pose3_retreat,0.619775915746,0.0101817938286,1.07002052525,0.590347062157,0.0188560303166,1.06969222964
+299,4.983333333,pose2_to_pose3_retreat,0.619429146096,0.010181784305,1.07002050808,0.590000292511,0.0188560205889,1.06969221519
+300,5.000000000,pose2_to_pose3_retreat,0.619064006916,0.0101817024398,1.0700203906,0.589635154948,0.0188559442302,1.06969210528
+301,5.016666667,pose2_to_pose3_retreat,0.618679027838,0.0101817163629,1.0700203644,0.589250176515,0.0188559599142,1.06969207743
+302,5.033333333,pose2_to_pose3_retreat,0.61826763036,0.0101817503627,1.07002049566,0.588838778512,0.01885599158,1.06969220308
+303,5.050000000,pose2_to_pose3_retreat,0.617827695166,0.010181712938,1.07002058758,0.588398842781,0.0188559519783,1.06969229446
+304,5.066666667,pose2_to_pose3_retreat,0.617354446761,0.01018168822,1.07002046684,0.587925594178,0.0188559263302,1.06969217695
+305,5.083333333,pose2_to_pose3_retreat,0.616857330239,0.0101818693476,1.07002044087,0.587428476352,0.0188561025706,1.06969214526
+306,5.100000000,pose2_to_pose3_retreat,0.616339863194,0.0101818097525,1.07002061698,0.586911010929,0.0188560483461,1.06969232642
+307,5.116666667,pose2_to_pose3_retreat,0.615810341451,0.0101818179467,1.07002060519,0.586381489932,0.0188560587513,1.06969231587
+308,5.133333333,pose2_to_pose3_retreat,0.615270878619,0.0101816207667,1.07002040396,0.585842029431,0.0188558693036,1.06969211649
+309,5.150000000,pose2_to_pose3_retreat,0.614721600686,0.0101817792704,1.07002054943,0.585292748928,0.0188560187114,1.06969225453
+310,5.166666667,pose2_to_pose3_retreat,0.614156363322,0.0101819087151,1.07002050532,0.584727509193,0.0188561401582,1.06969221216
+311,5.183333333,pose2_to_pose3_retreat,0.613569821688,0.0101819240335,1.07002040197,0.584140967765,0.0188561564305,1.06969211552
+312,5.200000000,pose2_to_pose3_retreat,0.61295985724,0.0101818525658,1.07002048425,0.583531005528,0.0188560924541,1.06969219746
+313,5.216666667,pose2_to_pose3_retreat,0.612326969046,0.010181620162,1.07002052106,0.582898119378,0.0188558667043,1.06969222662
+314,5.233333333,pose2_to_pose3_retreat,0.611669635932,0.0101815008206,1.07002054833,0.582240786316,0.0188557472983,1.06969224619
+315,5.250000000,pose2_to_pose3_retreat,0.610989682064,0.0101818244453,1.07002053069,0.581560829113,0.018856059742,1.06969223261
+316,5.266666667,pose2_to_pose3_retreat,0.610285763426,0.0101818185984,1.0700206176,0.580856912278,0.0188560600461,1.06969232048
+317,5.283333333,pose2_to_pose3_retreat,0.609572496944,0.010181821052,1.07002048915,0.58014364487,0.0188560594036,1.06969219306
+318,5.300000000,pose2_to_pose3_retreat,0.608858308588,0.0101817257626,1.07002038884,0.579429456499,0.0188559642009,1.06969209645
+319,5.316666667,pose2_to_pose3_retreat,0.608139860631,0.0101816793405,1.07002044172,0.578711008819,0.0188559186793,1.06969214808
+320,5.333333333,pose2_to_pose3_retreat,0.607416700005,0.0101817806431,1.07002060064,0.577987847321,0.0188560168351,1.06969230209
+321,5.350000000,pose2_to_pose3_retreat,0.606684180237,0.0101818575082,1.07002073093,0.577255327152,0.0188560925024,1.06969243656
+322,5.366666667,pose2_to_pose3_retreat,0.605929921921,0.0101817728323,1.07002051159,0.576501069445,0.0188560099951,1.06969221992
+323,5.383333333,pose2_to_pose3_retreat,0.605144523946,0.0101817727468,1.07002054851,0.575715671049,0.0188560081445,1.06969224787
+324,5.400000000,pose2_to_pose3_retreat,0.604331773542,0.0101816154084,1.07002044201,0.57490292351,0.0188558606324,1.06969214414
+325,5.416666667,pose2_to_pose3_retreat,0.603492155522,0.0101816519834,1.0700203048,0.57406330391,0.0188558920867,1.06969201315
+326,5.433333333,pose2_to_pose3_retreat,0.602659819622,0.0101818559793,1.0700205894,0.573230966365,0.0188560904548,1.06969229643
+327,5.450000000,pose2_to_pose3_retreat,0.601837730261,0.0101819377741,1.0700205599,0.572408875716,0.0188561678764,1.06969226676
+328,5.466666667,pose2_to_pose3_retreat,0.601029348108,0.010181877352,1.07002055431,0.571600494485,0.0188561105495,1.06969226027
+329,5.483333333,pose2_to_pose3_retreat,0.600233207858,0.0101817769558,1.07002069434,0.570804356331,0.0188560172268,1.06969239918
+330,5.500000000,pose2_to_pose3_retreat,0.599444821104,0.0101816914707,1.07002053074,0.570015969443,0.0188559313858,1.06969223813
+331,5.516666667,pose2_to_pose3_retreat,0.598642653823,0.0101816942716,1.07002066105,0.569213802354,0.0188559344929,1.06969235926
+332,5.533333333,pose2_to_pose3_retreat,0.597826293411,0.0101817575418,1.07002043285,0.568397440736,0.0188559937627,1.0696921335
+333,5.550000000,pose2_to_pose3_retreat,0.596988682402,0.0101818289359,1.07002039442,0.567559829559,0.0188560648512,1.06969210194
+334,5.566666667,pose2_to_pose3_retreat,0.59615129314,0.0101818298722,1.07002067652,0.566722440449,0.0188560662386,1.06969238229
+335,5.583333333,pose2_to_pose3_retreat,0.595340139028,0.0101818047567,1.07002057928,0.565911285979,0.0188560400697,1.06969228925
+336,5.600000000,pose2_to_pose3_retreat,0.594553861924,0.010181857494,1.07002051088,0.565125008545,0.0188560915919,1.06969221838
+337,5.616666667,pose2_to_pose3_retreat,0.593793490644,0.0101818057073,1.07002052193,0.564364638207,0.0188560429006,1.06969222662
+338,5.633333333,pose2_to_pose3_retreat,0.593047193921,0.0101816968676,1.07002051929,0.563618342592,0.0188559378216,1.06969222406
+339,5.650000000,pose2_to_pose3_retreat,0.592303459469,0.0101818547229,1.07002054107,0.562874606729,0.0188560907488,1.06969224214
+340,5.666666667,pose2_to_pose3_retreat,0.59154857098,0.0101819138231,1.07002044643,0.562119718476,0.0188561514782,1.06969216932
+341,5.683333333,pose2_to_pose3_retreat,0.590786402717,0.010181757224,1.0700204079,0.561357550614,0.0188559956297,1.06969211463
+342,5.700000000,pose2_to_pose3_retreat,0.590020811917,0.0101817121138,1.07002048396,0.560591960203,0.0188559518648,1.06969219135
+343,5.716666667,pose2_to_pose3_retreat,0.589276851646,0.0101818152527,1.07002041857,0.559847998552,0.0188560503392,1.06969212643
+344,5.733333333,pose2_to_pose3_retreat,0.588556630263,0.0101819061296,1.07002064751,0.559127776089,0.0188561372288,1.06969234685
+345,5.750000000,pose2_to_pose3_retreat,0.58786439954,0.0101818506979,1.07002066346,0.558435546098,0.0188560842619,1.06969236221
+346,5.766666667,pose2_to_pose3_retreat,0.587194489035,0.0101816843463,1.07002040718,0.557765637512,0.018855924802,1.06969211604
+347,5.783333333,pose2_to_pose3_retreat,0.586539929185,0.0101816197924,1.07002033579,0.557111078971,0.01885586489,1.06969204989
+348,5.800000000,pose2_to_pose3_retreat,0.585900356094,0.0101818251568,1.0700206204,0.556471504927,0.0188560666144,1.06969232376
+349,5.816666667,pose2_to_pose3_retreat,0.585277283502,0.0101818511986,1.07002039783,0.555848428976,0.0188560813303,1.0696921031
+350,5.833333333,pose2_to_pose3_retreat,0.584671407706,0.0101818045643,1.07002060182,0.555242555495,0.0188560426771,1.06969231042
+351,5.850000000,pose2_to_pose3_retreat,0.584086056876,0.0101818194003,1.07002056196,0.55465720396,0.0188560548833,1.06969226431
+352,5.866666667,pose2_to_pose3_retreat,0.583528990266,0.0101818456243,1.07002054422,0.554100136168,0.0188560770379,1.06969224496
+353,5.883333333,pose2_to_pose3_retreat,0.582992023502,0.0101818552374,1.07002063914,0.553563171168,0.0188560928474,1.06969234554
+354,5.900000000,pose2_to_pose3_retreat,0.582468453477,0.0101818276551,1.07002074939,0.553039602769,0.0188560707816,1.06969245579
+355,5.916666667,pose2_to_pose3_retreat,0.581957384735,0.0101817842713,1.07002077907,0.552528533537,0.0188560255556,1.06969248067
+356,5.933333333,pose2_to_pose3_retreat,0.581460392395,0.0101817785046,1.07002067265,0.552031540727,0.0188560184241,1.06969238032
+357,5.950000000,pose2_to_pose3_retreat,0.58098775898,0.0101818025467,1.07002034365,0.551558906116,0.0188560386416,1.06969205748
+358,5.966666667,pose2_to_pose3_retreat,0.58054295865,0.0101817917491,1.0700202382,0.551114106844,0.0188560315569,1.06969195533
+359,5.983333333,pose2_to_pose3_retreat,0.580132467706,0.0101817533844,1.07002049615,0.550703615527,0.0188559914803,1.0696922015
+360,6.000000000,pose2_to_pose3_retreat,0.579748977662,0.0101817487963,1.07002062309,0.550320125254,0.0188559859954,1.06969232526
+361,6.016666667,pose2_to_pose3_retreat,0.579390279189,0.0101818068189,1.070020498,0.549961426562,0.0188560433426,1.06969220197
+362,6.033333333,pose2_to_pose3_retreat,0.579045021177,0.0101818354955,1.07002037405,0.549616168394,0.0188560717589,1.06969208523
+363,6.050000000,pose2_to_pose3_retreat,0.578713947905,0.0101818578406,1.0700204126,0.54928509445,0.0188560918778,1.0696921252
+364,6.066666667,pose2_to_pose3_retreat,0.5784015412,0.0101818918535,1.07002053276,0.548972687005,0.0188561230047,1.06969223546
+365,6.083333333,pose2_to_pose3_retreat,0.578107970102,0.0101817919532,1.0700205062,0.548679117372,0.0188560280665,1.06969220869
+366,6.100000000,pose2_to_pose3_retreat,0.57783559942,0.0101818002573,1.07002027686,0.548406746773,0.0188560368563,1.06969198465
+367,6.116666667,pose2_to_pose3_retreat,0.577584262625,0.0101817798828,1.07002047206,0.54815540974,0.0188560157886,1.06969218292
+368,6.133333333,pose2_to_pose3_retreat,0.577354346883,0.0101817193709,1.07002061038,0.547925494229,0.0188559558147,1.06969231491
+369,6.150000000,pose2_to_pose3_retreat,0.577144582275,0.0101816498416,1.0700205809,0.547715730522,0.0188558891398,1.06969228019
+370,6.166666667,pose2_to_pose3_retreat,0.576954147966,0.0101817240728,1.07002051375,0.547525295663,0.0188559617308,1.06969221895
+371,6.183333333,pose2_to_pose3_retreat,0.576783345561,0.010181799152,1.07002043745,0.547354493052,0.0188560364083,1.06969215052
+372,6.200000000,pose2_to_pose3_retreat,0.576629833869,0.010181769419,1.07002045119,0.547200982321,0.0188560099214,1.06969216395
+373,6.216666667,pose2_to_pose3_retreat,0.576493215578,0.0101817663,1.07002074665,0.547064363426,0.0188560045042,1.06969245286
+374,6.233333333,pose2_to_pose3_retreat,0.576368591604,0.0101818600075,1.07002053144,0.546939737916,0.0188560930961,1.06969224011
+375,6.250000000,pose2_to_pose3_retreat,0.57625532322,0.0101818320933,1.07002049731,0.546826470234,0.0188560676854,1.06969220929
+376,6.266666667,pose2_to_pose3_retreat,0.576153616914,0.0101818716985,1.07002048106,0.546724763778,0.01885610691,1.06969219648
+377,6.283333333,pose2_to_pose3_retreat,0.576063123575,0.0101818150545,1.07002049178,0.546634271343,0.0188560531822,1.06969220351
+378,6.300000000,pose2_to_pose3_retreat,0.575984959525,0.0101817408392,1.07002055559,0.546556108809,0.018855984027,1.0696922653
+379,6.316666667,pose2_to_pose3_retreat,0.575918172016,0.0101817399485,1.07002071213,0.546489321208,0.0188559828049,1.06969242121
+380,6.333333333,pose2_to_pose3_retreat,0.575862710717,0.0101817512014,1.07002076321,0.546433858443,0.0188559888732,1.06969246672
+381,6.350000000,pose2_to_pose3_retreat,0.575816607247,0.0101817762182,1.07002028354,0.546387755314,0.0188560152304,1.06969199191
+382,6.366666667,pose2_to_pose3_retreat,0.575779269645,0.0101818001455,1.07002035961,0.546350417513,0.0188560386435,1.06969207217
+383,6.383333333,pose2_to_pose3_retreat,0.575749361792,0.0101818284477,1.07002047194,0.546320510445,0.0188560694946,1.06969218149
+384,6.400000000,pose2_to_pose3_retreat,0.575726206479,0.0101817612179,1.07002061314,0.546297354179,0.0188559986889,1.0696923136
+385,6.416666667,pose2_to_pose3_retreat,0.575709358904,0.0101816230766,1.07002049391,0.546280507379,0.0188558631304,1.06969219325
+386,6.433333333,pose2_to_pose3_retreat,0.575696639585,0.0101815718511,1.07002036298,0.546267788575,0.0188558138006,1.06969206626
+387,6.450000000,pose2_to_pose3_retreat,0.575687447336,0.0101818100153,1.07002059966,0.546258592999,0.0188560407794,1.06969230562
+388,6.466666667,pose2_to_pose3_retreat,0.575680641707,0.0101817274129,1.07002049322,0.546251789458,0.0188559652518,1.0696921989
+389,6.483333333,pose2_to_pose3_retreat,0.575675921394,0.0101817144124,1.07002045405,0.546247069926,0.0188559549508,1.06969216108
+390,6.500000000,pose2_to_pose3_retreat,0.575673296033,0.0101818408121,1.07002055792,0.546244442809,0.0188560755373,1.06969226856
+391,6.516666667,pose2_to_pose3_retreat,0.575672038652,0.0101819013496,1.07002060767,0.546243184587,0.0188561332905,1.06969232003
+392,6.533333333,pose2_to_pose3_retreat,0.575671744122,0.0101819059866,1.07002061202,0.546242889991,0.0188561377117,1.0696923246
+393,6.550000000,pose2_to_pose3_retreat,0.575671585983,0.0101818972666,1.07002060578,0.54624273197,0.0188561293884,1.06969231826
+394,6.566666667,pose2_to_pose3_retreat,0.575671300702,0.0101818815358,1.07002059452,0.546242446903,0.0188561143733,1.06969230682
+395,6.583333333,pose2_to_pose3_retreat,0.575670834125,0.0101818558082,1.0700205761,0.546241980675,0.0188560898162,1.06969228811
+396,6.600000000,pose2_to_pose3_retreat,0.575670261826,0.0101818242509,1.0700205535,0.546241408804,0.0188560596946,1.06969226516
+397,6.616666667,pose2_to_pose3_retreat,0.575669466473,0.0101817803942,1.0700205221,0.546240614046,0.018856017833,1.06969223326
+398,6.633333333,pose2_to_pose3_retreat,0.57566901894,0.0101817557167,1.07002050443,0.546240166848,0.0188559942782,1.06969221531
+399,6.650000000,pose2_to_pose3_retreat,0.575668865283,0.0101817486896,1.07002049926,0.546240013292,0.0188559875886,1.06969221002
+400,6.666666667,pose2_to_pose3_retreat,0.575668793712,0.0101817505629,1.07002050003,0.546239941718,0.0188559894486,1.06969221066
+401,6.683333333,pose2_to_pose3_retreat,0.57566870496,0.0101817528858,1.07002050099,0.546239852963,0.0188559917549,1.06969221145
+402,6.700000000,pose2_to_pose3_retreat,0.575668354828,0.0101817620502,1.07002050477,0.546239502819,0.0188560008538,1.06969221457
+403,6.716666667,pose2_to_pose3_retreat,0.575667974328,0.0101817720093,1.07002050888,0.546239122306,0.0188560107418,1.06969221796
+404,6.733333333,pose2_to_pose3_retreat,0.575667844403,0.01018177541,1.07002051029,0.546238992376,0.0188560141182,1.06969221912
+405,6.750000000,pose2_to_pose3_retreat,0.575667824115,0.010181775941,1.0700205105,0.546238972088,0.0188560146454,1.0696922193
+406,6.766666667,pose2_to_pose3_retreat,0.575667600086,0.0101817818047,1.07002051292,0.546238748051,0.0188560204672,1.0696922213
+407,6.783333333,pose2_to_pose3_retreat,0.575667561956,0.0101817828027,1.07002051334,0.546238709919,0.0188560214581,1.06969222164
+408,6.800000000,pose2_to_pose3_retreat,0.575667431413,0.0101817862195,1.07002051475,0.546238579372,0.0188560248505,1.0696922228
+409,6.816666667,pose2_to_pose3_retreat,0.57566725147,0.0101817908894,1.07002048973,0.546238399145,0.0188560285162,1.06969219682
+410,6.833333333,pose2_to_pose3_retreat,0.575666953077,0.0101817986157,1.07002043628,0.546238100154,0.0188560341468,1.06969214151
+411,6.850000000,pose2_to_pose3_retreat,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533

Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7ef8e8c700cbcd75c2de126cbe69511d9f5bb352e4198d24188c3cde1ef5a0a
+size 26119829

Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/simulation_data.csv

@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+14,0.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+18,0.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+19,0.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+20,0.333333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+21,0.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+22,0.366666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+23,0.383333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+25,0.416666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+26,0.433333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+27,0.450000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+28,0.466666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+29,0.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+30,0.500000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+31,0.516666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+32,0.533333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+33,0.550000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+34,0.566666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+35,0.583333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+36,0.600000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+37,0.616666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+38,0.633333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+39,0.650000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+40,0.666666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+41,0.683333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+42,0.700000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+43,0.716666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+44,0.733333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+45,0.750000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+46,0.766666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+47,0.783333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+48,0.800000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+49,0.816666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+50,0.833333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+51,0.850000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+52,0.866666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+53,0.883333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+54,0.900000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+55,0.916666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+56,0.933333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+57,0.950000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+58,0.966666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+59,0.983333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+60,1.000000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+61,1.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+62,1.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+63,1.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+64,1.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+65,1.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+66,1.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+67,1.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+68,1.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+69,1.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+70,1.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+71,1.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+72,1.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+73,1.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+74,1.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+75,1.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+76,1.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+77,1.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+78,1.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+79,1.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+80,1.333333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+81,1.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+82,1.366666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+83,1.383333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+84,1.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+85,1.416666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+86,1.433333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+87,1.450000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+88,1.466666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+89,1.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+90,1.500000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+91,1.516666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+92,1.533333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+93,1.550000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+94,1.566666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+95,1.583333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+96,1.600000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+97,1.616666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+98,1.633333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+99,1.650000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+100,1.666666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+101,1.683333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+102,1.700000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+103,1.716666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+104,1.733333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+105,1.750000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+106,1.766666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+107,1.783333333,pose1_to_pose2_press,0.575666772144,0.0101818432329,1.07002055895,0.546237917474,0.0188560725102,1.06969225566
+108,1.800000000,pose1_to_pose2_press,0.575666778669,0.0101818334592,1.07002052282,0.546237924345,0.0188560639808,1.06969222134
+109,1.816666667,pose1_to_pose2_press,0.575666778782,0.0101818332899,1.07002052219,0.546237924464,0.0188560638331,1.06969222075
+110,1.833333333,pose1_to_pose2_press,0.575666785414,0.0101818233567,1.07002048547,0.546237931448,0.0188560551646,1.06969218588
+111,1.850000000,pose1_to_pose2_press,0.575666795649,0.0101818080259,1.0700204288,0.546237942227,0.0188560417856,1.06969213205
+112,1.866666667,pose1_to_pose2_press,0.575666826226,0.0101817982403,1.07002040729,0.546237973045,0.0188560328725,1.06969211196
+113,1.883333333,pose1_to_pose2_press,0.575666872187,0.0101817908092,1.07002040483,0.54623801909,0.0188560257507,1.06969211019
+114,1.900000000,pose1_to_pose2_press,0.57566716209,0.0101817439375,1.07002038932,0.546238309519,0.01885598083,1.06969209905
+115,1.916666667,pose1_to_pose2_press,0.575668630134,0.0101817784839,1.07002038853,0.546239779355,0.0188560214812,1.0696920989
+116,1.933333333,pose1_to_pose2_press,0.575674615065,0.010181753724,1.0700205509,0.546245762417,0.018855989926,1.06969224924
+117,1.950000000,pose1_to_pose2_press,0.575687205001,0.0101816852291,1.07002045868,0.546258352997,0.0188559240226,1.06969216766
+118,1.966666667,pose1_to_pose2_press,0.575710843251,0.0101819231161,1.07002065573,0.546281989137,0.018856154448,1.06969235666
+119,1.983333333,pose1_to_pose2_press,0.575745955069,0.0101816835904,1.07002059249,0.546317105046,0.0188559288369,1.0696922942
+120,2.000000000,pose1_to_pose2_press,0.575792739924,0.0101817606037,1.07002038349,0.546363886798,0.0188559956444,1.06969209372
+121,2.016666667,pose1_to_pose2_press,0.575850057529,0.0101817295665,1.07002039634,0.546421206126,0.0188559703397,1.06969210348
+122,2.033333333,pose1_to_pose2_press,0.575917547868,0.010181730153,1.0700205462,0.546488696839,0.018855971973,1.06969224733
+123,2.050000000,pose1_to_pose2_press,0.575993371557,0.0101818072417,1.07002079371,0.546564518938,0.0188560435493,1.06969249168
+124,2.066666667,pose1_to_pose2_press,0.576077657113,0.010181851036,1.07002059449,0.546648804333,0.0188560871454,1.06969230157
+125,2.083333333,pose1_to_pose2_press,0.576174177523,0.0101818021679,1.07002037355,0.546745325822,0.0188560421194,1.06969208543
+126,2.100000000,pose1_to_pose2_press,0.57628278254,0.0101817926858,1.07002037846,0.546853930399,0.0188560310821,1.06969208878
+127,2.116666667,pose1_to_pose2_press,0.576404755591,0.0101818033447,1.0700204063,0.546975902762,0.0188560391833,1.06969211063
+128,2.133333333,pose1_to_pose2_press,0.576540776175,0.0101818507199,1.07002046036,0.547111923216,0.0188560862424,1.06969216801
+129,2.150000000,pose1_to_pose2_press,0.576692035612,0.0101818735438,1.07002060378,0.547263184252,0.0188561147279,1.06969231758
+130,2.166666667,pose1_to_pose2_press,0.576855961701,0.0101817869931,1.07002061749,0.547427110345,0.0188560279177,1.06969232398
+131,2.183333333,pose1_to_pose2_press,0.577032530068,0.0101818754537,1.07002051314,0.547603675889,0.0188561068278,1.06969222033
+132,2.200000000,pose1_to_pose2_press,0.577224719332,0.0101817221012,1.07002052351,0.547795868474,0.0188559646273,1.06969222762
+133,2.216666667,pose1_to_pose2_press,0.577433588821,0.0101816458768,1.07002049234,0.54800473799,0.0188558887499,1.06969220312
+134,2.233333333,pose1_to_pose2_press,0.577663087633,0.0101817416253,1.07002042066,0.548234235214,0.0188559790078,1.0696921287
+135,2.250000000,pose1_to_pose2_press,0.577915674608,0.0101818027557,1.07002043619,0.54848682155,0.0188560382731,1.06969215208
+136,2.266666667,pose1_to_pose2_press,0.578192068501,0.0101817144352,1.07002048785,0.548763215943,0.0188559515276,1.06969220053
+137,2.283333333,pose1_to_pose2_press,0.578494662516,0.010181693756,1.07002049505,0.549065810059,0.0188559310829,1.06969220484
+138,2.300000000,pose1_to_pose2_press,0.578820198729,0.0101817574178,1.07002055818,0.549391346181,0.0188559944001,1.06969226702
+139,2.316666667,pose1_to_pose2_press,0.579165110081,0.0101818037686,1.07002058856,0.549736258099,0.0188560424925,1.0696922926
+140,2.333333333,pose1_to_pose2_press,0.579528291739,0.010181791393,1.07002051457,0.550099440787,0.0188560336859,1.06969222051
+141,2.350000000,pose1_to_pose2_press,0.579911069272,0.0101817578742,1.07002054377,0.550482218341,0.0188560003619,1.06969225288
+142,2.366666667,pose1_to_pose2_press,0.580311492822,0.010181853827,1.07002061572,0.5508826402,0.0188560904257,1.0696923209
+143,2.383333333,pose1_to_pose2_press,0.580730793164,0.0101817941794,1.07002053183,0.55130194133,0.018856033393,1.0696922353
+144,2.400000000,pose1_to_pose2_press,0.58117144564,0.0101817110543,1.07002057791,0.551742593812,0.0188559499035,1.0696922712
+145,2.416666667,pose1_to_pose2_press,0.581634381901,0.0101818005732,1.07002068074,0.552205529048,0.0188560360765,1.06969237747
+146,2.433333333,pose1_to_pose2_press,0.582125276457,0.0101817981127,1.07002065265,0.552696421735,0.0188560274336,1.0696923535
+147,2.450000000,pose1_to_pose2_press,0.582645769176,0.0101818690668,1.07002065355,0.553216916225,0.0188561044602,1.06969235618
+148,2.466666667,pose1_to_pose2_press,0.583198176466,0.0101817258376,1.07002042451,0.553769323565,0.0188559615628,1.06969213136
+149,2.483333333,pose1_to_pose2_press,0.583774122093,0.0101817264617,1.07002073447,0.554345270188,0.0188559651219,1.06969242951
+150,2.500000000,pose1_to_pose2_press,0.584368074912,0.0101818502102,1.07002060729,0.554939222068,0.0188560857528,1.06969230414
+151,2.516666667,pose1_to_pose2_press,0.584971506244,0.0101817803074,1.07002060299,0.555542655107,0.0188560220194,1.06969230989
+152,2.533333333,pose1_to_pose2_press,0.585583922664,0.0101817570544,1.07002070468,0.556155071292,0.0188559980969,1.06969241482
+153,2.550000000,pose1_to_pose2_press,0.5862088901,0.0101818987622,1.07002056926,0.55678003652,0.0188561320875,1.06969227342
+154,2.566666667,pose1_to_pose2_press,0.586852960164,0.0101819197071,1.0700205439,0.557424105603,0.0188561495438,1.06969224385
+155,2.583333333,pose1_to_pose2_press,0.587517781605,0.0101818377618,1.07002048563,0.558088927922,0.0188560708338,1.06969219236
+156,2.600000000,pose1_to_pose2_press,0.588205424198,0.0101818215603,1.07002030083,0.558776571729,0.0188560588903,1.06969201126
+157,2.616666667,pose1_to_pose2_press,0.588913749022,0.0101817869021,1.07002044823,0.559484897179,0.0188560260342,1.0696921501
+158,2.633333333,pose1_to_pose2_press,0.589645918406,0.0101818465599,1.07002047799,0.560217065521,0.0188560822972,1.06969218361
+159,2.650000000,pose1_to_pose2_press,0.590393222187,0.0101819533545,1.07002036288,0.560964367235,0.0188561821308,1.06969206988
+160,2.666666667,pose1_to_pose2_press,0.591150191271,0.0101817915725,1.07002031867,0.561721338165,0.0188560265688,1.06969202455
+161,2.683333333,pose1_to_pose2_press,0.591919101227,0.0101818527154,1.0700206795,0.562490247668,0.0188560857686,1.06969237464
+162,2.700000000,pose1_to_pose2_press,0.592697516998,0.0101818486871,1.07002060803,0.563268663731,0.0188560832028,1.06969231566
+163,2.716666667,pose1_to_pose2_press,0.5934858358,0.0101818567709,1.07002026964,0.564056980658,0.0188560848547,1.06969197542
+164,2.733333333,pose1_to_pose2_press,0.594283178521,0.010181835746,1.07002074979,0.564854326935,0.0188560757276,1.06969245119
+165,2.750000000,pose1_to_pose2_press,0.595084485678,0.0101818551775,1.07002030712,0.565655633613,0.0188560940201,1.06969202132
+166,2.766666667,pose1_to_pose2_press,0.595886391517,0.0101817684756,1.07002053635,0.566457537741,0.0188560014237,1.06969224823
+167,2.783333333,pose1_to_pose2_press,0.596687054473,0.0101819205479,1.07002064379,0.567258199304,0.018856148511,1.06969234891
+168,2.800000000,pose1_to_pose2_press,0.597485708777,0.010181933927,1.07002064919,0.568056854197,0.0188561638625,1.06969235362
+169,2.816666667,pose1_to_pose2_press,0.598290233378,0.0101818385114,1.07002049045,0.56886137964,0.0188560714813,1.0696921997
+170,2.833333333,pose1_to_pose2_press,0.59911370262,0.0101817931495,1.07002029967,0.569684849083,0.0188560269853,1.06969201376
+171,2.850000000,pose1_to_pose2_press,0.599955077897,0.0101817826509,1.07002034157,0.570526225108,0.0188560190632,1.06969205671
+172,2.866666667,pose1_to_pose2_press,0.600814093563,0.0101817001991,1.07002037618,0.571385242486,0.0188559423552,1.06969208972
+173,2.883333333,pose1_to_pose2_press,0.601663661757,0.0101817156852,1.07002041461,0.57223481073,0.0188559578173,1.06969212312
+174,2.900000000,pose1_to_pose2_press,0.602497381609,0.010181830176,1.07002061565,0.573068529996,0.0188560700472,1.06969231695
+175,2.916666667,pose1_to_pose2_press,0.603312800491,0.0101818107946,1.07002055911,0.573883949485,0.0188560527725,1.06969226178
+176,2.933333333,pose1_to_pose2_press,0.604113681906,0.0101818870118,1.07002061008,0.574684828842,0.0188561223292,1.06969232121
+177,2.950000000,pose1_to_pose2_press,0.604908183692,0.0101818795243,1.07002061219,0.575479331112,0.0188561163903,1.06969232096
+178,2.966666667,pose1_to_pose2_press,0.605706959625,0.0101817591791,1.0700205218,0.576278107412,0.0188559972361,1.06969222917
+179,2.983333333,pose1_to_pose2_press,0.606511438167,0.0101818759294,1.07002066636,0.577082583731,0.0188561060917,1.06969236448
+180,3.000000000,pose1_to_pose2_press,0.607319535411,0.0101817141323,1.07002055205,0.577890684004,0.0188559545765,1.06969225032
+181,3.016666667,pose1_to_pose2_press,0.608122623229,0.0101818124865,1.07002080748,0.57869377164,0.0188560521174,1.06969250076
+182,3.033333333,pose1_to_pose2_press,0.608891600433,0.0101818520634,1.07002038465,0.579462749394,0.0188560944108,1.06969210042
+183,3.050000000,pose1_to_pose2_press,0.609626606152,0.0101817912879,1.07002049155,0.580197754757,0.0188560321464,1.06969219993
+184,3.066666667,pose1_to_pose2_press,0.610324083009,0.0101817253453,1.0700205133,0.580895231016,0.0188559641472,1.06969222106
+185,3.083333333,pose1_to_pose2_press,0.610998097273,0.0101818931291,1.07002060828,0.581569243331,0.0188561251205,1.06969231084
+186,3.100000000,pose1_to_pose2_press,0.611658631604,0.0101819557476,1.07002059291,0.582229778199,0.0188561895435,1.0696922951
+187,3.116666667,pose1_to_pose2_press,0.612323078273,0.0101818540082,1.07002052882,0.582894225842,0.0188560911336,1.06969223167
+188,3.133333333,pose1_to_pose2_press,0.612993151468,0.0101817502102,1.07002048484,0.583564298445,0.0188559853206,1.06969218758
+189,3.150000000,pose1_to_pose2_press,0.613666007704,0.0101817493796,1.07002050673,0.584237154899,0.0188559853631,1.06969221281
+190,3.166666667,pose1_to_pose2_press,0.614324610443,0.010181833914,1.07002070389,0.584895757582,0.0188560695273,1.06969240497
+191,3.183333333,pose1_to_pose2_press,0.614960051463,0.0101818641961,1.07002060231,0.585531198406,0.0188560990603,1.06969230113
+192,3.200000000,pose1_to_pose2_press,0.615562232626,0.0101820002676,1.07002074288,0.586133377688,0.0188562289435,1.06969244161
+193,3.216666667,pose1_to_pose2_press,0.616130569664,0.0101818591669,1.07002051534,0.58670171596,0.018856092718,1.0696922236
+194,3.233333333,pose1_to_pose2_press,0.616666176158,0.0101818207151,1.07002063922,0.587237323383,0.0188560576116,1.06969234355
+195,3.250000000,pose1_to_pose2_press,0.6171744001,0.0101819200135,1.0700206549,0.5877455453,0.0188561503298,1.06969235588
+196,3.266666667,pose1_to_pose2_press,0.617661280991,0.0101818435266,1.07002035173,0.588232426238,0.0188560745282,1.06969205993
+197,3.283333333,pose1_to_pose2_press,0.618139389629,0.010181828668,1.07002070278,0.588710536617,0.0188560656426,1.06969240421
+198,3.300000000,pose1_to_pose2_press,0.618612545322,0.0101817920618,1.07002059317,0.589183693123,0.0188560322219,1.06969229513
+199,3.316666667,pose1_to_pose2_press,0.619079491504,0.010181802255,1.07002041134,0.589650638943,0.0188560416144,1.06969211345
+200,3.333333333,pose1_to_pose2_press,0.619533264724,0.0101817927491,1.07002054646,0.590104411944,0.0188560317858,1.06969224945
+201,3.350000000,pose1_to_pose2_press,0.619954068759,0.0101817500461,1.07002064527,0.590525216931,0.0188559927905,1.06969234988
+202,3.366666667,pose1_to_pose2_press,0.620340985752,0.0101818260622,1.07002066053,0.590912132544,0.0188560644789,1.06969236133
+203,3.383333333,pose1_to_pose2_press,0.620692549828,0.0101819176124,1.07002059383,0.591263694444,0.0188561491954,1.06969229897
+204,3.400000000,pose1_to_pose2_press,0.621017191304,0.0101818834872,1.07002046416,0.591588336275,0.0188561169477,1.06969218134
+205,3.416666667,pose1_to_pose2_press,0.621319431877,0.0101818260193,1.07002049439,0.591890576904,0.0188560598299,1.06969220764
+206,3.433333333,pose1_to_pose2_press,0.621610969221,0.0101818338507,1.07002063254,0.592182115313,0.0188560713746,1.0696923405
+207,3.450000000,pose1_to_pose2_press,0.621890078091,0.0101817831115,1.07002065227,0.592461223318,0.0188560178315,1.06969235289
+208,3.466666667,pose1_to_pose2_press,0.622151808889,0.0101818204783,1.07002051891,0.592722955019,0.0188560588644,1.06969222749
+209,3.483333333,pose1_to_pose2_press,0.622395301998,0.010181777815,1.07002061074,0.592966448853,0.018856018919,1.0696923181
+210,3.500000000,pose1_to_pose2_press,0.622619864747,0.0101817656099,1.07002051942,0.59319101242,0.0188560098791,1.06969222993
+211,3.516666667,pose1_to_pose2_press,0.622826155026,0.0101818828224,1.07002071954,0.593397300355,0.0188561189284,1.06969241669
+212,3.533333333,pose1_to_pose2_press,0.623015082139,0.0101818842384,1.07002060631,0.593586226112,0.0188561162608,1.0696923092
+213,3.550000000,pose1_to_pose2_press,0.623187173247,0.0101818096855,1.07002050734,0.593758319683,0.0188560505499,1.06969221657
+214,3.566666667,pose1_to_pose2_press,0.623341946676,0.0101817807257,1.07002058791,0.593913093262,0.0188560221647,1.06969229399
+215,3.583333333,pose1_to_pose2_press,0.623477406942,0.0101817863689,1.07002073076,0.594048553011,0.0188560259187,1.06969242823
+216,3.600000000,pose1_to_pose2_press,0.623596066336,0.010181792344,1.07002062374,0.594167212262,0.0188560317045,1.0696923243
+217,3.616666667,pose1_to_pose2_press,0.623699028258,0.010181769225,1.07002043244,0.594270173842,0.0188560080835,1.06969214677
+218,3.633333333,pose1_to_pose2_press,0.623789481599,0.0101817349299,1.07002059601,0.594360628279,0.0188559776336,1.06969231024
+219,3.650000000,pose1_to_pose2_press,0.62386902296,0.010181815622,1.07002066242,0.594440168206,0.0188560538154,1.06969236476
+220,3.666666667,pose1_to_pose2_press,0.623938591389,0.0101818162375,1.07002077162,0.594509734189,0.0188560515778,1.06969247183
+221,3.683333333,pose1_to_pose2_press,0.623998026368,0.0101817951077,1.07002023455,0.594569173469,0.0188560401732,1.06969195574
+222,3.700000000,pose1_to_pose2_press,0.624046761274,0.0101817933054,1.07002047607,0.594617907137,0.0188560344667,1.06969218277
+223,3.716666667,pose1_to_pose2_press,0.624087111324,0.0101817967677,1.07002031803,0.594658256392,0.0188560352227,1.06969202951
+224,3.733333333,pose1_to_pose2_press,0.624119747202,0.010181849103,1.07002034178,0.594690891238,0.0188560837561,1.06969205
+225,3.750000000,pose1_to_pose2_press,0.624145469288,0.0101818132562,1.07002039437,0.594716613735,0.0188560490176,1.0696921017
+226,3.766666667,pose1_to_pose2_press,0.624165668272,0.010181760853,1.07002044257,0.594736813952,0.018856000555,1.0696921519
+227,3.783333333,pose1_to_pose2_press,0.624181168028,0.0101818656182,1.07002063913,0.594752313763,0.0188561052431,1.06969234275
+228,3.800000000,pose1_to_pose2_press,0.624192680802,0.0101818052983,1.07002071413,0.594763827202,0.0188560473578,1.06969242135
+229,3.816666667,pose1_to_pose2_press,0.624200680901,0.010181697387,1.07002063963,0.59477182745,0.0188559399673,1.06969234696
+230,3.833333333,pose1_to_pose2_press,0.624206713155,0.0101815857741,1.07002051576,0.594777859628,0.0188558280387,1.06969222173
+231,3.850000000,pose1_to_pose2_press,0.6242111493,0.0101816929819,1.07002046366,0.59478229507,0.018855932619,1.06969216383
+232,3.866666667,pose1_to_pose2_press,0.624214590785,0.0101817809741,1.07002050519,0.594785735937,0.0188560184282,1.0696922035
+233,3.883333333,pose1_to_pose2_press,0.624217074481,0.010181854133,1.07002069926,0.594788219038,0.018856089722,1.06969240151
+234,3.900000000,pose1_to_pose2_press,0.624218781306,0.0101818636982,1.07002068688,0.594789925323,0.0188560974144,1.06969238718
+235,3.916666667,pose1_to_pose2_press,0.624219664098,0.010181851031,1.07002061741,0.594790807781,0.0188560835227,1.0696923147
+236,3.933333333,pose1_to_pose2_press,0.624219740501,0.0101818499346,1.0700206114,0.594790884155,0.0188560823204,1.06969230843
+237,3.950000000,pose1_to_pose2_press,0.624219775661,0.0101818494301,1.07002060863,0.594790919301,0.0188560817671,1.06969230554
+238,3.966666667,pose1_to_pose2_press,0.624219906302,0.0101818475556,1.07002059835,0.594791049892,0.0188560797114,1.06969229481
+239,3.983333333,pose1_to_pose2_press,0.624220257782,0.0101818425122,1.07002057069,0.59479140124,0.0188560741804,1.06969226595
+240,4.000000000,pose1_to_pose2_press,0.62422048328,0.0101818153266,1.07002056076,0.594791627375,0.0188560492041,1.06969225716
+241,4.016666667,pose1_to_pose2_press,0.624220509815,0.0101818115132,1.07002055979,0.594791654005,0.0188560457154,1.06969225638
+242,4.033333333,pose1_to_pose2_press,0.624220596586,0.0101817990436,1.07002055663,0.594791741081,0.0188560343074,1.06969225381
+243,4.050000000,pose1_to_pose2_press,0.624220909421,0.0101817540865,1.07002054522,0.594792055021,0.018855993178,1.06969224457
+244,4.066666667,pose1_to_pose2_press,0.62422126595,0.0101817028503,1.07002053221,0.594792412809,0.0188559463039,1.06969223403
+245,4.083333333,pose1_to_pose2_press,0.624221552455,0.0101817376231,1.07002052611,0.594792698442,0.018855978169,1.06969222966
+246,4.100000000,pose1_to_pose2_press,0.624221772751,0.010181811893,1.07002052414,0.59479291689,0.0188560461892,1.06969222886
+247,4.116666667,pose1_to_pose2_press,0.624221779266,0.0101818140895,1.07002052408,0.594792923351,0.0188560482009,1.06969222884
+248,4.133333333,pose1_to_pose2_press,0.624221784366,0.0101818411451,1.07002010207,0.594792928792,0.0188560769128,1.06969182033
+249,4.150000000,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928805,0.018856076911,1.06969182033
+250,4.166666667,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928806,0.0188560769107,1.06969182033
+251,4.183333333,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928807,0.0188560769103,1.06969182033
+252,4.200000000,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928808,0.01885607691,1.06969182033
+253,4.216666667,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928809,0.0188560769097,1.06969182033
+254,4.233333333,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.59479292881,0.0188560769094,1.06969182033
+255,4.250000000,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.59479292881,0.0188560769092,1.06969182033
+256,4.266666667,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928811,0.0188560769089,1.06969182033
+257,4.283333333,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928812,0.0188560769086,1.06969182033
+258,4.300000000,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928813,0.0188560769084,1.06969182033
+259,4.316666667,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928814,0.0188560769081,1.06969182033
+260,4.333333333,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928814,0.0188560769075,1.06969182033
+261,4.350000000,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928815,0.0188560769071,1.06969182033
+262,4.366666667,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928817,0.0188560769056,1.06969182033
+263,4.383333333,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928817,0.0188560769066,1.06969182033
+264,4.400000000,pose2_hold,0.624221784366,0.0101818411451,1.07002010207,0.594792928818,0.0188560769048,1.06969182033
+265,4.416666667,pose2_to_pose3_retreat,0.624221784366,0.0101818411451,1.07002010207,0.59479292882,0.0188560769051,1.06969182033
+266,4.433333333,pose2_to_pose3_retreat,0.624221733826,0.0101817578684,1.07002024158,0.594792878201,0.0188559930154,1.06969195089
+267,4.450000000,pose2_to_pose3_retreat,0.624221699833,0.0101817439163,1.07002029256,0.594792844515,0.0188559800216,1.06969199981
+268,4.466666667,pose2_to_pose3_retreat,0.624221691108,0.0101817436537,1.07002030226,0.594792835896,0.0188559801131,1.06969200929
+269,4.483333333,pose2_to_pose3_retreat,0.624221613982,0.0101817413326,1.07002038805,0.594792759715,0.0188559809224,1.06969209316
+270,4.500000000,pose2_to_pose3_retreat,0.624221514343,0.010181738334,1.07002049887,0.594792661297,0.018855981968,1.06969220151
+271,4.516666667,pose2_to_pose3_retreat,0.62422151028,0.0101817382117,1.07002050339,0.594792657284,0.0188559820106,1.06969220592
+272,4.533333333,pose2_to_pose3_retreat,0.624221197575,0.0101817357666,1.07002055346,0.594792344442,0.018855979151,1.06969225733
+273,4.550000000,pose2_to_pose3_retreat,0.624220353327,0.0101817369207,1.07002060537,0.594791498839,0.018855975914,1.06969231464
+274,4.566666667,pose2_to_pose3_retreat,0.624217101858,0.0101819158836,1.07002040005,0.594788244248,0.0188561441054,1.06969210471
+275,4.583333333,pose2_to_pose3_retreat,0.624210150742,0.0101817332556,1.07002041751,0.594781296319,0.0188559721814,1.0696921185
+276,4.600000000,pose2_to_pose3_retreat,0.624195917295,0.0101817252225,1.07002061082,0.594767063742,0.0188559672663,1.06969231578
+277,4.616666667,pose2_to_pose3_retreat,0.624173609874,0.010181842967,1.07002040078,0.594744755482,0.0188560825112,1.06969211649
+278,4.633333333,pose2_to_pose3_retreat,0.624140750231,0.0101818184355,1.0700206367,0.594711895739,0.0188560569847,1.06969234228
+279,4.650000000,pose2_to_pose3_retreat,0.62409867018,0.0101817440673,1.07002063835,0.594669816488,0.0188559852321,1.06969234405
+280,4.666666667,pose2_to_pose3_retreat,0.624047614916,0.0101817525803,1.07002030288,0.594618761233,0.0188559944474,1.06969202188
+281,4.683333333,pose2_to_pose3_retreat,0.623988608141,0.010181890455,1.07002054773,0.594559751617,0.018856122287,1.06969225662
+282,4.700000000,pose2_to_pose3_retreat,0.623921633803,0.010181834444,1.07002044268,0.594492778577,0.0188560703831,1.06969215244
+283,4.716666667,pose2_to_pose3_retreat,0.623846503577,0.010181814742,1.07002045717,0.594417648549,0.0188560490075,1.06969216641
+284,4.733333333,pose2_to_pose3_retreat,0.62376242122,0.0101818193466,1.07002049872,0.594333566339,0.018856054472,1.0696922088
+285,4.750000000,pose2_to_pose3_retreat,0.623666651602,0.0101817501367,1.07002050985,0.594237797833,0.0188559905913,1.06969221739
+286,4.766666667,pose2_to_pose3_retreat,0.623558297143,0.0101816700497,1.0700205742,0.594129443885,0.0188559117978,1.06969227357
+287,4.783333333,pose2_to_pose3_retreat,0.623435933922,0.0101818030777,1.07002061541,0.594007078579,0.0188560376537,1.06969231687
+288,4.800000000,pose2_to_pose3_retreat,0.623296228647,0.0101818496024,1.07002026748,0.593867373189,0.0188560838775,1.06969197657
+289,4.816666667,pose2_to_pose3_retreat,0.623139784022,0.010181784667,1.07002023631,0.593710929984,0.0188560236913,1.06969195032
+290,4.833333333,pose2_to_pose3_retreat,0.622964423761,0.0101817353323,1.07002034848,0.593535570889,0.0188559779826,1.06969206021
+291,4.850000000,pose2_to_pose3_retreat,0.622770368989,0.010181853632,1.07002064338,0.593341514842,0.0188560914048,1.06969234823
+292,4.866666667,pose2_to_pose3_retreat,0.622555438634,0.0101818080129,1.07002067004,0.593126584612,0.0188560456237,1.06969236676
+293,4.883333333,pose2_to_pose3_retreat,0.622322066337,0.0101816767917,1.07002054954,0.592893213531,0.0188559182812,1.06969224805
+294,4.900000000,pose2_to_pose3_retreat,0.622070834153,0.0101816934545,1.07002056556,0.592641981433,0.0188559350466,1.06969226844
+295,4.916666667,pose2_to_pose3_retreat,0.621799983228,0.0101818131391,1.07002069266,0.592371129586,0.0188560510776,1.06969239118
+296,4.933333333,pose2_to_pose3_retreat,0.621510829795,0.0101818408375,1.07002076325,0.59208197564,0.0188560766907,1.06969246287
+297,4.950000000,pose2_to_pose3_retreat,0.621203433872,0.0101818765152,1.0700206307,0.591774579395,0.018856111202,1.06969233861
+298,4.966666667,pose2_to_pose3_retreat,0.620876660693,0.0101817503968,1.07002052519,0.59144780909,0.0188559943366,1.06969223246
+299,4.983333333,pose2_to_pose3_retreat,0.620528053642,0.0101818881357,1.07002071173,0.591099200172,0.0188561251348,1.06969241622
+300,5.000000000,pose2_to_pose3_retreat,0.620163195214,0.0101818993324,1.07002059185,0.590734339793,0.0188561294572,1.06969230093
+301,5.016666667,pose2_to_pose3_retreat,0.619782594811,0.0101818680497,1.07002049798,0.590353740294,0.018856100893,1.06969220864
+302,5.033333333,pose2_to_pose3_retreat,0.619379202418,0.0101818609573,1.07002052159,0.58995034882,0.0188560965764,1.06969222683
+303,5.050000000,pose2_to_pose3_retreat,0.618951960269,0.010181857955,1.07002053228,0.58952310587,0.0188560908633,1.06969223436
+304,5.066666667,pose2_to_pose3_retreat,0.618495565019,0.0101818051965,1.07002051614,0.589066713209,0.0188560469796,1.0696922298
+305,5.083333333,pose2_to_pose3_retreat,0.618007362521,0.0101817097641,1.07002080179,0.588578511605,0.0188559534649,1.06969249592
+306,5.100000000,pose2_to_pose3_retreat,0.617486233728,0.0101817742036,1.07002055018,0.588057382107,0.0188560154355,1.06969225337
+307,5.116666667,pose2_to_pose3_retreat,0.616949402537,0.0101819137065,1.07002032523,0.587520548517,0.0188561464818,1.06969202905
+308,5.133333333,pose2_to_pose3_retreat,0.616400993299,0.010181909181,1.07002063513,0.586972139967,0.0188561438942,1.06969233845
+309,5.150000000,pose2_to_pose3_retreat,0.615842070756,0.0101818883165,1.07002061579,0.586413217536,0.0188561230016,1.06969232166
+310,5.166666667,pose2_to_pose3_retreat,0.615272816563,0.0101818928694,1.07002049734,0.585843962418,0.018856124275,1.06969220846
+311,5.183333333,pose2_to_pose3_retreat,0.614690959599,0.0101818586749,1.07002044686,0.585262105752,0.0188560909982,1.06969216145
+312,5.200000000,pose2_to_pose3_retreat,0.614084509999,0.0101817458165,1.07002045385,0.584655658764,0.0188559864281,1.06969216307
+313,5.216666667,pose2_to_pose3_retreat,0.613452683698,0.0101817001456,1.07002081514,0.584023833023,0.0188559415093,1.06969250573
+314,5.233333333,pose2_to_pose3_retreat,0.612804473265,0.010181795942,1.07002066164,0.58337561983,0.0188560281514,1.06969236322
+315,5.250000000,pose2_to_pose3_retreat,0.612135920972,0.0101818769004,1.07002054388,0.582707068678,0.0188561126531,1.06969225014
+316,5.266666667,pose2_to_pose3_retreat,0.611432388023,0.0101818006845,1.07002051973,0.582003537236,0.0188560411822,1.06969222423
+317,5.283333333,pose2_to_pose3_retreat,0.61070909649,0.0101818305979,1.0700205431,0.581280244805,0.0188560675175,1.0696922431
+318,5.300000000,pose2_to_pose3_retreat,0.6099740635,0.0101817479573,1.07002046129,0.580545212063,0.0188559871245,1.0696921667
+319,5.316666667,pose2_to_pose3_retreat,0.609231537604,0.0101817277963,1.07002047102,0.579802685847,0.0188559673972,1.06969218142
+320,5.333333333,pose2_to_pose3_retreat,0.608489656138,0.0101818594798,1.0700205885,0.579060802512,0.0188560926381,1.06969229626
+321,5.350000000,pose2_to_pose3_retreat,0.607757200413,0.0101818100042,1.07002051585,0.578328347483,0.0188560456008,1.06969222464
+322,5.366666667,pose2_to_pose3_retreat,0.607017199564,0.010181876685,1.07002065314,0.577588346607,0.0188561119011,1.06969235428
+323,5.383333333,pose2_to_pose3_retreat,0.606252402917,0.0101819204128,1.07002054012,0.576823549198,0.018856153195,1.06969224525
+324,5.400000000,pose2_to_pose3_retreat,0.605450886054,0.0101818495597,1.07002039949,0.576022033446,0.0188560862918,1.0696921093
+325,5.416666667,pose2_to_pose3_retreat,0.604610298234,0.0101816965543,1.07002045964,0.575181446754,0.018855937063,1.06969216806
+326,5.433333333,pose2_to_pose3_retreat,0.603755382361,0.0101817851984,1.07002050158,0.57432652954,0.0188560212887,1.06969221192
+327,5.450000000,pose2_to_pose3_retreat,0.602898896457,0.0101818829395,1.07002056376,0.573470042504,0.0188561152693,1.06969227522
+328,5.466666667,pose2_to_pose3_retreat,0.602067662241,0.010181815386,1.07002045947,0.572638808511,0.0188560483743,1.06969216826
+329,5.483333333,pose2_to_pose3_retreat,0.601256231813,0.0101817898426,1.07002031323,0.571827378078,0.0188560227444,1.0696920201
+330,5.500000000,pose2_to_pose3_retreat,0.600456594613,0.010181895362,1.07002038797,0.571027740304,0.0188561263392,1.06969209537
+331,5.516666667,pose2_to_pose3_retreat,0.599650903896,0.0101818360655,1.07002041469,0.570222050382,0.0188560696847,1.06969212059
+332,5.533333333,pose2_to_pose3_retreat,0.598833967427,0.0101817267875,1.07002063793,0.569405116484,0.018855968961,1.06969233943
+333,5.550000000,pose2_to_pose3_retreat,0.597993322327,0.0101818284629,1.07002041048,0.568564470026,0.0188560663538,1.06969212046
+334,5.566666667,pose2_to_pose3_retreat,0.59714401089,0.0101817024108,1.07002039194,0.567715160465,0.0188559465729,1.0696920994
+335,5.583333333,pose2_to_pose3_retreat,0.596302156702,0.0101816501431,1.07002066005,0.566873306154,0.0188558937621,1.06969236416
+336,5.600000000,pose2_to_pose3_retreat,0.595480885307,0.0101817586908,1.07002059878,0.566052033364,0.0188559977627,1.06969230778
+337,5.616666667,pose2_to_pose3_retreat,0.594686923466,0.0101818088258,1.07002048175,0.565258071235,0.0188560470861,1.06969219509
+338,5.633333333,pose2_to_pose3_retreat,0.593909393129,0.0101818400341,1.07002049651,0.564480540293,0.0188560761086,1.06969220633
+339,5.650000000,pose2_to_pose3_retreat,0.593143905965,0.0101819055164,1.07002056367,0.563715051936,0.01885613724,1.06969226542
+340,5.666666667,pose2_to_pose3_retreat,0.592382662957,0.0101817622541,1.07002067447,0.562953811594,0.0188560029636,1.06969237461
+341,5.683333333,pose2_to_pose3_retreat,0.591620072053,0.0101816455486,1.07002075166,0.562191221511,0.0188558892401,1.06969245698
+342,5.700000000,pose2_to_pose3_retreat,0.59085550309,0.0101817489087,1.07002045642,0.561426650698,0.018855986119,1.06969215829
+343,5.716666667,pose2_to_pose3_retreat,0.590094711304,0.0101819045648,1.07002049959,0.560665857926,0.0188561384746,1.06969220287
+344,5.733333333,pose2_to_pose3_retreat,0.589338198098,0.0101817976516,1.07002060498,0.559909346293,0.0188560369665,1.06969231009
+345,5.750000000,pose2_to_pose3_retreat,0.588609233282,0.0101817751864,1.07002077878,0.559180382403,0.0188560177593,1.06969248578
+346,5.766666667,pose2_to_pose3_retreat,0.587904974564,0.0101818497757,1.0700206384,0.558476121807,0.0188560858694,1.06969234227
+347,5.783333333,pose2_to_pose3_retreat,0.587224285966,0.0101818218455,1.07002047397,0.557795432572,0.0188560556141,1.06969217386
+348,5.800000000,pose2_to_pose3_retreat,0.586566663226,0.0101817413848,1.07002054085,0.557137811476,0.0188559807854,1.06969224214
+349,5.816666667,pose2_to_pose3_retreat,0.585930978605,0.0101818212918,1.07002052041,0.556502125886,0.0188560575691,1.06969222604
+350,5.833333333,pose2_to_pose3_retreat,0.585305059878,0.0101817998709,1.07002052003,0.555876205002,0.0188560288268,1.06969222557
+351,5.850000000,pose2_to_pose3_retreat,0.584690604128,0.010181677672,1.07002048713,0.555261753007,0.0188559196138,1.06969219926
+352,5.866666667,pose2_to_pose3_retreat,0.584098981125,0.0101817421903,1.07002044036,0.554670130373,0.0188559849758,1.06969214162
+353,5.883333333,pose2_to_pose3_retreat,0.583532524569,0.0101817811719,1.0700203684,0.554103672315,0.0188560193105,1.06969208152
+354,5.900000000,pose2_to_pose3_retreat,0.582992423211,0.0101818214726,1.0700203784,0.553563569035,0.0188560529764,1.06969208854
+355,5.916666667,pose2_to_pose3_retreat,0.582468644738,0.0101818277196,1.07002052022,0.553039791042,0.0188560606099,1.06969222396
+356,5.933333333,pose2_to_pose3_retreat,0.581957203063,0.0101817648794,1.07002061917,0.552528351055,0.0188560033249,1.06969231839
+357,5.950000000,pose2_to_pose3_retreat,0.581459487511,0.0101817125834,1.07002064223,0.552030635293,0.0188559500293,1.06969233388
+358,5.966666667,pose2_to_pose3_retreat,0.580980015718,0.0101817926437,1.07002076806,0.551551162435,0.0188560265118,1.06969246073
+359,5.983333333,pose2_to_pose3_retreat,0.580530783191,0.0101818432079,1.07002053564,0.551101930554,0.0188560797433,1.06969224087
+360,6.000000000,pose2_to_pose3_retreat,0.580114329315,0.0101817794414,1.07002064919,0.550685478117,0.0188560208175,1.0696923533
+361,6.016666667,pose2_to_pose3_retreat,0.579732146075,0.0101815782344,1.07002051402,0.55030329585,0.018855823158,1.06969222462
+362,6.033333333,pose2_to_pose3_retreat,0.579371235681,0.0101816827873,1.07002071253,0.549942383172,0.0188559195337,1.06969241191
+363,6.050000000,pose2_to_pose3_retreat,0.579029174609,0.0101817344195,1.07002065126,0.549600322729,0.0188559732533,1.0696923494
+364,6.066666667,pose2_to_pose3_retreat,0.578699344949,0.0101817263671,1.07002057876,0.549270494038,0.0188559687398,1.0696922835
+365,6.083333333,pose2_to_pose3_retreat,0.578383826569,0.0101816901771,1.07002059641,0.548954975357,0.018855931552,1.06969230179
+366,6.100000000,pose2_to_pose3_retreat,0.578089005017,0.0101817071459,1.07002054365,0.548660153088,0.0188559458782,1.06969224354
+367,6.116666667,pose2_to_pose3_retreat,0.577814860582,0.0101818819084,1.07002054715,0.548386007054,0.0188561153726,1.06969225114
+368,6.133333333,pose2_to_pose3_retreat,0.577563034226,0.0101817561187,1.07002063757,0.548134181373,0.0188559917419,1.06969233816
+369,6.150000000,pose2_to_pose3_retreat,0.577334489536,0.0101817639222,1.07002015913,0.547905636271,0.0188559985966,1.0696918716
+370,6.166666667,pose2_to_pose3_retreat,0.57712764936,0.0101818630891,1.07002042817,0.547698795507,0.0188560956869,1.06969213855
+371,6.183333333,pose2_to_pose3_retreat,0.576940600848,0.0101818022969,1.07002053311,0.547511748092,0.018856038297,1.06969223505
+372,6.200000000,pose2_to_pose3_retreat,0.576771123528,0.0101818415656,1.07002054371,0.547342270283,0.0188560758151,1.06969224338
+373,6.216666667,pose2_to_pose3_retreat,0.576619353399,0.0101818894545,1.0700205873,0.547190499935,0.0188561229766,1.06969228737
+374,6.233333333,pose2_to_pose3_retreat,0.576481837712,0.0101818251486,1.07002060849,0.547052985657,0.01885606343,1.06969230804
+375,6.250000000,pose2_to_pose3_retreat,0.576357834809,0.0101817240015,1.07002042437,0.546928983599,0.0188559652241,1.06969212598
+376,6.266666667,pose2_to_pose3_retreat,0.57624542175,0.0101818759935,1.07002054148,0.546816568549,0.0188561103366,1.06969223972
+377,6.283333333,pose2_to_pose3_retreat,0.576143726762,0.010181700666,1.07002049782,0.546714875318,0.0188559414202,1.06969220797
+378,6.300000000,pose2_to_pose3_retreat,0.576053422633,0.0101817356609,1.07002040992,0.546624569609,0.0188559709343,1.06969211741
+379,6.316666667,pose2_to_pose3_retreat,0.575974448677,0.0101817980118,1.07002040145,0.546545595377,0.0188560322432,1.06969210616
+380,6.333333333,pose2_to_pose3_retreat,0.575907486966,0.0101818813339,1.07002041113,0.546478632837,0.0188561126938,1.06969211419
+381,6.350000000,pose2_to_pose3_retreat,0.575851974115,0.0101818319786,1.07002040082,0.546423120342,0.0188560646355,1.06969210616
+382,6.366666667,pose2_to_pose3_retreat,0.575807276859,0.0101817613861,1.07002050825,0.546378424357,0.0188559983189,1.06969221265
+383,6.383333333,pose2_to_pose3_retreat,0.575771505781,0.0101817393167,1.0700205734,0.546342654458,0.0188559801444,1.06969227506
+384,6.400000000,pose2_to_pose3_retreat,0.575743270309,0.0101817168559,1.07002042819,0.546314419385,0.0188559590443,1.06969212995
+385,6.416666667,pose2_to_pose3_retreat,0.57572197153,0.0101819002798,1.07002060086,0.546293116408,0.0188561276164,1.06969228658
+386,6.433333333,pose2_to_pose3_retreat,0.57570510233,0.0101817889332,1.07002042784,0.546276249509,0.0188560247497,1.06969213132
+387,6.450000000,pose2_to_pose3_retreat,0.575692344369,0.0101817260626,1.07002044687,0.546263492845,0.0188559666182,1.06969215937
+388,6.466666667,pose2_to_pose3_retreat,0.57568295634,0.0101817157495,1.07002043875,0.546254104523,0.0188559551863,1.06969214802
+389,6.483333333,pose2_to_pose3_retreat,0.575676365195,0.010181731051,1.07002053196,0.546247512841,0.0188559684682,1.06969223586
+390,6.500000000,pose2_to_pose3_retreat,0.575672005893,0.0101817575452,1.07002074465,0.546243153686,0.0188559954704,1.06969244869
+391,6.516666667,pose2_to_pose3_retreat,0.575669513504,0.0101818178042,1.07002065816,0.546240661019,0.0188560547521,1.06969236162
+392,6.533333333,pose2_to_pose3_retreat,0.575668573883,0.0101818571897,1.07002059796,0.546239720783,0.018856092082,1.06969230227
+393,6.550000000,pose2_to_pose3_retreat,0.575668283483,0.0101818714546,1.07002057589,0.546239430129,0.0188561054998,1.06969228059
+394,6.566666667,pose2_to_pose3_retreat,0.575668158257,0.0101818776059,1.07002056637,0.546239304793,0.0188561112857,1.06969227125
+395,6.583333333,pose2_to_pose3_retreat,0.575668088566,0.0101818810292,1.07002056107,0.54623923504,0.0188561145058,1.06969226604
+396,6.600000000,pose2_to_pose3_retreat,0.575668012992,0.0101818847415,1.07002055533,0.546239159401,0.0188561179976,1.0696922604
+397,6.616666667,pose2_to_pose3_retreat,0.575667692329,0.010181900493,1.07002053096,0.546238838457,0.0188561328137,1.06969223647
+398,6.633333333,pose2_to_pose3_retreat,0.575667441286,0.0101818784029,1.07002050236,0.546238587568,0.0188561112384,1.06969220762
+399,6.650000000,pose2_to_pose3_retreat,0.575667359786,0.0101818554046,1.07002048871,0.54623850629,0.0188560889806,1.0696921936
+400,6.666666667,pose2_to_pose3_retreat,0.575667349616,0.0101818525348,1.070020487,0.546238496149,0.0188560862033,1.06969219185
+401,6.683333333,pose2_to_pose3_retreat,0.575667306675,0.0101818404173,1.07002047981,0.546238453324,0.0188560744759,1.06969218446
+402,6.700000000,pose2_to_pose3_retreat,0.575667269407,0.0101818299007,1.07002047356,0.546238416158,0.018856064298,1.06969217805
+403,6.716666667,pose2_to_pose3_retreat,0.575667256159,0.0101818261623,1.07002047134,0.546238402946,0.0188560606799,1.06969217577
+404,6.733333333,pose2_to_pose3_retreat,0.575667189906,0.0101818074664,1.07002046024,0.546238336874,0.018856042586,1.06969216438
+405,6.750000000,pose2_to_pose3_retreat,0.575667047255,0.0101817672119,1.07002043634,0.546238194612,0.0188560036277,1.06969213984
+406,6.766666667,pose2_to_pose3_retreat,0.575666862009,0.010181740552,1.07002045358,0.546238009289,0.0188559766116,1.06969215455
+407,6.783333333,pose2_to_pose3_retreat,0.575666844789,0.0101817531795,1.07002048366,0.54623799172,0.0188559880033,1.06969218338
+408,6.800000000,pose2_to_pose3_retreat,0.575666826334,0.0101817667139,1.0700205159,0.546237972889,0.0188560002131,1.06969221428
+409,6.816666667,pose2_to_pose3_retreat,0.575666813263,0.0101817762993,1.07002053873,0.546237959552,0.0188560088604,1.06969223616
+410,6.833333333,pose2_to_pose3_retreat,0.575666806467,0.0101817812832,1.0700205506,0.546237952617,0.0188560133566,1.06969224754
+411,6.850000000,pose2_to_pose3_retreat,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c65bda98fa63ba7e541a7a001c1cf9d2517a8f35a0e57c695b41cf147efaf6a3
+size 25877187

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/simulation_data.csv

@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+5,0.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+8,0.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+9,0.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+10,0.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+11,0.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+13,0.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+14,0.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+15,0.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+17,0.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+19,0.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+20,0.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+21,0.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+22,0.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+23,0.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+24,0.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+25,0.416666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+26,0.433333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+27,0.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+28,0.466666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+29,0.483333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+30,0.500000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+31,0.516666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+32,0.533333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+33,0.550000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+34,0.566666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+35,0.583333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+36,0.600000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+37,0.616666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+38,0.633333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+39,0.650000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+40,0.666666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+41,0.683333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+42,0.700000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+43,0.716666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+44,0.733333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+45,0.750000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+46,0.766666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+47,0.783333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+48,0.800000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+49,0.816666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+50,0.833333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+51,0.850000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+52,0.866666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+53,0.883333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+54,0.900000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+55,0.916666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+56,0.933333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+57,0.950000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+58,0.966666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+59,0.983333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+60,1.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+61,1.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+62,1.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+63,1.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+64,1.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+65,1.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+66,1.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+67,1.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+68,1.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+69,1.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+70,1.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+71,1.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+72,1.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+73,1.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+74,1.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+75,1.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+76,1.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+77,1.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+78,1.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+79,1.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+80,1.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+81,1.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+82,1.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+83,1.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+84,1.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+85,1.416666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+86,1.433333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+87,1.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+88,1.466666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+89,1.483333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+90,1.500000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+91,1.516666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+92,1.533333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+93,1.550000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+94,1.566666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+95,1.583333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+96,1.600000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+97,1.616666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+98,1.633333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+99,1.650000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+100,1.666666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+101,1.683333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+102,1.700000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+103,1.716666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+104,1.733333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+105,1.750000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+106,1.766666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+107,1.783333333,pose1_to_pose2_press,0.575664286866,0.000150184481569,1.05003359859,0.54623496663,0.00882282295986,1.04970500149
+108,1.800000000,pose1_to_pose2_press,0.575664351477,0.000150186495417,1.05003365844,0.546235030671,0.00882282292126,1.0497050581
+109,1.816666667,pose1_to_pose2_press,0.57566440506,0.000150188165569,1.05003370808,0.546235083783,0.00882282288924,1.04970510505
+110,1.833333333,pose1_to_pose2_press,0.57566447978,0.000150180352355,1.05003371741,0.546235158404,0.00882281468713,1.04970511306
+111,1.850000000,pose1_to_pose2_press,0.575664646521,0.000150145018368,1.05003363252,0.546235325906,0.00882278198782,1.04970502948
+112,1.866666667,pose1_to_pose2_press,0.57566507366,0.000150091210192,1.05003349617,0.546235754144,0.00882273199002,1.04970489531
+113,1.883333333,pose1_to_pose2_press,0.575666839587,0.00015011286107,1.05003350546,0.546237519354,0.00882275125711,1.04970490588
+114,1.900000000,pose1_to_pose2_press,0.575670634981,0.000150130581158,1.050033563,0.54624131463,0.00882276867762,1.04970496599
+115,1.916666667,pose1_to_pose2_press,0.575677733779,0.000150127474248,1.050033437,0.546248411425,0.0088227586558,1.04970483684
+116,1.933333333,pose1_to_pose2_press,0.575689314507,0.000150085481141,1.05003343977,0.546259992804,0.00882271872088,1.04970483557
+117,1.950000000,pose1_to_pose2_press,0.575705937908,0.000150118706507,1.05003344044,0.546276615769,0.00882275040342,1.04970483455
+118,1.966666667,pose1_to_pose2_press,0.575728829353,0.000150134470954,1.05003347107,0.546299507566,0.00882276741106,1.04970486647
+119,1.983333333,pose1_to_pose2_press,0.575758181331,0.000150148911623,1.05003358856,0.546328859911,0.00882278314139,1.04970498507
+120,2.000000000,pose1_to_pose2_press,0.575795811924,0.000150109740608,1.05003365411,0.546366490751,0.0088227445237,1.04970504299
+121,2.016666667,pose1_to_pose2_press,0.57584227365,0.000150033751731,1.05003367982,0.546412954449,0.00882267506078,1.04970506429
+122,2.033333333,pose1_to_pose2_press,0.575899032181,0.000150135696392,1.05003355705,0.54646971062,0.00882276933548,1.04970495035
+123,2.050000000,pose1_to_pose2_press,0.575967349766,0.000150170688688,1.05003350329,0.546538026986,0.00882280034685,1.04970490062
+124,2.066666667,pose1_to_pose2_press,0.576047549183,0.000150170318393,1.05003348888,0.546618228355,0.00882280673371,1.04970488964
+125,2.083333333,pose1_to_pose2_press,0.576141312252,0.000150077018826,1.05003350706,0.54671199197,0.00882271506135,1.04970490182
+126,2.100000000,pose1_to_pose2_press,0.576247486729,0.000150110380809,1.05003342545,0.546818165515,0.00882274536715,1.04970482307
+127,2.116666667,pose1_to_pose2_press,0.576366286996,0.00015014163471,1.05003349691,0.546936965577,0.00882277580839,1.04970489136
+128,2.133333333,pose1_to_pose2_press,0.576497785213,0.000150177274622,1.05003359383,0.547068462708,0.00882280758437,1.04970498348
+129,2.150000000,pose1_to_pose2_press,0.576643149448,0.000150267860589,1.05003341031,0.547213825679,0.00882289427499,1.04970481024
+130,2.166666667,pose1_to_pose2_press,0.576804269077,0.000150124684799,1.05003329757,0.547374947513,0.0088227586103,1.04970469818
+131,2.183333333,pose1_to_pose2_press,0.576981447599,0.000150019437336,1.05003352087,0.547552127413,0.00882265785154,1.04970491649
+132,2.200000000,pose1_to_pose2_press,0.577176126799,0.000150032842283,1.05003361352,0.54774680647,0.00882267085272,1.04970501118
+133,2.216666667,pose1_to_pose2_press,0.577386884403,0.000150068313132,1.05003364695,0.54795756259,0.00882270097945,1.0497050365
+134,2.233333333,pose1_to_pose2_press,0.57761385038,0.000150223702999,1.05003364327,0.548184526622,0.00882284975841,1.04970503246
+135,2.250000000,pose1_to_pose2_press,0.577854509992,0.000150229209969,1.0500335336,0.548425185856,0.00882285426822,1.04970493022
+136,2.266666667,pose1_to_pose2_press,0.578108719743,0.000150186460201,1.05003356662,0.548679396107,0.00882281318737,1.04970496245
+137,2.283333333,pose1_to_pose2_press,0.578381042799,0.000150165636422,1.05003349157,0.54895171981,0.0088227944666,1.04970488479
+138,2.300000000,pose1_to_pose2_press,0.578672294308,0.000150163673276,1.0500333391,0.549242972006,0.00882279486547,1.04970473313
+139,2.316666667,pose1_to_pose2_press,0.578987742763,0.000150135553833,1.05003350235,0.549558421406,0.00882276988539,1.04970489455
+140,2.333333333,pose1_to_pose2_press,0.579331318083,0.000150086548668,1.05003339189,0.549901997021,0.00882272187075,1.0497047836
+141,2.350000000,pose1_to_pose2_press,0.579708031988,0.000149995923556,1.05003340248,0.550278711594,0.00882263347388,1.04970479315
+142,2.366666667,pose1_to_pose2_press,0.580106607032,0.000150090000036,1.05003363134,0.550677286,0.00882272537286,1.04970502161
+143,2.383333333,pose1_to_pose2_press,0.580524012455,0.000150094329307,1.05003341915,0.551094693602,0.00882273741706,1.04970481777
+144,2.400000000,pose1_to_pose2_press,0.580955124983,0.000150069206826,1.05003328622,0.5515258049,0.00882270809954,1.0497046841
+145,2.416666667,pose1_to_pose2_press,0.581395343409,0.000150075540494,1.05003349613,0.551966022198,0.00882271051737,1.04970489166
+146,2.433333333,pose1_to_pose2_press,0.581844100097,0.000150204179463,1.05003349513,0.55241477797,0.00882283613597,1.04970489287
+147,2.450000000,pose1_to_pose2_press,0.58231439366,0.000150233819127,1.05003337141,0.552885071306,0.00882286503906,1.04970477004
+148,2.466666667,pose1_to_pose2_press,0.582812325285,0.000150103198874,1.05003339333,0.553383003672,0.00882273676883,1.04970478747
+149,2.483333333,pose1_to_pose2_press,0.583330237704,0.000150110587453,1.05003344494,0.553900916959,0.00882274708157,1.04970483841
+150,2.500000000,pose1_to_pose2_press,0.583864278304,0.000150036069868,1.05003358024,0.554434959028,0.00882267791863,1.04970498343
+151,2.516666667,pose1_to_pose2_press,0.584406990562,0.000150237057676,1.05003362621,0.554977667468,0.00882286567583,1.04970502201
+152,2.533333333,pose1_to_pose2_press,0.584956551064,0.00015005858374,1.05003341659,0.555527230967,0.00882269751702,1.04970481626
+153,2.550000000,pose1_to_pose2_press,0.585518444943,0.000149961635981,1.05003354073,0.556089125852,0.00882260381844,1.04970493589
+154,2.566666667,pose1_to_pose2_press,0.586109242174,0.00015010710579,1.05003358401,0.556679921088,0.00882274233428,1.04970497432
+155,2.583333333,pose1_to_pose2_press,0.586733120214,0.00015019336464,1.05003365929,0.557303798336,0.00882282570802,1.04970504429
+156,2.600000000,pose1_to_pose2_press,0.587380450588,0.000150133089455,1.05003365895,0.557951129332,0.00882276757355,1.04970504463
+157,2.616666667,pose1_to_pose2_press,0.588042835936,0.000150148741297,1.05003346262,0.5586135137,0.00882278023988,1.04970485726
+158,2.633333333,pose1_to_pose2_press,0.588709320614,0.000150128865365,1.05003359471,0.559279998488,0.00882276066459,1.0497049874
+159,2.650000000,pose1_to_pose2_press,0.589371533482,0.000150208642765,1.05003343338,0.559942209705,0.0088228346806,1.04970482191
+160,2.666666667,pose1_to_pose2_press,0.590028606898,0.000150178822273,1.05003364458,0.560599284449,0.00882280929506,1.04970503112
+161,2.683333333,pose1_to_pose2_press,0.59068989257,0.000150037975228,1.05003352771,0.561260572096,0.00882267547226,1.04970492268
+162,2.700000000,pose1_to_pose2_press,0.591357786834,0.000150109746361,1.05003343041,0.561928464984,0.00882274254796,1.04970482478
+163,2.716666667,pose1_to_pose2_press,0.59205072155,0.000150133391449,1.05003340152,0.562621399567,0.00882276562699,1.04970479282
+164,2.733333333,pose1_to_pose2_press,0.592763844867,0.000150078093191,1.05003351768,0.563334523309,0.00882271163676,1.04970490536
+165,2.750000000,pose1_to_pose2_press,0.593492246882,0.000150092177663,1.05003362869,0.564062924608,0.00882272318442,1.04970501355
+166,2.766666667,pose1_to_pose2_press,0.594235580118,0.000150139462124,1.05003353761,0.564806258111,0.00882277147587,1.04970492518
+167,2.783333333,pose1_to_pose2_press,0.59499061901,0.000150014512587,1.05003353581,0.565561299169,0.00882265412335,1.04970492993
+168,2.800000000,pose1_to_pose2_press,0.595736759991,0.000150134462304,1.05003362954,0.566307439477,0.00882277172872,1.04970502207
+169,2.816666667,pose1_to_pose2_press,0.596471718539,0.000150223381936,1.05003354642,0.567042395483,0.00882285183344,1.04970493404
+170,2.833333333,pose1_to_pose2_press,0.597186731113,0.000150179602147,1.05003362355,0.5677574097,0.00882281382868,1.04970501654
+171,2.850000000,pose1_to_pose2_press,0.597893853446,0.000150203307798,1.05003372222,0.568464531895,0.00882283704239,1.04970511461
+172,2.866666667,pose1_to_pose2_press,0.598603116945,0.000150176761118,1.0500335976,0.569173795257,0.00882281016652,1.04970499364
+173,2.883333333,pose1_to_pose2_press,0.599319031303,0.000150116149505,1.05003355707,0.569889709677,0.00882274983788,1.049704955
+174,2.900000000,pose1_to_pose2_press,0.600044926796,0.000150087461612,1.05003353137,0.570615605176,0.00882272113125,1.04970492843
+175,2.916666667,pose1_to_pose2_press,0.60078301799,0.000150117089501,1.05003345617,0.571353696329,0.00882275056383,1.04970485176
+176,2.933333333,pose1_to_pose2_press,0.601519107325,0.000150109373924,1.05003361443,0.572089785893,0.0088227435085,1.04970500709
+177,2.950000000,pose1_to_pose2_press,0.602234719647,0.000149993862637,1.05003352339,0.572805398557,0.00882262926592,1.049704919
+178,2.966666667,pose1_to_pose2_press,0.602925460916,0.000150162443706,1.05003362475,0.573496139536,0.00882279683366,1.04970501971
+179,2.983333333,pose1_to_pose2_press,0.603590673182,0.000150053621945,1.05003343636,0.574161352373,0.00882268973537,1.04970482571
+180,3.000000000,pose1_to_pose2_press,0.604242366381,0.000150045299546,1.05003346651,0.57481304459,0.0088226783554,1.04970486327
+181,3.016666667,pose1_to_pose2_press,0.604886705874,0.00015024878273,1.05003349252,0.575457383012,0.00882287831086,1.04970489217
+182,3.033333333,pose1_to_pose2_press,0.605540527479,0.000150212342949,1.05003350698,0.576111205772,0.00882284565588,1.04970490315
+183,3.050000000,pose1_to_pose2_press,0.606193807141,0.000150033991305,1.05003357642,0.5767644873,0.00882267340991,1.04970496677
+184,3.066666667,pose1_to_pose2_press,0.606831637819,0.000150040246444,1.05003365499,0.577402316949,0.00882267606768,1.04970504272
+185,3.083333333,pose1_to_pose2_press,0.607445852177,0.000150103793907,1.05003361834,0.578016529228,0.00882273263843,1.04970500826
+186,3.100000000,pose1_to_pose2_press,0.608032625975,0.000150052039611,1.05003351695,0.57860330592,0.00882269083584,1.04970491046
+187,3.116666667,pose1_to_pose2_press,0.608585192373,0.000150061298739,1.0500334946,0.579155871384,0.0088226970315,1.04970489092
+188,3.133333333,pose1_to_pose2_press,0.609114876975,0.00014999155697,1.0500335932,0.57968555707,0.00882263095848,1.0497049894
+189,3.150000000,pose1_to_pose2_press,0.609635431646,0.000150087787706,1.0500336229,0.580206110301,0.00882272226644,1.04970501823
+190,3.166666667,pose1_to_pose2_press,0.610144724683,0.000150215797971,1.05003371019,0.580715402102,0.00882284583536,1.04970509916
+191,3.183333333,pose1_to_pose2_press,0.610639044499,0.000150246970007,1.05003371662,0.581209721994,0.00882287737023,1.04970510849
+192,3.200000000,pose1_to_pose2_press,0.611117879465,0.000150153131527,1.05003359717,0.581688557996,0.00882278742076,1.04970499905
+193,3.216666667,pose1_to_pose2_press,0.611582002534,0.000150041052648,1.05003367669,0.582152682386,0.00882267900284,1.04970505699
+194,3.233333333,pose1_to_pose2_press,0.61203237017,0.000150112925689,1.05003351119,0.582603048498,0.00882274624297,1.04970490585
+195,3.250000000,pose1_to_pose2_press,0.612469742179,0.000150154039684,1.05003340856,0.583040419571,0.00882278419897,1.0497048031
+196,3.266666667,pose1_to_pose2_press,0.61288963038,0.000150147304003,1.0500334557,0.583460306951,0.00882277491996,1.0497048544
+197,3.283333333,pose1_to_pose2_press,0.613286364779,0.000150121250183,1.05003341429,0.583857042323,0.00882275226608,1.04970481325
+198,3.300000000,pose1_to_pose2_press,0.61365729411,0.000150143961661,1.0500334236,0.58422797186,0.00882277585203,1.04970482287
+199,3.316666667,pose1_to_pose2_press,0.614000398643,0.000150176547996,1.05003352526,0.584571075986,0.00882280727875,1.04970492427
+200,3.333333333,pose1_to_pose2_press,0.614322003714,0.000150155200066,1.05003362057,0.584892681862,0.00882278879056,1.04970501648
+201,3.350000000,pose1_to_pose2_press,0.614631489551,0.000150120261892,1.05003361505,0.585202169526,0.00882276038987,1.04970501229
+202,3.366666667,pose1_to_pose2_press,0.61493057556,0.000149921994878,1.05003351224,0.585501257322,0.0088225684685,1.04970490836
+203,3.383333333,pose1_to_pose2_press,0.615217816764,0.000150064435922,1.05003358338,0.585788496497,0.00882270442324,1.04970498162
+204,3.400000000,pose1_to_pose2_press,0.615491438881,0.000150118247983,1.05003351723,0.586062116692,0.00882275216813,1.04970491905
+205,3.416666667,pose1_to_pose2_press,0.61574997346,0.000150130772836,1.05003361999,0.586320651107,0.00882276438343,1.04970502109
+206,3.433333333,pose1_to_pose2_press,0.615984364173,0.000150029157837,1.05003363125,0.586555043776,0.0088226693996,1.04970502414
+207,3.450000000,pose1_to_pose2_press,0.616197165502,0.000150020139492,1.05003348408,0.586767844834,0.00882265961022,1.04970487328
+208,3.466666667,pose1_to_pose2_press,0.616389299784,0.000150201401372,1.05003347726,0.586959975783,0.00882282982708,1.0497048677
+209,3.483333333,pose1_to_pose2_press,0.616562393325,0.000150249754288,1.05003366099,0.587133068784,0.00882287633232,1.04970504505
+210,3.500000000,pose1_to_pose2_press,0.616716022447,0.000150084757974,1.05003349811,0.587286701374,0.0088227238313,1.04970489624
+211,3.516666667,pose1_to_pose2_press,0.61685595454,0.000150180707889,1.05003352281,0.587426632366,0.00882281600788,1.04970491522
+212,3.533333333,pose1_to_pose2_press,0.616982295765,0.000150123401645,1.05003361454,0.587552972894,0.00882275641798,1.04970500464
+213,3.550000000,pose1_to_pose2_press,0.617094412103,0.000150154032125,1.0500335019,0.587665089521,0.00882278844357,1.04970489815
+214,3.566666667,pose1_to_pose2_press,0.617194694522,0.000150189287392,1.05003350245,0.587765371927,0.00882282384113,1.04970490012
+215,3.583333333,pose1_to_pose2_press,0.617283992442,0.000150136229389,1.05003373038,0.587854668813,0.00882276709172,1.04970512006
+216,3.600000000,pose1_to_pose2_press,0.617363741345,0.000150146712276,1.05003350176,0.587934417248,0.00882277655121,1.04970489725
+217,3.616666667,pose1_to_pose2_press,0.617433857474,0.000150083826296,1.05003341094,0.588004534413,0.00882271714226,1.04970480428
+218,3.633333333,pose1_to_pose2_press,0.617495599672,0.000150056685108,1.0500335258,0.58806627646,0.00882268945584,1.04970491016
+219,3.650000000,pose1_to_pose2_press,0.617548629211,0.000150100493965,1.05003369603,0.588119306995,0.00882273679696,1.049705085
+220,3.666666667,pose1_to_pose2_press,0.617592037136,0.000150070818338,1.05003362497,0.588162715337,0.00882270864968,1.04970501759
+221,3.683333333,pose1_to_pose2_press,0.617627801019,0.000150007446824,1.05003358068,0.588198478899,0.00882264414113,1.04970497025
+222,3.700000000,pose1_to_pose2_press,0.617656373828,0.000150003654418,1.05003369181,0.588227051811,0.00882264058789,1.04970507956
+223,3.716666667,pose1_to_pose2_press,0.617678707244,0.000150065555066,1.05003374275,0.588249385894,0.00882270472115,1.04970513581
+224,3.733333333,pose1_to_pose2_press,0.617695254702,0.00015010543087,1.05003366392,0.588265931181,0.00882273730787,1.04970505379
+225,3.750000000,pose1_to_pose2_press,0.617707870782,0.000150081577724,1.05003365775,0.58827854816,0.00882271635248,1.04970504594
+226,3.766666667,pose1_to_pose2_press,0.617717297988,0.00015008796134,1.05003363581,0.588287975414,0.00882272309992,1.04970502935
+227,3.783333333,pose1_to_pose2_press,0.617723962828,0.000150087790846,1.05003359577,0.58829464038,0.00882272356359,1.04970499373
+228,3.800000000,pose1_to_pose2_press,0.617728960979,0.000150021292327,1.05003353452,0.588299640499,0.00882266348963,1.04970492654
+229,3.816666667,pose1_to_pose2_press,0.617732356297,0.00015012433165,1.05003358165,0.588303034218,0.00882276132376,1.04970497912
+230,3.833333333,pose1_to_pose2_press,0.617734415983,0.000150156838363,1.05003361012,0.588305093205,0.00882279146356,1.04970500792
+231,3.850000000,pose1_to_pose2_press,0.617735379213,0.000150152557232,1.05003361979,0.58830605635,0.00882278681829,1.04970501603
+232,3.866666667,pose1_to_pose2_press,0.617735659739,0.000150144865311,1.05003357993,0.588306337187,0.00882278015068,1.04970497538
+233,3.883333333,pose1_to_pose2_press,0.617735692423,0.000150143531751,1.05003357239,0.588306369931,0.00882277901317,1.04970496772
+234,3.900000000,pose1_to_pose2_press,0.617735731787,0.000150141925651,1.05003356331,0.588306409366,0.00882277764319,1.0497049585
+235,3.916666667,pose1_to_pose2_press,0.617735806473,0.000150138878375,1.05003354608,0.588306484187,0.0088227750439,1.04970494101
+236,3.933333333,pose1_to_pose2_press,0.617735971532,0.000150132143758,1.050033508,0.588306649545,0.00882276929936,1.04970490235
+237,3.950000000,pose1_to_pose2_press,0.617736249792,0.000150120790415,1.0500334438,0.588306928309,0.0088227596151,1.04970483717
+238,3.966666667,pose1_to_pose2_press,0.617736486989,0.00015013833441,1.05003343572,0.588307164952,0.00882277523401,1.04970482792
+239,3.983333333,pose1_to_pose2_press,0.61773652309,0.000150155497435,1.05003345932,0.588307200444,0.00882279032166,1.04970485116
+240,4.000000000,pose1_to_pose2_press,0.617736533062,0.00015016023818,1.05003346584,0.588307210248,0.00882279448915,1.04970485758
+241,4.016666667,pose1_to_pose2_press,0.617736561034,0.000150173536559,1.05003348413,0.588307237749,0.00882280617946,1.04970487559
+242,4.033333333,pose1_to_pose2_press,0.617736611844,0.000150197692815,1.05003351735,0.588307287703,0.0088228274147,1.0497049083
+243,4.050000000,pose1_to_pose2_press,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520626,1.04970494639
+244,4.066666667,pose1_to_pose2_press,0.617736796206,0.000150143967582,1.05003356487,0.588307472615,0.00882277520632,1.04970494639
+245,4.083333333,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520594,1.04970494639
+246,4.100000000,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520593,1.04970494639
+247,4.116666667,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520591,1.04970494639
+248,4.133333333,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.0088227752059,1.04970494639
+249,4.150000000,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520589,1.04970494639
+250,4.166666667,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520589,1.04970494639
+251,4.183333333,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520588,1.04970494639
+252,4.200000000,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520587,1.04970494639
+253,4.216666667,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520587,1.04970494639
+254,4.233333333,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520588,1.04970494639
+255,4.250000000,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520587,1.04970494639
+256,4.266666667,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520587,1.04970494639
+257,4.283333333,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520586,1.04970494639
+258,4.300000000,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520586,1.04970494639
+259,4.316666667,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520586,1.04970494639
+260,4.333333333,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520586,1.04970494639
+261,4.350000000,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520585,1.04970494639
+262,4.366666667,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520585,1.04970494639
+263,4.383333333,pose2_to_pose3_retreat,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520584,1.04970494639
+264,4.400000000,pose2_to_pose3_retreat,0.61773648641,0.000150208653149,1.05003347643,0.588307162477,0.00882283911346,1.0497048682
+265,4.416666667,pose2_to_pose3_retreat,0.617736259771,0.000150223206642,1.05003339942,0.588306936355,0.00882285548499,1.04970479272
+266,4.433333333,pose2_to_pose3_retreat,0.617736100096,0.000150210993336,1.05003344939,0.588306776983,0.0088228442966,1.04970484269
+267,4.450000000,pose2_to_pose3_retreat,0.617736028052,0.000150205401168,1.05003347232,0.588306705076,0.00882283916593,1.04970486561
+268,4.466666667,pose2_to_pose3_retreat,0.617735995739,0.000150202892966,1.0500334826,0.588306672824,0.00882283686473,1.04970487589
+269,4.483333333,pose2_to_pose3_retreat,0.617735988204,0.000150202308057,1.050033485,0.588306665303,0.00882283632809,1.04970487829
+270,4.500000000,pose2_to_pose3_retreat,0.617735381781,0.000150155236363,1.05003367798,0.588306060027,0.00882279314105,1.04970507123
+271,4.516666667,pose2_to_pose3_retreat,0.617732889101,0.000150016335133,1.05003361414,0.588303568294,0.00882265778291,1.0497050164
+272,4.533333333,pose2_to_pose3_retreat,0.617725915791,0.000150154860281,1.05003365083,0.588296591474,0.00882278392072,1.04970504127
+273,4.550000000,pose2_to_pose3_retreat,0.61771257768,0.000150095121024,1.0500335586,0.58828325667,0.00882273566815,1.04970495704
+274,4.566666667,pose2_to_pose3_retreat,0.617689698705,0.000149933052045,1.05003327579,0.58826037865,0.00882257681163,1.04970467618
+275,4.583333333,pose2_to_pose3_retreat,0.617657282553,0.000150121903803,1.0500337794,0.588227959584,0.00882275505335,1.0497051584
+276,4.600000000,pose2_to_pose3_retreat,0.617614867764,0.000150012147248,1.0500334632,0.588185546345,0.00882265104932,1.04970485795
+277,4.616666667,pose2_to_pose3_retreat,0.61756455978,0.000149994969883,1.05003350308,0.588135238958,0.00882263601318,1.0497048998
+278,4.633333333,pose2_to_pose3_retreat,0.617506794984,0.000150082003513,1.05003335652,0.588077473092,0.00882271958427,1.049704755
+279,4.650000000,pose2_to_pose3_retreat,0.617441768436,0.000150147424904,1.0500335624,0.588012444242,0.00882277724471,1.04970496054
+280,4.666666667,pose2_to_pose3_retreat,0.617369143642,0.00015019975988,1.05003335413,0.587939819892,0.00882283121414,1.04970475975
+281,4.683333333,pose2_to_pose3_retreat,0.617286198085,0.000150220426664,1.05003350755,0.587856875841,0.00882285610898,1.04970490086
+282,4.700000000,pose2_to_pose3_retreat,0.617192898054,0.000150132210959,1.05003370943,0.587763575908,0.00882276793827,1.04970509956
+283,4.716666667,pose2_to_pose3_retreat,0.617088123805,0.000150110220654,1.05003370179,0.58765880107,0.00882274383356,1.04970509268
+284,4.733333333,pose2_to_pose3_retreat,0.616972097115,0.000150161699199,1.05003357493,0.587542773356,0.00882279192617,1.04970497208
+285,4.750000000,pose2_to_pose3_retreat,0.616844109125,0.000150201120987,1.05003347298,0.58741478495,0.00882282997474,1.04970487587
+286,4.766666667,pose2_to_pose3_retreat,0.616703597217,0.000150048710039,1.05003353582,0.587274275483,0.00882268511021,1.04970492563
+287,4.783333333,pose2_to_pose3_retreat,0.616549678998,0.000150130523126,1.05003358049,0.587120357182,0.00882276687173,1.04970498077
+288,4.800000000,pose2_to_pose3_retreat,0.616377793017,0.000150171722149,1.05003362757,0.586948469921,0.00882280333513,1.04970502206
+289,4.816666667,pose2_to_pose3_retreat,0.616187770567,0.000150191055325,1.05003359963,0.586758447081,0.00882282095447,1.04970498942
+290,4.833333333,pose2_to_pose3_retreat,0.615977695458,0.00015020947017,1.05003349345,0.586548372636,0.00882284145953,1.04970488573
+291,4.850000000,pose2_to_pose3_retreat,0.615747685531,0.000150231866801,1.05003342804,0.58631836238,0.00882286245402,1.04970481983
+292,4.866666667,pose2_to_pose3_retreat,0.615497955566,0.000150217567851,1.05003364842,0.586068631811,0.0088228455907,1.04970503635
+293,4.883333333,pose2_to_pose3_retreat,0.615226974553,0.000150069997621,1.05003363378,0.585797653414,0.00882270680108,1.04970502681
+294,4.900000000,pose2_to_pose3_retreat,0.614936052914,0.000150163748476,1.05003353224,0.585506730279,0.00882279534483,1.04970493011
+295,4.916666667,pose2_to_pose3_retreat,0.614623969216,0.000150237164485,1.05003356796,0.585194645986,0.00882286634175,1.04970496334
+296,4.933333333,pose2_to_pose3_retreat,0.614293464105,0.000150163691985,1.05003356534,0.584864142604,0.00882279823345,1.04970495632
+297,4.950000000,pose2_to_pose3_retreat,0.613944858367,0.00015001959306,1.05003349421,0.584515538723,0.00882266002864,1.04970488346
+298,4.966666667,pose2_to_pose3_retreat,0.613583208008,0.000149985839737,1.0500337863,0.584153887638,0.00882262351936,1.04970517046
+299,4.983333333,pose2_to_pose3_retreat,0.613209255984,0.000150194144259,1.05003366487,0.583779933055,0.00882282310014,1.04970505536
+300,5.000000000,pose2_to_pose3_retreat,0.61282077169,0.000150193653739,1.05003362755,0.583391448708,0.00882282243347,1.04970502068
+301,5.016666667,pose2_to_pose3_retreat,0.612415259916,0.000150172334158,1.05003357696,0.582985937519,0.00882280303355,1.04970496916
+302,5.033333333,pose2_to_pose3_retreat,0.611987506994,0.000150152785585,1.05003349836,0.582558184905,0.00882278440945,1.04970488768
+303,5.050000000,pose2_to_pose3_retreat,0.611535983599,0.000150117807073,1.0500334453,0.582106661679,0.00882274997902,1.04970483416
+304,5.066666667,pose2_to_pose3_retreat,0.61105982613,0.00015009098674,1.05003360021,0.58163050711,0.00882273346854,1.04970500132
+305,5.083333333,pose2_to_pose3_retreat,0.610567124912,0.00015009842758,1.05003341122,0.581137803693,0.00882273346516,1.04970481276
+306,5.100000000,pose2_to_pose3_retreat,0.610060878902,0.00015015834855,1.05003352654,0.58063155645,0.00882278910351,1.04970492536
+307,5.116666667,pose2_to_pose3_retreat,0.609542114598,0.000150084174286,1.05003375865,0.580112793013,0.00882271754196,1.04970514874
+308,5.133333333,pose2_to_pose3_retreat,0.609009863358,0.000149997985246,1.05003377092,0.579580543325,0.00882263650741,1.04970515805
+309,5.150000000,pose2_to_pose3_retreat,0.608460883983,0.000150113888348,1.05003339025,0.579031563728,0.00882275217982,1.04970479111
+310,5.166666667,pose2_to_pose3_retreat,0.607891540287,0.000150177610965,1.05003361927,0.578462216938,0.00882280511022,1.04970501236
+311,5.183333333,pose2_to_pose3_retreat,0.607302571988,0.000150182107733,1.05003342342,0.577873248434,0.00882280923666,1.04970482518
+312,5.200000000,pose2_to_pose3_retreat,0.606701808098,0.000150156333784,1.05003350505,0.577272486575,0.0088227902684,1.04970490448
+313,5.216666667,pose2_to_pose3_retreat,0.60608600268,0.000150161478806,1.05003350977,0.576656681545,0.008822796665,1.04970490784
+314,5.233333333,pose2_to_pose3_retreat,0.605443858128,0.000150196233412,1.05003342138,0.576014535584,0.00882282671975,1.04970482166
+315,5.250000000,pose2_to_pose3_retreat,0.604782520348,0.000150199894978,1.05003362601,0.575353198376,0.00882283216322,1.04970502076
+316,5.266666667,pose2_to_pose3_retreat,0.604105645735,0.000150218952738,1.05003364818,0.574676324627,0.0088228539345,1.04970503704
+317,5.283333333,pose2_to_pose3_retreat,0.603416090905,0.000150253241046,1.05003363858,0.573986769495,0.00882288733382,1.04970503093
+318,5.300000000,pose2_to_pose3_retreat,0.60272123783,0.000150110139783,1.05003351421,0.573291917424,0.00882274801395,1.04970491649
+319,5.316666667,pose2_to_pose3_retreat,0.602028213036,0.000150000880238,1.05003337753,0.572598894081,0.0088226439841,1.04970478786
+320,5.333333333,pose2_to_pose3_retreat,0.601333072497,0.000150008234895,1.05003327342,0.571903753011,0.00882264958004,1.04970468481
+321,5.350000000,pose2_to_pose3_retreat,0.600633725505,0.000150106118135,1.05003327425,0.571204403557,0.00882273887157,1.04970467929
+322,5.366666667,pose2_to_pose3_retreat,0.599919057568,0.000150180606636,1.05003350068,0.570489735513,0.0088228126546,1.04970489667
+323,5.383333333,pose2_to_pose3_retreat,0.599187988744,0.000149926452379,1.05003350414,0.569758669884,0.00882256938124,1.04970490111
+324,5.400000000,pose2_to_pose3_retreat,0.59845290701,0.000150133064189,1.0500334965,0.569023584686,0.00882276423974,1.04970489347
+325,5.416666667,pose2_to_pose3_retreat,0.597714666117,0.000150114059815,1.05003359365,0.568285344002,0.00882274577006,1.04970498595
+326,5.433333333,pose2_to_pose3_retreat,0.596975738911,0.000150038198257,1.05003353033,0.567546417372,0.00882267179841,1.04970492079
+327,5.450000000,pose2_to_pose3_retreat,0.596240926444,0.000150027318163,1.05003340014,0.566811604489,0.00882265952493,1.04970479107
+328,5.466666667,pose2_to_pose3_retreat,0.595511799097,0.000150060728066,1.05003340563,0.566082476914,0.00882269220598,1.04970479772
+329,5.483333333,pose2_to_pose3_retreat,0.594790221577,0.000150136084095,1.05003334837,0.565360899055,0.00882276686979,1.04970475251
+330,5.500000000,pose2_to_pose3_retreat,0.594075517559,0.000150090761261,1.05003346963,0.564646196954,0.00882272785258,1.04970486846
+331,5.516666667,pose2_to_pose3_retreat,0.593362042948,0.000149969200439,1.05003359125,0.56393272419,0.00882261235031,1.04970498448
+332,5.533333333,pose2_to_pose3_retreat,0.59264699935,0.000149985742268,1.05003361424,0.563217680112,0.00882262738942,1.04970501078
+333,5.550000000,pose2_to_pose3_retreat,0.591925244035,0.000150059009034,1.05003356614,0.562495923887,0.00882269761968,1.04970496398
+334,5.566666667,pose2_to_pose3_retreat,0.591205010438,0.000150054645108,1.05003351595,0.561775690314,0.00882269317646,1.04970490946
+335,5.583333333,pose2_to_pose3_retreat,0.590492184924,0.000149999949254,1.0500335084,0.561062864429,0.008822637377,1.04970490594
+336,5.600000000,pose2_to_pose3_retreat,0.589798519854,0.000150087348311,1.05003358726,0.560369200202,0.00882272780666,1.04970498928
+337,5.616666667,pose2_to_pose3_retreat,0.589128126376,0.000150009963494,1.05003376369,0.559698806711,0.00882264976878,1.04970514964
+338,5.633333333,pose2_to_pose3_retreat,0.588484661743,0.000149994619864,1.05003343349,0.559055341599,0.00882263314046,1.04970482837
+339,5.650000000,pose2_to_pose3_retreat,0.587857172982,0.000150093460677,1.05003348287,0.55842785168,0.00882272812505,1.04970487968
+340,5.666666667,pose2_to_pose3_retreat,0.587240727769,0.000150155460655,1.05003370056,0.557811406013,0.00882278838425,1.04970509207
+341,5.683333333,pose2_to_pose3_retreat,0.586622128238,0.0001500468942,1.05003351427,0.557192807631,0.00882268376406,1.04970490698
+342,5.700000000,pose2_to_pose3_retreat,0.586000094993,0.000150244101284,1.05003349361,0.55657077145,0.00882287118836,1.04970489099
+343,5.716666667,pose2_to_pose3_retreat,0.585387104,0.00015011034252,1.05003338726,0.555957782752,0.00882274525929,1.0497047857
+344,5.733333333,pose2_to_pose3_retreat,0.584786751428,0.000150253298346,1.050033562,0.555357427804,0.00882288001229,1.04970495678
+345,5.750000000,pose2_to_pose3_retreat,0.584209553681,0.000150155240723,1.0500335595,0.55478023272,0.00882279095404,1.04970495318
+346,5.766666667,pose2_to_pose3_retreat,0.583662173752,0.000150115864976,1.05003333288,0.554232852913,0.00882275215498,1.04970473096
+347,5.783333333,pose2_to_pose3_retreat,0.583147745652,0.000150193742308,1.05003328669,0.553718422085,0.00882282079646,1.04970468539
+348,5.800000000,pose2_to_pose3_retreat,0.582655823799,0.000150140096631,1.05003374253,0.553226501674,0.00882277157063,1.04970512913
+349,5.816666667,pose2_to_pose3_retreat,0.582181259898,0.000150124648085,1.05003330334,0.552751938309,0.00882275841071,1.0497047027
+350,5.833333333,pose2_to_pose3_retreat,0.581718574136,0.000150098153181,1.05003351439,0.552289253603,0.00882273544802,1.04970491182
+351,5.850000000,pose2_to_pose3_retreat,0.581267835273,0.000150112817031,1.05003361437,0.5518385151,0.0088227512566,1.0497050104
+352,5.866666667,pose2_to_pose3_retreat,0.580831392339,0.000150171892366,1.05003363596,0.551402070837,0.00882280565673,1.04970502762
+353,5.883333333,pose2_to_pose3_retreat,0.580415273018,0.000150232666005,1.05003363051,0.55098594984,0.00882286065595,1.04970501894
+354,5.900000000,pose2_to_pose3_retreat,0.580021090912,0.000150241074391,1.05003350264,0.550591768577,0.0088228722832,1.04970490061
+355,5.916666667,pose2_to_pose3_retreat,0.57964515336,0.000150269623368,1.05003363915,0.55021583126,0.00882290136491,1.04970503018
+356,5.933333333,pose2_to_pose3_retreat,0.579285055583,0.000150193849757,1.05003345058,0.54985573398,0.00882282735841,1.0497048438
+357,5.950000000,pose2_to_pose3_retreat,0.578939385721,0.000150161120488,1.05003337012,0.549510063923,0.00882279422641,1.04970477018
+358,5.966666667,pose2_to_pose3_retreat,0.578609963605,0.000150106386096,1.05003336681,0.549180642545,0.00882274199881,1.04970476681
+359,5.983333333,pose2_to_pose3_retreat,0.578300676997,0.000150043565486,1.05003337539,0.548871356853,0.00882268214417,1.04970477176
+360,6.000000000,pose2_to_pose3_retreat,0.578017506454,0.000149990356448,1.05003336379,0.548588186408,0.00882262935001,1.04970476233
+361,6.016666667,pose2_to_pose3_retreat,0.577762100949,0.00014993388786,1.05003333667,0.548332780729,0.00882257257496,1.04970474273
+362,6.033333333,pose2_to_pose3_retreat,0.577535382137,0.000149979929709,1.05003335149,0.548106061908,0.00882261840375,1.04970475274
+363,6.050000000,pose2_to_pose3_retreat,0.577330373947,0.000150170158009,1.05003344761,0.547901051515,0.00882280111379,1.04970484783
+364,6.066666667,pose2_to_pose3_retreat,0.577141513869,0.000150172318436,1.05003344372,0.547712191899,0.00882280469262,1.04970484006
+365,6.083333333,pose2_to_pose3_retreat,0.576962961408,0.000150089744651,1.05003338668,0.547533641151,0.00882272789365,1.04970478204
+366,6.100000000,pose2_to_pose3_retreat,0.576793935606,0.000150068197278,1.05003335964,0.547364616081,0.00882270909596,1.04970476181
+367,6.116666667,pose2_to_pose3_retreat,0.576636714848,0.000149952525796,1.05003337812,0.54720739599,0.00882259548299,1.04970477505
+368,6.133333333,pose2_to_pose3_retreat,0.576492399091,0.000150132129918,1.05003338314,0.547063077257,0.00882276493776,1.04970477872
+369,6.150000000,pose2_to_pose3_retreat,0.576363568907,0.000150122624271,1.05003346071,0.546934247506,0.00882275688513,1.04970485602
+370,6.166666667,pose2_to_pose3_retreat,0.576249441336,0.000150115736087,1.05003344637,0.546820119581,0.00882274873298,1.04970484004
+371,6.183333333,pose2_to_pose3_retreat,0.576150524274,0.000150097577645,1.05003347644,0.546721203233,0.00882273298627,1.04970487001
+372,6.200000000,pose2_to_pose3_retreat,0.576063890194,0.000150039249456,1.05003360576,0.546634571748,0.00882268353375,1.04970500152
+373,6.216666667,pose2_to_pose3_retreat,0.575989264336,0.000150100128563,1.05003351819,0.546559944116,0.00882273832188,1.04970491196
+374,6.233333333,pose2_to_pose3_retreat,0.57592493045,0.000150004238541,1.05003340534,0.546495609919,0.00882264141213,1.04970479995
+375,6.250000000,pose2_to_pose3_retreat,0.575869540897,0.000150176372988,1.05003354948,0.546440218951,0.00882280874518,1.04970494411
+376,6.266666667,pose2_to_pose3_retreat,0.575822636772,0.000150261053749,1.05003373274,0.54639331427,0.00882289118391,1.04970511795
+377,6.283333333,pose2_to_pose3_retreat,0.575782802722,0.000150156260044,1.05003364844,0.546353481177,0.00882278961218,1.04970503289
+378,6.300000000,pose2_to_pose3_retreat,0.575750111359,0.000150019064478,1.05003334717,0.546320791043,0.00882265703123,1.04970474344
+379,6.316666667,pose2_to_pose3_retreat,0.575724388846,0.000150044384592,1.05003329766,0.546295068349,0.00882268178438,1.04970469519
+380,6.333333333,pose2_to_pose3_retreat,0.575705338329,0.000150002396006,1.05003348699,0.546276018206,0.00882264106214,1.04970488448
+381,6.350000000,pose2_to_pose3_retreat,0.575691909062,0.000150101647573,1.05003383457,0.54626258811,0.00882273716801,1.04970522337
+382,6.366666667,pose2_to_pose3_retreat,0.57568243678,0.000150110293719,1.0500335623,0.54625311574,0.00882274585532,1.04970496003
+383,6.383333333,pose2_to_pose3_retreat,0.575676292865,0.000150146007644,1.05003335602,0.546246971396,0.00882278030098,1.04970475871
+384,6.400000000,pose2_to_pose3_retreat,0.575672094033,0.000150243000736,1.05003336787,0.546242771475,0.00882287345244,1.04970476672
+385,6.416666667,pose2_to_pose3_retreat,0.575669275152,0.000150211272611,1.05003349006,0.546239952488,0.0088228413415,1.04970488816
+386,6.433333333,pose2_to_pose3_retreat,0.575667444341,0.000150165740105,1.05003359883,0.54623812177,0.00882279612564,1.0497049969
+387,6.450000000,pose2_to_pose3_retreat,0.575666570244,0.000150127867151,1.05003367749,0.546237248696,0.0088227615485,1.04970507101
+388,6.466666667,pose2_to_pose3_retreat,0.575666087247,0.000150104231522,1.05003372543,0.546236766429,0.0088227402619,1.04970511569
+389,6.483333333,pose2_to_pose3_retreat,0.575665893198,0.000150094735695,1.0500337447,0.546236572674,0.00882273170981,1.04970513364
+390,6.500000000,pose2_to_pose3_retreat,0.575665801157,0.000150090231621,1.05003375384,0.546236480771,0.00882272765337,1.04970514215
+391,6.516666667,pose2_to_pose3_retreat,0.575665740336,0.000150087255339,1.05003375987,0.546236420043,0.00882272497289,1.04970514778
+392,6.533333333,pose2_to_pose3_retreat,0.575665722724,0.0001500863935,1.05003376162,0.546236402457,0.00882272419671,1.04970514941
+393,6.550000000,pose2_to_pose3_retreat,0.575665718088,0.000150086166628,1.05003376208,0.546236397828,0.00882272399238,1.04970514984
+394,6.566666667,pose2_to_pose3_retreat,0.575665676071,0.000150084110525,1.05003376625,0.546236355875,0.00882272214062,1.04970515372
+395,6.583333333,pose2_to_pose3_retreat,0.575665626058,0.000150081663124,1.05003377122,0.546236305938,0.00882271993646,1.04970515835
+396,6.600000000,pose2_to_pose3_retreat,0.57566556266,0.000150078560688,1.05003377751,0.546236242635,0.00882271714236,1.04970516421
+397,6.616666667,pose2_to_pose3_retreat,0.575665471076,0.000150074079011,1.0500337866,0.546236151189,0.00882271310609,1.04970517269
+398,6.633333333,pose2_to_pose3_retreat,0.57566528779,0.00015007188393,1.05003378676,0.546235968193,0.00882271193659,1.04970517395
+399,6.650000000,pose2_to_pose3_retreat,0.575664913712,0.000150078205635,1.05003375833,0.546235594728,0.00882272056541,1.04970515152
+400,6.666666667,pose2_to_pose3_retreat,0.575664878443,0.000150078801651,1.05003375564,0.546235559517,0.00882272137894,1.04970514941
+401,6.683333333,pose2_to_pose3_retreat,0.575664740966,0.000150081124945,1.05003374519,0.546235422264,0.00882272455012,1.04970514116
+402,6.700000000,pose2_to_pose3_retreat,0.575664609927,0.000150083339427,1.05003373523,0.54623529144,0.00882272757279,1.0497051333
+403,6.716666667,pose2_to_pose3_retreat,0.575664485211,0.000150085447041,1.05003372575,0.546235166929,0.00882273044958,1.04970512583
+404,6.733333333,pose2_to_pose3_retreat,0.57566429735,0.000150178889513,1.05003360274,0.546234977271,0.00882281786599,1.04970500467
+405,6.750000000,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511737,1.04970501047
+406,6.766666667,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511735,1.04970501047

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:517a55350ddabd8d2ddf90a76bb5c82371f87c029156664f28c44779cc2a0820
+size 25950222

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/simulation_data.csv

@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+5,0.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+8,0.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+9,0.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+10,0.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+11,0.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+13,0.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+14,0.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+15,0.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+17,0.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+19,0.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+20,0.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+21,0.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+22,0.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+23,0.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+24,0.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+25,0.416666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+26,0.433333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+27,0.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+28,0.466666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+29,0.483333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+30,0.500000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+31,0.516666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+32,0.533333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+33,0.550000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+34,0.566666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+35,0.583333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+36,0.600000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+37,0.616666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+38,0.633333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+39,0.650000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+40,0.666666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+41,0.683333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+42,0.700000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+43,0.716666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+44,0.733333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+45,0.750000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+46,0.766666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+47,0.783333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+48,0.800000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+49,0.816666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+50,0.833333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+51,0.850000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+52,0.866666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+53,0.883333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+54,0.900000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+55,0.916666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+56,0.933333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+57,0.950000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+58,0.966666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+59,0.983333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+60,1.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+61,1.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+62,1.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+63,1.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+64,1.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+65,1.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+66,1.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+67,1.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+68,1.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+69,1.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+70,1.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+71,1.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+72,1.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+73,1.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+74,1.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+75,1.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+76,1.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+77,1.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+78,1.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+79,1.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+80,1.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+81,1.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+82,1.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+83,1.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+84,1.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+85,1.416666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+86,1.433333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+87,1.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+88,1.466666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+89,1.483333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+90,1.500000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+91,1.516666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+92,1.533333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+93,1.550000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+94,1.566666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+95,1.583333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+96,1.600000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+97,1.616666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+98,1.633333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+99,1.650000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+100,1.666666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+101,1.683333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+102,1.700000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+103,1.716666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+104,1.733333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+105,1.750000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+106,1.766666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+107,1.783333333,pose1_to_pose2_press,0.575664286866,0.000150184481569,1.05003359859,0.54623496663,0.00882282295986,1.04970500149
+108,1.800000000,pose1_to_pose2_press,0.575664525816,0.000150158198148,1.05003369966,0.546235204776,0.00882279365691,1.04970509476
+109,1.816666667,pose1_to_pose2_press,0.575664706412,0.000150094412871,1.05003361941,0.546235386459,0.00882273354137,1.04970501408
+110,1.833333333,pose1_to_pose2_press,0.575664789553,0.000150065048111,1.05003358247,0.5462354701,0.00882270586604,1.04970497694
+111,1.850000000,pose1_to_pose2_press,0.575664924489,0.000150017390068,1.05003352252,0.546235605847,0.00882266094988,1.04970491666
+112,1.866666667,pose1_to_pose2_press,0.575665248873,0.000150056186937,1.05003351193,0.546235929542,0.00882269741971,1.0497049064
+113,1.883333333,pose1_to_pose2_press,0.575665646205,0.000150113775822,1.05003350773,0.546236325856,0.00882275157282,1.04970490268
+114,1.900000000,pose1_to_pose2_press,0.575666779659,0.00015017367333,1.05003352785,0.546237458224,0.0088228077574,1.04970492208
+115,1.916666667,pose1_to_pose2_press,0.57567009372,0.000150023735056,1.05003367942,0.546240774639,0.00882266556139,1.04970506715
+116,1.933333333,pose1_to_pose2_press,0.575678944808,0.000150058854256,1.05003351222,0.54624962516,0.00882269923964,1.04970491293
+117,1.950000000,pose1_to_pose2_press,0.575695751832,0.000150029306631,1.05003364536,0.54626643102,0.00882266528207,1.04970503353
+118,1.966666667,pose1_to_pose2_press,0.575722575889,0.000149999670485,1.05003349651,0.546293255033,0.00882263571916,1.04970489048
+119,1.983333333,pose1_to_pose2_press,0.575759375232,0.00015013058795,1.05003343289,0.546330053147,0.00882276255478,1.04970482918
+120,2.000000000,pose1_to_pose2_press,0.575806708552,0.000150019168177,1.05003349623,0.546377387779,0.00882265562784,1.0497048935
+121,2.016666667,pose1_to_pose2_press,0.575862550065,0.000150017406462,1.05003364819,0.546433230055,0.00882265623609,1.04970503961
+122,2.033333333,pose1_to_pose2_press,0.575926742575,0.000150071740163,1.050033798,0.546497420457,0.00882270309296,1.04970518087
+123,2.050000000,pose1_to_pose2_press,0.575999809643,0.000150099782829,1.0500337242,0.546570489332,0.00882273748863,1.0497051128
+124,2.066666667,pose1_to_pose2_press,0.576082331484,0.000150075812705,1.05003340853,0.546653009887,0.00882270948017,1.04970480572
+125,2.083333333,pose1_to_pose2_press,0.57617488684,0.000150137068716,1.0500337706,0.546745566304,0.0088227739705,1.04970515798
+126,2.100000000,pose1_to_pose2_press,0.576278104853,0.00015009428489,1.05003355067,0.546848783063,0.00882272700491,1.04970494003
+127,2.116666667,pose1_to_pose2_press,0.576394780739,0.000150242710852,1.05003348276,0.546965457607,0.00882287129965,1.04970488323
+128,2.133333333,pose1_to_pose2_press,0.576525022207,0.000150144710287,1.05003342002,0.547095700175,0.00882277688292,1.04970481644
+129,2.150000000,pose1_to_pose2_press,0.576669841658,0.000150063220927,1.05003347072,0.547240520203,0.00882269718852,1.04970486282
+130,2.166666667,pose1_to_pose2_press,0.576831353241,0.000150088283323,1.05003359625,0.54740203206,0.00882272304219,1.04970498466
+131,2.183333333,pose1_to_pose2_press,0.577009041338,0.00015007134738,1.05003369503,0.547579721292,0.00882271001256,1.04970508476
+132,2.200000000,pose1_to_pose2_press,0.577203043179,0.000150000887557,1.05003370846,0.547773723791,0.00882264201948,1.04970510424
+133,2.216666667,pose1_to_pose2_press,0.577412389848,0.000150127677135,1.05003363226,0.547983068277,0.00882276114333,1.0497050212
+134,2.233333333,pose1_to_pose2_press,0.577638428421,0.000150230175431,1.05003354187,0.548209105331,0.00882285843647,1.04970492944
+135,2.250000000,pose1_to_pose2_press,0.577878701213,0.000150167599511,1.05003343944,0.548449378339,0.00882279657028,1.04970482634
+136,2.266666667,pose1_to_pose2_press,0.578132502715,0.000150020755689,1.05003368796,0.548703182432,0.00882265852834,1.04970507497
+137,2.283333333,pose1_to_pose2_press,0.578405477584,0.000150123132512,1.05003372347,0.548976155368,0.0088227542325,1.04970510746
+138,2.300000000,pose1_to_pose2_press,0.578698131786,0.000150164641717,1.05003361671,0.549268808751,0.00882279302385,1.04970500218
+139,2.316666667,pose1_to_pose2_press,0.579015394864,0.000150111814208,1.05003356844,0.549586073034,0.00882274452986,1.04970496028
+140,2.333333333,pose1_to_pose2_press,0.57936251214,0.000150110611452,1.05003359653,0.549933190845,0.00882274527941,1.04970499188
+141,2.350000000,pose1_to_pose2_press,0.579744875287,0.00015005573772,1.05003351187,0.550315555099,0.00882269404178,1.04970490396
+142,2.366666667,pose1_to_pose2_press,0.580149309608,0.000150137049851,1.0500335601,0.550719988217,0.00882277113654,1.04970494855
+143,2.383333333,pose1_to_pose2_press,0.5805722189,0.000150210524035,1.05003366622,0.551142897761,0.00882284546081,1.04970505439
+144,2.400000000,pose1_to_pose2_press,0.581007998134,0.000150027166276,1.05003365322,0.551578678121,0.00882266598781,1.04970504302
+145,2.416666667,pose1_to_pose2_press,0.581452180226,0.000150174561571,1.05003349635,0.552022859585,0.00882281170569,1.049704898
+146,2.433333333,pose1_to_pose2_press,0.581904981858,0.000150106077399,1.05003358824,0.55247566031,0.00882274000768,1.04970498626
+147,2.450000000,pose1_to_pose2_press,0.582379338143,0.000150088968051,1.05003360148,0.552950017764,0.00882272695211,1.04970500173
+148,2.466666667,pose1_to_pose2_press,0.582881168102,0.000150113633047,1.05003352663,0.553451846882,0.00882274884059,1.04970492875
+149,2.483333333,pose1_to_pose2_press,0.583405340381,0.000150051576054,1.05003350354,0.553976019083,0.00882268626175,1.04970489879
+150,2.500000000,pose1_to_pose2_press,0.583947008447,0.000150012245257,1.05003352392,0.554517688259,0.00882265054889,1.04970491517
+151,2.516666667,pose1_to_pose2_press,0.584493723863,0.000150141690886,1.05003351038,0.555064402696,0.00882277700548,1.04970491037
+152,2.533333333,pose1_to_pose2_press,0.5850481616,0.000150160832517,1.05003360698,0.555618840962,0.00882279787712,1.0497050052
+153,2.550000000,pose1_to_pose2_press,0.585618729864,0.00015003436298,1.05003366104,0.556189409209,0.00882267089131,1.04970504702
+154,2.566666667,pose1_to_pose2_press,0.586217639082,0.00015018665433,1.0500336247,0.556788317646,0.00882282089076,1.04970502013
+155,2.583333333,pose1_to_pose2_press,0.58685022743,0.000150019090758,1.05003356073,0.557420908219,0.00882266069894,1.04970495135
+156,2.600000000,pose1_to_pose2_press,0.587511706092,0.000150044069409,1.05003363906,0.558082386082,0.00882268272313,1.04970502327
+157,2.616666667,pose1_to_pose2_press,0.588189406452,0.000150040592857,1.05003356425,0.558760085051,0.00882267484012,1.04970495671
+158,2.633333333,pose1_to_pose2_press,0.588869090644,0.000150049086549,1.05003355088,0.559439769378,0.00882268406074,1.04970495034
+159,2.650000000,pose1_to_pose2_press,0.589543952213,0.000150090231648,1.05003367494,0.560114630751,0.00882272441823,1.04970507114
+160,2.666666667,pose1_to_pose2_press,0.590213021634,0.000150120806769,1.05003373236,0.560783699657,0.00882275304914,1.04970512331
+161,2.683333333,pose1_to_pose2_press,0.590884251106,0.000150164993478,1.05003361958,0.561454929818,0.00882279964376,1.04970501231
+162,2.700000000,pose1_to_pose2_press,0.591560680243,0.00015014453103,1.05003346481,0.562131357819,0.00882277574367,1.04970486855
+163,2.716666667,pose1_to_pose2_press,0.592264498702,0.000150078786082,1.05003350937,0.562835177224,0.00882271288956,1.04970490468
+164,2.733333333,pose1_to_pose2_press,0.592990020604,0.000150074149723,1.05003341743,0.563560699682,0.0088227101033,1.04970481177
+165,2.750000000,pose1_to_pose2_press,0.593730823175,0.000150133164561,1.05003365195,0.564301500525,0.00882276324871,1.04970504621
+166,2.766666667,pose1_to_pose2_press,0.594489156467,0.000150180749362,1.05003353402,0.565059832292,0.00882280548941,1.04970492376
+167,2.783333333,pose1_to_pose2_press,0.59526250722,0.00015021363391,1.05003339453,0.565833183672,0.00882284066421,1.04970478856
+168,2.800000000,pose1_to_pose2_press,0.596024523349,0.000150199391933,1.0500333886,0.566595200888,0.00882283014038,1.0497047835
+169,2.816666667,pose1_to_pose2_press,0.596774266581,0.000150162745947,1.05003339307,0.567344944393,0.00882279434048,1.04970478581
+170,2.833333333,pose1_to_pose2_press,0.597504322374,0.000150142735118,1.05003338344,0.568075000127,0.00882277422846,1.04970477892
+171,2.850000000,pose1_to_pose2_press,0.598225939078,0.000150087689376,1.05003337593,0.568796617479,0.00882272143534,1.04970477279
+172,2.866666667,pose1_to_pose2_press,0.598949515777,0.000149897109287,1.05003339664,0.569520197052,0.0088225405351,1.04970479167
+173,2.883333333,pose1_to_pose2_press,0.59968078085,0.00015005329914,1.05003363555,0.570251460504,0.00882269105165,1.04970502616
+174,2.900000000,pose1_to_pose2_press,0.600423139829,0.000149906052257,1.05003353114,0.570993820586,0.00882254758097,1.04970492266
+175,2.916666667,pose1_to_pose2_press,0.601177609655,0.000150075836735,1.05003339389,0.571748288887,0.00882271244901,1.04970479228
+176,2.933333333,pose1_to_pose2_press,0.601929508995,0.000150105741424,1.05003364631,0.572500189191,0.00882274545802,1.04970504034
+177,2.950000000,pose1_to_pose2_press,0.602660276543,0.00015014742907,1.05003354421,0.573230954821,0.00882278053083,1.04970493562
+178,2.966666667,pose1_to_pose2_press,0.603365842387,0.000150139468901,1.0500334491,0.573936520389,0.00882277177494,1.04970484429
+179,2.983333333,pose1_to_pose2_press,0.60404490168,0.000150135931923,1.0500334332,0.574615580478,0.00882277116998,1.04970483455
+180,3.000000000,pose1_to_pose2_press,0.604713421937,0.000150132230327,1.05003341256,0.575284100406,0.00882276642666,1.04970481596
+181,3.016666667,pose1_to_pose2_press,0.605376719331,0.000149983961466,1.05003358385,0.575947398602,0.00882262058639,1.04970497971
+182,3.033333333,pose1_to_pose2_press,0.606048768034,0.000150165525607,1.05003342911,0.576619446126,0.00882279781612,1.04970481629
+183,3.050000000,pose1_to_pose2_press,0.606721089541,0.000150112314639,1.05003364699,0.577291767754,0.0088227450516,1.04970503511
+184,3.066666667,pose1_to_pose2_press,0.607379503069,0.000150131218595,1.05003341409,0.577950182582,0.00882276873454,1.04970481213
+185,3.083333333,pose1_to_pose2_press,0.608012146394,0.000150129594267,1.05003347447,0.578582825746,0.00882276654492,1.04970487211
+186,3.100000000,pose1_to_pose2_press,0.608614991641,0.000150188018149,1.05003339856,0.579185669649,0.00882282054899,1.04970480005
+187,3.116666667,pose1_to_pose2_press,0.609183836063,0.000150155577277,1.05003335142,0.579754514306,0.00882278894669,1.04970475412
+188,3.133333333,pose1_to_pose2_press,0.609728656069,0.000150141149395,1.0500334508,0.580299334644,0.00882277554332,1.04970485092
+189,3.150000000,pose1_to_pose2_press,0.610261930735,0.00015020283752,1.05003356829,0.580832608789,0.00882283531313,1.04970496456
+190,3.166666667,pose1_to_pose2_press,0.610784395119,0.000150165448514,1.05003340528,0.581355074098,0.00882280096158,1.04970479906
+191,3.183333333,pose1_to_pose2_press,0.611294042848,0.000150073360251,1.05003347372,0.581864723697,0.00882271558008,1.0497048771
+192,3.200000000,pose1_to_pose2_press,0.611790214195,0.000150072026431,1.05003335882,0.582360893589,0.00882270938392,1.04970476426
+193,3.216666667,pose1_to_pose2_press,0.612273607396,0.000150157304535,1.05003355222,0.582844286482,0.00882279306279,1.04970494578
+194,3.233333333,pose1_to_pose2_press,0.612743802786,0.000150175240673,1.05003354226,0.583314482124,0.00882281211949,1.04970494084
+195,3.250000000,pose1_to_pose2_press,0.613199464261,0.00015017310054,1.05003352814,0.58377014258,0.00882280685814,1.04970493119
+196,3.266666667,pose1_to_pose2_press,0.613634024203,0.000150196711,1.05003350783,0.584204701282,0.00882282640371,1.04970490953
+197,3.283333333,pose1_to_pose2_press,0.614042713792,0.000150176889941,1.05003335637,0.584613391203,0.00882280805283,1.04970475932
+198,3.300000000,pose1_to_pose2_press,0.614423860554,0.000150073008881,1.05003341027,0.584994538816,0.00882270713049,1.04970480571
+199,3.316666667,pose1_to_pose2_press,0.614779796239,0.000150091790027,1.05003360002,0.585350475763,0.00882273061781,1.04970499821
+200,3.333333333,pose1_to_pose2_press,0.615117286406,0.000150098358212,1.0500336447,0.585687963868,0.00882273024722,1.04970503453
+201,3.350000000,pose1_to_pose2_press,0.615444981151,0.000150147516512,1.05003376201,0.586015659427,0.00882278224573,1.04970514457
+202,3.366666667,pose1_to_pose2_press,0.615763116397,0.000150124693081,1.0500335432,0.58633379527,0.00882276221921,1.04970493686
+203,3.383333333,pose1_to_pose2_press,0.616069742547,0.000150069821883,1.05003343102,0.586640420644,0.00882270526673,1.04970482944
+204,3.400000000,pose1_to_pose2_press,0.61635805144,0.000150108232239,1.05003355962,0.586928728093,0.00882273900333,1.04970495451
+205,3.416666667,pose1_to_pose2_press,0.616625988688,0.000150188447804,1.05003361058,0.587196664923,0.00882281825618,1.04970500867
+206,3.433333333,pose1_to_pose2_press,0.616867742434,0.000150208462886,1.05003357805,0.587438418949,0.00882283959648,1.04970497657
+207,3.450000000,pose1_to_pose2_press,0.617086217723,0.000150247591893,1.05003352842,0.587656892797,0.00882287409276,1.04970492449
+208,3.466666667,pose1_to_pose2_press,0.617282591105,0.000150022093432,1.05003374277,0.587853269772,0.00882266089641,1.04970513842
+209,3.483333333,pose1_to_pose2_press,0.617460993597,0.000150184682691,1.05003345087,0.58803167091,0.00882281913518,1.04970484523
+210,3.500000000,pose1_to_pose2_press,0.61762142535,0.000150039450257,1.05003371155,0.588192103494,0.00882267707699,1.04970510883
+211,3.516666667,pose1_to_pose2_press,0.617769437019,0.000150049953449,1.0500337408,0.58834011564,0.00882268937099,1.04970513809
+212,3.533333333,pose1_to_pose2_press,0.617905236025,0.000150080631495,1.05003360672,0.588475914654,0.00882271995243,1.04970499735
+213,3.550000000,pose1_to_pose2_press,0.618028297516,0.000150023492947,1.05003351737,0.588598975593,0.00882266089723,1.04970490305
+214,3.566666667,pose1_to_pose2_press,0.618140722578,0.000150125808429,1.05003338577,0.588711398783,0.00882275749168,1.04970478397
+215,3.583333333,pose1_to_pose2_press,0.618243000705,0.000150205715685,1.05003348033,0.588813677688,0.00882284029019,1.04970488333
+216,3.600000000,pose1_to_pose2_press,0.618333804639,0.000150196530228,1.05003373635,0.588904480595,0.00882282733946,1.04970512876
+217,3.616666667,pose1_to_pose2_press,0.618411627278,0.000150243226532,1.05003350421,0.588982301968,0.00882287146249,1.04970490695
+218,3.633333333,pose1_to_pose2_press,0.618477721355,0.000150163980423,1.05003342586,0.589048397078,0.00882279539325,1.04970481875
+219,3.650000000,pose1_to_pose2_press,0.618533059531,0.000150139453387,1.05003347626,0.589103736451,0.00882277448155,1.04970486806
+220,3.666666667,pose1_to_pose2_press,0.618577960057,0.000150060846744,1.05003337909,0.589148637793,0.00882269860099,1.04970477455
+221,3.683333333,pose1_to_pose2_press,0.618614845083,0.000150005144031,1.05003330107,0.589185523064,0.0088226436628,1.04970469746
+222,3.700000000,pose1_to_pose2_press,0.618645188331,0.000150053377949,1.05003343361,0.589215865959,0.00882269037617,1.0497048271
+223,3.716666667,pose1_to_pose2_press,0.618669777122,0.000150105934703,1.05003365105,0.589240454165,0.00882274071035,1.04970504096
+224,3.733333333,pose1_to_pose2_press,0.618688878275,0.00015016250829,1.05003355548,0.589259554063,0.00882279305612,1.04970494233
+225,3.750000000,pose1_to_pose2_press,0.61870360729,0.000150169508419,1.05003379339,0.589274284882,0.0088228062949,1.04970518228
+226,3.766666667,pose1_to_pose2_press,0.618714631811,0.000150060688354,1.05003375545,0.58928530965,0.00882269846205,1.04970514723
+227,3.783333333,pose1_to_pose2_press,0.618722212911,0.000150015990266,1.05003360359,0.589292890222,0.0088226520804,1.04970499702
+228,3.800000000,pose1_to_pose2_press,0.618727381867,0.000150124100134,1.05003352232,0.589298059016,0.00882275969239,1.04970491587
+229,3.816666667,pose1_to_pose2_press,0.618730438006,0.000150116531707,1.05003344238,0.589301116388,0.00882275622585,1.04970483546
+230,3.833333333,pose1_to_pose2_press,0.618732548649,0.00015011236285,1.05003339481,0.589303227593,0.00882275388353,1.04970478687
+231,3.850000000,pose1_to_pose2_press,0.618733922937,0.000150140042138,1.05003341352,0.589304600319,0.00882277613533,1.04970480155
+232,3.866666667,pose1_to_pose2_press,0.618734878,0.000150159277875,1.05003342652,0.589305554295,0.00882279159922,1.04970481175
+233,3.883333333,pose1_to_pose2_press,0.618735430743,0.000150156669004,1.05003347199,0.589306106858,0.00882278833982,1.04970485602
+234,3.900000000,pose1_to_pose2_press,0.61873573887,0.000150153167041,1.05003350299,0.58930641495,0.00882278470356,1.04970488641
+235,3.916666667,pose1_to_pose2_press,0.618735857914,0.000150151814064,1.05003351497,0.589306533981,0.0088227832987,1.04970489815
+236,3.933333333,pose1_to_pose2_press,0.618735862945,0.000150151756886,1.05003351547,0.589306539012,0.00882278323933,1.04970489865
+237,3.950000000,pose1_to_pose2_press,0.61873607635,0.000150149331462,1.05003353694,0.589306752393,0.0088227807209,1.0497049197
+238,3.966666667,pose1_to_pose2_press,0.618736375742,0.000150150486632,1.05003355842,0.58930705162,0.00882278131412,1.04970494111
+239,3.983333333,pose1_to_pose2_press,0.618736561055,0.000150160559705,1.05003355398,0.58930723656,0.00882279015349,1.04970493771
+240,4.000000000,pose1_to_pose2_press,0.618736715589,0.000150168959752,1.05003355027,0.589307390784,0.00882279752473,1.04970493488
+241,4.016666667,pose1_to_pose2_press,0.618736807701,0.000150166084171,1.05003335246,0.589307483924,0.0088227983555,1.04970474271
+242,4.033333333,pose1_to_pose2_press,0.618736840839,0.000150164743753,1.05003327371,0.589307517479,0.00882279851625,1.04970466618
+243,4.050000000,pose1_to_pose2_press,0.618736840839,0.000150164743753,1.05003327371,0.589307517479,0.00882279851632,1.04970466618
+244,4.066666667,pose1_to_pose2_press,0.618736840839,0.000150164743753,1.05003327371,0.589307517479,0.00882279851655,1.04970466617
+245,4.083333333,pose1_to_pose2_press,0.618736840839,0.000150164743753,1.05003327371,0.58930751748,0.00882279851682,1.04970466617
+246,4.100000000,pose1_to_pose2_press,0.618736840839,0.000150164743753,1.05003327371,0.58930751748,0.00882279851733,1.04970466617
+247,4.116666667,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517481,0.00882279851671,1.04970466617
+248,4.133333333,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517481,0.00882279851673,1.04970466617
+249,4.150000000,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517481,0.00882279851672,1.04970466617
+250,4.166666667,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517481,0.00882279851675,1.04970466617
+251,4.183333333,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851681,1.04970466617
+252,4.200000000,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851681,1.04970466617
+253,4.216666667,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851664,1.04970466617
+254,4.233333333,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851678,1.04970466617
+255,4.250000000,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.0088227985168,1.04970466617
+256,4.266666667,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851663,1.04970466617
+257,4.283333333,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851678,1.04970466617
+258,4.300000000,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851677,1.04970466617
+259,4.316666667,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851676,1.04970466617
+260,4.333333333,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851675,1.04970466617
+261,4.350000000,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851674,1.04970466617
+262,4.366666667,pose2_hold,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851676,1.04970466617
+263,4.383333333,pose2_to_pose3_retreat,0.618736840839,0.000150164743753,1.05003327371,0.589307517482,0.00882279851674,1.04970466617
+264,4.400000000,pose2_to_pose3_retreat,0.618736764731,0.000150177467142,1.05003333127,0.589307440872,0.00882280948679,1.04970472237
+265,4.416666667,pose2_to_pose3_retreat,0.618736668253,0.000150193595637,1.05003340424,0.589307343759,0.00882282339272,1.04970479362
+266,4.433333333,pose2_to_pose3_retreat,0.618736525165,0.00015016855814,1.05003349824,0.589307201463,0.00882280107871,1.04970488857
+267,4.450000000,pose2_to_pose3_retreat,0.618736491281,0.000150162271305,1.05003352039,0.589307167779,0.00882279548081,1.04970491097
+268,4.466666667,pose2_to_pose3_retreat,0.618736381681,0.000150141936292,1.05003359205,0.589307058826,0.00882277737419,1.04970498345
+269,4.483333333,pose2_to_pose3_retreat,0.618736320654,0.000150130613601,1.05003363195,0.58930699816,0.00882276729228,1.0497050238
+270,4.500000000,pose2_to_pose3_retreat,0.618735672878,0.000150188107995,1.05003351861,0.589306349116,0.0088228204099,1.04970490836
+271,4.516666667,pose2_to_pose3_retreat,0.618733652476,0.000150141306344,1.05003340493,0.589304328992,0.00882277459679,1.04970479613
+272,4.533333333,pose2_to_pose3_retreat,0.618727730596,0.000150086147613,1.0500334786,0.589298407874,0.00882272231278,1.04970487785
+273,4.550000000,pose2_to_pose3_retreat,0.618716788461,0.000149998099091,1.05003388709,0.58928746581,0.00882263417125,1.0497052782
+274,4.566666667,pose2_to_pose3_retreat,0.618697028301,0.000150002243012,1.05003369875,0.589267705872,0.00882263907456,1.04970508956
+275,4.583333333,pose2_to_pose3_retreat,0.618668567184,0.00014989588963,1.05003370869,0.589239246764,0.00882253963725,1.04970510029
+276,4.600000000,pose2_to_pose3_retreat,0.618631387136,0.000149917208708,1.05003329854,0.589202066674,0.00882256102295,1.04970469414
+277,4.616666667,pose2_to_pose3_retreat,0.61858697506,0.000150005931534,1.05003375513,0.589157651832,0.00882263951534,1.04970514594
+278,4.633333333,pose2_to_pose3_retreat,0.618534988028,0.000150120233224,1.05003336855,0.589105664695,0.00882275458209,1.04970477431
+279,4.650000000,pose2_to_pose3_retreat,0.618476803108,0.000150048412858,1.05003336123,0.589047481932,0.00882268892622,1.04970476187
+280,4.666666667,pose2_to_pose3_retreat,0.618411789581,0.000150116448073,1.05003349255,0.588982467559,0.00882275322952,1.04970488066
+281,4.683333333,pose2_to_pose3_retreat,0.618336920786,0.000150198661875,1.05003353089,0.588907598165,0.00882283377425,1.04970492095
+282,4.700000000,pose2_to_pose3_retreat,0.618251007262,0.000150202392302,1.05003337861,0.588821684822,0.00882283885243,1.04970477836
+283,4.716666667,pose2_to_pose3_retreat,0.618151856983,0.000150115849298,1.05003319361,0.588722534549,0.00882275218083,1.04970459231
+284,4.733333333,pose2_to_pose3_retreat,0.618038751546,0.00015005925692,1.05003357307,0.588609428744,0.00882269356839,1.04970495553
+285,4.750000000,pose2_to_pose3_retreat,0.617911248612,0.000150268742256,1.05003362755,0.588481924127,0.00882289754355,1.04970501966
+286,4.766666667,pose2_to_pose3_retreat,0.617770433942,0.000150177944911,1.05003335803,0.588341111827,0.0088228148187,1.049704758
+287,4.783333333,pose2_to_pose3_retreat,0.617617228316,0.000150065807654,1.05003324032,0.588187907076,0.00882270554286,1.0497046424
+288,4.800000000,pose2_to_pose3_retreat,0.617450548541,0.000150047115704,1.05003327575,0.58802122702,0.0088226857444,1.04970467865
+289,4.816666667,pose2_to_pose3_retreat,0.617270428209,0.000150115512462,1.05003341576,0.587841106442,0.0088227530282,1.04970481796
+290,4.833333333,pose2_to_pose3_retreat,0.617075792959,0.000150138310014,1.05003377468,0.587646470649,0.00882277314652,1.04970516181
+291,4.850000000,pose2_to_pose3_retreat,0.616862238734,0.000150135501411,1.05003357816,0.587432915806,0.00882276812558,1.04970496924
+292,4.866666667,pose2_to_pose3_retreat,0.61662959246,0.000150182610876,1.05003352797,0.587200269,0.00882281313246,1.04970491915
+293,4.883333333,pose2_to_pose3_retreat,0.616373665935,0.000150080241808,1.05003357386,0.586944343869,0.00882271523912,1.04970496666
+294,4.900000000,pose2_to_pose3_retreat,0.616095506235,0.000149930868074,1.05003366642,0.586666186104,0.00882257220382,1.04970506053
+295,4.916666667,pose2_to_pose3_retreat,0.615794412321,0.000150001279449,1.05003373852,0.586365091698,0.00882264059037,1.04970512961
+296,4.933333333,pose2_to_pose3_retreat,0.615472071286,0.000150195044392,1.05003363204,0.58604274886,0.00882282793811,1.04970502571
+297,4.950000000,pose2_to_pose3_retreat,0.615127913797,0.000150227482265,1.0500336227,0.585698589963,0.00882285514274,1.04970501857
+298,4.966666667,pose2_to_pose3_retreat,0.614768625141,0.000150197628405,1.05003354009,0.585339303996,0.00882283397755,1.04970493473
+299,4.983333333,pose2_to_pose3_retreat,0.614394191823,0.000150181091975,1.05003360964,0.584964871003,0.00882281793537,1.04970499809
+300,5.000000000,pose2_to_pose3_retreat,0.614001542423,0.000150142087573,1.05003354199,0.584572221062,0.00882277679655,1.0497049328
+301,5.016666667,pose2_to_pose3_retreat,0.613595380656,0.000150065573809,1.05003342231,0.584166060044,0.00882270289725,1.04970482401
+302,5.033333333,pose2_to_pose3_retreat,0.613177561115,0.000149992309828,1.05003354785,0.583748242671,0.00882263704585,1.04970495576
+303,5.050000000,pose2_to_pose3_retreat,0.612738638067,0.000150113186534,1.05003342347,0.583309316089,0.00882274526286,1.04970481458
+304,5.066666667,pose2_to_pose3_retreat,0.612277342954,0.000150138907476,1.0500335702,0.582848020506,0.00882276943675,1.04970496265
+305,5.083333333,pose2_to_pose3_retreat,0.611794484506,0.000150139736236,1.05003370351,0.582365163331,0.00882277459718,1.04970509654
+306,5.100000000,pose2_to_pose3_retreat,0.611290353378,0.00015012435142,1.0500336554,0.581861032809,0.00882276131494,1.04970504978
+307,5.116666667,pose2_to_pose3_retreat,0.610764797813,0.000150109068858,1.05003346337,0.581335476821,0.00882274476268,1.04970486195
+308,5.133333333,pose2_to_pose3_retreat,0.610227724533,0.000150134566979,1.05003338311,0.580798403983,0.00882277187424,1.04970478489
+309,5.150000000,pose2_to_pose3_retreat,0.609681819728,0.000150277913469,1.05003362717,0.58025249787,0.00882291036856,1.04970501777
+310,5.166666667,pose2_to_pose3_retreat,0.609120514811,0.000150306659808,1.05003353898,0.579691191509,0.008822934384,1.04970493398
+311,5.183333333,pose2_to_pose3_retreat,0.608542591939,0.000150206814053,1.05003344078,0.57911326934,0.00882283694552,1.04970483623
+312,5.200000000,pose2_to_pose3_retreat,0.607948316522,0.00015006424102,1.05003349369,0.578518995793,0.00882270059539,1.04970488585
+313,5.216666667,pose2_to_pose3_retreat,0.607335934942,0.000150011078749,1.05003370277,0.577906615197,0.00882265068262,1.04970509262
+314,5.233333333,pose2_to_pose3_retreat,0.606702519868,0.000150169405782,1.05003384711,0.577273198229,0.00882280272083,1.04970524062
+315,5.250000000,pose2_to_pose3_retreat,0.606048432352,0.000150135033314,1.05003330024,0.576619111277,0.00882277059237,1.04970470233
+316,5.266666667,pose2_to_pose3_retreat,0.605371581496,0.000150216335017,1.05003334482,0.575942259681,0.00882284919496,1.04970474272
+317,5.283333333,pose2_to_pose3_retreat,0.604682825833,0.000150134659559,1.05003347948,0.575253505044,0.00882277079328,1.04970487093
+318,5.300000000,pose2_to_pose3_retreat,0.603983905489,0.00015005858131,1.05003360004,0.574554585472,0.00882269719855,1.04970498712
+319,5.316666667,pose2_to_pose3_retreat,0.603274425204,0.000150046721943,1.05003351136,0.573845104828,0.00882268432593,1.04970490386
+320,5.333333333,pose2_to_pose3_retreat,0.602561815983,0.000150054366856,1.05003331828,0.573132494972,0.00882269029513,1.04970472334
+321,5.350000000,pose2_to_pose3_retreat,0.601847372178,0.000150100549494,1.05003370833,0.572418051193,0.00882273642196,1.04970510957
+322,5.366666667,pose2_to_pose3_retreat,0.601127176353,0.000150088877864,1.0500334512,0.571697854593,0.00882272166055,1.0497048402
+323,5.383333333,pose2_to_pose3_retreat,0.600403197706,0.000150054645471,1.05003338304,0.570973875763,0.00882268699779,1.04970477701
+324,5.400000000,pose2_to_pose3_retreat,0.599666094959,0.000150071094663,1.05003353925,0.570236773037,0.00882270345424,1.04970493144
+325,5.416666667,pose2_to_pose3_retreat,0.598921158107,0.000150061312661,1.05003360566,0.569491836742,0.00882269539957,1.04970499351
+326,5.433333333,pose2_to_pose3_retreat,0.598173604232,0.00015002552849,1.05003354585,0.568744283412,0.00882266137834,1.04970493132
+327,5.450000000,pose2_to_pose3_retreat,0.597419175889,0.000150034736588,1.05003352133,0.567989854741,0.00882266950376,1.04970490765
+328,5.466666667,pose2_to_pose3_retreat,0.596659166348,0.000150081437058,1.0500333852,0.567229844614,0.00882271458965,1.0497047813
+329,5.483333333,pose2_to_pose3_retreat,0.595911102388,0.000150160078966,1.05003350693,0.566481780467,0.00882279248312,1.04970489998
+330,5.500000000,pose2_to_pose3_retreat,0.595174571755,0.00015016204184,1.05003363358,0.565745251015,0.00882279822819,1.0497050207
+331,5.516666667,pose2_to_pose3_retreat,0.594452043897,0.000150153349403,1.05003348824,0.565022722028,0.00882278598805,1.04970488267
+332,5.533333333,pose2_to_pose3_retreat,0.59373259256,0.000150059534741,1.05003336386,0.564303271036,0.00882269354465,1.04970476355
+333,5.550000000,pose2_to_pose3_retreat,0.593006311742,0.000150010331538,1.05003348599,0.563576991306,0.00882264783902,1.04970488054
+334,5.566666667,pose2_to_pose3_retreat,0.592273514219,0.000150202800712,1.05003375833,0.562844191406,0.00882283193865,1.04970514478
+335,5.583333333,pose2_to_pose3_retreat,0.591534687697,0.000150129729673,1.05003351493,0.562105365476,0.00882276114219,1.04970490841
+336,5.600000000,pose2_to_pose3_retreat,0.590806485823,0.000150232192983,1.05003387987,0.561377162578,0.00882285976752,1.04970526369
+337,5.616666667,pose2_to_pose3_retreat,0.590097691962,0.000150095488743,1.05003359393,0.560668370672,0.00882273014061,1.04970498937
+338,5.633333333,pose2_to_pose3_retreat,0.589418114548,0.000150015280993,1.0500334202,0.559988794857,0.008822655432,1.04970481765
+339,5.650000000,pose2_to_pose3_retreat,0.588762059164,0.000150103487684,1.05003342193,0.559332737726,0.0088227377328,1.04970481984
+340,5.666666667,pose2_to_pose3_retreat,0.588126530246,0.000150195674233,1.05003349844,0.558697206543,0.00882282220946,1.04970489573
+341,5.683333333,pose2_to_pose3_retreat,0.587495995446,0.000150041051079,1.05003353326,0.558066674416,0.00882267632222,1.04970492169
+342,5.700000000,pose2_to_pose3_retreat,0.586869652495,0.000150164609995,1.05003340462,0.557440331269,0.00882279949309,1.04970480033
+343,5.716666667,pose2_to_pose3_retreat,0.586239956866,0.000150152271376,1.05003349172,0.556810634564,0.00882278335648,1.04970488348
+344,5.733333333,pose2_to_pose3_retreat,0.585615465141,0.000150157324685,1.05003353447,0.556186141987,0.00882278542819,1.0497049239
+345,5.750000000,pose2_to_pose3_retreat,0.585006347903,0.00015008406539,1.05003355294,0.555577025643,0.00882271504417,1.04970493814
+346,5.766666667,pose2_to_pose3_retreat,0.584417845749,0.000150072133166,1.05003361083,0.554988524131,0.00882270520005,1.0497049935
+347,5.783333333,pose2_to_pose3_retreat,0.583854960404,0.000150185276296,1.05003366088,0.554425637819,0.00882281529056,1.04970504963
+348,5.800000000,pose2_to_pose3_retreat,0.583326172157,0.00015023446807,1.05003359133,0.55389684867,0.00882286190442,1.04970499285
+349,5.816666667,pose2_to_pose3_retreat,0.582825270481,0.000150155148554,1.05003351684,0.553395946696,0.0088227813262,1.04970491171
+350,5.833333333,pose2_to_pose3_retreat,0.582344217025,0.000150090408681,1.05003338942,0.55291489507,0.0088227230087,1.04970479034
+351,5.850000000,pose2_to_pose3_retreat,0.581874577189,0.000150002650792,1.05003351745,0.552445256497,0.00882263931491,1.04970491282
+352,5.866666667,pose2_to_pose3_retreat,0.581413724291,0.000149988878136,1.05003359028,0.551984403773,0.00882262600713,1.04970498224
+353,5.883333333,pose2_to_pose3_retreat,0.580969130153,0.000150037494422,1.05003351123,0.551539808859,0.00882267205774,1.0497049049
+354,5.900000000,pose2_to_pose3_retreat,0.580542760294,0.000150030657353,1.05003354806,0.551113437955,0.00882266142142,1.04970493594
+355,5.916666667,pose2_to_pose3_retreat,0.580137535082,0.000150153448392,1.05003361025,0.550708212777,0.00882278469623,1.04970500729
+356,5.933333333,pose2_to_pose3_retreat,0.57975238005,0.000150128463413,1.05003385205,0.550323058675,0.0088227625481,1.04970524016
+357,5.950000000,pose2_to_pose3_retreat,0.579386625913,0.000150131467304,1.05003356748,0.549957305304,0.00882276823551,1.04970495764
+358,5.966666667,pose2_to_pose3_retreat,0.579034937777,0.000150112249008,1.05003356237,0.549605616457,0.00882274640412,1.04970494725
+359,5.983333333,pose2_to_pose3_retreat,0.578697374556,0.000150145211525,1.0500336072,0.549268052539,0.00882277708316,1.04970499421
+360,6.000000000,pose2_to_pose3_retreat,0.578382448388,0.000150148205316,1.05003345078,0.548953127414,0.00882278406231,1.04970484971
+361,6.016666667,pose2_to_pose3_retreat,0.57809151773,0.000150037443535,1.05003339084,0.548662197647,0.00882267637672,1.04970479116
+362,6.033333333,pose2_to_pose3_retreat,0.577828896817,0.000150169962155,1.05003349348,0.548399572693,0.00882279504022,1.04970489001
+363,6.050000000,pose2_to_pose3_retreat,0.577592819186,0.000150019749248,1.05003338592,0.548163498842,0.00882265775095,1.04970478502
+364,6.066666667,pose2_to_pose3_retreat,0.577383437096,0.000150027248812,1.05003354079,0.547954117,0.0088226659387,1.04970493612
+365,6.083333333,pose2_to_pose3_retreat,0.577188777993,0.000150018811447,1.05003365698,0.547759457696,0.0088226565316,1.04970504468
+366,6.100000000,pose2_to_pose3_retreat,0.577006762594,0.000149970369918,1.05003357154,0.547577442656,0.00882260930259,1.04970495882
+367,6.116666667,pose2_to_pose3_retreat,0.576835549382,0.000149936684428,1.0500332101,0.547406230347,0.00882257945614,1.04970461785
+368,6.133333333,pose2_to_pose3_retreat,0.576674587097,0.000150260039595,1.05003361506,0.547245262953,0.00882288476683,1.0497050043
+369,6.150000000,pose2_to_pose3_retreat,0.576526495272,0.000150062625309,1.0500334861,0.547097174133,0.00882269740254,1.04970487153
+370,6.166666667,pose2_to_pose3_retreat,0.576392994123,0.000150151869263,1.05003344183,0.546963671468,0.00882278204277,1.04970484159
+371,6.183333333,pose2_to_pose3_retreat,0.576275804477,0.000150185299693,1.05003348174,0.54684648121,0.00882281341922,1.04970488211
+372,6.200000000,pose2_to_pose3_retreat,0.576174082657,0.000150123344858,1.0500335118,0.54674476096,0.00882275653651,1.04970490559
+373,6.216666667,pose2_to_pose3_retreat,0.576086918347,0.000150124187241,1.05003347446,0.546657597542,0.0088227605536,1.0497048726
+374,6.233333333,pose2_to_pose3_retreat,0.57601081888,0.000150011180163,1.05003328673,0.546581496814,0.00882264317026,1.04970468215
+375,6.250000000,pose2_to_pose3_retreat,0.575943861323,0.000150050355473,1.05003354559,0.546514540628,0.00882268699196,1.04970494081
+376,6.266666667,pose2_to_pose3_retreat,0.575885335224,0.000150063913223,1.050033548,0.546456013811,0.00882269814223,1.04970494382
+377,6.283333333,pose2_to_pose3_retreat,0.575834572661,0.000150132796152,1.05003350223,0.546405250912,0.00882276587607,1.04970489786
+378,6.300000000,pose2_to_pose3_retreat,0.575792043969,0.000150183815467,1.05003350979,0.546362722439,0.00882281759343,1.04970490416
+379,6.316666667,pose2_to_pose3_retreat,0.575757596857,0.000150138134974,1.05003357938,0.546328274946,0.00882277059859,1.04970497322
+380,6.333333333,pose2_to_pose3_retreat,0.575730624868,0.00015010313063,1.05003372546,0.546301302478,0.00882273406782,1.0497051219
+381,6.350000000,pose2_to_pose3_retreat,0.575711210514,0.000150119757948,1.05003360677,0.546281887431,0.00882274855462,1.04970500883
+382,6.366666667,pose2_to_pose3_retreat,0.575697076377,0.000150103323807,1.05003343773,0.546267754661,0.00882273667596,1.04970483758
+383,6.383333333,pose2_to_pose3_retreat,0.575686997609,0.000150067966572,1.05003341386,0.546257677124,0.00882270554819,1.0497048152
+384,6.400000000,pose2_to_pose3_retreat,0.575679895902,0.000150037774851,1.05003346813,0.5462505763,0.00882267846708,1.04970487245
+385,6.416666667,pose2_to_pose3_retreat,0.575675454348,0.000150101514673,1.05003354819,0.546246134835,0.00882274243463,1.04970495064
+386,6.433333333,pose2_to_pose3_retreat,0.575672039779,0.000150131528561,1.0500336061,0.54624272029,0.00882277244534,1.04970500639
+387,6.450000000,pose2_to_pose3_retreat,0.575669754076,0.000150077745395,1.05003363072,0.54624043443,0.00882271796653,1.04970502672
+388,6.466666667,pose2_to_pose3_retreat,0.575668474615,0.000150047639359,1.0500336445,0.546239154881,0.0088226874711,1.04970503809
+389,6.483333333,pose2_to_pose3_retreat,0.575667590464,0.000150040288359,1.05003360104,0.546238270679,0.00882267991502,1.04970499384
+390,6.500000000,pose2_to_pose3_retreat,0.575666879059,0.000150044719357,1.05003352532,0.546237559239,0.00882268423023,1.04970491816
+391,6.516666667,pose2_to_pose3_retreat,0.5756666089,0.000150046402044,1.05003349657,0.546237289067,0.00882268586895,1.04970488942
+392,6.533333333,pose2_to_pose3_retreat,0.575666520915,0.000150046950057,1.0500334872,0.546237201078,0.00882268640264,1.04970488006
+393,6.550000000,pose2_to_pose3_retreat,0.575666311949,0.000150048251605,1.05003346496,0.546236992102,0.00882268767018,1.04970485782
+394,6.566666667,pose2_to_pose3_retreat,0.575666012064,0.000150050119439,1.05003343304,0.546236692203,0.0088226894892,1.04970482592
+395,6.583333333,pose2_to_pose3_retreat,0.575665694077,0.000150053949179,1.05003340697,0.546236374188,0.00882269322922,1.04970479995
+396,6.600000000,pose2_to_pose3_retreat,0.575665437278,0.000150075549704,1.0500334637,0.546236117245,0.00882271437727,1.04970485766
+397,6.616666667,pose2_to_pose3_retreat,0.575665163174,0.000150098605856,1.05003352425,0.546235842986,0.00882273695047,1.04970491926
+398,6.633333333,pose2_to_pose3_retreat,0.575665096571,0.000150104208154,1.05003353896,0.546235776346,0.00882274243541,1.04970493423
+399,6.650000000,pose2_to_pose3_retreat,0.575665040388,0.000150108933998,1.05003355138,0.546235720131,0.00882274706226,1.04970494685
+400,6.666666667,pose2_to_pose3_retreat,0.575665010605,0.00015011143915,1.05003355796,0.546235690331,0.00882274951494,1.04970495354
+401,6.683333333,pose2_to_pose3_retreat,0.575664868144,0.0001501234222,1.05003358943,0.54623554779,0.00882276124698,1.04970498556
+402,6.700000000,pose2_to_pose3_retreat,0.575664605707,0.000150110728558,1.05003365624,0.546235285483,0.00882274901712,1.049705053
+403,6.716666667,pose2_to_pose3_retreat,0.575664430962,0.000150038313268,1.05003371699,0.546235111334,0.00882267861454,1.04970511347
+404,6.733333333,pose2_to_pose3_retreat,0.575664319441,0.000150147865996,1.05003361695,0.546234999668,0.0088227878061,1.0497050169
+405,6.750000000,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511729,1.04970501047
+406,6.766666667,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511733,1.04970501047
+407,6.783333333,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511742,1.04970501047

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1af844bcde711a7753f058fed3c906022cc685756605314632425757f4d2c633
+size 26075154

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/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,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+5,0.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+8,0.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+9,0.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+10,0.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+11,0.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+13,0.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+14,0.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+15,0.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+17,0.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+19,0.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+20,0.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+21,0.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+22,0.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+23,0.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+24,0.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+25,0.416666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+26,0.433333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+27,0.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+28,0.466666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+29,0.483333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+30,0.500000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+31,0.516666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+32,0.533333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+33,0.550000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+34,0.566666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+35,0.583333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+36,0.600000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+37,0.616666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+38,0.633333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+39,0.650000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+40,0.666666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+41,0.683333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+42,0.700000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+43,0.716666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+44,0.733333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+45,0.750000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+46,0.766666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+47,0.783333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+48,0.800000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+49,0.816666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+50,0.833333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+51,0.850000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+52,0.866666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+53,0.883333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+54,0.900000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+55,0.916666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+56,0.933333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+57,0.950000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+58,0.966666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+59,0.983333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+60,1.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+61,1.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+62,1.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+63,1.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+64,1.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+65,1.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+66,1.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+67,1.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+68,1.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+69,1.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+70,1.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+71,1.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+72,1.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+73,1.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+74,1.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+75,1.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+76,1.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+77,1.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+78,1.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+79,1.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+80,1.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+81,1.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+82,1.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+83,1.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+84,1.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+85,1.416666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+86,1.433333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+87,1.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+88,1.466666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+89,1.483333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+90,1.500000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+91,1.516666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+92,1.533333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+93,1.550000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+94,1.566666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+95,1.583333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+96,1.600000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+97,1.616666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+98,1.633333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+99,1.650000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+100,1.666666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+101,1.683333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+102,1.700000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+103,1.716666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+104,1.733333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+105,1.750000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+106,1.766666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+107,1.783333333,pose1_to_pose2_press,0.575664286866,0.000150184481569,1.05003359859,0.54623496663,0.00882282295986,1.04970500149
+108,1.800000000,pose1_to_pose2_press,0.575664473447,0.000150176762215,1.05003372193,0.546235152105,0.00882281119826,1.04970511716
+109,1.816666667,pose1_to_pose2_press,0.575664732134,0.000150085891927,1.05003359976,0.546235412437,0.0088227258872,1.04970499433
+110,1.833333333,pose1_to_pose2_press,0.575665062236,0.000150038482221,1.05003351784,0.54623574339,0.00882268132599,1.04970491138
+111,1.850000000,pose1_to_pose2_press,0.575665470244,0.000150080340681,1.05003352501,0.546236150619,0.00882272048337,1.04970491703
+112,1.866666667,pose1_to_pose2_press,0.575665926125,0.000150127110606,1.05003353302,0.546236605629,0.00882276423529,1.04970492334
+113,1.883333333,pose1_to_pose2_press,0.575666383891,0.00015016629463,1.05003353695,0.546237062717,0.00882280108623,1.04970492648
+114,1.900000000,pose1_to_pose2_press,0.57566807959,0.00015020509807,1.05003349539,0.546238758571,0.00882284078096,1.04970489451
+115,1.916666667,pose1_to_pose2_press,0.575672727833,0.000150100916681,1.05003347024,0.546243407347,0.00882273861462,1.0497048748
+116,1.933333333,pose1_to_pose2_press,0.575683713921,0.000150244221311,1.05003339693,0.546254391051,0.00882287353693,1.04970479368
+117,1.950000000,pose1_to_pose2_press,0.575702557756,0.000150204464108,1.05003356638,0.546273235047,0.00882283430659,1.04970496264
+118,1.966666667,pose1_to_pose2_press,0.575731803101,0.000150084381273,1.05003360238,0.546302480865,0.00882271597124,1.04970500227
+119,1.983333333,pose1_to_pose2_press,0.575770888481,0.000149943125362,1.05003368008,0.546341568592,0.00882258221965,1.0497050678
+120,2.000000000,pose1_to_pose2_press,0.575819485881,0.000150024527106,1.05003377808,0.546390165049,0.0088226607353,1.04970517405
+121,2.016666667,pose1_to_pose2_press,0.575876124614,0.000150077294732,1.05003367453,0.546446803322,0.0088227117943,1.04970506649
+122,2.033333333,pose1_to_pose2_press,0.575940684912,0.000150084759244,1.05003351955,0.546511364321,0.00882272149424,1.04970490766
+123,2.050000000,pose1_to_pose2_press,0.57601436315,0.00015010727812,1.05003356797,0.546585041885,0.00882274207623,1.04970496526
+124,2.066666667,pose1_to_pose2_press,0.576097546956,0.00015015471619,1.05003351686,0.546668224589,0.0088227859627,1.04970491903
+125,2.083333333,pose1_to_pose2_press,0.576192248832,0.00015007506016,1.05003364531,0.546762928129,0.00882271151124,1.0497050358
+126,2.100000000,pose1_to_pose2_press,0.576298440443,0.000150196812082,1.05003364433,0.54686911861,0.00882282942049,1.04970503462
+127,2.116666667,pose1_to_pose2_press,0.576417699558,0.000150296535426,1.05003363119,0.546988375803,0.00882292262393,1.04970502144
+128,2.133333333,pose1_to_pose2_press,0.57655044832,0.000150026737489,1.05003353867,0.547121127565,0.0088226629708,1.0497049279
+129,2.150000000,pose1_to_pose2_press,0.576697838359,0.000149988761729,1.05003342985,0.547268518354,0.00882262759794,1.04970482056
+130,2.166666667,pose1_to_pose2_press,0.576861281328,0.000150165108777,1.050033605,0.547431959613,0.00882279793129,1.04970499012
+131,2.183333333,pose1_to_pose2_press,0.577041180663,0.000150183265636,1.05003363797,0.547611858675,0.00882281544165,1.04970503036
+132,2.200000000,pose1_to_pose2_press,0.577240736033,0.000150144071346,1.05003363722,0.547811414086,0.00882277640509,1.04970503003
+133,2.216666667,pose1_to_pose2_press,0.577456591109,0.000150164571608,1.05003370714,0.548027268743,0.00882279534492,1.04970509617
+134,2.233333333,pose1_to_pose2_press,0.577686756244,0.000150138317465,1.05003370521,0.548257434425,0.00882277089725,1.04970509291
+135,2.250000000,pose1_to_pose2_press,0.577931159887,0.000150031698934,1.05003352749,0.54850183957,0.00882266927257,1.04970491235
+136,2.266666667,pose1_to_pose2_press,0.578189689362,0.00015016766684,1.05003339561,0.548760367572,0.00882280068029,1.04970479204
+137,2.283333333,pose1_to_pose2_press,0.578464101828,0.000150178377587,1.05003350247,0.549034779657,0.00882281003389,1.04970489711
+138,2.300000000,pose1_to_pose2_press,0.578758886498,0.000150187235462,1.05003350347,0.549329564636,0.00882281997858,1.04970489899
+139,2.316666667,pose1_to_pose2_press,0.579085166102,0.000150120228681,1.05003358996,0.549655844877,0.00882275509877,1.04970498449
+140,2.333333333,pose1_to_pose2_press,0.579442123565,0.000150011636613,1.05003352511,0.550012803089,0.00882264872607,1.04970491104
+141,2.350000000,pose1_to_pose2_press,0.5798309578,0.000150013687759,1.05003347283,0.550401638035,0.0088226533693,1.04970486336
+142,2.366666667,pose1_to_pose2_press,0.580242564981,0.000150112508539,1.05003356877,0.550813244405,0.00882274960065,1.04970496349
+143,2.383333333,pose1_to_pose2_press,0.580671965024,0.000150057174907,1.05003363483,0.551242644699,0.00882269499823,1.04970502633
+144,2.400000000,pose1_to_pose2_press,0.581110205116,0.00014999247137,1.05003357538,0.551680885906,0.00882263421381,1.0497049703
+145,2.416666667,pose1_to_pose2_press,0.581559044033,0.000150151572775,1.05003352757,0.552129723193,0.00882278788036,1.04970492498
+146,2.433333333,pose1_to_pose2_press,0.582024010174,0.000150186587258,1.05003360783,0.552594688309,0.00882281938609,1.04970500435
+147,2.450000000,pose1_to_pose2_press,0.582511178464,0.000150236626149,1.05003345416,0.553081855098,0.00882286471978,1.04970486087
+148,2.466666667,pose1_to_pose2_press,0.583022855198,0.000150097339054,1.05003339727,0.55359353381,0.00882273168979,1.04970479175
+149,2.483333333,pose1_to_pose2_press,0.583555233298,0.000150111151651,1.0500336196,0.554125911728,0.00882274464851,1.04970500787
+150,2.500000000,pose1_to_pose2_press,0.584102110096,0.000150093474264,1.05003335568,0.5546727883,0.00882272657909,1.04970475375
+151,2.516666667,pose1_to_pose2_press,0.584653177867,0.000150184537628,1.05003331416,0.555223856126,0.00882281800421,1.04970471674
+152,2.533333333,pose1_to_pose2_press,0.585216409308,0.00015015225166,1.05003343439,0.555787088501,0.0088227886839,1.04970483154
+153,2.550000000,pose1_to_pose2_press,0.585801999978,0.000150073000098,1.05003351319,0.556372679211,0.00882270939297,1.04970490562
+154,2.566666667,pose1_to_pose2_press,0.586415907353,0.000150106492471,1.05003354116,0.556986584964,0.00882273746657,1.04970493574
+155,2.583333333,pose1_to_pose2_press,0.587060006365,0.000150115608343,1.05003363882,0.557630683468,0.00882274473234,1.04970503002
+156,2.600000000,pose1_to_pose2_press,0.587726634933,0.000150247586692,1.05003368106,0.558297311029,0.00882287301734,1.04970506495
+157,2.616666667,pose1_to_pose2_press,0.588406037327,0.000150031805991,1.05003363954,0.558976718055,0.00882267323635,1.04970503078
+158,2.633333333,pose1_to_pose2_press,0.58909100796,0.000150176915097,1.05003350465,0.559661685585,0.00882280810916,1.04970490362
+159,2.650000000,pose1_to_pose2_press,0.589776180336,0.000150234747018,1.05003362172,0.560346858394,0.00882286724309,1.04970501618
+160,2.666666667,pose1_to_pose2_press,0.590460082214,0.000150160066991,1.05003362807,0.561030760602,0.00882279369189,1.04970502276
+161,2.683333333,pose1_to_pose2_press,0.591148296107,0.00015014188569,1.05003354605,0.561718973844,0.00882277334043,1.04970494175
+162,2.700000000,pose1_to_pose2_press,0.591840547005,0.000150131112488,1.05003355513,0.562411225084,0.00882276374049,1.0497049511
+163,2.716666667,pose1_to_pose2_press,0.592552267893,0.000150112183691,1.0500335716,0.563122946592,0.00882274691898,1.04970496769
+164,2.733333333,pose1_to_pose2_press,0.593284341126,0.000150093095249,1.0500335777,0.563855019569,0.00882272687263,1.04970497138
+165,2.750000000,pose1_to_pose2_press,0.594037535565,0.000150072389336,1.0500337523,0.564608214068,0.00882270619798,1.04970514149
+166,2.766666667,pose1_to_pose2_press,0.594812687221,0.00015017800525,1.05003359687,0.565383364641,0.0088228086193,1.04970499873
+167,2.783333333,pose1_to_pose2_press,0.595606289431,0.000150076462115,1.05003359401,0.56617696727,0.00882270832049,1.04970499118
+168,2.800000000,pose1_to_pose2_press,0.596386894231,0.000150080179217,1.05003335272,0.566957575446,0.00882272368696,1.04970475511
+169,2.816666667,pose1_to_pose2_press,0.597151712503,0.000150179902462,1.05003347994,0.567722391411,0.00882281547462,1.04970487942
+170,2.833333333,pose1_to_pose2_press,0.597892477724,0.000150072799933,1.05003361206,0.568463157688,0.0088227117436,1.04970500609
+171,2.850000000,pose1_to_pose2_press,0.598623915304,0.000150047742436,1.05003342935,0.569194595555,0.0088226879735,1.0497048316
+172,2.866666667,pose1_to_pose2_press,0.599357598273,0.000150077707745,1.05003352218,0.569928277354,0.00882271373524,1.04970491832
+173,2.883333333,pose1_to_pose2_press,0.600104334923,0.000150117276855,1.0500335865,0.570675013078,0.00882274999219,1.04970497827
+174,2.900000000,pose1_to_pose2_press,0.600865886428,0.000150088998881,1.05003355652,0.571436565106,0.00882272354596,1.04970494982
+175,2.916666667,pose1_to_pose2_press,0.601635483718,0.000150055935747,1.05003364324,0.572206162968,0.00882269230966,1.04970503362
+176,2.933333333,pose1_to_pose2_press,0.602398632193,0.000150122049269,1.05003360429,0.572969311138,0.00882275749493,1.04970499754
+177,2.950000000,pose1_to_pose2_press,0.603140519108,0.000150072264502,1.0500335143,0.573711198762,0.00882271025619,1.04970491139
+178,2.966666667,pose1_to_pose2_press,0.603857416797,0.00015016859918,1.0500336406,0.574428094104,0.00882279842721,1.04970503257
+179,2.983333333,pose1_to_pose2_press,0.60454828968,0.00015014991633,1.05003366169,0.575118966796,0.00882277888129,1.04970504808
+180,3.000000000,pose1_to_pose2_press,0.605234416235,0.000150137863117,1.05003364929,0.575805094587,0.00882277117066,1.04970503965
+181,3.016666667,pose1_to_pose2_press,0.605919380907,0.00015004925749,1.05003345757,0.57649006118,0.00882268926601,1.04970485288
+182,3.033333333,pose1_to_pose2_press,0.606608237864,0.000150006615576,1.05003351963,0.577178917057,0.0088226431306,1.04970491959
+183,3.050000000,pose1_to_pose2_press,0.607292708755,0.000150041575555,1.05003354495,0.57786338726,0.00882267576013,1.04970494516
+184,3.066666667,pose1_to_pose2_press,0.607961786151,0.000150051710883,1.05003343639,0.578532464991,0.00882268697231,1.04970483508
+185,3.083333333,pose1_to_pose2_press,0.608604346539,0.000150074205845,1.05003342366,0.579175024783,0.00882270731913,1.04970481911
+186,3.100000000,pose1_to_pose2_press,0.609217900886,0.000150129265075,1.05003357289,0.579788579041,0.00882276193849,1.04970496492
+187,3.116666667,pose1_to_pose2_press,0.609802470834,0.000150053778577,1.05003370478,0.580373151757,0.00882269603876,1.04970510198
+188,3.133333333,pose1_to_pose2_press,0.610366744679,0.000150040063743,1.05003349275,0.580937425573,0.00882268236939,1.04970489393
+189,3.150000000,pose1_to_pose2_press,0.610917204136,0.00015015208192,1.0500336092,0.581487883493,0.00882278894735,1.04970500458
+190,3.166666667,pose1_to_pose2_press,0.611454443296,0.000150096448131,1.05003355373,0.582025122379,0.00882273229629,1.04970494693
+191,3.183333333,pose1_to_pose2_press,0.611977103318,0.000150066792312,1.05003350416,0.582547782062,0.00882270150299,1.04970489859
+192,3.200000000,pose1_to_pose2_press,0.612487559182,0.000150133944595,1.05003357597,0.583058237193,0.00882276602166,1.04970496618
+193,3.216666667,pose1_to_pose2_press,0.612987727111,0.000150213815991,1.05003368467,0.58355840423,0.00882284265206,1.04970506682
+194,3.233333333,pose1_to_pose2_press,0.613474742444,0.00015022447857,1.05003368865,0.584045418925,0.00882285127048,1.04970506974
+195,3.250000000,pose1_to_pose2_press,0.61394505572,0.000150244967825,1.05003364379,0.584515732304,0.00882287269406,1.04970503218
+196,3.266666667,pose1_to_pose2_press,0.614391664698,0.000150136827882,1.05003346797,0.584962342511,0.00882276967205,1.04970487099
+197,3.283333333,pose1_to_pose2_press,0.614809477672,0.00015015967941,1.05003340188,0.585380156632,0.00882279640416,1.0497047938
+198,3.300000000,pose1_to_pose2_press,0.615198731619,0.000149976018266,1.0500335867,0.585769411826,0.00882261737406,1.04970497876
+199,3.316666667,pose1_to_pose2_press,0.615568305943,0.00015000523362,1.05003363518,0.586138985686,0.00882264541124,1.04970502685
+200,3.333333333,pose1_to_pose2_press,0.615923767936,0.0001501280519,1.05003352579,0.586494446371,0.00882276418224,1.04970491571
+201,3.350000000,pose1_to_pose2_press,0.61627026522,0.000150105508627,1.05003345769,0.5868409434,0.00882274124001,1.04970484844
+202,3.366666667,pose1_to_pose2_press,0.616605414724,0.00015004932157,1.05003354836,0.587176092338,0.00882268365637,1.04970494274
+203,3.383333333,pose1_to_pose2_press,0.616926155113,0.000150221206748,1.05003359934,0.587496829872,0.00882284630597,1.04970499343
+204,3.400000000,pose1_to_pose2_press,0.617223286443,0.00015011914835,1.0500335281,0.587793962697,0.00882274959571,1.04970491785
+205,3.416666667,pose1_to_pose2_press,0.617495449404,0.000150203649609,1.05003355958,0.588066125956,0.00882283515612,1.04970494345
+206,3.433333333,pose1_to_pose2_press,0.617741290741,0.000150136093319,1.05003350205,0.588311967498,0.00882276916122,1.04970489799
+207,3.450000000,pose1_to_pose2_press,0.617964065853,0.000150034203849,1.05003338125,0.588534743272,0.00882266996229,1.04970478158
+208,3.466666667,pose1_to_pose2_press,0.618165280792,0.000150131178493,1.05003335518,0.588735957493,0.00882276477864,1.04970475746
+209,3.483333333,pose1_to_pose2_press,0.618351884536,0.000150192322092,1.05003348146,0.58892256077,0.00882282461176,1.04970488328
+210,3.500000000,pose1_to_pose2_press,0.618525179723,0.000150123981791,1.05003346257,0.5890958568,0.00882275941799,1.04970486395
+211,3.516666667,pose1_to_pose2_press,0.618686651349,0.000150040408568,1.05003335537,0.589257328955,0.00882267766328,1.04970475191
+212,3.533333333,pose1_to_pose2_press,0.618836619753,0.000150128501013,1.05003368878,0.589407294885,0.00882275690529,1.04970506917
+213,3.550000000,pose1_to_pose2_press,0.61897308235,0.000150042984894,1.05003367384,0.589543759235,0.0088226775752,1.04970505791
+214,3.566666667,pose1_to_pose2_press,0.619095942625,0.000149903854346,1.05003362906,0.58966662155,0.00882254602946,1.04970502411
+215,3.583333333,pose1_to_pose2_press,0.619203532886,0.00014995466801,1.05003340332,0.589774210768,0.00882259361468,1.04970480351
+216,3.600000000,pose1_to_pose2_press,0.61929738312,0.000150179286131,1.05003348179,0.589868060076,0.00882281507713,1.04970487874
+217,3.616666667,pose1_to_pose2_press,0.619377735164,0.000150149632856,1.05003343218,0.589948411064,0.0088227818682,1.04970482716
+218,3.633333333,pose1_to_pose2_press,0.619445459574,0.000150180277275,1.05003345359,0.590016135004,0.00882281124638,1.04970484861
+219,3.650000000,pose1_to_pose2_press,0.619502798256,0.000150148936803,1.05003356592,0.590073474099,0.00882278159687,1.0497049584
+220,3.666666667,pose1_to_pose2_press,0.619551594884,0.000150020539734,1.05003363323,0.590122271597,0.00882265601429,1.04970502143
+221,3.683333333,pose1_to_pose2_press,0.619593085488,0.000150090520728,1.05003353231,0.590163762535,0.00882272658911,1.04970492243
+222,3.700000000,pose1_to_pose2_press,0.619627633891,0.000150239327431,1.05003359925,0.590198309618,0.00882287178628,1.04970499879
+223,3.716666667,pose1_to_pose2_press,0.619656705086,0.000150135464395,1.05003350254,0.590227380478,0.00882276678251,1.0497049032
+224,3.733333333,pose1_to_pose2_press,0.619680082678,0.00014992961604,1.05003358421,0.59025076095,0.00882257027495,1.04970497979
+225,3.750000000,pose1_to_pose2_press,0.619697655013,0.000149895198232,1.05003355923,0.590268334402,0.00882253950679,1.04970495224
+226,3.766666667,pose1_to_pose2_press,0.619710329866,0.000149996796036,1.05003357893,0.590281008023,0.00882263687049,1.04970496997
+227,3.783333333,pose1_to_pose2_press,0.619718882974,0.000150070268352,1.05003359772,0.590289559631,0.00882270523621,1.04970498772
+228,3.800000000,pose1_to_pose2_press,0.619724616188,0.00014998971311,1.05003343544,0.590295292845,0.00882262484979,1.04970482796
+229,3.816666667,pose1_to_pose2_press,0.619727843151,0.00015002995703,1.05003344659,0.590298519449,0.00882266386817,1.04970483945
+230,3.833333333,pose1_to_pose2_press,0.619730069762,0.000150091982957,1.05003349531,0.590300745666,0.00882272451988,1.04970488797
+231,3.850000000,pose1_to_pose2_press,0.619731485537,0.00015011779553,1.05003350548,0.590302161253,0.00882274968004,1.04970489813
+232,3.866666667,pose1_to_pose2_press,0.619732400715,0.000150080822215,1.0500334301,0.590303076553,0.00882271315677,1.04970482318
+233,3.883333333,pose1_to_pose2_press,0.619733095381,0.000150052757594,1.05003337288,0.590303771313,0.00882268543375,1.04970476629
+234,3.900000000,pose1_to_pose2_press,0.619733626434,0.000150031302985,1.05003332914,0.590304302437,0.00882266424028,1.04970472281
+235,3.916666667,pose1_to_pose2_press,0.619734080913,0.000150012941963,1.05003329171,0.590304756977,0.00882264610275,1.04970468559
+236,3.933333333,pose1_to_pose2_press,0.619734412628,0.000150002653769,1.05003326838,0.59030508874,0.00882263599239,1.04970466254
+237,3.950000000,pose1_to_pose2_press,0.619734551712,0.000150012295419,1.05003327649,0.590305227857,0.00882264577459,1.04970467134
+238,3.966666667,pose1_to_pose2_press,0.619734571515,0.000150013668148,1.05003327765,0.590305247664,0.00882264716732,1.04970467259
+239,3.983333333,pose1_to_pose2_press,0.619734638952,0.000150018343036,1.05003328158,0.590305315117,0.00882265191036,1.04970467686
+240,4.000000000,pose1_to_pose2_press,0.619734674686,0.000150020820202,1.05003328367,0.590305350859,0.00882265442363,1.04970467912
+241,4.016666667,pose1_to_pose2_press,0.619734725907,0.000150024370966,1.05003328666,0.590305402092,0.00882265802615,1.04970468236
+242,4.033333333,pose1_to_pose2_press,0.619734912896,0.000150037333508,1.05003329756,0.590305589126,0.00882267117764,1.04970469419
+243,4.050000000,pose1_to_pose2_press,0.619735284678,0.000150063106233,1.05003331925,0.590305960994,0.00882269732605,1.0497047177
+244,4.066666667,pose1_to_pose2_press,0.619735980305,0.000150111328648,1.05003335983,0.590306656784,0.00882274625138,1.0497047617
+245,4.083333333,pose1_to_pose2_press,0.619736484123,0.000150129547735,1.05003346757,0.590307161573,0.00882276760132,1.04970486647
+246,4.100000000,pose1_to_pose2_press,0.61973682421,0.000150054458874,1.05003309331,0.590307502271,0.00882269502217,1.04970450232
+247,4.116666667,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502272,0.00882269502222,1.04970450232
+248,4.133333333,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502222,1.04970450232
+249,4.150000000,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502221,1.04970450232
+250,4.166666667,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.0088226950222,1.04970450232
+251,4.183333333,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502219,1.04970450232
+252,4.200000000,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502218,1.04970450232
+253,4.216666667,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502217,1.04970450232
+254,4.233333333,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502216,1.04970450232
+255,4.250000000,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502215,1.04970450232
+256,4.266666667,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502212,1.04970450232
+257,4.283333333,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502214,1.04970450232
+258,4.300000000,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502213,1.04970450232
+259,4.316666667,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502213,1.04970450232
+260,4.333333333,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502212,1.04970450232
+261,4.350000000,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502273,0.00882269502211,1.04970450232
+262,4.366666667,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502274,0.00882269502211,1.04970450232
+263,4.383333333,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502274,0.0088226950221,1.04970450232
+264,4.400000000,pose2_hold,0.61973682421,0.000150054458874,1.05003309331,0.590307502274,0.00882269502209,1.04970450232
+265,4.416666667,pose2_to_pose3_retreat,0.61973682421,0.000150054458874,1.05003309331,0.590307502274,0.00882269502206,1.04970450232
+266,4.433333333,pose2_to_pose3_retreat,0.619736824238,0.000150038832682,1.05003319436,0.590307502308,0.00882267939814,1.04970460282
+267,4.450000000,pose2_to_pose3_retreat,0.619736824273,0.000150019177425,1.05003332147,0.590307502352,0.00882265974574,1.04970472923
+268,4.466666667,pose2_to_pose3_retreat,0.61973673956,0.000150007939094,1.05003334343,0.590307417792,0.0088226489642,1.04970474958
+269,4.483333333,pose2_to_pose3_retreat,0.619736675921,0.000150001209263,1.05003334885,0.590307354267,0.00882264257726,1.04970475386
+270,4.500000000,pose2_to_pose3_retreat,0.619736665031,0.000150000057627,1.05003334978,0.590307343396,0.0088226414843,1.04970475459
+271,4.516666667,pose2_to_pose3_retreat,0.619736259394,0.000149962724237,1.05003337954,0.590306938113,0.00882260509567,1.04970477779
+272,4.533333333,pose2_to_pose3_retreat,0.619734699998,0.000149979992343,1.05003343618,0.590305376174,0.00882261335485,1.04970482474
+273,4.550000000,pose2_to_pose3_retreat,0.619730099901,0.000150090290634,1.05003360807,0.590300776416,0.00882272479812,1.04970499597
+274,4.566666667,pose2_to_pose3_retreat,0.619719293946,0.000150055960247,1.05003350916,0.590289969918,0.00882268879496,1.04970490341
+275,4.583333333,pose2_to_pose3_retreat,0.619700490092,0.000150167769148,1.05003339451,0.590271166176,0.00882280115605,1.04970479521
+276,4.600000000,pose2_to_pose3_retreat,0.619672533164,0.000150050458114,1.05003349659,0.590243210408,0.00882268757559,1.04970489295
+277,4.616666667,pose2_to_pose3_retreat,0.619635453817,0.000150228383244,1.05003364233,0.590206129692,0.0088228607063,1.04970503251
+278,4.633333333,pose2_to_pose3_retreat,0.619588834723,0.000150115924595,1.05003365584,0.59015951116,0.00882274972193,1.04970504446
+279,4.650000000,pose2_to_pose3_retreat,0.619535003279,0.00015016863349,1.05003360561,0.590105679232,0.00882280172991,1.04970500531
+280,4.666666667,pose2_to_pose3_retreat,0.619474373332,0.00015012231997,1.05003363292,0.590045049513,0.00882275607829,1.04970502913
+281,4.683333333,pose2_to_pose3_retreat,0.619405949376,0.000150197860702,1.05003330887,0.589976625078,0.00882283022431,1.04970471112
+282,4.700000000,pose2_to_pose3_retreat,0.619329355528,0.000150230017805,1.05003338864,0.589900031546,0.0088228630052,1.04970479095
+283,4.716666667,pose2_to_pose3_retreat,0.619241576369,0.000150111602997,1.05003344664,0.589812253418,0.00882274753196,1.0497048428
+284,4.733333333,pose2_to_pose3_retreat,0.619142158931,0.000150028145169,1.05003339746,0.589712836577,0.00882266586228,1.04970479077
+285,4.750000000,pose2_to_pose3_retreat,0.619028988559,0.000150169371825,1.05003343474,0.589599665254,0.00882280393395,1.04970483406
+286,4.766666667,pose2_to_pose3_retreat,0.618901529298,0.000150311763511,1.05003372165,0.589472203931,0.00882293915417,1.04970512046
+287,4.783333333,pose2_to_pose3_retreat,0.618758282035,0.000150193557873,1.05003342022,0.589328957169,0.00882282238938,1.04970481779
+288,4.800000000,pose2_to_pose3_retreat,0.618599607168,0.0001501068208,1.05003339941,0.589170282777,0.00882273682224,1.04970479178
+289,4.816666667,pose2_to_pose3_retreat,0.618425714129,0.000150088250592,1.05003346976,0.588996390906,0.00882272199857,1.04970486202
+290,4.833333333,pose2_to_pose3_retreat,0.61823650539,0.000150092448104,1.05003357008,0.588807182913,0.00882272849789,1.04970496263
+291,4.850000000,pose2_to_pose3_retreat,0.61803415534,0.000150063214897,1.05003364311,0.588604833041,0.00882269951467,1.04970503429
+292,4.866666667,pose2_to_pose3_retreat,0.617817961794,0.000149991723168,1.0500336145,0.588388640029,0.00882262957106,1.04970500665
+293,4.883333333,pose2_to_pose3_retreat,0.617585334919,0.000150133443,1.05003341078,0.58815601165,0.00882276602658,1.04970480645
+294,4.900000000,pose2_to_pose3_retreat,0.617333643961,0.000150137074024,1.05003373923,0.587904321393,0.00882277152386,1.04970512953
+295,4.916666667,pose2_to_pose3_retreat,0.617058843004,0.000150176172713,1.05003361241,0.587629519167,0.0088228061736,1.04970500781
+296,4.933333333,pose2_to_pose3_retreat,0.61676085232,0.000150246907732,1.05003337543,0.587331526018,0.00882286825164,1.04970477359
+297,4.950000000,pose2_to_pose3_retreat,0.616438226274,0.000150244029408,1.05003341117,0.587008899955,0.00882286453958,1.049704801
+298,4.966666667,pose2_to_pose3_retreat,0.616093068649,0.000150108128932,1.05003347306,0.586663746999,0.00882274386751,1.04970485844
+299,4.983333333,pose2_to_pose3_retreat,0.615723928461,0.000150272354227,1.05003377423,0.586294604925,0.00882290148547,1.04970516303
+300,5.000000000,pose2_to_pose3_retreat,0.615335729334,0.000150115610731,1.05003366015,0.585906406841,0.00882274776983,1.0497050521
+301,5.016666667,pose2_to_pose3_retreat,0.614929539806,0.000150173235887,1.05003356852,0.585500215747,0.00882279965318,1.04970495837
+302,5.033333333,pose2_to_pose3_retreat,0.614509381447,0.000150166037202,1.05003343284,0.585080058275,0.00882279533475,1.04970482929
+303,5.050000000,pose2_to_pose3_retreat,0.614078670238,0.000150109023461,1.05003341605,0.584649348648,0.00882274338792,1.04970481477
+304,5.066666667,pose2_to_pose3_retreat,0.613639287895,0.000150070072308,1.05003351419,0.58420996647,0.00882270447257,1.04970490745
+305,5.083333333,pose2_to_pose3_retreat,0.613180116441,0.000150076592344,1.05003350784,0.583750793516,0.00882270561862,1.04970490064
+306,5.100000000,pose2_to_pose3_retreat,0.612693944757,0.000150185924534,1.05003330957,0.583264621177,0.00882281263905,1.04970470231
+307,5.116666667,pose2_to_pose3_retreat,0.612181645828,0.00015014560016,1.05003354479,0.582752323338,0.00882277591953,1.04970493547
+308,5.133333333,pose2_to_pose3_retreat,0.61164652864,0.000150121669871,1.05003356669,0.582217206129,0.00882275201892,1.04970496024
+309,5.150000000,pose2_to_pose3_retreat,0.611098518898,0.000150116362313,1.05003355321,0.581669197242,0.00882274968309,1.04970494904
+310,5.166666667,pose2_to_pose3_retreat,0.610543447488,0.000150114168437,1.05003360588,0.581114127411,0.00882275276564,1.04970499994
+311,5.183333333,pose2_to_pose3_retreat,0.609980586781,0.000150128766074,1.05003353628,0.580551265932,0.00882276461398,1.04970492743
+312,5.200000000,pose2_to_pose3_retreat,0.609399512342,0.000150118959937,1.05003362718,0.57997019036,0.00882275105737,1.04970501946
+313,5.216666667,pose2_to_pose3_retreat,0.608795318969,0.000150187070121,1.0500335359,0.579365995568,0.0088228145001,1.04970493189
+314,5.233333333,pose2_to_pose3_retreat,0.608169210454,0.000150207334952,1.05003349276,0.578739887291,0.00882283564002,1.04970489043
+315,5.250000000,pose2_to_pose3_retreat,0.607526208577,0.000150165607162,1.05003349186,0.578096886839,0.00882279872807,1.04970488904
+316,5.266666667,pose2_to_pose3_retreat,0.606868325617,0.000150091446756,1.0500334663,0.577439005226,0.00882272906217,1.0497048614
+317,5.283333333,pose2_to_pose3_retreat,0.60619531767,0.000150042991348,1.05003339974,0.576765997345,0.00882268074211,1.04970479254
+318,5.300000000,pose2_to_pose3_retreat,0.60550263994,0.000150174265148,1.05003347563,0.576073317203,0.00882280412519,1.04970487614
+319,5.316666667,pose2_to_pose3_retreat,0.60479022069,0.000150143045345,1.05003364535,0.575360900198,0.00882278001752,1.04970503349
+320,5.333333333,pose2_to_pose3_retreat,0.604061543143,0.00015017289918,1.05003356293,0.574632221119,0.00882280479688,1.04970495307
+321,5.350000000,pose2_to_pose3_retreat,0.603322896222,0.000150157778568,1.05003349963,0.573893573843,0.00882278871527,1.04970489542
+322,5.366666667,pose2_to_pose3_retreat,0.602585104978,0.000150193596496,1.05003353917,0.573155782969,0.00882282594045,1.04970493891
+323,5.383333333,pose2_to_pose3_retreat,0.601856432143,0.000150233151025,1.05003353192,0.572427110109,0.00882286543102,1.04970493223
+324,5.400000000,pose2_to_pose3_retreat,0.601126911899,0.000150194098383,1.05003336921,0.571697589544,0.00882282526587,1.04970476879
+325,5.416666667,pose2_to_pose3_retreat,0.600394115014,0.000150350897435,1.050033333,0.570964791863,0.00882297968726,1.04970474108
+326,5.433333333,pose2_to_pose3_retreat,0.599639578922,0.00015020880765,1.05003349157,0.57021025836,0.00882284592658,1.04970488758
+327,5.450000000,pose2_to_pose3_retreat,0.598867378098,0.000150188627914,1.05003349434,0.569438057941,0.00882282719359,1.0497048922
+328,5.466666667,pose2_to_pose3_retreat,0.598095834576,0.000150165313658,1.0500333741,0.56866651359,0.00882280149194,1.04970478314
+329,5.483333333,pose2_to_pose3_retreat,0.597325762247,0.00015007193837,1.05003340335,0.567896440824,0.00882270644533,1.04970480734
+330,5.500000000,pose2_to_pose3_retreat,0.596556609014,0.000150088523896,1.05003350579,0.56712728674,0.00882271980011,1.04970490068
+331,5.516666667,pose2_to_pose3_retreat,0.595807653997,0.000150271873795,1.05003350658,0.566378330334,0.00882289867327,1.04970490765
+332,5.533333333,pose2_to_pose3_retreat,0.595074669941,0.000150215039049,1.05003361463,0.565645348212,0.00882284822322,1.049705011
+333,5.550000000,pose2_to_pose3_retreat,0.594337696717,0.000150060670421,1.05003352801,0.564908375391,0.00882269513252,1.04970492198
+334,5.566666667,pose2_to_pose3_retreat,0.593596262329,0.000150059212535,1.05003344786,0.564166940874,0.00882269307816,1.0497048376
+335,5.583333333,pose2_to_pose3_retreat,0.592847248339,0.000150050966369,1.0500335414,0.563417928146,0.00882268918787,1.04970493297
+336,5.600000000,pose2_to_pose3_retreat,0.592099555454,0.000150175844685,1.05003350294,0.562670233063,0.00882280676289,1.04970489853
+337,5.616666667,pose2_to_pose3_retreat,0.59135901087,0.000150260345198,1.05003342399,0.561929687171,0.00882288686556,1.04970482067
+338,5.633333333,pose2_to_pose3_retreat,0.590635181581,0.000150151096461,1.05003351922,0.561205860854,0.00882278754742,1.04970491174
+339,5.650000000,pose2_to_pose3_retreat,0.589931302775,0.000150156017152,1.05003356949,0.560501980016,0.00882278528576,1.0497049544
+340,5.666666667,pose2_to_pose3_retreat,0.589252071564,0.000150124807844,1.05003374406,0.559822750206,0.00882275911009,1.04970513643
+341,5.683333333,pose2_to_pose3_retreat,0.588590817179,0.000150057690864,1.05003378092,0.559161497184,0.00882269645671,1.04970516884
+342,5.700000000,pose2_to_pose3_retreat,0.587945560331,0.000150090680407,1.05003354363,0.55851623968,0.00882272735955,1.04970493521
+343,5.716666667,pose2_to_pose3_retreat,0.587307877301,0.000150153295701,1.05003338772,0.557878555787,0.00882278715708,1.04970478227
+344,5.733333333,pose2_to_pose3_retreat,0.586676622941,0.000150140915201,1.05003340355,0.557247301662,0.00882277548499,1.04970479569
+345,5.750000000,pose2_to_pose3_retreat,0.586047045784,0.000150022537428,1.05003338015,0.556617725323,0.00882265975137,1.04970476881
+346,5.766666667,pose2_to_pose3_retreat,0.5854218923,0.000150035310994,1.05003315502,0.555992569924,0.00882266626199,1.04970454978
+347,5.783333333,pose2_to_pose3_retreat,0.584811942351,0.000150060509246,1.05003337266,0.555382620667,0.00882269368136,1.04970476418
+348,5.800000000,pose2_to_pose3_retreat,0.584224859949,0.000150150164013,1.0500335979,0.554795538585,0.00882278440562,1.04970498887
+349,5.816666667,pose2_to_pose3_retreat,0.583666743149,0.000150066669551,1.05003357578,0.554237422284,0.00882270252176,1.04970496461
+350,5.833333333,pose2_to_pose3_retreat,0.583143423051,0.000150046146601,1.05003360062,0.553714102276,0.00882268232082,1.04970498983
+351,5.850000000,pose2_to_pose3_retreat,0.582649984012,0.000150104523454,1.05003360817,0.553220662353,0.00882273781855,1.04970500072
+352,5.866666667,pose2_to_pose3_retreat,0.582171848108,0.000150131884115,1.05003353546,0.552742525568,0.00882276230398,1.04970493138
+353,5.883333333,pose2_to_pose3_retreat,0.581704720223,0.000149964421071,1.05003375299,0.552275401798,0.0088226086338,1.04970514475
+354,5.900000000,pose2_to_pose3_retreat,0.581246479217,0.000150124594583,1.05003369468,0.551817158162,0.00882275960058,1.04970507833
+355,5.916666667,pose2_to_pose3_retreat,0.580804496182,0.00015013162793,1.05003374896,0.55137517581,0.00882276905758,1.04970513635
+356,5.933333333,pose2_to_pose3_retreat,0.580382723362,0.00015016155327,1.05003377725,0.550953402285,0.00882279667237,1.04970516671
+357,5.950000000,pose2_to_pose3_retreat,0.579983181711,0.000150143058448,1.05003371996,0.550553860027,0.00882277618923,1.04970511072
+358,5.966666667,pose2_to_pose3_retreat,0.57960404035,0.00015007552527,1.05003368839,0.550174718776,0.00882270897194,1.04970507737
+359,5.983333333,pose2_to_pose3_retreat,0.579242760161,0.000150073473227,1.05003380102,0.549813437815,0.008822704004,1.04970518214
+360,6.000000000,pose2_to_pose3_retreat,0.578896281664,0.00015002381946,1.05003374351,0.549466960767,0.00882265974247,1.04970513724
+361,6.016666667,pose2_to_pose3_retreat,0.578565612569,0.000150037059572,1.05003343558,0.549136291847,0.00882267350928,1.0497048275
+362,6.033333333,pose2_to_pose3_retreat,0.578258559343,0.000150244385219,1.05003358633,0.548829236034,0.00882287217757,1.04970498149
+363,6.050000000,pose2_to_pose3_retreat,0.577978053862,0.000150093732821,1.05003355607,0.548548732302,0.00882272734836,1.04970494833
+364,6.066666667,pose2_to_pose3_retreat,0.577727027519,0.000150133853302,1.05003346513,0.548297705465,0.00882276572883,1.04970485568
+365,6.083333333,pose2_to_pose3_retreat,0.577501590575,0.000150278782078,1.05003349688,0.548072266648,0.00882290427466,1.04970488666
+366,6.100000000,pose2_to_pose3_retreat,0.577299244019,0.000150293673483,1.0500336577,0.547869919746,0.00882291795306,1.04970504661
+367,6.116666667,pose2_to_pose3_retreat,0.577110035494,0.000150049180693,1.05003363351,0.547680714808,0.00882268578813,1.04970502671
+368,6.133333333,pose2_to_pose3_retreat,0.576931221532,0.000149967208936,1.0500336199,0.547501902799,0.00882261056431,1.04970501612
+369,6.150000000,pose2_to_pose3_retreat,0.57676278085,0.00015002835402,1.05003354936,0.547333461794,0.00882267068567,1.04970494759
+370,6.166666667,pose2_to_pose3_retreat,0.576605454389,0.000150083227527,1.05003356328,0.54717613444,0.00882272244323,1.04970495925
+371,6.183333333,pose2_to_pose3_retreat,0.576462192975,0.000150135609396,1.05003363861,0.547032872251,0.00882277208961,1.04970503176
+372,6.200000000,pose2_to_pose3_retreat,0.576333874697,0.000150220534783,1.05003361257,0.546904553104,0.00882285406466,1.04970500571
+373,6.216666667,pose2_to_pose3_retreat,0.576222635365,0.000150052113255,1.05003354555,0.546793314525,0.00882268790585,1.04970493103
+374,6.233333333,pose2_to_pose3_retreat,0.57612608687,0.000150074656227,1.05003344847,0.546696767167,0.00882271524928,1.04970485883
+375,6.250000000,pose2_to_pose3_retreat,0.576044037484,0.000149969766397,1.05003350253,0.54661471651,0.00882260548909,1.04970489854
+376,6.266666667,pose2_to_pose3_retreat,0.575972857278,0.000150061467491,1.05003359714,0.546543535536,0.00882269437188,1.04970498764
+377,6.283333333,pose2_to_pose3_retreat,0.57591115008,0.000150156438818,1.05003358376,0.546481828365,0.00882278958551,1.04970497817
+378,6.300000000,pose2_to_pose3_retreat,0.575858049575,0.000150139150215,1.05003350422,0.546428728151,0.00882277334416,1.04970490014
+379,6.316666667,pose2_to_pose3_retreat,0.575812354535,0.00015009294892,1.05003353797,0.546383032803,0.00882272570937,1.04970492364
+380,6.333333333,pose2_to_pose3_retreat,0.57577393735,0.000150183614558,1.05003337442,0.546344614512,0.00882281315502,1.04970477411
+381,6.350000000,pose2_to_pose3_retreat,0.575742914655,0.000150033722684,1.05003338268,0.546313593813,0.00882266982716,1.04970477687
+382,6.366666667,pose2_to_pose3_retreat,0.575719265671,0.000150007166022,1.05003358643,0.546289944843,0.00882264322596,1.04970497817
+383,6.383333333,pose2_to_pose3_retreat,0.57570200041,0.000150069728605,1.05003357482,0.546272678209,0.00882270104898,1.04970496453
+384,6.400000000,pose2_to_pose3_retreat,0.575689904358,0.000150107345146,1.05003353073,0.546260581814,0.00882273754251,1.04970492152
+385,6.416666667,pose2_to_pose3_retreat,0.575681796904,0.000150104338578,1.05003353669,0.546252474902,0.00882273647747,1.04970493016
+386,6.433333333,pose2_to_pose3_retreat,0.575676036733,0.000150055572673,1.05003369798,0.546246714899,0.0088226882919,1.04970509186
+387,6.450000000,pose2_to_pose3_retreat,0.575672249256,0.000150018837846,1.05003371084,0.546242928402,0.00882265493677,1.04970510612
+388,6.466666667,pose2_to_pose3_retreat,0.575669618472,0.000149989060766,1.05003363473,0.546240299094,0.00882263024288,1.04970503201
+389,6.483333333,pose2_to_pose3_retreat,0.575668028917,0.000150042524554,1.05003361309,0.546238708894,0.00882268152352,1.04970501062
+390,6.500000000,pose2_to_pose3_retreat,0.575667254648,0.000150106899288,1.05003361561,0.546237933485,0.00882274201605,1.04970501274
+391,6.516666667,pose2_to_pose3_retreat,0.57566688896,0.000150137303531,1.0500336168,0.546237567259,0.00882277058673,1.04970501374
+392,6.533333333,pose2_to_pose3_retreat,0.575666653171,0.000150156907612,1.05003361757,0.546237331124,0.00882278900856,1.04970501439
+393,6.550000000,pose2_to_pose3_retreat,0.575666419068,0.000150176371588,1.05003361833,0.546237096676,0.00882280729873,1.04970501503
+394,6.566666667,pose2_to_pose3_retreat,0.575666175136,0.000150196652678,1.05003361913,0.546236852385,0.00882282635674,1.0497050157
+395,6.583333333,pose2_to_pose3_retreat,0.575666038602,0.00015019467368,1.05003360672,0.54623671591,0.00882282457959,1.04970500334
+396,6.600000000,pose2_to_pose3_retreat,0.575666002337,0.000150190802108,1.05003360019,0.546236679726,0.00882282098411,1.04970499685
+397,6.616666667,pose2_to_pose3_retreat,0.575665691778,0.000150157647064,1.05003354434,0.546236369859,0.00882279019348,1.04970494133
+398,6.633333333,pose2_to_pose3_retreat,0.575665351921,0.00015012136427,1.05003348322,0.54623603076,0.00882275649815,1.04970488058
+399,6.650000000,pose2_to_pose3_retreat,0.575665143006,0.000150099060783,1.05003344565,0.546235822312,0.00882273578521,1.04970484323
+400,6.666666667,pose2_to_pose3_retreat,0.575665063177,0.000150090538267,1.05003343129,0.546235742661,0.00882272787047,1.04970482896
+401,6.683333333,pose2_to_pose3_retreat,0.575665037676,0.000150087815757,1.0500334267,0.546235717216,0.00882272534211,1.0497048244
+402,6.700000000,pose2_to_pose3_retreat,0.575664871626,0.000150070088416,1.05003339684,0.546235551536,0.00882270887898,1.04970479472
+403,6.716666667,pose2_to_pose3_retreat,0.575664776209,0.000150066430344,1.05003340145,0.546235456267,0.00882270571142,1.0497047991
+404,6.733333333,pose2_to_pose3_retreat,0.575664711125,0.000150083919267,1.05003347125,0.546235391082,0.00882272281274,1.04970486771
+405,6.750000000,pose2_to_pose3_retreat,0.575664663185,0.000150096801534,1.05003352266,0.546235343067,0.0088227354095,1.04970491825
+406,6.766666667,pose2_to_pose3_retreat,0.575664655184,0.000150098951506,1.05003353124,0.546235335054,0.00882273751183,1.04970492669
+407,6.783333333,pose2_to_pose3_retreat,0.575664542042,0.000150129354264,1.05003365258,0.546235221737,0.00882276724077,1.04970504596
+408,6.800000000,pose2_to_pose3_retreat,0.575664417701,0.000150157143775,1.05003373995,0.546235097343,0.00882279483019,1.04970513283
+409,6.816666667,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511737,1.04970501047

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95bea309ffcc628e3acf8e852f12411ea82104c342114775328413c67c5d137b
+size 26203167

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/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,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+5,0.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+8,0.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+9,0.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+10,0.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+11,0.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+13,0.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+14,0.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+15,0.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+17,0.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+19,0.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+20,0.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+21,0.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+22,0.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+23,0.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+24,0.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+25,0.416666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+26,0.433333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+27,0.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+28,0.466666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+29,0.483333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+30,0.500000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+31,0.516666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+32,0.533333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+33,0.550000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+34,0.566666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+35,0.583333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+36,0.600000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+37,0.616666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+38,0.633333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+39,0.650000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+40,0.666666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+41,0.683333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+42,0.700000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+43,0.716666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+44,0.733333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+45,0.750000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+46,0.766666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+47,0.783333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+48,0.800000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+49,0.816666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+50,0.833333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+51,0.850000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+52,0.866666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+53,0.883333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+54,0.900000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+55,0.916666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+56,0.933333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+57,0.950000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+58,0.966666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+59,0.983333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+60,1.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+61,1.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+62,1.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+63,1.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+64,1.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+65,1.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+66,1.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+67,1.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+68,1.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+69,1.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+70,1.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+71,1.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+72,1.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+73,1.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+74,1.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+75,1.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+76,1.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+77,1.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+78,1.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+79,1.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+80,1.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+81,1.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+82,1.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+83,1.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+84,1.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+85,1.416666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+86,1.433333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+87,1.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+88,1.466666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+89,1.483333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+90,1.500000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+91,1.516666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+92,1.533333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+93,1.550000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+94,1.566666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+95,1.583333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+96,1.600000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+97,1.616666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+98,1.633333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+99,1.650000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+100,1.666666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+101,1.683333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+102,1.700000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+103,1.716666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+104,1.733333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+105,1.750000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+106,1.766666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+107,1.783333333,pose1_to_pose2_press,0.575664286866,0.000150184481569,1.05003359859,0.54623496663,0.00882282295986,1.04970500149
+108,1.800000000,pose1_to_pose2_press,0.57566438565,0.000150203851769,1.05003370144,0.546235064119,0.00882283782074,1.04970510125
+109,1.816666667,pose1_to_pose2_press,0.575664549064,0.000150156438255,1.05003366632,0.546235228151,0.00882279242515,1.04970506403
+110,1.833333333,pose1_to_pose2_press,0.575664636464,0.000150124231393,1.05003362984,0.546235316119,0.00882276211442,1.04970502668
+111,1.850000000,pose1_to_pose2_press,0.57566464617,0.000150120654606,1.05003362579,0.546235325889,0.00882275874822,1.04970502254
+112,1.866666667,pose1_to_pose2_press,0.575664741685,0.000150085457117,1.05003358593,0.546235422025,0.00882272562293,1.04970498173
+113,1.883333333,pose1_to_pose2_press,0.575665050071,0.000150035149189,1.05003351387,0.54623573121,0.00882267796806,1.04970490809
+114,1.900000000,pose1_to_pose2_press,0.575665131345,0.000150042267025,1.05003351311,0.546235812307,0.00882268448613,1.04970490739
+115,1.916666667,pose1_to_pose2_press,0.57566606019,0.000150123613368,1.05003350434,0.546236739123,0.00882275897805,1.04970489934
+116,1.933333333,pose1_to_pose2_press,0.575670372338,0.00015011879753,1.05003362109,0.546241051078,0.00882275353354,1.04970501674
+117,1.950000000,pose1_to_pose2_press,0.575679821582,0.000150097475166,1.05003332008,0.54625050031,0.00882273240371,1.04970472233
+118,1.966666667,pose1_to_pose2_press,0.575698670086,0.000150166561773,1.05003341484,0.546269347073,0.00882279543483,1.04970481277
+119,1.983333333,pose1_to_pose2_press,0.575727107734,0.000150039361335,1.05003368863,0.546297788016,0.00882267928465,1.04970508293
+120,2.000000000,pose1_to_pose2_press,0.575766689608,0.00015011233569,1.05003343292,0.546337369667,0.00882275141469,1.04970482486
+121,2.016666667,pose1_to_pose2_press,0.575815745128,0.000150009565162,1.05003351218,0.546386424684,0.00882264703179,1.04970490658
+122,2.033333333,pose1_to_pose2_press,0.575873632894,0.000150101428897,1.0500334174,0.546444310551,0.00882273257838,1.0497048151
+123,2.050000000,pose1_to_pose2_press,0.575940319962,0.000150148244709,1.05003362486,0.546510999272,0.00882278497687,1.04970502178
+124,2.066666667,pose1_to_pose2_press,0.576016214191,0.000150162850579,1.05003361619,0.54658689267,0.00882279682096,1.04970501458
+125,2.083333333,pose1_to_pose2_press,0.576102012812,0.000150121917018,1.05003362487,0.546672690076,0.00882275160662,1.04970501906
+126,2.100000000,pose1_to_pose2_press,0.576197934831,0.000150139737653,1.05003358501,0.546768612096,0.00882276937224,1.04970497752
+127,2.116666667,pose1_to_pose2_press,0.576305656447,0.000150167226607,1.05003339436,0.546876334132,0.00882279842895,1.04970479066
+128,2.133333333,pose1_to_pose2_press,0.576425046021,0.00015006709994,1.05003324691,0.546995724594,0.00882270145007,1.04970464664
+129,2.150000000,pose1_to_pose2_press,0.576557476179,0.000150201981503,1.05003374318,0.547128152557,0.00882282850187,1.0497051328
+130,2.166666667,pose1_to_pose2_press,0.576706779793,0.000150267031696,1.05003350018,0.547277456967,0.00882289661699,1.04970489942
+131,2.183333333,pose1_to_pose2_press,0.576873722409,0.000150138303377,1.05003344194,0.547444400747,0.00882277228056,1.04970485276
+132,2.200000000,pose1_to_pose2_press,0.577059120628,0.000150097044681,1.05003348755,0.547629798568,0.00882272917021,1.04970488504
+133,2.216666667,pose1_to_pose2_press,0.577261136825,0.000150143837605,1.05003341776,0.547831813821,0.008822772677,1.04970481299
+134,2.233333333,pose1_to_pose2_press,0.577479344291,0.000150141822712,1.05003329078,0.548050021402,0.00882277121444,1.04970469021
+135,2.250000000,pose1_to_pose2_press,0.577710420687,0.000150114700526,1.05003343959,0.548281099253,0.00882274898496,1.0497048378
+136,2.266666667,pose1_to_pose2_press,0.577954189551,0.000150121966561,1.05003358045,0.548524868978,0.00882275906251,1.04970497561
+137,2.283333333,pose1_to_pose2_press,0.578214979613,0.000150138566865,1.05003352882,0.548785658591,0.00882277421121,1.04970492581
+138,2.300000000,pose1_to_pose2_press,0.578494252212,0.000150064969013,1.05003357762,0.549064931222,0.00882270085699,1.04970497813
+139,2.316666667,pose1_to_pose2_press,0.578798251832,0.000149887615013,1.05003340193,0.549368931837,0.00882252657875,1.04970479443
+140,2.333333333,pose1_to_pose2_press,0.579129310788,0.000150082086543,1.05003322005,0.549699989105,0.00882271590861,1.04970462794
+141,2.350000000,pose1_to_pose2_press,0.579491437595,0.000150088317823,1.05003377039,0.550062116068,0.00882272223805,1.04970516677
+142,2.366666667,pose1_to_pose2_press,0.579880831436,0.000150238768035,1.05003367385,0.550451507189,0.00882286343139,1.04970506945
+143,2.383333333,pose1_to_pose2_press,0.580295794275,0.000150225673446,1.05003353109,0.550866471127,0.00882285415025,1.04970492877
+144,2.400000000,pose1_to_pose2_press,0.580728412124,0.000150137828617,1.05003344411,0.55129908952,0.00882276790623,1.04970483517
+145,2.416666667,pose1_to_pose2_press,0.581174181359,0.000150088762283,1.05003349311,0.551744860064,0.0088227231547,1.04970488085
+146,2.433333333,pose1_to_pose2_press,0.58163062363,0.000150111465597,1.05003350941,0.552201302805,0.0088227476938,1.04970490333
+147,2.450000000,pose1_to_pose2_press,0.582102379696,0.000150147417778,1.05003354129,0.55267305848,0.00882278251119,1.04970494017
+148,2.466666667,pose1_to_pose2_press,0.582593522247,0.000150179514915,1.05003363837,0.553164200528,0.00882281272992,1.04970503267
+149,2.483333333,pose1_to_pose2_press,0.583107226798,0.000150195796034,1.05003363845,0.553677904404,0.00882282645635,1.04970502566
+150,2.500000000,pose1_to_pose2_press,0.583642860547,0.000150063278366,1.05003355177,0.554213538966,0.00882269677274,1.04970494089
+151,2.516666667,pose1_to_pose2_press,0.584198395646,0.000150183898322,1.05003363311,0.554769072034,0.00882281059187,1.04970502451
+152,2.533333333,pose1_to_pose2_press,0.584765914462,0.00015007127885,1.05003340403,0.55533659298,0.00882270533102,1.04970479879
+153,2.550000000,pose1_to_pose2_press,0.585340591828,0.000150035376073,1.05003328861,0.555911271133,0.00882267214369,1.04970468454
+154,2.566666667,pose1_to_pose2_press,0.585934584844,0.000150129173603,1.05003354402,0.556505263576,0.00882276371933,1.04970493261
+155,2.583333333,pose1_to_pose2_press,0.586553604267,0.000150044374396,1.05003357159,0.557124284337,0.00882268357035,1.04970496297
+156,2.600000000,pose1_to_pose2_press,0.587198413559,0.000150068263007,1.05003336417,0.557769093133,0.00882270613901,1.04970476497
+157,2.616666667,pose1_to_pose2_press,0.587868783491,0.000150120747177,1.05003330762,0.558439461708,0.00882275396167,1.04970470699
+158,2.633333333,pose1_to_pose2_press,0.588564618878,0.000150015293748,1.05003350082,0.559135298097,0.00882265160191,1.049704892
+159,2.650000000,pose1_to_pose2_press,0.589266776543,0.000149976613865,1.05003359751,0.559837456818,0.00882261658954,1.04970499077
+160,2.666666667,pose1_to_pose2_press,0.589966541065,0.00015004079349,1.05003352806,0.560537220832,0.00882267915128,1.04970492415
+161,2.683333333,pose1_to_pose2_press,0.590661221776,0.000150084225453,1.05003361703,0.561231901265,0.00882272147642,1.04970500881
+162,2.700000000,pose1_to_pose2_press,0.591352016986,0.000149981147881,1.05003337564,0.561922697207,0.00882262111476,1.04970477344
+163,2.716666667,pose1_to_pose2_press,0.592049486265,0.000150212512378,1.05003364626,0.562620164328,0.00882284547751,1.04970505254
+164,2.733333333,pose1_to_pose2_press,0.592765602892,0.0001502703459,1.05003362676,0.563336281761,0.00882290594957,1.04970503044
+165,2.750000000,pose1_to_pose2_press,0.593515916268,0.000150215564403,1.05003370054,0.564086594286,0.00882284805194,1.04970509821
+166,2.766666667,pose1_to_pose2_press,0.594290309336,0.000150140862368,1.05003351713,0.564860987736,0.00882277470431,1.04970491631
+167,2.783333333,pose1_to_pose2_press,0.595081602303,0.000150103198389,1.05003350446,0.5656522816,0.00882274007456,1.04970490348
+168,2.800000000,pose1_to_pose2_press,0.595879244147,0.000150072747663,1.05003351326,0.566449923752,0.00882271053609,1.04970490877
+169,2.816666667,pose1_to_pose2_press,0.596672362167,0.000150092997587,1.05003345013,0.567243041969,0.00882273137774,1.04970484359
+170,2.833333333,pose1_to_pose2_press,0.597440162356,0.000150120548414,1.05003356211,0.568010842333,0.00882275945496,1.0497049538
+171,2.850000000,pose1_to_pose2_press,0.598196003463,0.000150040572727,1.05003357219,0.568766684114,0.00882268181328,1.0497049652
+172,2.866666667,pose1_to_pose2_press,0.59894813561,0.000149993080244,1.05003335704,0.569518817094,0.00882263740679,1.049704757
+173,2.883333333,pose1_to_pose2_press,0.599706198253,0.000150173414052,1.05003340059,0.570276875236,0.00882280215079,1.04970479216
+174,2.900000000,pose1_to_pose2_press,0.60047475132,0.000150142424981,1.05003347085,0.571045429426,0.0088227753075,1.04970487136
+175,2.916666667,pose1_to_pose2_press,0.60124985178,0.000149982932687,1.05003360658,0.571820531938,0.0088226225742,1.04970500174
+176,2.933333333,pose1_to_pose2_press,0.602027192838,0.000150111527346,1.05003341444,0.572597871248,0.00882274540464,1.04970481412
+177,2.950000000,pose1_to_pose2_press,0.602800877186,0.000150207176609,1.05003346785,0.573371554733,0.008822837961,1.04970486329
+178,2.966666667,pose1_to_pose2_press,0.60355777634,0.000150162304389,1.05003357959,0.574128454781,0.00882279610815,1.04970497466
+179,2.983333333,pose1_to_pose2_press,0.604292794265,0.000150115392515,1.05003362553,0.574863471814,0.00882274613678,1.04970501993
+180,3.000000000,pose1_to_pose2_press,0.605009763144,0.000150088598532,1.05003350946,0.575580440828,0.00882271990671,1.0497049068
+181,3.016666667,pose1_to_pose2_press,0.605711923714,0.000150086506263,1.05003339105,0.576282602473,0.00882272167014,1.04970479387
+182,3.033333333,pose1_to_pose2_press,0.606416444104,0.000150104829674,1.05003345216,0.576987122227,0.00882273773971,1.04970485264
+183,3.050000000,pose1_to_pose2_press,0.607119006638,0.000150033418345,1.05003341838,0.577689686763,0.00882267282407,1.04970481105
+184,3.066666667,pose1_to_pose2_press,0.607811862754,0.000150102046434,1.05003354412,0.578382541967,0.00882273828049,1.04970493489
+185,3.083333333,pose1_to_pose2_press,0.608493094303,0.000149987623004,1.05003374646,0.579063775577,0.00882263099652,1.0497051412
+186,3.100000000,pose1_to_pose2_press,0.609156519975,0.000150151719831,1.05003350105,0.579727199515,0.00882278948566,1.04970490322
+187,3.116666667,pose1_to_pose2_press,0.609785069132,0.000150136058339,1.05003340864,0.580355748749,0.00882277386749,1.04970480523
+188,3.133333333,pose1_to_pose2_press,0.610385488077,0.000150080838551,1.05003336208,0.580956168486,0.00882272152922,1.0497047639
+189,3.150000000,pose1_to_pose2_press,0.610965196451,0.000150091197954,1.0500333658,0.581535876212,0.00882272960163,1.04970476536
+190,3.166666667,pose1_to_pose2_press,0.611528545036,0.000150060679333,1.05003349021,0.582099223645,0.00882269485418,1.04970488145
+191,3.183333333,pose1_to_pose2_press,0.612075157249,0.000150028123444,1.05003368521,0.582645835254,0.00882266006376,1.04970507289
+192,3.200000000,pose1_to_pose2_press,0.612611939701,0.000150203296611,1.05003376658,0.583182617352,0.0088228340826,1.04970515802
+193,3.216666667,pose1_to_pose2_press,0.613140101209,0.000150092260277,1.05003379012,0.583710781107,0.00882273075573,1.04970517664
+194,3.233333333,pose1_to_pose2_press,0.613657396584,0.00015006058102,1.05003363745,0.584228075226,0.00882269533556,1.04970503223
+195,3.250000000,pose1_to_pose2_press,0.614162081748,0.00015018774294,1.05003353475,0.584732758975,0.0088228180122,1.0497049283
+196,3.266666667,pose1_to_pose2_press,0.614646414146,0.000150224542562,1.05003348898,0.585217091313,0.00882285529543,1.04970488902
+197,3.283333333,pose1_to_pose2_press,0.615103560207,0.000150156019987,1.05003357224,0.585674238868,0.0088227922224,1.04970497007
+198,3.300000000,pose1_to_pose2_press,0.61553119612,0.000150172933654,1.05003348708,0.586101874201,0.00882280780176,1.04970488778
+199,3.316666667,pose1_to_pose2_press,0.615934426946,0.000150209902154,1.05003343325,0.58650510398,0.00882284210234,1.04970483834
+200,3.333333333,pose1_to_pose2_press,0.616319602556,0.000150137419486,1.05003357855,0.58689028065,0.00882277373971,1.04970497963
+201,3.350000000,pose1_to_pose2_press,0.616694635684,0.000150044419165,1.05003351174,0.587265314577,0.00882268327157,1.0497049088
+202,3.366666667,pose1_to_pose2_press,0.617059870569,0.000150056250345,1.0500336419,0.587630548157,0.00882269091777,1.04970503316
+203,3.383333333,pose1_to_pose2_press,0.617412881124,0.000150028971244,1.05003368199,0.587983559181,0.00882266539463,1.04970506387
+204,3.400000000,pose1_to_pose2_press,0.617744787683,0.000150059743867,1.05003351903,0.588315464842,0.00882269393898,1.04970491316
+205,3.416666667,pose1_to_pose2_press,0.618052905187,0.00015018384522,1.05003349272,0.588623581102,0.00882281445027,1.04970489211
+206,3.433333333,pose1_to_pose2_press,0.618333156543,0.000150141795326,1.05003350798,0.588903833808,0.00882277726724,1.04970490375
+207,3.450000000,pose1_to_pose2_press,0.618587606704,0.000150096777863,1.05003360351,0.589158284804,0.00882273524039,1.04970499342
+208,3.466666667,pose1_to_pose2_press,0.618817351423,0.000150164058894,1.0500337075,0.589388028786,0.0088228002089,1.04970509714
+209,3.483333333,pose1_to_pose2_press,0.619030194299,0.000150221195618,1.05003375813,0.589600871207,0.00882285613411,1.04970515123
+210,3.500000000,pose1_to_pose2_press,0.619229025593,0.00015011464223,1.05003373614,0.589799703917,0.00882275483482,1.0497051296
+211,3.516666667,pose1_to_pose2_press,0.619418388546,0.000150127140228,1.05003363257,0.58998906572,0.00882276362733,1.04970502623
+212,3.533333333,pose1_to_pose2_press,0.619597400571,0.00015018106948,1.05003349497,0.590168078102,0.00882281923268,1.04970489434
+213,3.550000000,pose1_to_pose2_press,0.61976215342,0.000150098672963,1.0500332774,0.590332830473,0.00882273533713,1.04970467682
+214,3.566666667,pose1_to_pose2_press,0.619910693226,0.000150275752446,1.05003347399,0.59048136795,0.00882290452368,1.04970486647
+215,3.583333333,pose1_to_pose2_press,0.620039771461,0.000150233644916,1.05003352107,0.590610445432,0.00882285996374,1.04970491093
+216,3.600000000,pose1_to_pose2_press,0.620151254226,0.000150168820691,1.0500334088,0.590721928902,0.00882279803741,1.04970480802
+217,3.616666667,pose1_to_pose2_press,0.6202466315,0.000150152815491,1.05003337397,0.590817308007,0.00882278833396,1.0497047733
+218,3.633333333,pose1_to_pose2_press,0.620330153893,0.000150099829581,1.05003344275,0.590900832179,0.00882274128383,1.04970483656
+219,3.650000000,pose1_to_pose2_press,0.620403403933,0.00015002082464,1.05003348938,0.59097408235,0.0088226628974,1.04970488338
+220,3.666666667,pose1_to_pose2_press,0.620467983722,0.000150121947115,1.0500333667,0.591038659731,0.00882275614575,1.04970476419
+221,3.683333333,pose1_to_pose2_press,0.620524428433,0.000150125243144,1.05003324314,0.591095104606,0.00882276044111,1.04970464638
+222,3.700000000,pose1_to_pose2_press,0.620572263803,0.000149935119108,1.05003344468,0.591142941681,0.00882257622448,1.04970484699
+223,3.716666667,pose1_to_pose2_press,0.620611848098,0.000150119901887,1.05003342165,0.591182523466,0.00882275199082,1.04970481382
+224,3.733333333,pose1_to_pose2_press,0.620643633598,0.000150105964548,1.05003354076,0.591214309982,0.00882274133822,1.04970493571
+225,3.750000000,pose1_to_pose2_press,0.620668952395,0.000149988526255,1.05003350293,0.591239630833,0.00882263101114,1.04970489724
+226,3.766666667,pose1_to_pose2_press,0.620688727458,0.000149966125129,1.05003345048,0.591259405539,0.00882260744218,1.04970484112
+227,3.783333333,pose1_to_pose2_press,0.620703520782,0.000150055127785,1.050033515,0.591274197162,0.00882269059745,1.04970490632
+228,3.800000000,pose1_to_pose2_press,0.62071448129,0.000150127736336,1.05003350317,0.59128515876,0.00882276709299,1.04970489908
+229,3.816666667,pose1_to_pose2_press,0.620722008813,0.00015002041939,1.05003359554,0.591292687128,0.00882266268593,1.04970499267
+230,3.833333333,pose1_to_pose2_press,0.620727243343,0.000150057926496,1.05003364007,0.591297920376,0.00882269565199,1.04970503301
+231,3.850000000,pose1_to_pose2_press,0.620730515306,0.000150107962855,1.05003365755,0.591301191171,0.00882274155026,1.04970504676
+232,3.866666667,pose1_to_pose2_press,0.620732588634,0.000150079399843,1.05003365141,0.591303265143,0.00882271515233,1.04970504129
+233,3.883333333,pose1_to_pose2_press,0.620733946252,0.000150067163855,1.05003360931,0.591304623095,0.00882270401698,1.04970499896
+234,3.900000000,pose1_to_pose2_press,0.620734576087,0.000150076090336,1.05003350379,0.591305252885,0.00882271273816,1.04970489184
+235,3.916666667,pose1_to_pose2_press,0.620735208153,0.000150085048445,1.05003339789,0.591305884907,0.00882272149024,1.04970478433
+236,3.933333333,pose1_to_pose2_press,0.620735877076,0.000150055785605,1.05003333878,0.591306554188,0.00882269348774,1.0497047258
+237,3.950000000,pose1_to_pose2_press,0.620736078843,0.000150018427264,1.05003335995,0.591306756361,0.00882265759828,1.04970474883
+238,3.966666667,pose1_to_pose2_press,0.620736144665,0.000150006239998,1.05003336686,0.591306822316,0.0088226458902,1.04970475635
+239,3.983333333,pose1_to_pose2_press,0.620736366962,0.000149965080362,1.05003339019,0.591307045061,0.00882260634891,1.04970478172
+240,4.000000000,pose1_to_pose2_press,0.620736504676,0.000149951310322,1.05003339714,0.59130718285,0.00882259287619,1.04970478972
+241,4.016666667,pose1_to_pose2_press,0.62073651012,0.000149951573471,1.0500333969,0.591307188283,0.00882259310254,1.0497047895
+242,4.033333333,pose1_to_pose2_press,0.620736560444,0.000149954006105,1.05003339466,0.591307238506,0.00882259519496,1.04970478751
+243,4.050000000,pose1_to_pose2_press,0.620736639271,0.000149957816588,1.05003339116,0.591307317175,0.00882259847254,1.04970478439
+244,4.066666667,pose1_to_pose2_press,0.620736729948,0.00014996129901,1.0500333881,0.591307407585,0.00882260106472,1.049704782
+245,4.083333333,pose1_to_pose2_press,0.620736832495,0.000149963740063,1.05003338624,0.591307509687,0.00882260203824,1.0497047813
+246,4.100000000,pose1_to_pose2_press,0.620736843123,0.000149963993045,1.05003338605,0.591307520268,0.00882260213933,1.04970478123
+247,4.116666667,pose1_to_pose2_press,0.620736843123,0.000149963993045,1.05003338605,0.591307520268,0.00882260213944,1.04970478123
+248,4.133333333,pose1_to_pose2_press,0.620736843123,0.000149963993045,1.05003338605,0.591307520267,0.00882260213959,1.04970478123
+249,4.150000000,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.591307520269,0.00882260213935,1.04970478122
+250,4.166666667,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.591307520269,0.00882260213919,1.04970478122
+251,4.183333333,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.591307520269,0.00882260213914,1.04970478122
+252,4.200000000,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.591307520269,0.00882260213919,1.04970478122
+253,4.216666667,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213911,1.04970478122
+254,4.233333333,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213909,1.04970478122
+255,4.250000000,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213923,1.04970478122
+256,4.266666667,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213889,1.04970478122
+257,4.283333333,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213924,1.04970478122
+258,4.300000000,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213916,1.04970478122
+259,4.316666667,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213887,1.04970478122
+260,4.333333333,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213887,1.04970478122
+261,4.350000000,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213898,1.04970478122
+262,4.366666667,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213912,1.04970478122
+263,4.383333333,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.59130752027,0.00882260213915,1.04970478122
+264,4.400000000,pose2_hold,0.620736843123,0.000149963993045,1.05003338605,0.591307520271,0.00882260213916,1.04970478122
+265,4.416666667,pose2_to_pose3_retreat,0.620736843123,0.000149963993045,1.05003338605,0.591307520271,0.00882260213883,1.04970478122
+266,4.433333333,pose2_to_pose3_retreat,0.620736761042,0.000149984818029,1.05003338888,0.591307437199,0.00882261963789,1.04970478507
+267,4.450000000,pose2_to_pose3_retreat,0.620736623218,0.000149957745907,1.05003343689,0.591307299453,0.00882259274318,1.04970483076
+268,4.466666667,pose2_to_pose3_retreat,0.620736614411,0.000149956016048,1.05003343996,0.591307290651,0.00882259102465,1.04970483368
+269,4.483333333,pose2_to_pose3_retreat,0.620736600429,0.00014995326952,1.05003344483,0.591307276677,0.00882258829612,1.04970483831
+270,4.500000000,pose2_to_pose3_retreat,0.620736581736,0.000149949597701,1.05003345134,0.591307257994,0.00882258464837,1.04970484451
+271,4.516666667,pose2_to_pose3_retreat,0.620736436403,0.000149921050716,1.05003350197,0.591307112744,0.00882255628845,1.04970489269
+272,4.533333333,pose2_to_pose3_retreat,0.620736014395,0.000149985151276,1.0500335279,0.591306690371,0.00882261911606,1.04970491769
+273,4.550000000,pose2_to_pose3_retreat,0.620735098165,0.000150155336344,1.05003353821,0.591305773237,0.00882278624416,1.04970492839
+274,4.566666667,pose2_to_pose3_retreat,0.620730927863,0.000149999746692,1.05003366848,0.591301604257,0.0088226349486,1.04970505382
+275,4.583333333,pose2_to_pose3_retreat,0.620721850013,0.000149996349413,1.05003346165,0.591292527578,0.00882263566461,1.04970485228
+276,4.600000000,pose2_to_pose3_retreat,0.620704071704,0.000150001807771,1.05003381206,0.59127474837,0.00882263771962,1.0497051964
+277,4.616666667,pose2_to_pose3_retreat,0.620677301528,0.000150120612073,1.05003345903,0.59124797774,0.00882275523682,1.04970485304
+278,4.633333333,pose2_to_pose3_retreat,0.620640688973,0.000150069837397,1.05003361261,0.591211363673,0.00882269938949,1.04970500447
+279,4.650000000,pose2_to_pose3_retreat,0.620595929992,0.000150055105266,1.05003360366,0.59116660644,0.00882269041703,1.04970500446
+280,4.666666667,pose2_to_pose3_retreat,0.620543098343,0.000150204564484,1.05003338076,0.5911137723,0.00882283112874,1.04970478309
+281,4.683333333,pose2_to_pose3_retreat,0.620483641994,0.000150186505819,1.05003382475,0.59105431649,0.0088228141456,1.04970521332
+282,4.700000000,pose2_to_pose3_retreat,0.620417204661,0.000150157946804,1.05003362565,0.590987880401,0.00882279102768,1.04970501645
+283,4.716666667,pose2_to_pose3_retreat,0.620341647498,0.000150111240094,1.05003351552,0.590912324446,0.00882274845889,1.04970490947
+284,4.733333333,pose2_to_pose3_retreat,0.620256375658,0.000150151405009,1.05003345057,0.590827051364,0.00882278405579,1.04970484693
+285,4.750000000,pose2_to_pose3_retreat,0.620159083253,0.000150218838461,1.05003337489,0.59072975714,0.00882284521676,1.04970477214
+286,4.766666667,pose2_to_pose3_retreat,0.620048635728,0.000150139106421,1.05003341739,0.590619311452,0.00882277151198,1.0497048118
+287,4.783333333,pose2_to_pose3_retreat,0.619924465283,0.000150037459103,1.05003362938,0.590495141686,0.00882267185889,1.04970502156
+288,4.800000000,pose2_to_pose3_retreat,0.619784636202,0.000149993648631,1.05003358801,0.590355313412,0.00882263085608,1.04970498964
+289,4.816666667,pose2_to_pose3_retreat,0.619629791468,0.000150086120166,1.05003353343,0.59020046706,0.00882271762045,1.04970493129
+290,4.833333333,pose2_to_pose3_retreat,0.619457984038,0.00015017411112,1.05003354967,0.590028658289,0.00882280085221,1.04970494939
+291,4.850000000,pose2_to_pose3_retreat,0.619269421778,0.000150214105898,1.05003352144,0.589840096522,0.0088228421834,1.04970492048
+292,4.866666667,pose2_to_pose3_retreat,0.619062586648,0.000150186161957,1.05003349973,0.589633263356,0.00882282037873,1.04970488968
+293,4.883333333,pose2_to_pose3_retreat,0.618839917802,0.000150053842326,1.05003375278,0.589410596096,0.00882269311455,1.04970514237
+294,4.900000000,pose2_to_pose3_retreat,0.618602557867,0.000149977473301,1.05003352013,0.589173236772,0.00882261867119,1.04970491458
+295,4.916666667,pose2_to_pose3_retreat,0.618349982764,0.000150064326459,1.05003370182,0.588920659481,0.00882269765793,1.04970509344
+296,4.933333333,pose2_to_pose3_retreat,0.618081789711,0.000150116299261,1.05003354294,0.588652465672,0.00882274680011,1.04970493695
+297,4.950000000,pose2_to_pose3_retreat,0.617794011677,0.000150151385068,1.05003343724,0.588364688194,0.00882278344698,1.04970483247
+298,4.966666667,pose2_to_pose3_retreat,0.617484005159,0.000150155553149,1.05003342886,0.588054682124,0.0088227886899,1.0497048231
+299,4.983333333,pose2_to_pose3_retreat,0.617149806686,0.000150092576912,1.05003317814,0.587720482555,0.0088227216172,1.04970457442
+300,5.000000000,pose2_to_pose3_retreat,0.61678813669,0.000150185307508,1.05003351925,0.587358814167,0.0088228190624,1.04970490873
+301,5.016666667,pose2_to_pose3_retreat,0.616401699938,0.000150142480667,1.05003361523,0.586972375618,0.00882276980318,1.04970500701
+302,5.033333333,pose2_to_pose3_retreat,0.615995714219,0.000150235077249,1.05003361262,0.586566390249,0.00882286330092,1.04970501075
+303,5.050000000,pose2_to_pose3_retreat,0.615571686899,0.000150221126554,1.05003349036,0.586142363271,0.0088228498478,1.04970488594
+304,5.066666667,pose2_to_pose3_retreat,0.615128319499,0.000150062272637,1.05003345714,0.585698998092,0.00882269789252,1.04970484911
+305,5.083333333,pose2_to_pose3_retreat,0.614674847259,0.000149990727668,1.05003357145,0.585245527105,0.00882262998521,1.04970496013
+306,5.100000000,pose2_to_pose3_retreat,0.614212535614,0.000150199381977,1.05003365515,0.584783211706,0.00882282504947,1.04970503734
+307,5.116666667,pose2_to_pose3_retreat,0.613727829157,0.000150241943095,1.05003339203,0.584298507055,0.00882287388572,1.04970479036
+308,5.133333333,pose2_to_pose3_retreat,0.613223021595,0.000150163889374,1.05003359033,0.583793700413,0.00882279820745,1.04970498279
+309,5.150000000,pose2_to_pose3_retreat,0.612697655387,0.000150116347389,1.05003356085,0.583268333634,0.00882274820389,1.04970495382
+310,5.166666667,pose2_to_pose3_retreat,0.612150699304,0.000150102047611,1.05003350461,0.58272137809,0.00882273529488,1.0497048994
+311,5.183333333,pose2_to_pose3_retreat,0.611581721577,0.000150164563116,1.05003353802,0.582152400935,0.00882279933718,1.04970493437
+312,5.200000000,pose2_to_pose3_retreat,0.611002948881,0.00015025571294,1.0500335754,0.581573627321,0.00882288698585,1.04970497382
+313,5.216666667,pose2_to_pose3_retreat,0.61041454908,0.000150030121033,1.05003339335,0.580985229985,0.00882266912061,1.0497047882
+314,5.233333333,pose2_to_pose3_retreat,0.609813453881,0.000150019315619,1.0500334994,0.580384135077,0.00882265830582,1.04970489209
+315,5.250000000,pose2_to_pose3_retreat,0.609197572448,0.000150063692238,1.05003348378,0.57976825181,0.00882269797444,1.04970488504
+316,5.266666667,pose2_to_pose3_retreat,0.608563648056,0.000150141836492,1.05003349889,0.579134326898,0.00882277478205,1.04970489649
+317,5.283333333,pose2_to_pose3_retreat,0.607908014114,0.000150147607872,1.05003354013,0.578478693897,0.00882278301899,1.04970492755
+318,5.300000000,pose2_to_pose3_retreat,0.60722878961,0.000150040421483,1.05003355686,0.577799469901,0.00882267726749,1.04970494416
+319,5.316666667,pose2_to_pose3_retreat,0.606523399355,0.00015005014345,1.05003363898,0.57709407847,0.00882268324097,1.04970503261
+320,5.333333333,pose2_to_pose3_retreat,0.605795766739,0.000150112266693,1.05003386367,0.576366446207,0.00882274905513,1.04970525459
+321,5.350000000,pose2_to_pose3_retreat,0.605057880475,0.000150132137529,1.05003353207,0.575628559457,0.00882276801759,1.04970493594
+322,5.366666667,pose2_to_pose3_retreat,0.604315290399,0.000150130420246,1.0500333278,0.574885969535,0.00882276662266,1.04970472629
+323,5.383333333,pose2_to_pose3_retreat,0.603569426375,0.000150062618453,1.05003334323,0.574140105304,0.00882269793284,1.04970473673
+324,5.400000000,pose2_to_pose3_retreat,0.60282487311,0.000150015825581,1.05003338596,0.573395552347,0.00882265218903,1.04970478063
+325,5.416666667,pose2_to_pose3_retreat,0.602078915431,0.000150021451388,1.05003344703,0.572649594787,0.00882265824756,1.04970484388
+326,5.433333333,pose2_to_pose3_retreat,0.601328845241,0.000150034408779,1.05003359385,0.571899523117,0.00882266611528,1.04970498804
+327,5.450000000,pose2_to_pose3_retreat,0.600571313127,0.000150062750038,1.05003340345,0.571141990685,0.00882269324091,1.04970479396
+328,5.466666667,pose2_to_pose3_retreat,0.599797136963,0.000150117610922,1.05003371014,0.570367815894,0.00882275290286,1.04970510359
+329,5.483333333,pose2_to_pose3_retreat,0.599018714326,0.000150071040753,1.05003348498,0.569589394208,0.00882270953113,1.04970487931
+330,5.500000000,pose2_to_pose3_retreat,0.598241792874,0.000150181681471,1.05003354532,0.56881247063,0.00882281288484,1.04970493655
+331,5.516666667,pose2_to_pose3_retreat,0.597459604869,0.000150248215429,1.05003376338,0.568030281204,0.00882287456688,1.04970515323
+332,5.533333333,pose2_to_pose3_retreat,0.596677863885,0.000150191906543,1.05003374513,0.567248541102,0.00882282133326,1.04970513784
+333,5.550000000,pose2_to_pose3_retreat,0.59591496778,0.000150120166607,1.05003355757,0.566485646501,0.00882275480393,1.04970495314
+334,5.566666667,pose2_to_pose3_retreat,0.595163678708,0.000150112178527,1.05003377055,0.565734357887,0.00882274825745,1.04970516287
+335,5.583333333,pose2_to_pose3_retreat,0.594418875803,0.00015003972212,1.05003388505,0.564989555795,0.00882267845679,1.04970527463
+336,5.600000000,pose2_to_pose3_retreat,0.593670786948,0.000150196979584,1.05003370526,0.564241463804,0.00882282502929,1.04970509364
+337,5.616666667,pose2_to_pose3_retreat,0.592913927775,0.000150109615895,1.05003357996,0.563484606894,0.00882274528546,1.04970496676
+338,5.633333333,pose2_to_pose3_retreat,0.592156372222,0.000150039300202,1.05003351912,0.562727052088,0.00882267772344,1.04970491165
+339,5.650000000,pose2_to_pose3_retreat,0.59140252044,0.000150069445057,1.05003345449,0.561973198777,0.00882270282425,1.04970485077
+340,5.666666667,pose2_to_pose3_retreat,0.590664884736,0.000150106565993,1.05003345637,0.56123556233,0.00882273746905,1.04970485346
+341,5.683333333,pose2_to_pose3_retreat,0.589954408191,0.000150080374648,1.0500335938,0.560525086742,0.00882271479884,1.04970499723
+342,5.700000000,pose2_to_pose3_retreat,0.5892753822,0.000149983093121,1.05003359417,0.559846062883,0.00882262463217,1.04970499455
+343,5.716666667,pose2_to_pose3_retreat,0.588612650022,0.000149990599256,1.05003319781,0.559183330087,0.00882263001298,1.04970459743
+344,5.733333333,pose2_to_pose3_retreat,0.587962480173,0.000150188635932,1.0500333895,0.558533157461,0.00882281844084,1.04970478408
+345,5.750000000,pose2_to_pose3_retreat,0.587313971973,0.000150122953787,1.05003373648,0.557884650371,0.00882275616854,1.04970512169
+346,5.766666667,pose2_to_pose3_retreat,0.586667064353,0.000150057861631,1.05003387149,0.557237743665,0.00882269408522,1.04970525426
+347,5.783333333,pose2_to_pose3_retreat,0.58602179455,0.000150139725306,1.05003365892,0.556592472261,0.00882277086184,1.04970505087
+348,5.800000000,pose2_to_pose3_retreat,0.585390546412,0.000150051301836,1.05003337979,0.555961225112,0.0088226861162,1.04970478075
+349,5.816666667,pose2_to_pose3_retreat,0.584779883232,0.00014993985994,1.05003347595,0.555350565344,0.00882258625667,1.04970487716
+350,5.833333333,pose2_to_pose3_retreat,0.584198864265,0.00014994358081,1.05003354289,0.554769546091,0.00882258852089,1.04970493122
+351,5.850000000,pose2_to_pose3_retreat,0.583648399048,0.000150071719627,1.05003342464,0.554219078541,0.00882270891333,1.04970481803
+352,5.866666667,pose2_to_pose3_retreat,0.58313051635,0.000150077405491,1.05003355495,0.553701194574,0.00882271023657,1.04970494621
+353,5.883333333,pose2_to_pose3_retreat,0.582632600917,0.000150041461096,1.05003358905,0.553203279709,0.00882267623167,1.0497049801
+354,5.900000000,pose2_to_pose3_retreat,0.582148020601,0.000150037314661,1.05003359781,0.552718700618,0.00882267621138,1.04970498811
+355,5.916666667,pose2_to_pose3_retreat,0.581674326787,0.000150099559595,1.05003378454,0.552245006623,0.0088227376057,1.04970516857
+356,5.933333333,pose2_to_pose3_retreat,0.581212829963,0.000150193054779,1.05003362889,0.551783507771,0.00882282459781,1.04970502297
+357,5.950000000,pose2_to_pose3_retreat,0.580771310835,0.000150166666885,1.05003348954,0.551341989199,0.00882280042172,1.04970489221
+358,5.966666667,pose2_to_pose3_retreat,0.580350467731,0.000150144670052,1.05003357498,0.550921145995,0.00882277794862,1.04970497398
+359,5.983333333,pose2_to_pose3_retreat,0.579952730599,0.000150111352747,1.05003344438,0.55052340936,0.00882274647678,1.04970484752
+360,6.000000000,pose2_to_pose3_retreat,0.579572484386,0.000150127117466,1.05003327124,0.550143162304,0.00882275953345,1.04970467838
+361,6.016666667,pose2_to_pose3_retreat,0.579208494359,0.000150147828958,1.05003334606,0.54977917181,0.00882277852136,1.04970474959
+362,6.033333333,pose2_to_pose3_retreat,0.578860232848,0.00015011009916,1.05003365783,0.54943091208,0.00882274651143,1.04970505287
+363,6.050000000,pose2_to_pose3_retreat,0.578529558541,0.000150119654743,1.05003375622,0.549100237134,0.00882275371972,1.0497051465
+364,6.066666667,pose2_to_pose3_retreat,0.578225672406,0.000150180138066,1.05003362089,0.548796349611,0.00882280968046,1.04970501623
+365,6.083333333,pose2_to_pose3_retreat,0.57794970914,0.000150120524875,1.0500334999,0.548520386094,0.00882274929482,1.04970489774
+366,6.100000000,pose2_to_pose3_retreat,0.577704072917,0.000150061055576,1.05003349975,0.548274751686,0.00882269596167,1.04970489654
+367,6.116666667,pose2_to_pose3_retreat,0.577481865113,0.000149998737881,1.05003345438,0.54805254496,0.00882263717274,1.04970484779
+368,6.133333333,pose2_to_pose3_retreat,0.577280717018,0.000149969324292,1.05003344098,0.547851397137,0.00882260860966,1.04970483242
+369,6.150000000,pose2_to_pose3_retreat,0.577090228322,0.000149987148169,1.05003350614,0.547660908251,0.00882262583179,1.04970489876
+370,6.166666667,pose2_to_pose3_retreat,0.576909689578,0.000150001627344,1.05003351095,0.547480368975,0.00882263853648,1.04970490451
+371,6.183333333,pose2_to_pose3_retreat,0.576740846986,0.000150085067748,1.05003337344,0.547311525327,0.00882271874339,1.04970477628
+372,6.200000000,pose2_to_pose3_retreat,0.576585035144,0.000150178346612,1.05003347038,0.547155712911,0.00882280981356,1.04970486634
+373,6.216666667,pose2_to_pose3_retreat,0.576443977042,0.000150130324493,1.05003342711,0.547014655308,0.00882276355843,1.04970482502
+374,6.233333333,pose2_to_pose3_retreat,0.576319814654,0.000150066385401,1.05003342954,0.546890493622,0.00882270200884,1.04970482762
+375,6.250000000,pose2_to_pose3_retreat,0.576212190909,0.000150078395144,1.05003347334,0.546782869706,0.0088227133093,1.04970486812
+376,6.266666667,pose2_to_pose3_retreat,0.57611901129,0.000150116994572,1.05003341694,0.546689689419,0.00882274979094,1.04970481581
+377,6.283333333,pose2_to_pose3_retreat,0.576038056806,0.000150080097242,1.05003371101,0.546608737347,0.00882272120833,1.04970511367
+378,6.300000000,pose2_to_pose3_retreat,0.575968253689,0.000150156242969,1.05003346199,0.54653893296,0.00882279286906,1.04970485999
+379,6.316666667,pose2_to_pose3_retreat,0.575907068941,0.000150165410718,1.05003358801,0.546477747917,0.00882280052429,1.0497049725
+380,6.333333333,pose2_to_pose3_retreat,0.575854189492,0.000150156785474,1.0500336202,0.546424868726,0.00882279270723,1.04970500282
+381,6.350000000,pose2_to_pose3_retreat,0.575809183245,0.000150106665127,1.05003352166,0.546379863041,0.0088227448354,1.04970491328
+382,6.366666667,pose2_to_pose3_retreat,0.575771954737,0.000150032385449,1.05003352422,0.546342635058,0.00882267259931,1.04970492278
+383,6.383333333,pose2_to_pose3_retreat,0.575742837299,0.000150075159583,1.05003360193,0.546313517142,0.00882271380449,1.0497050019
+384,6.400000000,pose2_to_pose3_retreat,0.575720620439,0.000150101777225,1.05003364319,0.546291298277,0.00882273332125,1.04970503526
+385,6.416666667,pose2_to_pose3_retreat,0.575704707855,0.000150101833427,1.0500334589,0.546275386708,0.00882273701498,1.04970485607
+386,6.433333333,pose2_to_pose3_retreat,0.575692680786,0.000150108723439,1.05003343224,0.546263359696,0.0088227440915,1.04970482927
+387,6.450000000,pose2_to_pose3_retreat,0.575683942511,0.000150111110966,1.05003351712,0.546254620865,0.00882274444754,1.04970491041
+388,6.466666667,pose2_to_pose3_retreat,0.575677554451,0.000150009510285,1.05003349278,0.546248234753,0.00882264962259,1.04970489051
+389,6.483333333,pose2_to_pose3_retreat,0.575673224199,0.00015002782008,1.05003355202,0.546243904275,0.00882266706119,1.04970494696
+390,6.500000000,pose2_to_pose3_retreat,0.575670740813,0.000150093522824,1.05003363396,0.546241419782,0.00882272880443,1.04970502362
+391,6.516666667,pose2_to_pose3_retreat,0.5756692219,0.000150133221786,1.05003363297,0.546239900446,0.00882276708372,1.04970502299
+392,6.533333333,pose2_to_pose3_retreat,0.575668312713,0.00015015651504,1.05003358307,0.546238991253,0.00882279049391,1.04970497679
+393,6.550000000,pose2_to_pose3_retreat,0.575667789711,0.000150169914297,1.05003355437,0.546238468247,0.00882280396043,1.04970495021
+394,6.566666667,pose2_to_pose3_retreat,0.575667636906,0.000150173829142,1.05003354598,0.546238315441,0.00882280789493,1.04970494244
+395,6.583333333,pose2_to_pose3_retreat,0.575667584165,0.000150175180354,1.05003354309,0.5462382627,0.00882280925293,1.04970493976
+396,6.600000000,pose2_to_pose3_retreat,0.575667222508,0.000150184445955,1.05003352324,0.54623790104,0.00882281856504,1.04970492138
+397,6.616666667,pose2_to_pose3_retreat,0.575666622062,0.000150199829315,1.05003349029,0.54623730059,0.00882283402563,1.04970489086
+398,6.633333333,pose2_to_pose3_retreat,0.575666334024,0.000150197008554,1.05003348113,0.546237012687,0.00882283168634,1.04970488232
+399,6.650000000,pose2_to_pose3_retreat,0.575666231688,0.000150189218532,1.0500334823,0.54623691049,0.00882282436312,1.04970488333
+400,6.666666667,pose2_to_pose3_retreat,0.575665830441,0.000150158674979,1.05003348688,0.546236509788,0.00882279564986,1.04970488731
+401,6.683333333,pose2_to_pose3_retreat,0.575665334014,0.000150120886212,1.05003349255,0.546236014037,0.00882276012554,1.04970489224
+402,6.700000000,pose2_to_pose3_retreat,0.575665098085,0.000150102926951,1.05003349525,0.546235778429,0.00882274324247,1.04970489458
+403,6.716666667,pose2_to_pose3_retreat,0.575665015749,0.000150096659372,1.05003349619,0.546235696204,0.00882273735047,1.0497048954
+404,6.733333333,pose2_to_pose3_retreat,0.57566470477,0.000150132674982,1.05003360287,0.54623538442,0.00882277056491,1.04970500029
+405,6.750000000,pose2_to_pose3_retreat,0.575664514748,0.000150172942362,1.05003369961,0.546235193531,0.00882280782971,1.04970509553
+406,6.766666667,pose2_to_pose3_retreat,0.575664485266,0.00015017918993,1.05003371462,0.546235163914,0.00882281361143,1.04970511031
+407,6.783333333,pose2_to_pose3_retreat,0.575664468022,0.000150182844117,1.05003372339,0.546235146591,0.00882281699314,1.04970511895
+408,6.800000000,pose2_to_pose3_retreat,0.575664467262,0.000150183005179,1.05003372378,0.546235145827,0.00882281714219,1.04970511933
+409,6.816666667,pose2_to_pose3_retreat,0.575664429964,0.000150188941775,1.05003373115,0.546235108467,0.00882282287439,1.04970512688
+410,6.833333333,pose2_to_pose3_retreat,0.57566439017,0.000150187701459,1.05003369429,0.546235069024,0.00882282289815,1.04970509201
+411,6.850000000,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511739,1.04970501047

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ece284b8549e3e10b5dae80fa0762ba6848725bc559424b12b55480c23cef1d
+size 26188152

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/simulation_data.csv

@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+5,0.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+8,0.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+9,0.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+10,0.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+11,0.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+13,0.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+14,0.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+15,0.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+17,0.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+19,0.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+20,0.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+21,0.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+22,0.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+23,0.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+24,0.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+25,0.416666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+26,0.433333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+27,0.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+28,0.466666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+29,0.483333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+30,0.500000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+31,0.516666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+32,0.533333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+33,0.550000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+34,0.566666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+35,0.583333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+36,0.600000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+37,0.616666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+38,0.633333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+39,0.650000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+40,0.666666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+41,0.683333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+42,0.700000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+43,0.716666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+44,0.733333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+45,0.750000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+46,0.766666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+47,0.783333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+48,0.800000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+49,0.816666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+50,0.833333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+51,0.850000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+52,0.866666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+53,0.883333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+54,0.900000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+55,0.916666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+56,0.933333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+57,0.950000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+58,0.966666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+59,0.983333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+60,1.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+61,1.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+62,1.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+63,1.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+64,1.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+65,1.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+66,1.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+67,1.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+68,1.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+69,1.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+70,1.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+71,1.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+72,1.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+73,1.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+74,1.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+75,1.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+76,1.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+77,1.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+78,1.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+79,1.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+80,1.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+81,1.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+82,1.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+83,1.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+84,1.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+85,1.416666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+86,1.433333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+87,1.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+88,1.466666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+89,1.483333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+90,1.500000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+91,1.516666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+92,1.533333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+93,1.550000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+94,1.566666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+95,1.583333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+96,1.600000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+97,1.616666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+98,1.633333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+99,1.650000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+100,1.666666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+101,1.683333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+102,1.700000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+103,1.716666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+104,1.733333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+105,1.750000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+106,1.766666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+107,1.783333333,pose1_to_pose2_press,0.575664286866,0.000150184481569,1.05003359859,0.54623496663,0.00882282295986,1.04970500149
+108,1.800000000,pose1_to_pose2_press,0.575664397918,0.0001502062574,1.05003371421,0.546235076226,0.00882283966635,1.04970511364
+109,1.816666667,pose1_to_pose2_press,0.575664516264,0.000150189863971,1.05003365914,0.546235195101,0.00882282509815,1.04970505942
+110,1.833333333,pose1_to_pose2_press,0.575664547998,0.000150184443954,1.05003363976,0.54623522703,0.0088228203545,1.04970504039
+111,1.850000000,pose1_to_pose2_press,0.575664633762,0.000150169795538,1.05003358738,0.546235313322,0.00882280753407,1.04970498895
+112,1.866666667,pose1_to_pose2_press,0.575664807889,0.000150140054759,1.05003348104,0.546235488521,0.00882278150465,1.04970488451
+113,1.883333333,pose1_to_pose2_press,0.57566494502,0.000150140842346,1.05003348548,0.546235625583,0.00882278203873,1.04970488849
+114,1.900000000,pose1_to_pose2_press,0.575665306393,0.000150150120737,1.05003352341,0.546235986501,0.00882278970403,1.04970492463
+115,1.916666667,pose1_to_pose2_press,0.575666692909,0.000150146673173,1.0500335674,0.546237372336,0.00882278378431,1.04970496427
+116,1.933333333,pose1_to_pose2_press,0.575672001215,0.000150055091169,1.05003356964,0.546242681278,0.00882269409342,1.04970495948
+117,1.950000000,pose1_to_pose2_press,0.57568296728,0.000150095409475,1.05003348437,0.546253647382,0.0088227347838,1.04970488046
+118,1.966666667,pose1_to_pose2_press,0.575703250243,0.000150046754545,1.05003344206,0.54627392947,0.00882268333658,1.04970484275
+119,1.983333333,pose1_to_pose2_press,0.575733425142,0.000150030848773,1.05003339579,0.546304104767,0.00882266863722,1.04970479263
+120,2.000000000,pose1_to_pose2_press,0.57577502241,0.000150118632931,1.05003366331,0.546345701326,0.00882275364626,1.04970505027
+121,2.016666667,pose1_to_pose2_press,0.575825641671,0.000150054857895,1.05003350371,0.546396320408,0.00882268934297,1.04970489276
+122,2.033333333,pose1_to_pose2_press,0.575885219785,0.00015013812636,1.05003342879,0.546455897854,0.00882277018293,1.04970481353
+123,2.050000000,pose1_to_pose2_press,0.575952654524,0.000150005953143,1.05003328921,0.546523333881,0.00882264287977,1.04970468705
+124,2.066666667,pose1_to_pose2_press,0.576028018252,0.000150080037186,1.05003331474,0.546598696533,0.0088227135262,1.04970471816
+125,2.083333333,pose1_to_pose2_press,0.576113078236,0.000150149411711,1.05003370791,0.546683755572,0.00882277925854,1.04970509974
+126,2.100000000,pose1_to_pose2_press,0.576208334489,0.000150146360799,1.05003373242,0.546779012405,0.00882277826445,1.04970512655
+127,2.116666667,pose1_to_pose2_press,0.576316049416,0.000150076961157,1.05003356917,0.546886728689,0.00882271351735,1.04970496457
+128,2.133333333,pose1_to_pose2_press,0.576437250253,0.00015000176943,1.05003344152,0.547007930077,0.00882264001195,1.04970483197
+129,2.150000000,pose1_to_pose2_press,0.57657356293,0.000150035957343,1.05003334591,0.547144241969,0.00882267167321,1.04970473997
+130,2.166666667,pose1_to_pose2_press,0.576725693147,0.000150151331397,1.05003348517,0.547296371598,0.00882278517264,1.04970488228
+131,2.183333333,pose1_to_pose2_press,0.576893293808,0.000150137288302,1.05003345203,0.547463972581,0.00882277205491,1.04970484475
+132,2.200000000,pose1_to_pose2_press,0.577078199302,0.000150113318634,1.05003389634,0.54764887849,0.00882274925094,1.04970528256
+133,2.216666667,pose1_to_pose2_press,0.577279439502,0.000150215464547,1.05003351087,0.547850116494,0.00882284450587,1.04970491177
+134,2.233333333,pose1_to_pose2_press,0.577498753455,0.000150198327745,1.05003348278,0.548069431736,0.00882283166835,1.04970488164
+135,2.250000000,pose1_to_pose2_press,0.577733897205,0.000150119795658,1.05003358495,0.548304576632,0.00882275690504,1.0497049806
+136,2.266666667,pose1_to_pose2_press,0.577984512186,0.000150082593389,1.05003356856,0.548555190678,0.00882271639777,1.04970496065
+137,2.283333333,pose1_to_pose2_press,0.578251599576,0.000150093379035,1.05003366609,0.548822277754,0.00882272591918,1.04970505282
+138,2.300000000,pose1_to_pose2_press,0.578534916807,0.000150128519311,1.05003378794,0.549105595979,0.00882276442881,1.04970517446
+139,2.316666667,pose1_to_pose2_press,0.578839184585,0.000150147072357,1.05003370128,0.549409864501,0.00882278573296,1.04970509372
+140,2.333333333,pose1_to_pose2_press,0.579171018147,0.000150139235434,1.05003350765,0.549741697239,0.00882277508247,1.04970489952
+141,2.350000000,pose1_to_pose2_press,0.579536584617,0.000150271736905,1.0500333974,0.550107261031,0.00882289867099,1.04970479382
+142,2.366666667,pose1_to_pose2_press,0.57993205351,0.000149938423712,1.0500334912,0.550502733693,0.0088225782493,1.04970489014
+143,2.383333333,pose1_to_pose2_press,0.580354918536,0.000150165848511,1.05003336165,0.550925596677,0.00882279889309,1.0497047645
+144,2.400000000,pose1_to_pose2_press,0.580794860341,0.000150161671135,1.05003345175,0.551365539584,0.00882279861195,1.04970485854
+145,2.416666667,pose1_to_pose2_press,0.581245474283,0.000150225909954,1.05003333903,0.551816153221,0.0088228618832,1.04970474757
+146,2.433333333,pose1_to_pose2_press,0.581704670179,0.000150132278164,1.05003335964,0.552275348885,0.00882276717776,1.04970476051
+147,2.450000000,pose1_to_pose2_press,0.582180640882,0.000150121252394,1.05003365211,0.55275131944,0.00882275532541,1.04970504432
+148,2.466666667,pose1_to_pose2_press,0.582678752111,0.000150069583286,1.05003343553,0.553249431319,0.00882270618749,1.04970483629
+149,2.483333333,pose1_to_pose2_press,0.583202678782,0.000150010260114,1.05003331369,0.553773358781,0.00882264947229,1.04970471232
+150,2.500000000,pose1_to_pose2_press,0.583749441841,0.000150019746102,1.05003343471,0.554320122434,0.00882266084674,1.04970482987
+151,2.516666667,pose1_to_pose2_press,0.584311063149,0.000150032585797,1.05003351814,0.55488174391,0.00882267447902,1.0497049191
+152,2.533333333,pose1_to_pose2_press,0.584880312728,0.000150009931833,1.05003363259,0.555450992901,0.00882264962133,1.0497050279
+153,2.550000000,pose1_to_pose2_press,0.585455209305,0.000150095606969,1.05003364435,0.556025888619,0.00882273212345,1.04970503279
+154,2.566666667,pose1_to_pose2_press,0.586055568596,0.000150150375432,1.05003350875,0.556626246324,0.00882278162439,1.04970490014
+155,2.583333333,pose1_to_pose2_press,0.586688637902,0.00015011813841,1.05003347143,0.557259315528,0.00882274945455,1.04970487361
+156,2.600000000,pose1_to_pose2_press,0.587347824903,0.000149972947962,1.05003372534,0.557918504771,0.00882261143046,1.04970511586
+157,2.616666667,pose1_to_pose2_press,0.588030050802,0.00015001717715,1.05003376754,0.558600730642,0.00882265552783,1.04970515707
+158,2.633333333,pose1_to_pose2_press,0.58873323162,0.000150130910071,1.05003358848,0.559303909677,0.00882276325726,1.04970497914
+159,2.650000000,pose1_to_pose2_press,0.589438077342,0.000150057111787,1.05003327591,0.560008756174,0.00882269217878,1.04970466892
+160,2.666666667,pose1_to_pose2_press,0.59013937444,0.000150014902694,1.05003338606,0.560710054178,0.00882265282632,1.04970477324
+161,2.683333333,pose1_to_pose2_press,0.590844868937,0.000150097050537,1.05003354683,0.561415547687,0.00882273154771,1.04970493201
+162,2.700000000,pose1_to_pose2_press,0.591554041238,0.000150120050441,1.05003356909,0.562124718983,0.00882275131028,1.04970495889
+163,2.716666667,pose1_to_pose2_press,0.592269966747,0.000150033577717,1.05003357091,0.562840644991,0.00882266666829,1.04970496427
+164,2.733333333,pose1_to_pose2_press,0.592999957921,0.000150105713211,1.05003341444,0.563570635947,0.00882273816518,1.04970481041
+165,2.750000000,pose1_to_pose2_press,0.593755974209,0.000150181388226,1.05003366291,0.5643266512,0.00882280985667,1.04970504643
+166,2.766666667,pose1_to_pose2_press,0.594534989666,0.000150116672057,1.05003342318,0.565105667457,0.00882274806147,1.04970481216
+167,2.783333333,pose1_to_pose2_press,0.595334870274,0.000150084831028,1.05003358362,0.565905549592,0.00882272182557,1.04970498379
+168,2.800000000,pose1_to_pose2_press,0.596148531753,0.000150082466188,1.05003363323,0.566719210472,0.00882271723382,1.04970502825
+169,2.816666667,pose1_to_pose2_press,0.596962706489,0.000150097408013,1.05003369717,0.56753338617,0.00882273490155,1.04970507804
+170,2.833333333,pose1_to_pose2_press,0.597751279545,0.000150061883067,1.05003333176,0.568321957725,0.0088226949589,1.04970473043
+171,2.850000000,pose1_to_pose2_press,0.598521955967,0.00015002221868,1.05003350139,0.569092635228,0.00882265886404,1.04970489753
+172,2.866666667,pose1_to_pose2_press,0.599279497773,0.000150114373245,1.05003353725,0.569850175766,0.00882274682948,1.04970493638
+173,2.883333333,pose1_to_pose2_press,0.600043198375,0.000150156958378,1.050033545,0.570613875289,0.00882278570495,1.04970494296
+174,2.900000000,pose1_to_pose2_press,0.600820450693,0.000150137290313,1.05003368859,0.571391129,0.00882277051064,1.04970507991
+175,2.916666667,pose1_to_pose2_press,0.601612273697,0.00015014078534,1.0500335992,0.572182953817,0.0088227803881,1.0497049967
+176,2.933333333,pose1_to_pose2_press,0.602412352919,0.000150056650077,1.05003330209,0.572983033274,0.00882269716615,1.04970470272
+177,2.950000000,pose1_to_pose2_press,0.603210795148,0.000150175373858,1.05003357624,0.573781472505,0.00882280512062,1.04970496123
+178,2.966666667,pose1_to_pose2_press,0.603986043917,0.000150177453071,1.05003367082,0.574556721496,0.00882280796013,1.04970505608
+179,2.983333333,pose1_to_pose2_press,0.604732338965,0.000150088119844,1.05003362795,0.575303019254,0.00882272817771,1.04970502266
+180,3.000000000,pose1_to_pose2_press,0.605457587236,0.000150265626282,1.05003349783,0.576028266055,0.00882290090633,1.04970489818
+181,3.016666667,pose1_to_pose2_press,0.606167335935,0.000150213532848,1.05003359835,0.576738012546,0.00882284112298,1.0497049936
+182,3.033333333,pose1_to_pose2_press,0.606884318297,0.000150085476478,1.05003353157,0.577454997045,0.00882272035885,1.04970492801
+183,3.050000000,pose1_to_pose2_press,0.607604017708,0.000150087440011,1.05003348866,0.578174696383,0.00882272216932,1.04970488778
+184,3.066666667,pose1_to_pose2_press,0.608318451296,0.000150179967208,1.05003357355,0.578889128367,0.00882280913001,1.0497049695
+185,3.083333333,pose1_to_pose2_press,0.609018579329,0.000150181470979,1.05003356132,0.579589257132,0.00882281313376,1.04970495778
+186,3.100000000,pose1_to_pose2_press,0.609697544916,0.000150095015302,1.0500335391,0.580268224338,0.00882273223533,1.04970493736
+187,3.116666667,pose1_to_pose2_press,0.610340895865,0.000150105035904,1.0500335729,0.580911574508,0.00882273960708,1.04970497112
+188,3.133333333,pose1_to_pose2_press,0.610955774624,0.000150210085844,1.05003347159,0.581526451671,0.0088228394159,1.04970487454
+189,3.150000000,pose1_to_pose2_press,0.611548751911,0.000150079605589,1.05003349905,0.582119431372,0.0088227168916,1.04970489598
+190,3.166666667,pose1_to_pose2_press,0.612127847731,0.000150109288894,1.05003355392,0.582698527037,0.00882274548716,1.04970493755
+191,3.183333333,pose1_to_pose2_press,0.612694133645,0.000150139990653,1.0500336339,0.583264811264,0.00882277073665,1.04970502225
+192,3.200000000,pose1_to_pose2_press,0.613248639404,0.000150078896958,1.05003338366,0.583819317788,0.00882271271323,1.04970477913
+193,3.216666667,pose1_to_pose2_press,0.613792992358,0.000150072438376,1.05003348878,0.584363671654,0.0088227094796,1.04970487993
+194,3.233333333,pose1_to_pose2_press,0.614325443709,0.000150085920725,1.05003371984,0.58489612311,0.00882272358193,1.04970510733
+195,3.250000000,pose1_to_pose2_press,0.614844244379,0.00015007357826,1.05003378281,0.585414923557,0.00882271093419,1.04970517005
+196,3.266666667,pose1_to_pose2_press,0.615341484226,0.000150050030044,1.05003374895,0.585912163254,0.00882268730908,1.04970513527
+197,3.283333333,pose1_to_pose2_press,0.615812880194,0.000150018647041,1.05003363037,0.586383559039,0.0088226561464,1.04970502519
+198,3.300000000,pose1_to_pose2_press,0.616257645531,0.000150059472313,1.05003357204,0.586828324164,0.00882269713551,1.04970497544
+199,3.316666667,pose1_to_pose2_press,0.616678010809,0.000150101312909,1.05003338323,0.587248689497,0.00882273943227,1.04970478138
+200,3.333333333,pose1_to_pose2_press,0.617080126704,0.000150196354804,1.05003359444,0.587650803059,0.00882282692584,1.04970498812
+201,3.350000000,pose1_to_pose2_press,0.617474658324,0.000150086570614,1.05003363708,0.588045335518,0.00882272053136,1.0497050292
+202,3.366666667,pose1_to_pose2_press,0.617858100769,0.000150139782956,1.05003357306,0.58842877769,0.00882277318343,1.04970496178
+203,3.383333333,pose1_to_pose2_press,0.618225261867,0.000150238798773,1.05003354511,0.588795937185,0.0088228671902,1.04970493108
+204,3.400000000,pose1_to_pose2_press,0.618568802672,0.000150131801861,1.05003354773,0.589139478592,0.00882276263561,1.04970493279
+205,3.416666667,pose1_to_pose2_press,0.618885861237,0.000150114887503,1.05003351274,0.589456537574,0.00882274785232,1.04970490669
+206,3.433333333,pose1_to_pose2_press,0.619170885441,0.000150156245567,1.0500334274,0.589741561575,0.00882278928201,1.04970483106
+207,3.450000000,pose1_to_pose2_press,0.619430170404,0.000150023253972,1.05003337158,0.590000847864,0.00882266102147,1.04970477298
+208,3.466666667,pose1_to_pose2_press,0.619670389809,0.00015008837052,1.05003349498,0.590241067033,0.00882272545981,1.04970489388
+209,3.483333333,pose1_to_pose2_press,0.61989865631,0.000150062850469,1.05003360846,0.590469332959,0.00882269832945,1.04970500294
+210,3.500000000,pose1_to_pose2_press,0.620115823481,0.000150146277839,1.05003352524,0.590686499301,0.00882277923632,1.0497049204
+211,3.516666667,pose1_to_pose2_press,0.620321539565,0.00015015792338,1.05003337691,0.590892215211,0.00882279104986,1.04970478053
+212,3.533333333,pose1_to_pose2_press,0.620513801429,0.000150107095744,1.05003364859,0.59108447818,0.00882274361556,1.04970504155
+213,3.550000000,pose1_to_pose2_press,0.620685238721,0.000150076690267,1.05003362386,0.59125591621,0.00882271570224,1.04970501293
+214,3.566666667,pose1_to_pose2_press,0.620837459326,0.000150065110566,1.05003358065,0.591408136268,0.0088227025627,1.04970497298
+215,3.583333333,pose1_to_pose2_press,0.620970736863,0.000150055065314,1.05003357232,0.591541413599,0.00882269205942,1.04970496772
+216,3.600000000,pose1_to_pose2_press,0.621089138522,0.000150048195947,1.05003346011,0.591659816139,0.00882268846148,1.04970485835
+217,3.616666667,pose1_to_pose2_press,0.621193697009,0.00015006759826,1.05003338549,0.591764374886,0.00882270908931,1.04970478675
+218,3.633333333,pose1_to_pose2_press,0.621286712264,0.00015014546183,1.05003347953,0.59185738792,0.00882277972864,1.04970488256
+219,3.650000000,pose1_to_pose2_press,0.621368815681,0.000150136977629,1.05003364006,0.591939491438,0.00882277234716,1.04970503288
+220,3.666666667,pose1_to_pose2_press,0.621440080432,0.00015023223086,1.05003336338,0.592010756743,0.00882286897387,1.04970477108
+221,3.683333333,pose1_to_pose2_press,0.621501073841,0.000149975368266,1.0500332832,0.592071752502,0.00882261936891,1.0497046811
+222,3.700000000,pose1_to_pose2_press,0.621551641104,0.000150090076901,1.05003351557,0.592122317766,0.00882272738987,1.04970490987
+223,3.716666667,pose1_to_pose2_press,0.621594120016,0.000150128174494,1.05003364074,0.592164795793,0.00882276254797,1.04970503295
+224,3.733333333,pose1_to_pose2_press,0.621628887236,0.000150123753124,1.05003357658,0.592199563383,0.00882275949551,1.04970497206
+225,3.750000000,pose1_to_pose2_press,0.621656638939,0.000150140477692,1.05003353281,0.592227315515,0.00882277786341,1.04970493235
+226,3.766666667,pose1_to_pose2_press,0.621678546385,0.000150102971761,1.05003365152,0.592249223251,0.00882274133094,1.04970504745
+227,3.783333333,pose1_to_pose2_press,0.621695165891,0.000150153069444,1.05003373481,0.59226584107,0.00882278572418,1.04970513091
+228,3.800000000,pose1_to_pose2_press,0.621707790352,0.000150085233724,1.05003358366,0.592278465494,0.00882271762465,1.049704975
+229,3.816666667,pose1_to_pose2_press,0.62171678983,0.000150072113675,1.05003349415,0.592287465841,0.00882270770898,1.04970489303
+230,3.833333333,pose1_to_pose2_press,0.621723493612,0.000150066066136,1.05003349837,0.592294170341,0.00882270429915,1.04970490266
+231,3.850000000,pose1_to_pose2_press,0.621728214692,0.000150025690366,1.0500336155,0.592298891251,0.00882266313603,1.04970501161
+232,3.866666667,pose1_to_pose2_press,0.621731240829,0.000150038100886,1.05003341727,0.592301916593,0.0088226728332,1.04970481186
+233,3.883333333,pose1_to_pose2_press,0.621733167893,0.000150060039058,1.05003328972,0.592303843118,0.00882269294105,1.04970468398
+234,3.900000000,pose1_to_pose2_press,0.621734168449,0.000150125113291,1.0500334474,0.592304843773,0.00882275831016,1.04970484225
+235,3.916666667,pose1_to_pose2_press,0.621734831664,0.000150168247543,1.05003355192,0.592305507054,0.00882280163987,1.04970494716
+236,3.933333333,pose1_to_pose2_press,0.621735285442,0.000150197760406,1.05003362343,0.592305960877,0.00882283128647,1.04970501894
+237,3.950000000,pose1_to_pose2_press,0.621735585075,0.000150195560246,1.05003361111,0.592306260985,0.00882283085606,1.0497050107
+238,3.966666667,pose1_to_pose2_press,0.621735852967,0.000150191678744,1.05003359483,0.59230652934,0.00882282870527,1.04970499841
+239,3.983333333,pose1_to_pose2_press,0.621736115029,0.000150187881711,1.05003357891,0.592306791856,0.00882282660128,1.0497049864
+240,4.000000000,pose1_to_pose2_press,0.621736274106,0.000150185543247,1.0500335749,0.592306951162,0.00882282510778,1.04970498406
+241,4.016666667,pose1_to_pose2_press,0.621736302493,0.000150185049853,1.05003358697,0.592306979486,0.00882282435128,1.04970499487
+242,4.033333333,pose1_to_pose2_press,0.621736351129,0.000150184204517,1.05003360765,0.592307028013,0.00882282305515,1.04970501339
+243,4.050000000,pose1_to_pose2_press,0.62173645001,0.000150182485871,1.05003364969,0.592307126673,0.00882282042002,1.04970505104
+244,4.066666667,pose1_to_pose2_press,0.621736522914,0.000150181218732,1.05003368069,0.592307199414,0.00882281847716,1.0497050788
+245,4.083333333,pose1_to_pose2_press,0.621736662304,0.000150178796007,1.05003373996,0.592307338493,0.00882281476248,1.04970513188
+246,4.100000000,pose1_to_pose2_press,0.621736724712,0.000150177711291,1.05003376649,0.592307400762,0.00882281309932,1.04970515564
+247,4.116666667,pose1_to_pose2_press,0.621736743462,0.000150232302349,1.05003369917,0.592307418648,0.0088228648531,1.04970509074
+248,4.133333333,pose1_to_pose2_press,0.621736744231,0.000150285566351,1.05003362646,0.592307418618,0.0088229155268,1.04970502114
+249,4.150000000,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418623,0.00882291552811,1.04970502114
+250,4.166666667,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418623,0.0088229155277,1.04970502114
+251,4.183333333,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418623,0.00882291552778,1.04970502114
+252,4.200000000,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418623,0.00882291552782,1.04970502114
+253,4.216666667,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418623,0.00882291552788,1.04970502114
+254,4.233333333,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418624,0.00882291552799,1.04970502114
+255,4.250000000,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418624,0.00882291552797,1.04970502114
+256,4.266666667,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418624,0.00882291552797,1.04970502114
+257,4.283333333,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418624,0.00882291552797,1.04970502114
+258,4.300000000,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418624,0.00882291552806,1.04970502114
+259,4.316666667,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.008822915528,1.04970502114
+260,4.333333333,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.00882291552754,1.04970502114
+261,4.350000000,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.00882291552758,1.04970502114
+262,4.366666667,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.00882291552755,1.04970502114
+263,4.383333333,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.00882291552774,1.04970502114
+264,4.400000000,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.00882291552775,1.04970502114
+265,4.416666667,pose2_to_pose3_retreat,0.621736744231,0.000150285566351,1.05003362646,0.592307418626,0.00882291552788,1.04970502114
+266,4.433333333,pose2_to_pose3_retreat,0.621736744185,0.000150153970366,1.05003350737,0.592307419287,0.00882278637655,1.04970490304
+267,4.450000000,pose2_to_pose3_retreat,0.62173653602,0.000150178219343,1.05003357398,0.592307211725,0.00882281272094,1.04970497159
+268,4.466666667,pose2_to_pose3_retreat,0.621736231143,0.000150193078605,1.05003359052,0.592306907102,0.00882282846709,1.0497049892
+269,4.483333333,pose2_to_pose3_retreat,0.62173602365,0.000150189262269,1.05003354713,0.592306699358,0.00882282378288,1.04970494534
+270,4.500000000,pose2_to_pose3_retreat,0.621735970227,0.000150188279682,1.05003353596,0.592306645871,0.00882282257685,1.04970493405
+271,4.516666667,pose2_to_pose3_retreat,0.621735855257,0.000150186165093,1.05003351193,0.592306530762,0.00882281998138,1.04970490975
+272,4.533333333,pose2_to_pose3_retreat,0.621735386589,0.000150177545092,1.05003341394,0.592306061529,0.0088228094011,1.0497048107
+273,4.550000000,pose2_to_pose3_retreat,0.621734163995,0.000150093642085,1.05003338437,0.592304839424,0.00882272712559,1.04970478029
+274,4.566666667,pose2_to_pose3_retreat,0.621730499987,0.000150021385402,1.05003344033,0.592301176085,0.0088226571779,1.04970483681
+275,4.583333333,pose2_to_pose3_retreat,0.62172297211,0.000150077813986,1.05003356839,0.592293648551,0.00882271483517,1.04970496869
+276,4.600000000,pose2_to_pose3_retreat,0.621707655482,0.000150100268879,1.05003362786,0.592278330309,0.00882273154639,1.04970502007
+277,4.616666667,pose2_to_pose3_retreat,0.621683647419,0.000150146598088,1.050033612,0.59225432394,0.00882278360166,1.04970501056
+278,4.633333333,pose2_to_pose3_retreat,0.621649973865,0.000150135628208,1.05003350096,0.592220649923,0.00882277089483,1.04970489566
+279,4.650000000,pose2_to_pose3_retreat,0.62160744116,0.000150136180968,1.05003336923,0.592178118422,0.00882277560318,1.04970476981
+280,4.666666667,pose2_to_pose3_retreat,0.621555796061,0.000150125658703,1.0500333511,0.592126472262,0.00882276193799,1.04970475519
+281,4.683333333,pose2_to_pose3_retreat,0.621497505772,0.000150081685002,1.05003337797,0.59206818211,0.00882271746527,1.04970477512
+282,4.700000000,pose2_to_pose3_retreat,0.621432603487,0.00015003862503,1.05003337291,0.592003280048,0.00882267504514,1.04970476949
+283,4.716666667,pose2_to_pose3_retreat,0.621359073551,0.000150107513456,1.0500336114,0.591929749217,0.0088227411107,1.04970500579
+284,4.733333333,pose2_to_pose3_retreat,0.621276647544,0.000150145752228,1.05003382402,0.591847323148,0.00882277903311,1.04970521303
+285,4.750000000,pose2_to_pose3_retreat,0.621183287422,0.00015004497187,1.0500336504,0.591753964718,0.00882268378605,1.04970503804
+286,4.766666667,pose2_to_pose3_retreat,0.621077290797,0.00015012268989,1.05003351324,0.591647967497,0.00882275953037,1.04970490754
+287,4.783333333,pose2_to_pose3_retreat,0.620957150954,0.000150063279703,1.05003349655,0.591527829595,0.00882270675408,1.04970489463
+288,4.800000000,pose2_to_pose3_retreat,0.62082139191,0.000149928245381,1.0500334763,0.59139207128,0.00882257421894,1.04970487693
+289,4.816666667,pose2_to_pose3_retreat,0.620670047864,0.000149943381471,1.05003348347,0.591240726086,0.00882258518183,1.04970488269
+290,4.833333333,pose2_to_pose3_retreat,0.620501041464,0.000150099004368,1.05003351506,0.591071717802,0.008822733877,1.04970490785
+291,4.850000000,pose2_to_pose3_retreat,0.620316197608,0.000150227438519,1.05003356574,0.590886872844,0.00882285817028,1.04970495421
+292,4.866666667,pose2_to_pose3_retreat,0.620115600715,0.000150200815759,1.05003359179,0.590686275783,0.00882283104994,1.04970498766
+293,4.883333333,pose2_to_pose3_retreat,0.619896509634,0.000150200927945,1.05003334903,0.590467183121,0.00882282579902,1.04970475322
+294,4.900000000,pose2_to_pose3_retreat,0.619657506185,0.000150071363633,1.05003334879,0.590228183962,0.00882271042348,1.04970475367
+295,4.916666667,pose2_to_pose3_retreat,0.619401411658,0.00015015293418,1.05003343764,0.589972088154,0.00882278727715,1.04970484097
+296,4.933333333,pose2_to_pose3_retreat,0.619128583861,0.000150162919289,1.05003344206,0.589699259771,0.00882279466193,1.0497048376
+297,4.950000000,pose2_to_pose3_retreat,0.618837614119,0.000150069690819,1.0500334599,0.589408291253,0.0088227050108,1.0497048504
+298,4.966666667,pose2_to_pose3_retreat,0.618532229574,0.000150008694695,1.05003349495,0.589102907904,0.00882264773005,1.04970488776
+299,4.983333333,pose2_to_pose3_retreat,0.618211948812,0.000150118396178,1.05003340085,0.588782626292,0.0088227542671,1.04970479663
+300,5.000000000,pose2_to_pose3_retreat,0.617866656336,0.000149960027364,1.05003354598,0.588437335733,0.00882260146151,1.04970492918
+301,5.016666667,pose2_to_pose3_retreat,0.617493647972,0.000150130885051,1.05003361195,0.588064325601,0.00882276612916,1.04970500342
+302,5.033333333,pose2_to_pose3_retreat,0.617091950088,0.00015003218034,1.0500336332,0.587662628103,0.00882266827155,1.04970502609
+303,5.050000000,pose2_to_pose3_retreat,0.616663976703,0.000150073312648,1.05003355849,0.587234654486,0.00882270819809,1.04970495486
+304,5.066666667,pose2_to_pose3_retreat,0.616211158331,0.000150181745841,1.05003332848,0.586781835892,0.00882281558827,1.04970473096
+305,5.083333333,pose2_to_pose3_retreat,0.615746004713,0.000150135006775,1.05003325805,0.586316683158,0.00882277126891,1.04970465807
+306,5.100000000,pose2_to_pose3_retreat,0.615272257539,0.000150084087359,1.05003362691,0.585842936135,0.00882271987152,1.04970501486
+307,5.116666667,pose2_to_pose3_retreat,0.61478588152,0.000150064610427,1.05003339724,0.585356560269,0.00882270066403,1.04970479242
+308,5.133333333,pose2_to_pose3_retreat,0.614284803944,0.000150254506495,1.05003348892,0.584855479724,0.0088228800152,1.04970488298
+309,5.150000000,pose2_to_pose3_retreat,0.613760137734,0.000150233450739,1.05003358993,0.584330814969,0.00882286353939,1.04970498413
+310,5.166666667,pose2_to_pose3_retreat,0.613213455835,0.000150182988394,1.05003374146,0.583784134412,0.00882281735596,1.04970513725
+311,5.183333333,pose2_to_pose3_retreat,0.612646769429,0.000150124152836,1.05003378044,0.583217447901,0.00882275791978,1.04970517526
+312,5.200000000,pose2_to_pose3_retreat,0.612066517018,0.000150047209507,1.05003359794,0.582637195073,0.00882267939269,1.04970498904
+313,5.216666667,pose2_to_pose3_retreat,0.611474946784,0.000150067938211,1.05003339624,0.582045625309,0.00882270181378,1.0497047899
+314,5.233333333,pose2_to_pose3_retreat,0.610868161693,0.000150097025701,1.05003338749,0.581438840479,0.00882273175558,1.04970478042
+315,5.250000000,pose2_to_pose3_retreat,0.610244444522,0.000150185764769,1.05003358334,0.580815121892,0.0088228155318,1.04970497193
+316,5.266666667,pose2_to_pose3_retreat,0.609599518063,0.000150050089575,1.05003365596,0.580170196597,0.00882268378534,1.04970504398
+317,5.283333333,pose2_to_pose3_retreat,0.608938364172,0.00014998248038,1.05003354908,0.579509043598,0.00882261928781,1.04970493939
+318,5.300000000,pose2_to_pose3_retreat,0.608264198584,0.000150128651147,1.05003338666,0.578834876659,0.00882276109906,1.04970478271
+319,5.316666667,pose2_to_pose3_retreat,0.607569088612,0.000150235768376,1.05003337253,0.578139765242,0.00882286370189,1.04970477815
+320,5.333333333,pose2_to_pose3_retreat,0.606850268042,0.000150006824775,1.0500336138,0.57742094711,0.0088226427044,1.04970501057
+321,5.350000000,pose2_to_pose3_retreat,0.606114742394,0.000150049112986,1.05003351046,0.576685422145,0.00882268732173,1.04970490748
+322,5.366666667,pose2_to_pose3_retreat,0.605362654945,0.000150012872748,1.05003369617,0.575933335233,0.00882265274338,1.04970508891
+323,5.383333333,pose2_to_pose3_retreat,0.60459689113,0.000150074928817,1.05003367571,0.575167569915,0.00882270973557,1.04970506935
+324,5.400000000,pose2_to_pose3_retreat,0.603834896978,0.000150078772399,1.05003364263,0.574405575285,0.00882271188178,1.0497050342
+325,5.416666667,pose2_to_pose3_retreat,0.603077772614,0.000150080281171,1.05003369446,0.573648452541,0.00882271886907,1.0497050855
+326,5.433333333,pose2_to_pose3_retreat,0.602323196412,0.000150139401913,1.0500336984,0.572893877791,0.00882278307765,1.0497050937
+327,5.450000000,pose2_to_pose3_retreat,0.601564822044,0.000150151722924,1.05003352191,0.572135501506,0.00882278889816,1.04970491724
+328,5.466666667,pose2_to_pose3_retreat,0.600783628629,0.000150223380163,1.05003365414,0.57135430578,0.00882285243562,1.04970504201
+329,5.483333333,pose2_to_pose3_retreat,0.599989655953,0.00015018220884,1.05003340198,0.570560333711,0.00882281381166,1.04970480269
+330,5.500000000,pose2_to_pose3_retreat,0.599191413187,0.000150209308556,1.05003358994,0.569762090722,0.00882283971438,1.04970497901
+331,5.516666667,pose2_to_pose3_retreat,0.598391903156,0.000150052997218,1.05003359239,0.568962582534,0.00882268955771,1.04970497876
+332,5.533333333,pose2_to_pose3_retreat,0.597596186417,0.000150045252026,1.0500335266,0.568166865848,0.00882268215176,1.04970491715
+333,5.550000000,pose2_to_pose3_retreat,0.596816250001,0.000150135410079,1.05003354881,0.567386928588,0.00882276963292,1.04970494425
+334,5.566666667,pose2_to_pose3_retreat,0.596050063163,0.00015012132546,1.05003358196,0.56662074244,0.00882275804563,1.04970498143
+335,5.583333333,pose2_to_pose3_retreat,0.595298469671,0.00015014139414,1.05003349322,0.565869148957,0.00882277813759,1.04970489247
+336,5.600000000,pose2_to_pose3_retreat,0.59454435083,0.000150162798017,1.05003361464,0.565115028422,0.00882279372284,1.04970501192
+337,5.616666667,pose2_to_pose3_retreat,0.593777064837,0.000150079736232,1.0500335279,0.564347744031,0.00882271606095,1.04970492434
+338,5.633333333,pose2_to_pose3_retreat,0.593006142261,0.000150035883312,1.05003367127,0.563576821235,0.00882267137148,1.04970506518
+339,5.650000000,pose2_to_pose3_retreat,0.592232375825,0.000150020265028,1.05003376125,0.562803055473,0.00882265798207,1.0497051536
+340,5.666666667,pose2_to_pose3_retreat,0.591465506984,0.000150062900678,1.0500337014,0.562036186275,0.00882269945639,1.04970509504
+341,5.683333333,pose2_to_pose3_retreat,0.590719167584,0.000150085345916,1.05003368763,0.561289846146,0.00882271936316,1.04970507949
+342,5.700000000,pose2_to_pose3_retreat,0.590005253179,0.000150048441784,1.05003373794,0.560575932557,0.00882268502638,1.04970512453
+343,5.716666667,pose2_to_pose3_retreat,0.589315160737,0.000150133184215,1.05003351136,0.559885838763,0.00882276541057,1.04970490388
+344,5.733333333,pose2_to_pose3_retreat,0.588644915087,0.000150100639683,1.05003337187,0.559215593926,0.00882273599495,1.04970477422
+345,5.750000000,pose2_to_pose3_retreat,0.587985009787,0.000150194017884,1.05003326305,0.558555686522,0.00882282225451,1.04970466585
+346,5.766666667,pose2_to_pose3_retreat,0.587331904005,0.000150141896106,1.05003340586,0.557902582417,0.00882277563689,1.04970480376
+347,5.783333333,pose2_to_pose3_retreat,0.586678001928,0.000150164503055,1.05003356763,0.557248681072,0.00882280065655,1.04970496358
+348,5.800000000,pose2_to_pose3_retreat,0.586030168729,0.000150245286706,1.05003357345,0.556600846412,0.0088228765275,1.04970497063
+349,5.816666667,pose2_to_pose3_retreat,0.585394539633,0.000150202479272,1.05003353235,0.555965217212,0.00882283333892,1.04970492866
+350,5.833333333,pose2_to_pose3_retreat,0.584779946762,0.000150117609516,1.0500336413,0.555350626277,0.00882275491588,1.04970503445
+351,5.850000000,pose2_to_pose3_retreat,0.5841919446,0.000150139381239,1.05003366045,0.554762622928,0.00882277247945,1.04970504944
+352,5.866666667,pose2_to_pose3_retreat,0.583640029276,0.000150086410405,1.05003371127,0.554210708464,0.00882272279112,1.04970511029
+353,5.883333333,pose2_to_pose3_retreat,0.583118391386,0.000150192391328,1.05003348075,0.553689068334,0.00882282103936,1.04970487526
+354,5.900000000,pose2_to_pose3_retreat,0.582621139656,0.000150156772423,1.05003337329,0.553191816321,0.00882278453729,1.04970477048
+355,5.916666667,pose2_to_pose3_retreat,0.582134629637,0.000150154230877,1.05003346583,0.552705306617,0.00882278306583,1.04970486358
+356,5.933333333,pose2_to_pose3_retreat,0.581656315402,0.000150180886216,1.05003355352,0.552226992963,0.008822811669,1.04970495015
+357,5.950000000,pose2_to_pose3_retreat,0.581193013582,0.000150017672668,1.05003335955,0.551763693299,0.00882265613903,1.04970476531
+358,5.966666667,pose2_to_pose3_retreat,0.580747132809,0.000150081940541,1.05003350215,0.551317811801,0.00882271756512,1.04970489789
+359,5.983333333,pose2_to_pose3_retreat,0.58032546923,0.000150234109031,1.05003364371,0.550896147275,0.00882286624689,1.04970503221
+360,6.000000000,pose2_to_pose3_retreat,0.579925765028,0.000150149415583,1.05003366725,0.550496443767,0.00882278379088,1.0497050526
+361,6.016666667,pose2_to_pose3_retreat,0.579547308788,0.000150118275373,1.05003358479,0.550117987457,0.0088227524935,1.04970497224
+362,6.033333333,pose2_to_pose3_retreat,0.579182329704,0.000150143175367,1.05003353952,0.549753007157,0.00882277325855,1.04970492681
+363,6.050000000,pose2_to_pose3_retreat,0.578830302917,0.000150159688534,1.05003348156,0.549400980023,0.00882278866117,1.0497048706
+364,6.066666667,pose2_to_pose3_retreat,0.578501252878,0.000150202940919,1.05003342037,0.549071930182,0.00882283286212,1.0497048168
+365,6.083333333,pose2_to_pose3_retreat,0.578197211649,0.000150267015797,1.05003350331,0.548767887987,0.00882289367732,1.04970490023
+366,6.100000000,pose2_to_pose3_retreat,0.577923600188,0.000150093903426,1.05003358296,0.548494278815,0.008822727742,1.04970496435
+367,6.116666667,pose2_to_pose3_retreat,0.577678886679,0.000149928280322,1.05003380022,0.54824956793,0.00882257080988,1.04970517626
+368,6.133333333,pose2_to_pose3_retreat,0.577463112728,0.000149884651536,1.05003363118,0.548033794317,0.00882252855673,1.0497050131
+369,6.150000000,pose2_to_pose3_retreat,0.577261252377,0.00015000834058,1.05003359383,0.547831932979,0.00882264924157,1.04970498491
+370,6.166666667,pose2_to_pose3_retreat,0.57707142409,0.000150154494976,1.05003357425,0.547642102209,0.00882278728077,1.04970497355
+371,6.183333333,pose2_to_pose3_retreat,0.576891309187,0.000150176393575,1.05003348709,0.547461984899,0.00882280117881,1.04970489062
+372,6.200000000,pose2_to_pose3_retreat,0.57672201926,0.000150071402802,1.05003359055,0.547292698223,0.00882270721294,1.04970499396
+373,6.216666667,pose2_to_pose3_retreat,0.576566685891,0.000150080325567,1.05003364639,0.547137365618,0.00882271828219,1.04970503824
+374,6.233333333,pose2_to_pose3_retreat,0.576427055884,0.000150173084902,1.05003351213,0.546997733191,0.00882280307326,1.04970491038
+375,6.250000000,pose2_to_pose3_retreat,0.576303832925,0.000150155960895,1.05003357969,0.546874510491,0.00882278677641,1.04970497658
+376,6.266666667,pose2_to_pose3_retreat,0.576198502216,0.000150085670517,1.05003363957,0.546769181095,0.00882272074534,1.04970503126
+377,6.283333333,pose2_to_pose3_retreat,0.576108179084,0.000150067221184,1.05003354056,0.546678858457,0.00882270405142,1.04970493456
+378,6.300000000,pose2_to_pose3_retreat,0.576028994035,0.000150072677979,1.05003339499,0.546599673064,0.00882270854821,1.04970479481
+379,6.316666667,pose2_to_pose3_retreat,0.575959566899,0.000149946184289,1.05003352882,0.546530246289,0.00882258287976,1.04970491799
+380,6.333333333,pose2_to_pose3_retreat,0.575899659915,0.000149981277707,1.05003353654,0.546470339494,0.00882261855344,1.04970492404
+381,6.350000000,pose2_to_pose3_retreat,0.575846896283,0.000150138920936,1.05003360585,0.546417574417,0.00882277152495,1.04970499936
+382,6.366666667,pose2_to_pose3_retreat,0.575801788415,0.00015016140303,1.05003347521,0.546372466102,0.00882279248659,1.04970486862
+383,6.383333333,pose2_to_pose3_retreat,0.57576536011,0.000150089031749,1.05003346489,0.546336038419,0.00882272226114,1.04970485919
+384,6.400000000,pose2_to_pose3_retreat,0.575736912581,0.000150084313866,1.05003350574,0.546307591202,0.00882271867089,1.04970490198
+385,6.416666667,pose2_to_pose3_retreat,0.575715928114,0.000150102874174,1.05003345203,0.546286606574,0.00882273681332,1.04970485165
+386,6.433333333,pose2_to_pose3_retreat,0.575700295822,0.00015005423712,1.05003334669,0.546270974264,0.00882268833588,1.04970475215
+387,6.450000000,pose2_to_pose3_retreat,0.575689617579,0.000150129971518,1.05003345617,0.546260296177,0.00882276447993,1.04970485849
+388,6.466666667,pose2_to_pose3_retreat,0.575681741036,0.00015013143775,1.05003349261,0.546252420026,0.00882276716128,1.04970489192
+389,6.483333333,pose2_to_pose3_retreat,0.575676248569,0.000150116062332,1.05003349833,0.546246927797,0.0088227525222,1.04970489577
+390,6.500000000,pose2_to_pose3_retreat,0.575672551324,0.000150148615794,1.05003349125,0.546243229635,0.00882278205282,1.04970489113
+391,6.516666667,pose2_to_pose3_retreat,0.575670001437,0.000150146862143,1.05003351827,0.546240679455,0.00882277925512,1.04970491677
+392,6.533333333,pose2_to_pose3_retreat,0.575668529523,0.00015010106682,1.0500335929,0.546239208001,0.00882273478264,1.04970498493
+393,6.550000000,pose2_to_pose3_retreat,0.575667391515,0.000150065660268,1.0500336506,0.54623807035,0.00882270039885,1.04970503764
+394,6.566666667,pose2_to_pose3_retreat,0.575666479956,0.000150108591475,1.05003365864,0.546237159131,0.00882274455082,1.04970504746
+395,6.583333333,pose2_to_pose3_retreat,0.575666211706,0.000150139127065,1.05003365143,0.546236890996,0.00882277554647,1.04970504222
+396,6.600000000,pose2_to_pose3_retreat,0.57566619494,0.000150141035619,1.05003365098,0.546236874237,0.00882277748378,1.04970504189
+397,6.616666667,pose2_to_pose3_retreat,0.575665790489,0.00015018707532,1.05003364009,0.546236469958,0.00882282421714,1.04970503398
+398,6.633333333,pose2_to_pose3_retreat,0.575665491256,0.000150221137854,1.05003363204,0.546236170852,0.00882285879288,1.04970502813
+399,6.650000000,pose2_to_pose3_retreat,0.575665402053,0.00015023129216,1.05003362964,0.546236081687,0.00882286910017,1.04970502639
+400,6.666666667,pose2_to_pose3_retreat,0.575665368447,0.000150235117611,1.05003362874,0.546236048095,0.00882287298326,1.04970502573
+401,6.683333333,pose2_to_pose3_retreat,0.575665341654,0.000150238167525,1.05003362802,0.546236021313,0.00882287607912,1.04970502521
+402,6.700000000,pose2_to_pose3_retreat,0.575665121186,0.000150252854823,1.05003362124,0.546235800993,0.00882289132469,1.04970501997
+403,6.716666667,pose2_to_pose3_retreat,0.575664925101,0.000150208470139,1.05003361055,0.546235605338,0.00882284843078,1.04970501018
+404,6.733333333,pose2_to_pose3_retreat,0.575664848187,0.000150191060237,1.05003360635,0.546235528592,0.00882283160564,1.04970500634
+405,6.750000000,pose2_to_pose3_retreat,0.575664828482,0.000150186599813,1.05003360528,0.54623550893,0.00882282729503,1.04970500536
+406,6.766666667,pose2_to_pose3_retreat,0.575664736004,0.000150165666824,1.05003360023,0.546235416654,0.00882280706513,1.04970500074
+407,6.783333333,pose2_to_pose3_retreat,0.575664720754,0.000150162214882,1.0500335994,0.546235401437,0.00882280372913,1.04970499998
+408,6.800000000,pose2_to_pose3_retreat,0.575664647376,0.000150145605508,1.0500335954,0.54623532822,0.00882278767763,1.04970499631
+409,6.816666667,pose2_to_pose3_retreat,0.575664477708,0.000150116741579,1.05003358785,0.546235158784,0.00882275963101,1.04970498957
+410,6.833333333,pose2_to_pose3_retreat,0.575664340176,0.000150170947779,1.05003359556,0.546235020305,0.00882281065567,1.04970499815
+411,6.850000000,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511735,1.04970501047

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba0ea703f595b85c4a2ca8f66cb0e9b8cc31bc4de116324a6f746d6e7e94c5d
+size 25876673

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/simulation_data.csv

@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+1,0.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+2,0.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+3,0.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+4,0.066666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+5,0.083333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+6,0.100000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+7,0.116666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+8,0.133333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+9,0.150000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+10,0.166666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+11,0.183333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+12,0.200000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+13,0.216666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+14,0.233333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+15,0.250000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+16,0.266666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+17,0.283333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+18,0.300000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+19,0.316666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+20,0.333333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+21,0.350000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+22,0.366666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+23,0.383333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+24,0.400000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+25,0.416666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+26,0.433333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+27,0.450000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+28,0.466666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+29,0.483333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+30,0.500000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+31,0.516666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+32,0.533333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+33,0.550000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+34,0.566666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+35,0.583333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+36,0.600000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+37,0.616666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+38,0.633333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+39,0.650000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+40,0.666666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+41,0.683333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+42,0.700000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+43,0.716666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+44,0.733333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+45,0.750000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+46,0.766666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+47,0.783333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+48,0.800000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+49,0.816666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+50,0.833333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+51,0.850000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+52,0.866666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+53,0.883333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+54,0.900000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+55,0.916666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+56,0.933333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+57,0.950000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+58,0.966666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+59,0.983333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+60,1.000000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+61,1.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+62,1.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+63,1.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+64,1.066666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+65,1.083333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+66,1.100000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+67,1.116666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+68,1.133333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+69,1.150000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+70,1.166666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+71,1.183333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+72,1.200000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+73,1.216666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+74,1.233333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+75,1.250000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+76,1.266666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+77,1.283333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+78,1.300000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+79,1.316666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+80,1.333333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+81,1.350000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+82,1.366666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+83,1.383333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+84,1.400000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+85,1.416666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+86,1.433333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+87,1.450000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+88,1.466666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+89,1.483333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+90,1.500000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+91,1.516666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+92,1.533333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+93,1.550000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+94,1.566666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+95,1.583333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+96,1.600000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+97,1.616666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+98,1.633333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+99,1.650000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+100,1.666666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+101,1.683333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+102,1.700000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+103,1.716666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+104,1.733333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+105,1.750000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+106,1.766666667,pose1_to_pose2_press,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+107,1.783333333,pose1_to_pose2_press,0.575664378639,0.000150090254622,1.0400335986,0.546235056988,0.00882272349421,1.03970498993
+108,1.800000000,pose1_to_pose2_press,0.575664391247,0.00015008697171,1.04003357262,0.546235069701,0.0088227205755,1.03970496411
+109,1.816666667,pose1_to_pose2_press,0.575664445172,0.000150073741217,1.04003354413,0.546235123981,0.00882270855412,1.03970493579
+110,1.833333333,pose1_to_pose2_press,0.575664676116,0.000150018750496,1.04003359229,0.546235356242,0.00882265802354,1.03970498367
+111,1.850000000,pose1_to_pose2_press,0.575665186675,0.000149980280132,1.04003359913,0.546235867687,0.00882262255033,1.03970499029
+112,1.866666667,pose1_to_pose2_press,0.575666945001,0.000150070165842,1.0400334359,0.546237623797,0.00882270492357,1.0397048272
+113,1.883333333,pose1_to_pose2_press,0.575670629445,0.000150120171289,1.04003353392,0.546241307936,0.00882275390717,1.03970492556
+114,1.900000000,pose1_to_pose2_press,0.575677698246,0.00015017104336,1.04003356894,0.546248377322,0.00882280690885,1.03970496432
+115,1.916666667,pose1_to_pose2_press,0.575689660598,0.000150212744864,1.04003356939,0.546260338386,0.00882284426281,1.03970496534
+116,1.933333333,pose1_to_pose2_press,0.575707198178,0.000150158448855,1.04003359733,0.546277876662,0.00882279231924,1.03970499305
+117,1.950000000,pose1_to_pose2_press,0.575731341501,0.000150134854052,1.04003379206,0.546302019679,0.00882276715044,1.03970517351
+118,1.966666667,pose1_to_pose2_press,0.575761431834,0.000150160207125,1.0400335044,0.546332109754,0.00882279198808,1.03970489534
+119,1.983333333,pose1_to_pose2_press,0.575796774916,0.000150228318035,1.04003359072,0.546367452881,0.0088228602222,1.03970498084
+120,2.000000000,pose1_to_pose2_press,0.575837086024,0.00015013287864,1.04003352347,0.546407764386,0.0088227661259,1.03970491345
+121,2.016666667,pose1_to_pose2_press,0.575882929478,0.000150045144173,1.04003340299,0.546453608777,0.00882268167712,1.03970479566
+122,2.033333333,pose1_to_pose2_press,0.575935622552,0.000150067477228,1.04003341867,0.546506302777,0.00882270724816,1.03970481382
+123,2.050000000,pose1_to_pose2_press,0.575996154278,0.000150107748251,1.04003350167,0.546566834099,0.00882274626849,1.03970489993
+124,2.066666667,pose1_to_pose2_press,0.576066700153,0.000149956311504,1.04003337868,0.546637381427,0.0088225999183,1.039704781
+125,2.083333333,pose1_to_pose2_press,0.57614806861,0.000150066410905,1.04003346371,0.546718746795,0.00882269933301,1.03970486069
+126,2.100000000,pose1_to_pose2_press,0.576242845299,0.000150200030248,1.0400335139,0.54681352129,0.00882282545919,1.03970490952
+127,2.116666667,pose1_to_pose2_press,0.576349513359,0.000150217955254,1.04003348591,0.546920189584,0.0088228444128,1.03970488773
+128,2.133333333,pose1_to_pose2_press,0.576468208017,0.000150131680931,1.04003344279,0.547038885543,0.00882276274427,1.03970484952
+129,2.150000000,pose1_to_pose2_press,0.576602131153,0.000150074704751,1.04003340127,0.547172809801,0.00882270912289,1.03970479599
+130,2.166666667,pose1_to_pose2_press,0.576751474945,0.000150061828261,1.04003361979,0.547322154269,0.00882269854767,1.03970501469
+131,2.183333333,pose1_to_pose2_press,0.576917489564,0.000149913352065,1.04003343204,0.547488171436,0.00882255892208,1.03970483222
+132,2.200000000,pose1_to_pose2_press,0.577101312146,0.000150028168328,1.04003342991,0.547671993495,0.00882267212624,1.03970483438
+133,2.216666667,pose1_to_pose2_press,0.577306084085,0.000150101285373,1.04003347993,0.547876764054,0.00882274048179,1.03970488228
+134,2.233333333,pose1_to_pose2_press,0.577529447415,0.000150078236726,1.04003356492,0.548100126056,0.00882271273001,1.039704962
+135,2.250000000,pose1_to_pose2_press,0.577771335555,0.000150075895004,1.04003359331,0.54834201354,0.00882270805808,1.03970498752
+136,2.266666667,pose1_to_pose2_press,0.578034403057,0.000150131681459,1.04003350472,0.548605081162,0.0088227643051,1.03970490024
+137,2.283333333,pose1_to_pose2_press,0.57831636769,0.000150158997539,1.04003347813,0.548887045624,0.0088227911597,1.03970487672
+138,2.300000000,pose1_to_pose2_press,0.578614312305,0.000150030381201,1.04003336427,0.549184991745,0.00882266763295,1.03970476215
+139,2.316666667,pose1_to_pose2_press,0.578924670116,0.000150128608557,1.0400332515,0.549495347625,0.00882275946333,1.03970465349
+140,2.333333333,pose1_to_pose2_press,0.579246077485,0.000150125274059,1.04003326922,0.549816754092,0.00882275286768,1.03970466578
+141,2.350000000,pose1_to_pose2_press,0.579580276377,0.000150158049151,1.04003342111,0.550150954088,0.00882278945583,1.03970481932
+142,2.366666667,pose1_to_pose2_press,0.579930188661,0.000150102131021,1.04003345886,0.550500868085,0.00882273923712,1.03970485409
+143,2.383333333,pose1_to_pose2_press,0.580308649457,0.00015004396344,1.04003349237,0.550879329409,0.0088226827197,1.03970488376
+144,2.400000000,pose1_to_pose2_press,0.580717158041,0.000150055622362,1.04003360758,0.551287837196,0.00882269185227,1.03970500352
+145,2.416666667,pose1_to_pose2_press,0.581158665517,0.00014998207951,1.04003346637,0.551729345102,0.00882262004186,1.03970486952
+146,2.433333333,pose1_to_pose2_press,0.581622092173,0.000150183131846,1.04003337633,0.552192769337,0.00882281274084,1.03970477561
+147,2.450000000,pose1_to_pose2_press,0.582103136462,0.000150149639934,1.04003337348,0.552673814769,0.00882278317626,1.03970477401
+148,2.466666667,pose1_to_pose2_press,0.582588468762,0.000150123560157,1.04003351404,0.553159147061,0.00882275669986,1.0397049047
+149,2.483333333,pose1_to_pose2_press,0.583079479884,0.000150095186989,1.04003346267,0.553650158509,0.00882272934968,1.03970485114
+150,2.500000000,pose1_to_pose2_press,0.583587728519,0.00015013392911,1.04003354766,0.554158407039,0.00882276792884,1.03970494116
+151,2.516666667,pose1_to_pose2_press,0.584118264555,0.00015015078597,1.04003356121,0.554688943287,0.00882278575913,1.03970496133
+152,2.533333333,pose1_to_pose2_press,0.584676515779,0.000150150242673,1.04003355216,0.55524719385,0.00882278279043,1.03970494737
+153,2.550000000,pose1_to_pose2_press,0.585255278783,0.000150158998923,1.04003365422,0.555825955667,0.00882278710376,1.03970503833
+154,2.566666667,pose1_to_pose2_press,0.585848699271,0.00015005303667,1.04003346138,0.556419379144,0.00882269189192,1.03970486149
+155,2.583333333,pose1_to_pose2_press,0.586451855812,0.000150113716474,1.04003329529,0.557022532944,0.00882274301405,1.0397046885
+156,2.600000000,pose1_to_pose2_press,0.58706444744,0.000150082238904,1.04003359462,0.557635126768,0.00882271913098,1.03970499165
+157,2.616666667,pose1_to_pose2_press,0.587691159609,0.000150005629281,1.04003356573,0.558261839453,0.00882264402696,1.03970495619
+158,2.633333333,pose1_to_pose2_press,0.588333036316,0.000150105717042,1.04003360736,0.558903715957,0.00882274351021,1.03970500006
+159,2.650000000,pose1_to_pose2_press,0.588987920162,0.000150152609937,1.04003350158,0.559558599811,0.0088227906184,1.03970489912
+160,2.666666667,pose1_to_pose2_press,0.589654214267,0.000150122961504,1.04003343717,0.560224893112,0.00882275827817,1.03970483566
+161,2.683333333,pose1_to_pose2_press,0.590330704835,0.000150155765619,1.0400335118,0.560901381842,0.00882278476748,1.03970490825
+162,2.700000000,pose1_to_pose2_press,0.591017179946,0.000150294018336,1.04003350698,0.561587855584,0.00882291839517,1.03970490393
+163,2.716666667,pose1_to_pose2_press,0.591717064872,0.000150341102673,1.04003348783,0.562287740237,0.00882296472129,1.03970488921
+164,2.733333333,pose1_to_pose2_press,0.592431476536,0.000149956969202,1.04003353116,0.563002154091,0.00882258760629,1.03970492162
+165,2.750000000,pose1_to_pose2_press,0.593153690252,0.000150137211722,1.04003351358,0.563724368998,0.00882277205607,1.03970490846
+166,2.766666667,pose1_to_pose2_press,0.593881830943,0.000150220018927,1.04003341213,0.564452508226,0.0088228499546,1.03970480851
+167,2.783333333,pose1_to_pose2_press,0.594605711819,0.000150044294313,1.04003356703,0.565176390589,0.0088226791699,1.03970496062
+168,2.800000000,pose1_to_pose2_press,0.595325287873,0.000150141488279,1.0400335569,0.565895965987,0.00882277426531,1.03970495391
+169,2.816666667,pose1_to_pose2_press,0.596037939709,0.000150176663063,1.04003349659,0.566608618394,0.00882281144729,1.0397048954
+170,2.833333333,pose1_to_pose2_press,0.596751647522,0.000150068340915,1.04003347889,0.567322328206,0.0088227097482,1.03970487352
+171,2.850000000,pose1_to_pose2_press,0.597475079052,0.000150095288094,1.04003342589,0.568045759321,0.00882273509586,1.0397048155
+172,2.866666667,pose1_to_pose2_press,0.598197399367,0.000150094034517,1.04003344457,0.568768078503,0.00882272990648,1.03970483186
+173,2.883333333,pose1_to_pose2_press,0.598916728229,0.000150230131741,1.04003353622,0.569487405949,0.00882286130426,1.03970492634
+174,2.900000000,pose1_to_pose2_press,0.599642423875,0.000150064700679,1.04003374982,0.570213104151,0.00882270459642,1.03970514137
+175,2.916666667,pose1_to_pose2_press,0.600365196653,0.000150106302745,1.04003358092,0.570935875194,0.0088227403827,1.03970497445
+176,2.933333333,pose1_to_pose2_press,0.601075675089,0.000150031458552,1.04003344462,0.571646354412,0.0088226681833,1.03970483797
+177,2.950000000,pose1_to_pose2_press,0.601776802837,0.000150066597998,1.04003345234,0.57234748071,0.00882269856599,1.03970485013
+178,2.966666667,pose1_to_pose2_press,0.602466717778,0.000150119605137,1.04003356407,0.573037395438,0.00882275079699,1.03970496055
+179,2.983333333,pose1_to_pose2_press,0.60315399108,0.000150083749489,1.04003360612,0.57372467118,0.00882272310766,1.03970499966
+180,3.000000000,pose1_to_pose2_press,0.603837993182,0.000150062005017,1.04003350636,0.574408674216,0.00882270475801,1.03970490594
+181,3.016666667,pose1_to_pose2_press,0.604508863623,0.000150126275615,1.04003348736,0.575079543647,0.00882276546665,1.03970488354
+182,3.033333333,pose1_to_pose2_press,0.605172230769,0.000150056408482,1.0400333002,0.575742910068,0.00882269293936,1.03970469118
+183,3.050000000,pose1_to_pose2_press,0.605828623514,0.000150167248043,1.04003339799,0.576399301047,0.00882279789563,1.039704792
+184,3.066666667,pose1_to_pose2_press,0.606466373583,0.000149987870882,1.04003352554,0.577037054747,0.0088226306705,1.0397049152
+185,3.083333333,pose1_to_pose2_press,0.607085980553,0.000150080568088,1.04003364192,0.577656659249,0.00882271489916,1.03970502921
+186,3.100000000,pose1_to_pose2_press,0.607685507947,0.000150055673572,1.04003380426,0.578256186152,0.00882268848502,1.03970519557
+187,3.116666667,pose1_to_pose2_press,0.608263774492,0.000149981036934,1.0400337683,0.578834454044,0.00882261839729,1.03970515915
+188,3.133333333,pose1_to_pose2_press,0.608812475657,0.000150061330738,1.04003360534,0.579383155658,0.00882270027172,1.03970499783
+189,3.150000000,pose1_to_pose2_press,0.609336426124,0.000150182562321,1.0400335092,0.579907105865,0.00882282081768,1.039704907
+190,3.166666667,pose1_to_pose2_press,0.609840069627,0.000149975515063,1.04003351973,0.580410751014,0.00882261913456,1.03970491178
+191,3.183333333,pose1_to_pose2_press,0.610332750256,0.000149963476625,1.04003341399,0.580903430065,0.00882260175344,1.0397048065
+192,3.200000000,pose1_to_pose2_press,0.610817058416,0.000150084736629,1.04003338981,0.581387738466,0.00882272394934,1.03970478558
+193,3.216666667,pose1_to_pose2_press,0.611291425023,0.000150043014505,1.04003348168,0.581862105434,0.00882268330956,1.03970487382
+194,3.233333333,pose1_to_pose2_press,0.611748731791,0.000150023985806,1.04003359248,0.582319411804,0.00882266287605,1.03970498355
+195,3.250000000,pose1_to_pose2_press,0.612181148785,0.000150021797454,1.04003355712,0.582751828398,0.00882265932102,1.0397049478
+196,3.266666667,pose1_to_pose2_press,0.612591048095,0.000150028873436,1.04003345057,0.583161727774,0.00882266662087,1.03970483972
+197,3.283333333,pose1_to_pose2_press,0.61298093189,0.000150145415033,1.0400335294,0.583551611361,0.00882278272893,1.0397049221
+198,3.300000000,pose1_to_pose2_press,0.613360578683,0.000150121312409,1.040033497,0.583931257293,0.00882275626624,1.039704898
+199,3.316666667,pose1_to_pose2_press,0.613729913435,0.000150020512352,1.04003360231,0.584300592478,0.00882265712796,1.03970500104
+200,3.333333333,pose1_to_pose2_press,0.614084966914,0.000150094193643,1.04003363345,0.584655645545,0.0088227296287,1.03970502958
+201,3.350000000,pose1_to_pose2_press,0.614420271279,0.000150126230187,1.04003354319,0.584990949363,0.00882276020649,1.03970494032
+202,3.366666667,pose1_to_pose2_press,0.614730076775,0.000150178969126,1.04003357216,0.585300753953,0.00882281014678,1.03970496842
+203,3.383333333,pose1_to_pose2_press,0.615013972044,0.000150139504897,1.04003368544,0.585584650146,0.00882277406684,1.03970508102
+204,3.400000000,pose1_to_pose2_press,0.615272151357,0.000150046399031,1.04003367884,0.58584283126,0.00882268736868,1.03970507557
+205,3.416666667,pose1_to_pose2_press,0.615509680255,0.000150054648696,1.04003348616,0.58608036,0.00882269532421,1.03970488317
+206,3.433333333,pose1_to_pose2_press,0.615730882719,0.000150152047141,1.04003342572,0.586301560356,0.00882278555578,1.03970481625
+207,3.450000000,pose1_to_pose2_press,0.61594002015,0.000150037351407,1.0400334084,0.58651069759,0.00882267047534,1.03970479911
+208,3.466666667,pose1_to_pose2_press,0.61613834143,0.000150095825305,1.04003359757,0.586709019394,0.0088227307906,1.03970498442
+209,3.483333333,pose1_to_pose2_press,0.616324638897,0.000150146355228,1.04003348338,0.586895316131,0.00882277938235,1.03970488055
+210,3.500000000,pose1_to_pose2_press,0.616496519934,0.000150179120406,1.04003349143,0.587067196695,0.00882281097588,1.03970489452
+211,3.516666667,pose1_to_pose2_press,0.616653017834,0.00015016998569,1.04003354732,0.587223694999,0.00882280348601,1.0397049509
+212,3.533333333,pose1_to_pose2_press,0.616790232616,0.000150136545706,1.04003351128,0.587360909844,0.00882277052569,1.03970491632
+213,3.550000000,pose1_to_pose2_press,0.616910726138,0.000150076829701,1.04003354957,0.58748140361,0.00882271166532,1.03970495143
+214,3.566666667,pose1_to_pose2_press,0.617015219772,0.000149860673421,1.04003339976,0.587585899896,0.0088225045071,1.03970479707
+215,3.583333333,pose1_to_pose2_press,0.617106304911,0.000149967515581,1.04003354456,0.587676985337,0.0088226127166,1.0397049309
+216,3.600000000,pose1_to_pose2_press,0.617184507992,0.000150157794179,1.04003331032,0.587755185594,0.00882279354125,1.0397047114
+217,3.616666667,pose1_to_pose2_press,0.617254404535,0.000150124891905,1.04003348998,0.58782508131,0.00882275803918,1.03970488662
+218,3.633333333,pose1_to_pose2_press,0.617316532241,0.000150033010014,1.04003351967,0.587887210309,0.00882267024138,1.03970491234
+219,3.650000000,pose1_to_pose2_press,0.617369870954,0.00015005863647,1.04003349986,0.587940549148,0.00882269606304,1.03970489264
+220,3.666666667,pose1_to_pose2_press,0.617415191948,0.00015017885917,1.04003357324,0.587985868644,0.00882281134534,1.03970496472
+221,3.683333333,pose1_to_pose2_press,0.617452329433,0.000150211264831,1.04003337443,0.58802300647,0.00882284473597,1.03970476788
+222,3.700000000,pose1_to_pose2_press,0.617481201299,0.000150138471052,1.04003329876,0.588051877929,0.00882277075664,1.03970469396
+223,3.716666667,pose1_to_pose2_press,0.617502672161,0.000150092038206,1.04003358717,0.588073349851,0.00882272802225,1.0397049832
+224,3.733333333,pose1_to_pose2_press,0.617519418934,0.000150003813923,1.04003345937,0.588090097098,0.00882264159086,1.03970485573
+225,3.750000000,pose1_to_pose2_press,0.617532288819,0.000150099265264,1.04003345679,0.588102966274,0.0088227345899,1.03970485242
+226,3.766666667,pose1_to_pose2_press,0.617541736662,0.000150163185278,1.04003350724,0.588112413535,0.00882279657381,1.03970490498
+227,3.783333333,pose1_to_pose2_press,0.61754857395,0.000149981009845,1.04003345704,0.58811925155,0.00882261730256,1.03970486292
+228,3.800000000,pose1_to_pose2_press,0.617553214546,0.000150070616987,1.04003358309,0.588123893218,0.00882271029734,1.03970498485
+229,3.816666667,pose1_to_pose2_press,0.617556096252,0.000150119482302,1.0400335818,0.588126774363,0.00882275710359,1.03970497951
+230,3.833333333,pose1_to_pose2_press,0.617557703226,0.000150142443631,1.04003353374,0.588128380298,0.00882277644887,1.03970492832
+231,3.850000000,pose1_to_pose2_press,0.617558770387,0.000150123107489,1.04003352222,0.588129447553,0.00882275736008,1.03970491494
+232,3.866666667,pose1_to_pose2_press,0.617559454572,0.000150094163681,1.0400335246,0.588130132171,0.00882272984212,1.03970491623
+233,3.883333333,pose1_to_pose2_press,0.617559841886,0.000150077778707,1.04003352594,0.588130519731,0.00882271426431,1.03970491695
+234,3.900000000,pose1_to_pose2_press,0.617560139998,0.000150096178469,1.04003350673,0.588130817591,0.00882273186374,1.03970489919
+235,3.916666667,pose1_to_pose2_press,0.617560380433,0.000150185497674,1.04003344261,0.588131056757,0.00882281712318,1.03970484087
+236,3.933333333,pose1_to_pose2_press,0.617560522196,0.000150238161337,1.0400334048,0.588131197773,0.00882286739316,1.03970480648
+237,3.950000000,pose1_to_pose2_press,0.617560617913,0.000150273719081,1.04003337928,0.588131292985,0.00882290133473,1.03970478326
+238,3.966666667,pose1_to_pose2_press,0.617560720364,0.000150311778642,1.04003335195,0.588131394896,0.00882293766439,1.0397047584
+239,3.983333333,pose1_to_pose2_press,0.617560755714,0.00015030531015,1.04003335122,0.58813143043,0.00882293181875,1.03970475767
+240,4.000000000,pose1_to_pose2_press,0.617560787467,0.000150297304611,1.04003335154,0.588131462392,0.00882292450931,1.03970475788
+241,4.016666667,pose1_to_pose2_press,0.617560789222,0.00015029686239,1.04003335156,0.588131464157,0.00882292410554,1.0397047579
+242,4.033333333,pose1_to_pose2_press,0.617560824307,0.000150288016838,1.04003335191,0.588131499472,0.00882291602912,1.03970475814
+243,4.050000000,pose1_to_pose2_press,0.617560930711,0.000150261191108,1.04003335298,0.588131606571,0.00882289153591,1.03970475887
+244,4.066666667,pose1_to_pose2_press,0.617560990116,0.000150168823861,1.04003341131,0.588131666385,0.00882280050822,1.03970481608
+245,4.083333333,pose1_to_pose2_press,0.617560990043,0.000150086161113,1.040033473,0.588131666333,0.00882271788431,1.03970487678
+246,4.100000000,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788341,1.03970487678
+247,4.116666667,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788329,1.03970487678
+248,4.133333333,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788332,1.03970487678
+249,4.150000000,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788326,1.03970487678
+250,4.166666667,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.0088227178832,1.03970487678
+251,4.183333333,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788312,1.03970487678
+252,4.200000000,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788322,1.03970487678
+253,4.216666667,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.0088227178831,1.03970487678
+254,4.233333333,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788304,1.03970487678
+255,4.250000000,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788319,1.03970487678
+256,4.266666667,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788312,1.03970487678
+257,4.283333333,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788307,1.03970487678
+258,4.300000000,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788311,1.03970487678
+259,4.316666667,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788309,1.03970487678
+260,4.333333333,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788299,1.03970487678
+261,4.350000000,pose2_hold,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788305,1.03970487678
+262,4.366666667,pose2_to_pose3_retreat,0.617560990043,0.000150086161113,1.040033473,0.588131666334,0.00882271788293,1.03970487678
+263,4.383333333,pose2_to_pose3_retreat,0.617560931365,0.000150151757021,1.04003349297,0.588131607862,0.00882278402539,1.03970489272
+264,4.400000000,pose2_to_pose3_retreat,0.617560906977,0.000150179020505,1.04003350128,0.58813158356,0.00882281151604,1.03970489934
+265,4.416666667,pose2_to_pose3_retreat,0.617560887472,0.000150187614886,1.04003349102,0.588131564076,0.00882282018005,1.03970488904
+266,4.433333333,pose2_to_pose3_retreat,0.617560773258,0.000150203295471,1.0400333867,0.588131449861,0.00882283597452,1.03970478777
+267,4.450000000,pose2_to_pose3_retreat,0.617560578028,0.000150224195492,1.04003323355,0.588131254641,0.00882285707456,1.03970463897
+268,4.466666667,pose2_to_pose3_retreat,0.617560534193,0.000150219477116,1.04003323929,0.588131210827,0.00882285240963,1.03970464429
+269,4.483333333,pose2_to_pose3_retreat,0.617560038206,0.000150166089327,1.04003330417,0.58813071507,0.00882279962658,1.03970470452
+270,4.500000000,pose2_to_pose3_retreat,0.617558857753,0.000150087867671,1.04003341009,0.588129535084,0.00882272280383,1.03970480555
+271,4.516666667,pose2_to_pose3_retreat,0.617554758424,0.000150092667688,1.0400334948,0.588125435981,0.00882272850874,1.03970489438
+272,4.533333333,pose2_to_pose3_retreat,0.617546179525,0.000150113133235,1.04003343355,0.588116856976,0.00882274846721,1.03970483057
+273,4.550000000,pose2_to_pose3_retreat,0.617529150489,0.000150232638433,1.04003339632,0.588099825865,0.0088228609501,1.03970479432
+274,4.566666667,pose2_to_pose3_retreat,0.617503103726,0.000150210481373,1.04003358704,0.588073780234,0.00882284259889,1.03970498347
+275,4.583333333,pose2_to_pose3_retreat,0.617466989711,0.000150061641187,1.04003343771,0.588037667056,0.00882269666982,1.03970483336
+276,4.600000000,pose2_to_pose3_retreat,0.617422196533,0.000150001539872,1.04003344903,0.587992874227,0.00882263797361,1.03970484808
+277,4.616666667,pose2_to_pose3_retreat,0.617368669294,0.000150136508415,1.04003340695,0.587939346853,0.00882277252012,1.03970480837
+278,4.633333333,pose2_to_pose3_retreat,0.617309118283,0.000150135283155,1.04003354987,0.587879795348,0.00882276928918,1.03970494347
+279,4.650000000,pose2_to_pose3_retreat,0.617243651107,0.000150161125218,1.04003367314,0.587814327705,0.00882279335904,1.03970506023
+280,4.666666667,pose2_to_pose3_retreat,0.617169684483,0.000150167438998,1.04003362864,0.587740362059,0.00882280288096,1.03970501755
+281,4.683333333,pose2_to_pose3_retreat,0.617086725351,0.00015004120984,1.04003351701,0.587657405218,0.00882268407921,1.03970491226
+282,4.700000000,pose2_to_pose3_retreat,0.616992701824,0.000150124074394,1.04003351693,0.587563380603,0.00882276315008,1.03970491284
+283,4.716666667,pose2_to_pose3_retreat,0.616886454461,0.000150079150385,1.0400334969,0.587457132736,0.00882271651628,1.03970489613
+284,4.733333333,pose2_to_pose3_retreat,0.616767006739,0.000150052900352,1.04003349925,0.587337684768,0.00882268917571,1.0397048965
+285,4.750000000,pose2_to_pose3_retreat,0.616633936213,0.000150070716059,1.04003351848,0.587204614172,0.00882270643544,1.03970491153
+286,4.766666667,pose2_to_pose3_retreat,0.616487285123,0.000150119961639,1.04003353839,0.587057962831,0.00882275459674,1.03970492886
+287,4.783333333,pose2_to_pose3_retreat,0.616325064551,0.000150150284174,1.04003353892,0.586895741028,0.00882278055051,1.03970493025
+288,4.800000000,pose2_to_pose3_retreat,0.616146139452,0.000150073898755,1.04003361944,0.586716817408,0.00882270916959,1.03970501408
+289,4.816666667,pose2_to_pose3_retreat,0.615947836904,0.000150180308958,1.0400338168,0.586518515056,0.00882281578379,1.03970520563
+290,4.833333333,pose2_to_pose3_retreat,0.615731168728,0.000150241369334,1.04003371046,0.586301845866,0.00882287322176,1.039705102
+291,4.850000000,pose2_to_pose3_retreat,0.6154965255,0.000150161709707,1.04003346817,0.586067202064,0.00882279151209,1.03970486425
+292,4.866666667,pose2_to_pose3_retreat,0.615247075963,0.000150033661488,1.04003342681,0.585817753484,0.00882266630396,1.03970481952
+293,4.883333333,pose2_to_pose3_retreat,0.61498517491,0.000150148443159,1.04003350452,0.585555852929,0.00882278254602,1.0397049016
+294,4.900000000,pose2_to_pose3_retreat,0.614711187621,0.000150099985755,1.04003342508,0.585281865868,0.00882273460857,1.03970481995
+295,4.916666667,pose2_to_pose3_retreat,0.614420596579,0.000150058203683,1.04003359468,0.584991275686,0.00882269555819,1.03970499118
+296,4.933333333,pose2_to_pose3_retreat,0.614108438476,0.00015010102368,1.04003363438,0.584679117372,0.00882273728855,1.03970502893
+297,4.950000000,pose2_to_pose3_retreat,0.613771495185,0.000150233554118,1.04003350127,0.584342172491,0.0088228638911,1.03970488921
+298,4.966666667,pose2_to_pose3_retreat,0.613409378107,0.000150323841968,1.0400337829,0.583980054919,0.0088229523273,1.03970517139
+299,4.983333333,pose2_to_pose3_retreat,0.613020928731,0.000150220625208,1.04003354836,0.583591605993,0.00882285075009,1.03970494458
+300,5.000000000,pose2_to_pose3_retreat,0.612612064589,0.000150168737058,1.04003339663,0.583182741407,0.00882279728753,1.03970479959
+301,5.016666667,pose2_to_pose3_retreat,0.612185884573,0.000150105102313,1.04003350106,0.582756562814,0.00882273836648,1.03970490402
+302,5.033333333,pose2_to_pose3_retreat,0.611745553888,0.000150076814283,1.04003362696,0.582316233264,0.00882271374012,1.03970502507
+303,5.050000000,pose2_to_pose3_retreat,0.611291563254,0.000150113084285,1.04003366759,0.58186224243,0.00882274920796,1.03970506242
+304,5.066666667,pose2_to_pose3_retreat,0.610824110705,0.000150180275896,1.04003372541,0.581394789621,0.00882281570666,1.03970512451
+305,5.083333333,pose2_to_pose3_retreat,0.610342774249,0.000150077564855,1.04003355864,0.580913452861,0.00882271168489,1.03970495106
+306,5.100000000,pose2_to_pose3_retreat,0.609842595418,0.000150170249993,1.0400334238,0.580413272685,0.00882279998208,1.0397048208
+307,5.116666667,pose2_to_pose3_retreat,0.609326108781,0.000150186656465,1.04003348896,0.579896786929,0.0088228194713,1.03970488814
+308,5.133333333,pose2_to_pose3_retreat,0.608794637637,0.000150102251608,1.04003362753,0.57936531747,0.00882274061625,1.03970502205
+309,5.150000000,pose2_to_pose3_retreat,0.608248565884,0.000150018812232,1.04003363636,0.578819245754,0.00882265700884,1.0397050235
+310,5.166666667,pose2_to_pose3_retreat,0.607688137991,0.000150185105508,1.04003338758,0.578258815566,0.00882281598716,1.03970478724
+311,5.183333333,pose2_to_pose3_retreat,0.607108186428,0.000150195709424,1.04003335019,0.577678864462,0.0088228283859,1.03970475606
+312,5.200000000,pose2_to_pose3_retreat,0.606506572002,0.000150179004751,1.0400333741,0.577077250057,0.00882281161465,1.03970477633
+313,5.216666667,pose2_to_pose3_retreat,0.60587881986,0.000150161451834,1.04003343532,0.576449498408,0.0088227956391,1.03970483547
+314,5.233333333,pose2_to_pose3_retreat,0.605230803227,0.000150138039596,1.04003344639,0.575801482719,0.00882277557425,1.03970485046
+315,5.250000000,pose2_to_pose3_retreat,0.604565155619,0.000150081857559,1.04003338568,0.575135835505,0.00882272081937,1.03970479084
+316,5.266666667,pose2_to_pose3_retreat,0.603883232568,0.000149980249552,1.04003366627,0.574453913292,0.00882262144057,1.03970505499
+317,5.283333333,pose2_to_pose3_retreat,0.6031865891,0.000150158036931,1.04003342631,0.573757266425,0.00882278791309,1.03970482087
+318,5.300000000,pose2_to_pose3_retreat,0.602490447073,0.000150161522052,1.04003338745,0.57306112413,0.00882279053444,1.03970478312
+319,5.316666667,pose2_to_pose3_retreat,0.601793256635,0.000150194155033,1.04003354279,0.572363934092,0.00882282444516,1.0397049362
+320,5.333333333,pose2_to_pose3_retreat,0.601093540397,0.000150191172852,1.04003353951,0.571664217623,0.00882282070793,1.03970493372
+321,5.350000000,pose2_to_pose3_retreat,0.600392263821,0.000150110617492,1.04003348759,0.570962941654,0.00882274225873,1.03970488295
+322,5.366666667,pose2_to_pose3_retreat,0.599684864254,0.000150003808066,1.04003378732,0.570255545382,0.00882264636664,1.03970517571
+323,5.383333333,pose2_to_pose3_retreat,0.598965350997,0.000150004857303,1.04003381272,0.569536030196,0.0088226406476,1.03970519511
+324,5.400000000,pose2_to_pose3_retreat,0.598233319885,0.000150073111188,1.04003346595,0.568803999878,0.00882271215683,1.0397048631
+325,5.416666667,pose2_to_pose3_retreat,0.59748759241,0.000150165911877,1.04003338538,0.568058271358,0.0088228014449,1.03970478332
+326,5.433333333,pose2_to_pose3_retreat,0.59674559361,0.000150185105252,1.04003358744,0.567316272329,0.00882281975136,1.0397049825
+327,5.450000000,pose2_to_pose3_retreat,0.596018897683,0.000150128818228,1.04003365523,0.566589576854,0.00882276510243,1.03970505295
+328,5.466666667,pose2_to_pose3_retreat,0.595302862506,0.000150040191427,1.04003348559,0.565873541762,0.0088226768623,1.03970488594
+329,5.483333333,pose2_to_pose3_retreat,0.594597105611,0.000149957001561,1.04003354159,0.565167784649,0.00882259237419,1.03970492711
+330,5.500000000,pose2_to_pose3_retreat,0.59389316238,0.000150025653005,1.04003342427,0.56446384082,0.00882265919474,1.03970481488
+331,5.516666667,pose2_to_pose3_retreat,0.593186953144,0.00015020582115,1.04003348209,0.563757630025,0.00882283420545,1.03970487626
+332,5.533333333,pose2_to_pose3_retreat,0.592477385277,0.000150164641488,1.04003345861,0.563048062952,0.00882279574345,1.03970485337
+333,5.550000000,pose2_to_pose3_retreat,0.591765443114,0.000150012364842,1.04003346231,0.562336122373,0.00882264872016,1.03970485375
+334,5.566666667,pose2_to_pose3_retreat,0.591052468192,0.000150020380569,1.04003358427,0.561623147601,0.00882265709846,1.03970497176
+335,5.583333333,pose2_to_pose3_retreat,0.5903520557,0.00015026622995,1.04003363972,0.560922734308,0.00882290036459,1.03970503079
+336,5.600000000,pose2_to_pose3_retreat,0.589663958863,0.000150122200022,1.04003336731,0.560234638448,0.00882276019866,1.03970477277
+337,5.616666667,pose2_to_pose3_retreat,0.588993487161,0.000150134462082,1.04003358024,0.55956416514,0.00882276666099,1.03970497652
+338,5.633333333,pose2_to_pose3_retreat,0.588339373306,0.000150089952925,1.04003357617,0.55891005126,0.00882272186648,1.03970496706
+339,5.650000000,pose2_to_pose3_retreat,0.587700589908,0.000150108531664,1.04003347442,0.558271268094,0.00882274125927,1.039704866
+340,5.666666667,pose2_to_pose3_retreat,0.587073474386,0.000150129213361,1.04003341358,0.557644153319,0.00882276476547,1.03970481275
+341,5.683333333,pose2_to_pose3_retreat,0.586455461566,0.00015004499976,1.04003347351,0.557026141806,0.00882268532569,1.03970488157
+342,5.700000000,pose2_to_pose3_retreat,0.585848965622,0.000149997962956,1.04003364311,0.556419643369,0.00882262925013,1.03970503586
+343,5.716666667,pose2_to_pose3_retreat,0.585255791634,0.000149978896932,1.04003355935,0.555826471165,0.00882261612766,1.03970494923
+344,5.733333333,pose2_to_pose3_retreat,0.584679817508,0.000150091299589,1.04003342678,0.555250496612,0.00882272733532,1.03970482334
+345,5.750000000,pose2_to_pose3_retreat,0.584121336512,0.000150101028729,1.04003359279,0.554692015111,0.00882273520273,1.0397049854
+346,5.766666667,pose2_to_pose3_retreat,0.583580012546,0.000150044709347,1.04003369022,0.554150691968,0.00882268156323,1.03970507981
+347,5.783333333,pose2_to_pose3_retreat,0.583055783489,0.000150020862333,1.04003351642,0.553626464185,0.00882266225427,1.03970491161
+348,5.800000000,pose2_to_pose3_retreat,0.582550353336,0.000150032284985,1.04003351324,0.553121032783,0.00882266935756,1.03970490632
+349,5.816666667,pose2_to_pose3_retreat,0.582065718177,0.000150028260822,1.04003341341,0.552636397969,0.00882266659091,1.03970480912
+350,5.833333333,pose2_to_pose3_retreat,0.581602902095,0.000150051632704,1.04003345768,0.552173582887,0.00882269352208,1.03970485821
+351,5.850000000,pose2_to_pose3_retreat,0.581163539251,0.000150120626568,1.04003349553,0.551734219372,0.00882276025885,1.03970489626
+352,5.866666667,pose2_to_pose3_retreat,0.580735560978,0.000150238334946,1.04003360805,0.551306238618,0.00882286944572,1.03970500577
+353,5.883333333,pose2_to_pose3_retreat,0.580316637323,0.000150294928257,1.0400337444,0.550887313559,0.00882292104819,1.03970513611
+354,5.900000000,pose2_to_pose3_retreat,0.579914332177,0.000150153266156,1.04003369212,0.550485011442,0.00882278933786,1.03970507513
+355,5.916666667,pose2_to_pose3_retreat,0.57953098038,0.000150210471077,1.04003366779,0.550101656856,0.00882283727663,1.03970505608
+356,5.933333333,pose2_to_pose3_retreat,0.579174434359,0.000150217192929,1.04003344765,0.549745111596,0.00882284674232,1.03970484026
+357,5.950000000,pose2_to_pose3_retreat,0.578845803874,0.000150126180176,1.04003340801,0.549416481727,0.00882275786096,1.03970480166
+358,5.966666667,pose2_to_pose3_retreat,0.578546907024,0.000150043415242,1.04003353465,0.549117586516,0.0088226805613,1.0397049258
+359,5.983333333,pose2_to_pose3_retreat,0.578267349314,0.000149990355224,1.04003356782,0.548838030643,0.00882263376643,1.03970495981
+360,6.000000000,pose2_to_pose3_retreat,0.578004935692,0.000149966889082,1.0400333761,0.548575617731,0.00882261295362,1.03970477453
+361,6.016666667,pose2_to_pose3_retreat,0.577754429506,0.000149985530269,1.04003341716,0.548325109545,0.00882262454573,1.03970480863
+362,6.033333333,pose2_to_pose3_retreat,0.577514903638,0.000150028755128,1.04003360317,0.548085582897,0.00882266515146,1.03970499548
+363,6.050000000,pose2_to_pose3_retreat,0.577288070332,0.000150030871066,1.04003347984,0.547858750098,0.00882266907577,1.0397048747
+364,6.066666667,pose2_to_pose3_retreat,0.577076332484,0.00015009881739,1.04003353162,0.547647011028,0.00882273294466,1.0397049282
+365,6.083333333,pose2_to_pose3_retreat,0.576881838233,0.000150158815453,1.04003356686,0.547452515558,0.00882278891285,1.03970496621
+366,6.100000000,pose2_to_pose3_retreat,0.57670747233,0.000150101215656,1.04003345964,0.547278150815,0.00882273519694,1.03970485773
+367,6.116666667,pose2_to_pose3_retreat,0.576553132027,0.000149991284249,1.04003343065,0.547123812693,0.00882263245954,1.03970482316
+368,6.133333333,pose2_to_pose3_retreat,0.576419701331,0.000150015856146,1.04003350852,0.546990381907,0.00882265690797,1.03970490586
+369,6.150000000,pose2_to_pose3_retreat,0.576303216917,0.000150086683741,1.04003355428,0.546873896673,0.00882272456392,1.03970494145
+370,6.166666667,pose2_to_pose3_retreat,0.576202356879,0.000150147482802,1.04003353685,0.54677303576,0.00882278254253,1.03970492797
+371,6.183333333,pose2_to_pose3_retreat,0.576112558335,0.000150111354179,1.04003357234,0.546683236498,0.00882274414777,1.03970496829
+372,6.200000000,pose2_to_pose3_retreat,0.576032870892,0.000150036120646,1.04003362917,0.546603549129,0.00882266915939,1.0397050252
+373,6.216666667,pose2_to_pose3_retreat,0.575961863604,0.000150015699663,1.04003364921,0.546532542707,0.00882265150789,1.03970504061
+374,6.233333333,pose2_to_pose3_retreat,0.575899867171,0.000150111714771,1.04003363116,0.546470545216,0.00882274409496,1.03970502684
+375,6.250000000,pose2_to_pose3_retreat,0.575848165087,0.000150097565243,1.04003356784,0.546418842925,0.00882272899444,1.03970495697
+376,6.266666667,pose2_to_pose3_retreat,0.575805520355,0.000150100332613,1.04003351023,0.546376198874,0.00882273440036,1.03970490791
+377,6.283333333,pose2_to_pose3_retreat,0.57577173604,0.000150146581328,1.04003353584,0.546342414386,0.00882278031348,1.03970494021
+378,6.300000000,pose2_to_pose3_retreat,0.57574500654,0.000150113781777,1.04003360492,0.546315685096,0.00882274818095,1.03970500803
+379,6.316666667,pose2_to_pose3_retreat,0.575724510438,0.000149856691416,1.04003364992,0.546295191558,0.00882249940931,1.0397050429
+380,6.333333333,pose2_to_pose3_retreat,0.57570747681,0.000150123902968,1.04003346064,0.546278153967,0.00882275327686,1.03970485648
+381,6.350000000,pose2_to_pose3_retreat,0.575693882779,0.000150126980679,1.04003346381,0.546264560887,0.00882275951034,1.03970485775
+382,6.366666667,pose2_to_pose3_retreat,0.575684152504,0.000150061439025,1.04003356528,0.546254831996,0.00882269855322,1.03970495628
+383,6.383333333,pose2_to_pose3_retreat,0.575677046925,0.000150184219139,1.0400336431,0.546247723032,0.00882280987942,1.03970503507
+384,6.400000000,pose2_to_pose3_retreat,0.575672403124,0.000150030343821,1.04003364108,0.546243082273,0.00882266642626,1.03970503567
+385,6.416666667,pose2_to_pose3_retreat,0.575669678587,0.000149965703365,1.04003359833,0.546240359087,0.0088226064078,1.03970499396
+386,6.433333333,pose2_to_pose3_retreat,0.575668406924,0.00015001161447,1.04003351689,0.546239086581,0.00882264943474,1.0397049119
+387,6.450000000,pose2_to_pose3_retreat,0.575667702017,0.000150037063839,1.04003347175,0.546238381207,0.00882267328536,1.03970486642
+388,6.466666667,pose2_to_pose3_retreat,0.57566722793,0.000150054179912,1.04003344139,0.546237906806,0.00882268932619,1.03970483583
+389,6.483333333,pose2_to_pose3_retreat,0.575666798857,0.000150069670815,1.04003341391,0.546237477448,0.00882270384394,1.03970480814
+390,6.500000000,pose2_to_pose3_retreat,0.57566645564,0.000150074488441,1.0400334339,0.546237134327,0.00882270899406,1.03970482839
+391,6.516666667,pose2_to_pose3_retreat,0.575666225054,0.00015007480062,1.04003346354,0.546236903929,0.0088227099586,1.03970485837
+392,6.533333333,pose2_to_pose3_retreat,0.575666012234,0.000150075088746,1.0400334909,0.546236691283,0.00882271084882,1.03970488603
+393,6.550000000,pose2_to_pose3_retreat,0.575665921016,0.000150075212243,1.04003350263,0.546236600139,0.00882271123039,1.03970489789
+394,6.566666667,pose2_to_pose3_retreat,0.575665677703,0.000150075541651,1.0400335339,0.546236357026,0.00882271224816,1.03970492952
+395,6.583333333,pose2_to_pose3_retreat,0.575665522749,0.000150075751436,1.04003355382,0.546236202198,0.00882271289633,1.03970494967
+396,6.600000000,pose2_to_pose3_retreat,0.575665369896,0.000150075958377,1.04003357347,0.54623604947,0.00882271353572,1.03970496954
+397,6.616666667,pose2_to_pose3_retreat,0.575665332148,0.000150076009481,1.04003357832,0.546236011753,0.00882271369362,1.03970497445
+398,6.633333333,pose2_to_pose3_retreat,0.575665315546,0.000150076031958,1.04003358046,0.546235995165,0.00882271376306,1.0397049766
+399,6.650000000,pose2_to_pose3_retreat,0.575664999933,0.00015007645925,1.04003362103,0.54623567981,0.00882271508326,1.03970501763
+400,6.666666667,pose2_to_pose3_retreat,0.575664834196,0.000150077687577,1.04003361588,0.546235513947,0.00882271585661,1.0397050118
+401,6.683333333,pose2_to_pose3_retreat,0.575664702738,0.000150079540587,1.04003358864,0.546235382158,0.00882271654009,1.03970498321
+402,6.700000000,pose2_to_pose3_retreat,0.575664535798,0.000150081893729,1.04003355406,0.5462352148,0.00882271740804,1.0397049469
+403,6.716666667,pose2_to_pose3_retreat,0.575664405814,0.000150088582868,1.04003357938,0.546235084333,0.00882272240791,1.0397049709
+404,6.733333333,pose2_to_pose3_retreat,0.57566437927,0.000150092930574,1.04003361664,0.546235057594,0.00882272608352,1.03970500789
+405,6.750000000,pose2_to_pose3_retreat,0.575664358099,0.000150096398356,1.04003364635,0.546235036267,0.00882272901523,1.03970503739
+406,6.766666667,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f983324163beeed126326163c0dcbf886a847da40af8d76c8dda30555c12021
+size 25926783

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/simulation_data.csv

@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+1,0.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+2,0.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+3,0.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+4,0.066666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+5,0.083333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+6,0.100000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+7,0.116666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+8,0.133333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+9,0.150000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+10,0.166666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+11,0.183333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+12,0.200000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+13,0.216666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+14,0.233333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+15,0.250000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+16,0.266666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+17,0.283333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+18,0.300000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+19,0.316666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+20,0.333333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+21,0.350000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+22,0.366666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+23,0.383333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+24,0.400000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+25,0.416666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+26,0.433333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+27,0.450000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+28,0.466666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+29,0.483333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+30,0.500000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+31,0.516666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+32,0.533333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+33,0.550000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+34,0.566666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+35,0.583333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+36,0.600000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+37,0.616666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+38,0.633333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+39,0.650000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+40,0.666666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+41,0.683333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+42,0.700000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+43,0.716666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+44,0.733333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+45,0.750000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+46,0.766666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+47,0.783333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+48,0.800000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+49,0.816666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+50,0.833333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+51,0.850000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+52,0.866666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+53,0.883333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+54,0.900000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+55,0.916666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+56,0.933333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+57,0.950000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+58,0.966666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+59,0.983333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+60,1.000000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+61,1.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+62,1.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+63,1.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+64,1.066666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+65,1.083333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+66,1.100000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+67,1.116666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+68,1.133333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+69,1.150000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+70,1.166666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+71,1.183333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+72,1.200000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+73,1.216666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+74,1.233333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+75,1.250000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+76,1.266666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+77,1.283333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+78,1.300000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+79,1.316666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+80,1.333333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+81,1.350000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+82,1.366666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+83,1.383333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+84,1.400000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+85,1.416666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+86,1.433333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+87,1.450000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+88,1.466666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+89,1.483333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+90,1.500000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+91,1.516666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+92,1.533333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+93,1.550000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+94,1.566666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+95,1.583333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+96,1.600000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+97,1.616666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+98,1.633333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+99,1.650000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+100,1.666666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+101,1.683333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+102,1.700000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+103,1.716666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+104,1.733333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+105,1.750000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+106,1.766666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+107,1.783333333,pose1_to_pose2_press,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+108,1.800000000,pose1_to_pose2_press,0.575664368107,0.000150092997156,1.04003362031,0.546235046367,0.00882272593248,1.0397050115
+109,1.816666667,pose1_to_pose2_press,0.57566439587,0.000150085767918,1.04003356309,0.546235074363,0.00882271950526,1.03970495464
+110,1.833333333,pose1_to_pose2_press,0.575664538286,0.000150051569665,1.04003356355,0.546235217626,0.00882268818084,1.0397049551
+111,1.850000000,pose1_to_pose2_press,0.575664582846,0.000150040959359,1.04003357284,0.54623526244,0.0088226784311,1.03970496433
+112,1.866666667,pose1_to_pose2_press,0.575664654268,0.0001500239528,1.04003358773,0.546235334269,0.0088226628039,1.03970497914
+113,1.883333333,pose1_to_pose2_press,0.575664790866,0.000149991426938,1.04003361621,0.546235471646,0.00882263291612,1.03970500746
+114,1.900000000,pose1_to_pose2_press,0.575664893049,0.000149967095671,1.04003363752,0.546235574412,0.00882261055829,1.03970502865
+115,1.916666667,pose1_to_pose2_press,0.575666407616,0.000150103249253,1.04003345082,0.546237086751,0.00882273887845,1.03970483473
+116,1.933333333,pose1_to_pose2_press,0.575671454914,0.000150124894853,1.0400336393,0.54624213448,0.0088227622609,1.03970503044
+117,1.950000000,pose1_to_pose2_press,0.575681628231,0.000150065883879,1.0400336515,0.546252307777,0.00882270337989,1.03970504783
+118,1.966666667,pose1_to_pose2_press,0.575701891734,0.000150143422735,1.04003359508,0.546272571001,0.00882277991299,1.03970498982
+119,1.983333333,pose1_to_pose2_press,0.57573200481,0.000150203668835,1.0400336316,0.546302682807,0.00882283576996,1.03970502416
+120,2.000000000,pose1_to_pose2_press,0.575771672316,0.000150323124819,1.04003363366,0.546342348925,0.00882295072879,1.03970503179
+121,2.016666667,pose1_to_pose2_press,0.575819361144,0.000150079841336,1.04003359389,0.546390039448,0.00882271314784,1.03970499053
+122,2.033333333,pose1_to_pose2_press,0.575875099633,0.000150084171185,1.04003357347,0.546445778476,0.00882271906931,1.0397049639
+123,2.050000000,pose1_to_pose2_press,0.575937217741,0.000150040252317,1.04003367119,0.546507896628,0.0088226752004,1.0397050589
+124,2.066666667,pose1_to_pose2_press,0.57600613491,0.000149986291248,1.04003364486,0.546576814506,0.00882262340174,1.03970502604
+125,2.083333333,pose1_to_pose2_press,0.576084634677,0.000150034810623,1.04003339664,0.546655313692,0.00882267049821,1.0397047923
+126,2.100000000,pose1_to_pose2_press,0.576173555056,0.000150109317395,1.04003354983,0.54674423323,0.00882274188107,1.0397049383
+127,2.116666667,pose1_to_pose2_press,0.576275413173,0.000150202333688,1.0400336375,0.546846091757,0.00882283646573,1.03970503059
+128,2.133333333,pose1_to_pose2_press,0.576388904127,0.000150062276559,1.04003353348,0.546959584031,0.00882270112675,1.03970493278
+129,2.150000000,pose1_to_pose2_press,0.576514288026,0.000150066931937,1.04003345658,0.54708496599,0.00882269893226,1.03970484891
+130,2.166666667,pose1_to_pose2_press,0.576655048667,0.000150085351632,1.040033386,0.547225726097,0.0088227157006,1.03970478243
+131,2.183333333,pose1_to_pose2_press,0.576811574038,0.000150064649898,1.04003340686,0.547382252479,0.00882269859501,1.03970480765
+132,2.200000000,pose1_to_pose2_press,0.576986475981,0.000150059209789,1.040033515,0.54755715442,0.00882269270463,1.039704904
+133,2.216666667,pose1_to_pose2_press,0.577180355594,0.000150014460539,1.04003342887,0.547751035748,0.00882265408091,1.03970482587
+134,2.233333333,pose1_to_pose2_press,0.577395355812,0.000150125885023,1.04003365959,0.547966035114,0.00882276231603,1.0397050486
+135,2.250000000,pose1_to_pose2_press,0.577630047496,0.000150006631627,1.04003351601,0.548200729351,0.00882265208702,1.0397049144
+136,2.266666667,pose1_to_pose2_press,0.577884989673,0.000150049612835,1.04003351428,0.548455667352,0.00882268077111,1.03970490938
+137,2.283333333,pose1_to_pose2_press,0.578160945893,0.000149908077522,1.04003353933,0.548731626544,0.00882254912495,1.03970492914
+138,2.300000000,pose1_to_pose2_press,0.578455943452,0.000150059880403,1.04003345242,0.549026621668,0.00882269268962,1.03970484282
+139,2.316666667,pose1_to_pose2_press,0.578765863747,0.000150131695036,1.04003356764,0.549336540836,0.00882276068518,1.03970495805
+140,2.333333333,pose1_to_pose2_press,0.579087443778,0.00015004894749,1.04003359077,0.549658121832,0.00882268117854,1.0397049802
+141,2.350000000,pose1_to_pose2_press,0.579420603082,0.000150030825609,1.04003352723,0.549991281719,0.00882266507473,1.03970491764
+142,2.366666667,pose1_to_pose2_press,0.579767535947,0.000150153091011,1.04003352789,0.550338213855,0.00882278487832,1.0397049185
+143,2.383333333,pose1_to_pose2_press,0.580132274929,0.000150210543664,1.04003355373,0.550702952375,0.00882284050462,1.03970493738
+144,2.400000000,pose1_to_pose2_press,0.580529976029,0.000150020012001,1.04003342429,0.551100657217,0.00882266292896,1.03970481469
+145,2.416666667,pose1_to_pose2_press,0.580959763496,0.000149932054581,1.0400335913,0.551530443831,0.00882257236638,1.03970498925
+146,2.433333333,pose1_to_pose2_press,0.581421640282,0.000150115157374,1.040033502,0.551992318713,0.00882274921256,1.03970490522
+147,2.450000000,pose1_to_pose2_press,0.581903658239,0.000150036928716,1.04003350073,0.552474338409,0.00882267668785,1.0397048987
+148,2.466666667,pose1_to_pose2_press,0.582400417103,0.000150100484341,1.04003358312,0.552971095937,0.00882273568087,1.03970498022
+149,2.483333333,pose1_to_pose2_press,0.58289890542,0.000150170220056,1.04003340608,0.553469582577,0.00882279996079,1.03970480934
+150,2.500000000,pose1_to_pose2_press,0.583402199964,0.000150166247441,1.04003340111,0.553972877452,0.00882279700287,1.03970480141
+151,2.516666667,pose1_to_pose2_press,0.583927157704,0.000150165710825,1.04003364885,0.554497836078,0.00882279913497,1.03970504013
+152,2.533333333,pose1_to_pose2_press,0.58447644319,0.000150202566821,1.04003361187,0.555047120633,0.00882283300864,1.03970500774
+153,2.550000000,pose1_to_pose2_press,0.585052020789,0.000150101085139,1.04003352009,0.555622697546,0.00882272915195,1.03970491467
+154,2.566666667,pose1_to_pose2_press,0.585648437192,0.00015002523009,1.04003364876,0.556219115467,0.00882265835528,1.03970504081
+155,2.583333333,pose1_to_pose2_press,0.586259352976,0.000150105047633,1.0400334439,0.556830031475,0.00882273891773,1.03970483545
+156,2.600000000,pose1_to_pose2_press,0.586877977806,0.000149968395238,1.0400336324,0.557448657848,0.00882260713665,1.03970501429
+157,2.616666667,pose1_to_pose2_press,0.587507167714,0.000149907063251,1.04003352256,0.55807784902,0.00882255022062,1.03970490769
+158,2.633333333,pose1_to_pose2_press,0.588154872693,0.000150022166335,1.04003353808,0.5587255515,0.0088226571093,1.03970493025
+159,2.650000000,pose1_to_pose2_press,0.588817934252,0.000150062156243,1.04003354479,0.559388612068,0.00882269369525,1.03970493584
+160,2.666666667,pose1_to_pose2_press,0.589491669701,0.000150046153657,1.04003348083,0.56006234858,0.00882268140375,1.03970487448
+161,2.683333333,pose1_to_pose2_press,0.590177867367,0.000150180977519,1.04003356158,0.560748544679,0.00882281138831,1.03970496783
+162,2.700000000,pose1_to_pose2_press,0.590876153643,0.000150149942998,1.0400335062,0.561446831524,0.00882278183777,1.0397049007
+163,2.716666667,pose1_to_pose2_press,0.591581034308,0.000149856569536,1.04003343609,0.562151714508,0.00882249614965,1.03970482567
+164,2.733333333,pose1_to_pose2_press,0.592298190609,0.00015002595192,1.040033752,0.56286887045,0.00882266438,1.03970514329
+165,2.750000000,pose1_to_pose2_press,0.593031381397,0.00015012473483,1.04003368325,0.56360205994,0.00882275868941,1.03970507273
+166,2.766666667,pose1_to_pose2_press,0.593768828088,0.000150129474717,1.0400335512,0.564339506647,0.00882276361685,1.03970494419
+167,2.783333333,pose1_to_pose2_press,0.594509146383,0.000149967231218,1.04003360809,0.565079826552,0.00882260677174,1.03970499939
+168,2.800000000,pose1_to_pose2_press,0.595241101253,0.000149947905086,1.04003358586,0.565811781225,0.00882258675606,1.0397049766
+169,2.816666667,pose1_to_pose2_press,0.595967080307,0.000150067999468,1.04003348075,0.566537759328,0.00882270364096,1.03970487202
+170,2.833333333,pose1_to_pose2_press,0.596693820129,0.000150128024254,1.04003344726,0.567264498983,0.00882276316399,1.03970484026
+171,2.850000000,pose1_to_pose2_press,0.597422026712,0.000150055625368,1.04003348515,0.567992705751,0.00882269156311,1.03970488267
+172,2.866666667,pose1_to_pose2_press,0.598153649618,0.000150042193832,1.04003340007,0.568724329132,0.00882267968622,1.03970479616
+173,2.883333333,pose1_to_pose2_press,0.598890704709,0.000150165425854,1.04003354564,0.56946138252,0.00882279683537,1.03970493379
+174,2.900000000,pose1_to_pose2_press,0.599630690352,0.000150038816999,1.04003330375,0.570201370224,0.00882267742951,1.03970469745
+175,2.916666667,pose1_to_pose2_press,0.600372414422,0.000150213527585,1.04003351294,0.570943092078,0.00882284505534,1.03970491818
+176,2.933333333,pose1_to_pose2_press,0.601110542553,0.000150079137371,1.04003365778,0.571681221742,0.00882271525251,1.03970504691
+177,2.950000000,pose1_to_pose2_press,0.601837444641,0.000150080329736,1.04003365756,0.572408122936,0.00882271341159,1.03970504678
+178,2.966666667,pose1_to_pose2_press,0.602554277095,0.00015016710138,1.04003352213,0.573124954225,0.00882279645706,1.03970491743
+179,2.983333333,pose1_to_pose2_press,0.603259108296,0.000150161307123,1.04003350914,0.573829786819,0.00882279528398,1.03970490174
+180,3.000000000,pose1_to_pose2_press,0.60396016477,0.000150099938278,1.04003366403,0.574530844653,0.00882273837784,1.03970505269
+181,3.016666667,pose1_to_pose2_press,0.604657856637,0.000150099712846,1.04003366077,0.575228534835,0.00882273246373,1.0397050504
+182,3.033333333,pose1_to_pose2_press,0.605342407343,0.000150138043014,1.0400336475,0.575913085219,0.00882276961305,1.03970503486
+183,3.050000000,pose1_to_pose2_press,0.606017242034,0.00014999753793,1.04003340041,0.576587921969,0.00882263629937,1.03970479329
+184,3.066666667,pose1_to_pose2_press,0.606684441367,0.000150080742881,1.04003340267,0.57725512011,0.00882271559127,1.03970479915
+185,3.083333333,pose1_to_pose2_press,0.607331079519,0.000149988935515,1.04003350123,0.577901759388,0.00882262749576,1.03970489495
+186,3.100000000,pose1_to_pose2_press,0.607957948574,0.00015010934289,1.0400334313,0.578528626335,0.00882274069976,1.03970482383
+187,3.116666667,pose1_to_pose2_press,0.608561523332,0.000150183555407,1.04003341934,0.579132199699,0.00882281003794,1.03970480828
+188,3.133333333,pose1_to_pose2_press,0.609140998206,0.00015008377096,1.04003348266,0.579711676305,0.00882271616027,1.03970487242
+189,3.150000000,pose1_to_pose2_press,0.609692485369,0.000150015962722,1.04003349678,0.580263164863,0.00882265306287,1.03970488611
+190,3.166666667,pose1_to_pose2_press,0.610222672366,0.000150084868983,1.04003349243,0.580793351184,0.00882271954549,1.03970487839
+191,3.183333333,pose1_to_pose2_press,0.610736505113,0.000150114880805,1.04003366336,0.581307184085,0.00882275026426,1.03970505426
+192,3.200000000,pose1_to_pose2_press,0.611241795738,0.000150151462517,1.04003362824,0.581812471458,0.00882277601457,1.03970502471
+193,3.216666667,pose1_to_pose2_press,0.611737883916,0.000149955079177,1.04003363024,0.582308564512,0.00882259617884,1.03970502759
+194,3.233333333,pose1_to_pose2_press,0.61221925697,0.000150053375827,1.0400335489,0.582789935477,0.00882268730869,1.03970494399
+195,3.250000000,pose1_to_pose2_press,0.612680304321,0.000150079696379,1.0400336623,0.583250981767,0.00882271008723,1.03970505589
+196,3.266666667,pose1_to_pose2_press,0.613114658345,0.000150041928419,1.04003363633,0.583685336712,0.00882267572491,1.03970503371
+197,3.283333333,pose1_to_pose2_press,0.613531568365,0.000150008843481,1.04003352911,0.584102248509,0.0088226490354,1.03970492958
+198,3.300000000,pose1_to_pose2_press,0.613934073033,0.000150003327183,1.04003361124,0.584504754992,0.00882264999458,1.03970500789
+199,3.316666667,pose1_to_pose2_press,0.614325515298,0.000150123877229,1.04003351064,0.584896196404,0.00882276805407,1.03970490813
+200,3.333333333,pose1_to_pose2_press,0.614704417917,0.000150160418134,1.04003366634,0.585275095074,0.00882279134939,1.03970505591
+201,3.350000000,pose1_to_pose2_press,0.615062814305,0.00015009121461,1.04003373502,0.585633492297,0.00882272556852,1.03970513306
+202,3.366666667,pose1_to_pose2_press,0.615396454927,0.000150066243443,1.04003344487,0.585967132209,0.00882269854167,1.03970484339
+203,3.383333333,pose1_to_pose2_press,0.615700019233,0.000150167891537,1.04003347963,0.586270696179,0.00882279926123,1.03970487463
+204,3.400000000,pose1_to_pose2_press,0.615979902913,0.000150180605161,1.04003360959,0.586550580795,0.00882281500736,1.03970499986
+205,3.416666667,pose1_to_pose2_press,0.61623847034,0.000150069293155,1.04003371099,0.586809149499,0.00882270824638,1.03970510016
+206,3.433333333,pose1_to_pose2_press,0.616483006067,0.00015001027096,1.04003367102,0.587053685114,0.00882264949975,1.03970506281
+207,3.450000000,pose1_to_pose2_press,0.616716245742,0.000150190929367,1.04003341943,0.587286922698,0.00882282337477,1.03970481378
+208,3.466666667,pose1_to_pose2_press,0.616938808008,0.000150072432613,1.04003349055,0.587509486848,0.00882271198998,1.03970489411
+209,3.483333333,pose1_to_pose2_press,0.617147243734,0.000150299580937,1.04003374542,0.587717918337,0.00882292481436,1.0397051432
+210,3.500000000,pose1_to_pose2_press,0.617338140533,0.000150114753331,1.04003343271,0.587908818644,0.00882275219149,1.03970482812
+211,3.516666667,pose1_to_pose2_press,0.617510145986,0.000150195887454,1.04003361272,0.588080822406,0.00882282756189,1.03970500394
+212,3.533333333,pose1_to_pose2_press,0.617663652224,0.000150201997965,1.04003374418,0.58823432802,0.00882283170981,1.03970513573
+213,3.550000000,pose1_to_pose2_press,0.617799235602,0.000150216880925,1.04003362744,0.588369910782,0.0088228445982,1.03970501717
+214,3.566666667,pose1_to_pose2_press,0.617919769781,0.000150202879418,1.04003353617,0.588490444232,0.00882282833073,1.03970492696
+215,3.583333333,pose1_to_pose2_press,0.618026087204,0.00015015545878,1.04003356719,0.588596763001,0.00882278570412,1.03970496225
+216,3.600000000,pose1_to_pose2_press,0.618119854879,0.000150146954602,1.0400335893,0.588690532108,0.00882278237194,1.03970498507
+217,3.616666667,pose1_to_pose2_press,0.618201419539,0.000150177899342,1.04003355866,0.588772095586,0.00882280983308,1.03970494941
+218,3.633333333,pose1_to_pose2_press,0.618272050176,0.000150103913987,1.04003367469,0.588842727843,0.00882274161427,1.03970506514
+219,3.650000000,pose1_to_pose2_press,0.618332796838,0.000150107853949,1.04003375572,0.588903474517,0.00882274573726,1.03970515372
+220,3.666666667,pose1_to_pose2_press,0.618382963384,0.000150191930847,1.04003376877,0.588953638804,0.00882282191154,1.03970516063
+221,3.683333333,pose1_to_pose2_press,0.618424343562,0.000150137457272,1.0400334724,0.588995019715,0.00882277019363,1.03970486828
+222,3.700000000,pose1_to_pose2_press,0.618457331031,0.00015004367922,1.04003356395,0.589028007373,0.00882267668942,1.0397049552
+223,3.716666667,pose1_to_pose2_press,0.618483973232,0.000150081637147,1.04003368272,0.589054649268,0.00882271323337,1.03970506788
+224,3.733333333,pose1_to_pose2_press,0.618504909422,0.000150158636247,1.0400336601,0.589075584897,0.00882278815253,1.03970504259
+225,3.750000000,pose1_to_pose2_press,0.618521852798,0.000150116076476,1.04003354879,0.589092527682,0.00882274353522,1.03970493303
+226,3.766666667,pose1_to_pose2_press,0.618534896783,0.000150161965915,1.04003340242,0.589105573013,0.00882279465756,1.03970479745
+227,3.783333333,pose1_to_pose2_press,0.618543911182,0.000150056385615,1.04003368259,0.589114587999,0.00882269093896,1.03970507721
+228,3.800000000,pose1_to_pose2_press,0.618549961313,0.000150112410753,1.04003363742,0.589120638305,0.00882274746346,1.03970503136
+229,3.816666667,pose1_to_pose2_press,0.618553393169,0.00015019027666,1.0400335288,0.589124070119,0.00882282515539,1.03970492281
+230,3.833333333,pose1_to_pose2_press,0.618555300899,0.000150216082211,1.04003355945,0.589125976828,0.00882284774656,1.03970495938
+231,3.850000000,pose1_to_pose2_press,0.618556421649,0.000150231242412,1.04003357745,0.589127096978,0.00882286101839,1.03970498086
+232,3.866666667,pose1_to_pose2_press,0.618557366477,0.000150235411787,1.04003358636,0.589128041455,0.00882286407475,1.03970499159
+233,3.883333333,pose1_to_pose2_press,0.618558183169,0.000150162020916,1.04003353811,0.58912885922,0.00882279400422,1.0397049349
+234,3.900000000,pose1_to_pose2_press,0.618558930611,0.000150094853082,1.04003349395,0.589129607644,0.00882272987518,1.03970488301
+235,3.916666667,pose1_to_pose2_press,0.618559409167,0.000150051848306,1.04003346568,0.589130086829,0.00882268881602,1.03970484978
+236,3.933333333,pose1_to_pose2_press,0.618559641496,0.000150044345411,1.04003347801,0.589130319248,0.00882268154535,1.03970486022
+237,3.950000000,pose1_to_pose2_press,0.618559683961,0.000150049227515,1.04003349245,0.589130361628,0.00882268613684,1.03970487455
+238,3.966666667,pose1_to_pose2_press,0.618559749676,0.000150056782794,1.04003351479,0.589130427213,0.0088226932424,1.03970489673
+239,3.983333333,pose1_to_pose2_press,0.61855978536,0.000150060885331,1.04003352692,0.589130462825,0.00882269710073,1.03970490877
+240,4.000000000,pose1_to_pose2_press,0.618559848219,0.000150068112188,1.0400335483,0.589130525559,0.00882270389741,1.03970492998
+241,4.016666667,pose1_to_pose2_press,0.618559975773,0.000150082776994,1.04003359166,0.589130652859,0.00882271768929,1.03970497302
+242,4.033333333,pose1_to_pose2_press,0.618560016942,0.000150087510203,1.04003360566,0.589130693946,0.00882272214076,1.03970498691
+243,4.050000000,pose1_to_pose2_press,0.618560216315,0.000150110431971,1.04003367344,0.589130892921,0.00882274369811,1.03970505419
+244,4.066666667,pose1_to_pose2_press,0.618560610631,0.000150155766347,1.04003380751,0.589131286452,0.00882278633396,1.03970518724
+245,4.083333333,pose1_to_pose2_press,0.618560894004,0.000150030203565,1.04003372315,0.589131570557,0.00882266336894,1.03970510639
+246,4.100000000,pose1_to_pose2_press,0.61856100795,0.000150070194644,1.0400337937,0.589131684596,0.00882270378008,1.0397051803
+247,4.116666667,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.0088227037786,1.0397051803
+248,4.133333333,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377868,1.0397051803
+249,4.150000000,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377873,1.0397051803
+250,4.166666667,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377871,1.0397051803
+251,4.183333333,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377866,1.0397051803
+252,4.200000000,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377861,1.0397051803
+253,4.216666667,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377857,1.0397051803
+254,4.233333333,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377853,1.0397051803
+255,4.250000000,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377847,1.0397051803
+256,4.266666667,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377847,1.0397051803
+257,4.283333333,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377844,1.0397051803
+258,4.300000000,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377842,1.0397051803
+259,4.316666667,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.0088227037784,1.0397051803
+260,4.333333333,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377838,1.0397051803
+261,4.350000000,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377831,1.0397051803
+262,4.366666667,pose2_hold,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377833,1.0397051803
+263,4.383333333,pose2_to_pose3_retreat,0.61856100795,0.000150070194644,1.0400337937,0.589131684597,0.00882270377816,1.0397051803
+264,4.400000000,pose2_to_pose3_retreat,0.618561007905,0.0001500586252,1.04003378035,0.589131684585,0.00882269231538,1.03970516676
+265,4.416666667,pose2_to_pose3_retreat,0.618561007757,0.000150020959902,1.04003373687,0.589131684546,0.00882265499733,1.03970512267
+266,4.433333333,pose2_to_pose3_retreat,0.618561007624,0.000149987267858,1.04003369798,0.589131684511,0.00882262161591,1.03970508323
+267,4.450000000,pose2_to_pose3_retreat,0.61856087793,0.000150039560282,1.04003367532,0.589131554231,0.00882267194729,1.03970506145
+268,4.466666667,pose2_to_pose3_retreat,0.61856068071,0.000150146908103,1.04003367291,0.589131356037,0.00882277605523,1.03970506083
+269,4.483333333,pose2_to_pose3_retreat,0.618560490479,0.000150154023975,1.0400336691,0.58913116576,0.00882278303897,1.03970505773
+270,4.500000000,pose2_to_pose3_retreat,0.618560258933,0.0001501421112,1.04003366414,0.589130934347,0.00882277160394,1.03970505343
+271,4.516666667,pose2_to_pose3_retreat,0.618558997446,0.000150095820735,1.04003361317,0.589129673401,0.00882272726336,1.03970500535
+272,4.533333333,pose2_to_pose3_retreat,0.618554846318,0.000150034166942,1.04003346553,0.589125523369,0.0088226692365,1.03970485567
+273,4.550000000,pose2_to_pose3_retreat,0.61854625598,0.000150039760872,1.04003354258,0.589116932446,0.00882267270711,1.03970493078
+274,4.566666667,pose2_to_pose3_retreat,0.618529502078,0.000150200948746,1.04003358107,0.589100177043,0.008822828626,1.03970496367
+275,4.583333333,pose2_to_pose3_retreat,0.618504349938,0.000150261132444,1.04003358096,0.589075024434,0.00882288745699,1.03970497086
+276,4.600000000,pose2_to_pose3_retreat,0.618469989591,0.000150236729312,1.04003365286,0.589040664452,0.00882286463394,1.03970504461
+277,4.616666667,pose2_to_pose3_retreat,0.618428021532,0.00015020016326,1.04003350649,0.588998696422,0.00882282766423,1.03970489947
+278,4.633333333,pose2_to_pose3_retreat,0.618378689048,0.000150115725898,1.04003338885,0.588949365483,0.00882274836416,1.03970478431
+279,4.650000000,pose2_to_pose3_retreat,0.618323438471,0.000150087674626,1.04003354075,0.588894116342,0.00882272489876,1.03970492815
+280,4.666666667,pose2_to_pose3_retreat,0.618262070802,0.000150064622813,1.04003374042,0.588832749107,0.00882270270024,1.03970512048
+281,4.683333333,pose2_to_pose3_retreat,0.618192758267,0.000150007890984,1.04003376303,0.58876343624,0.00882264474764,1.03970515124
+282,4.700000000,pose2_to_pose3_retreat,0.618114449079,0.000149922615795,1.04003367462,0.588685128822,0.00882256610643,1.03970506319
+283,4.716666667,pose2_to_pose3_retreat,0.618023386824,0.000150156019957,1.04003334523,0.588594063792,0.00882279045164,1.03970474582
+284,4.733333333,pose2_to_pose3_retreat,0.617919649001,0.0001501460108,1.04003333175,0.588490325562,0.00882277886846,1.0397047306
+285,4.750000000,pose2_to_pose3_retreat,0.617802734703,0.000150118154055,1.04003349104,0.588373411923,0.00882275304036,1.03970488641
+286,4.766666667,pose2_to_pose3_retreat,0.617669585726,0.000150172460184,1.04003356328,0.58824026321,0.00882280816838,1.03970496078
+287,4.783333333,pose2_to_pose3_retreat,0.617520631479,0.000150161448762,1.0400333858,0.588091308684,0.0088227959174,1.03970478633
+288,4.800000000,pose2_to_pose3_retreat,0.61735709053,0.000150031107566,1.04003351083,0.587927768961,0.00882266946219,1.03970490606
+289,4.816666667,pose2_to_pose3_retreat,0.617177023412,0.000150084036132,1.04003362278,0.587747700538,0.00882271757547,1.03970501484
+290,4.833333333,pose2_to_pose3_retreat,0.616976633064,0.000150135285681,1.0400338334,0.58754730938,0.0088227655684,1.03970521858
+291,4.850000000,pose2_to_pose3_retreat,0.616759037872,0.000150097267556,1.04003372745,0.5873297151,0.00882273046206,1.03970511472
+292,4.866666667,pose2_to_pose3_retreat,0.616524196449,0.00015008321768,1.04003347082,0.587094874036,0.0088227175906,1.03970486488
+293,4.883333333,pose2_to_pose3_retreat,0.616269477982,0.00015013579024,1.04003338342,0.586840154509,0.00882276635768,1.03970478068
+294,4.900000000,pose2_to_pose3_retreat,0.615998841182,0.000150010078689,1.04003336761,0.586569519702,0.00882264720709,1.03970476883
+295,4.916666667,pose2_to_pose3_retreat,0.61571650015,0.000150015647307,1.04003351437,0.586287179312,0.00882265435009,1.03970490682
+296,4.933333333,pose2_to_pose3_retreat,0.61542018451,0.000150087718805,1.04003331256,0.585990862852,0.0088227238181,1.03970471721
+297,4.950000000,pose2_to_pose3_retreat,0.615106697333,0.000150121875069,1.0400334089,0.585677375851,0.00882275829325,1.03970481452
+298,4.966666667,pose2_to_pose3_retreat,0.614773801313,0.000150149199741,1.04003366419,0.585344479716,0.0088227845801,1.03970506171
+299,4.983333333,pose2_to_pose3_retreat,0.614419683437,0.00015019238434,1.04003375615,0.584990360594,0.0088228229703,1.03970514833
+300,5.000000000,pose2_to_pose3_retreat,0.614039383207,0.000150092716204,1.04003363316,0.584610062935,0.00882273181646,1.03970502931
+301,5.016666667,pose2_to_pose3_retreat,0.613634938359,0.000150116672869,1.04003342306,0.584205616965,0.00882275184223,1.03970482359
+302,5.033333333,pose2_to_pose3_retreat,0.613205473268,0.00015015494505,1.0400334849,0.583776151681,0.00882278887164,1.03970487897
+303,5.050000000,pose2_to_pose3_retreat,0.612755650311,0.000150140773711,1.04003359706,0.583326329199,0.00882277594644,1.0397049887
+304,5.066666667,pose2_to_pose3_retreat,0.612286127271,0.000149981247208,1.04003358894,0.582856807894,0.00882262231486,1.03970498461
+305,5.083333333,pose2_to_pose3_retreat,0.611805162396,0.000149862233324,1.04003349618,0.582375844017,0.00882250679282,1.03970489512
+306,5.100000000,pose2_to_pose3_retreat,0.611314588333,0.000150199536444,1.04003351856,0.581885265796,0.00882282983644,1.03970491294
+307,5.116666667,pose2_to_pose3_retreat,0.610811490699,0.000150092803561,1.04003350115,0.581382169348,0.00882272728075,1.03970489902
+308,5.133333333,pose2_to_pose3_retreat,0.610293748813,0.000150101693132,1.04003362401,0.580864427168,0.0088227348123,1.03970501301
+309,5.150000000,pose2_to_pose3_retreat,0.609757718078,0.000150072557762,1.04003360081,0.580328396485,0.00882270586032,1.03970499006
+310,5.166666667,pose2_to_pose3_retreat,0.609203306197,0.000150118083649,1.04003356107,0.579773983941,0.00882274927361,1.03970495371
+311,5.183333333,pose2_to_pose3_retreat,0.608632823396,0.000150265760049,1.0400336648,0.579203499636,0.00882289177488,1.03970505557
+312,5.200000000,pose2_to_pose3_retreat,0.608045741655,0.000150077250868,1.04003375665,0.57861642048,0.00882271220676,1.03970515128
+313,5.216666667,pose2_to_pose3_retreat,0.607443047206,0.000150050969193,1.04003345679,0.578013727177,0.00882268991209,1.03970485442
+314,5.233333333,pose2_to_pose3_retreat,0.606819653179,0.000150162952271,1.0400334356,0.577390331965,0.00882279809445,1.03970483925
+315,5.250000000,pose2_to_pose3_retreat,0.606172353993,0.000150230274779,1.04003354858,0.576743031757,0.00882286184385,1.03970494944
+316,5.266666667,pose2_to_pose3_retreat,0.605500038324,0.000150192752219,1.04003359667,0.576070716247,0.00882282461976,1.03970499107
+317,5.283333333,pose2_to_pose3_retreat,0.604805617772,0.000150109157374,1.04003355658,0.57537629655,0.00882274388368,1.03970494959
+318,5.300000000,pose2_to_pose3_retreat,0.604093129083,0.000150061135281,1.04003365194,0.57466380847,0.00882269782788,1.03970504157
+319,5.316666667,pose2_to_pose3_retreat,0.60337801853,0.000150061579049,1.04003354288,0.573948697542,0.0088226969864,1.03970493238
+320,5.333333333,pose2_to_pose3_retreat,0.602662790524,0.000150048293883,1.04003339871,0.573233471369,0.00882269024148,1.03970479652
+321,5.350000000,pose2_to_pose3_retreat,0.601950492868,0.0001500397963,1.04003328553,0.5725211728,0.00882267874193,1.03970468584
+322,5.366666667,pose2_to_pose3_retreat,0.601238794321,0.000150093037379,1.0400334686,0.57180947293,0.00882272728507,1.03970486335
+323,5.383333333,pose2_to_pose3_retreat,0.600524368344,0.00015012929234,1.04003360661,0.571095046252,0.00882276100332,1.03970499708
+324,5.400000000,pose2_to_pose3_retreat,0.599796204607,0.000150123586163,1.0400335484,0.570366882553,0.00882275548084,1.0397049403
+325,5.416666667,pose2_to_pose3_retreat,0.599054503321,0.000150171259049,1.04003363802,0.569625181509,0.0088228039591,1.03970502951
+326,5.433333333,pose2_to_pose3_retreat,0.59830248944,0.000150165681409,1.04003355651,0.568873167179,0.00882279675128,1.03970494507
+327,5.450000000,pose2_to_pose3_retreat,0.597548322515,0.000150145184631,1.0400335097,0.56811900157,0.00882278105607,1.03970490706
+328,5.466666667,pose2_to_pose3_retreat,0.596795012665,0.000150132530129,1.04003350836,0.567365690503,0.00882276427893,1.03970490581
+329,5.483333333,pose2_to_pose3_retreat,0.596058027986,0.000150199625541,1.04003358176,0.566628704111,0.00882282542872,1.03970497577
+330,5.500000000,pose2_to_pose3_retreat,0.595337450896,0.000150208724065,1.04003368875,0.56590812732,0.00882283543443,1.03970507978
+331,5.516666667,pose2_to_pose3_retreat,0.59461765728,0.00015009515242,1.04003372299,0.565188336098,0.0088227299722,1.03970511366
+332,5.533333333,pose2_to_pose3_retreat,0.593897972428,0.000150039021803,1.04003352119,0.564468652168,0.00882267712971,1.03970491602
+333,5.550000000,pose2_to_pose3_retreat,0.593176935183,0.000150119555513,1.04003350797,0.563747614012,0.00882275465372,1.03970490486
+334,5.566666667,pose2_to_pose3_retreat,0.592452173614,0.000150097051198,1.04003340374,0.563022853556,0.00882273608511,1.03970480477
+335,5.583333333,pose2_to_pose3_retreat,0.591726424083,0.000150151841624,1.04003352441,0.562297102909,0.00882278701691,1.03970492359
+336,5.600000000,pose2_to_pose3_retreat,0.591004561653,0.000150150620762,1.04003358796,0.561575239645,0.00882278282802,1.03970498339
+337,5.616666667,pose2_to_pose3_retreat,0.590290141325,0.00015004452361,1.04003348313,0.560860819915,0.00882267870352,1.03970487704
+338,5.633333333,pose2_to_pose3_retreat,0.58959896659,0.000150016471098,1.04003339524,0.560169645007,0.00882265008141,1.03970478961
+339,5.650000000,pose2_to_pose3_retreat,0.588924938964,0.000150321328828,1.04003339438,0.559495614604,0.00882294556076,1.03970478985
+340,5.666666667,pose2_to_pose3_retreat,0.588265323163,0.000150177559681,1.04003342207,0.558836000483,0.00882280729669,1.03970481232
+341,5.683333333,pose2_to_pose3_retreat,0.587622717989,0.000150220786666,1.04003348792,0.558193394948,0.00882284937282,1.03970488012
+342,5.700000000,pose2_to_pose3_retreat,0.586994047667,0.000150153401044,1.0400334578,0.557564725314,0.00882278435408,1.0397048509
+343,5.716666667,pose2_to_pose3_retreat,0.586372573814,0.000150108386372,1.04003335112,0.556943251608,0.00882273991846,1.03970474628
+344,5.733333333,pose2_to_pose3_retreat,0.585759686699,0.000150118839562,1.04003334285,0.556330364543,0.00882275069215,1.03970474188
+345,5.750000000,pose2_to_pose3_retreat,0.585161392191,0.00014998419897,1.04003361054,0.555732073354,0.00882262735038,1.03970501053
+346,5.766666667,pose2_to_pose3_retreat,0.584579610409,0.000150029984165,1.04003361257,0.555150291101,0.00882267156598,1.0397050133
+347,5.783333333,pose2_to_pose3_retreat,0.584015248643,0.000150247447692,1.04003330358,0.554585925503,0.00882287615413,1.03970470767
+348,5.800000000,pose2_to_pose3_retreat,0.58347151763,0.000150195422916,1.04003333962,0.554042195508,0.00882282745344,1.03970474029
+349,5.816666667,pose2_to_pose3_retreat,0.582948306217,0.000150169853432,1.04003337751,0.553518983623,0.0088228003131,1.03970477896
+350,5.833333333,pose2_to_pose3_retreat,0.582445938138,0.000150159068244,1.04003341799,0.553016615029,0.00882278777201,1.03970481919
+351,5.850000000,pose2_to_pose3_retreat,0.58196524211,0.000150099936549,1.04003354316,0.552535920405,0.00882273315558,1.03970493774
+352,5.866666667,pose2_to_pose3_retreat,0.581507358096,0.000150099611169,1.04003365296,0.55207803638,0.00882273257919,1.03970504187
+353,5.883333333,pose2_to_pose3_retreat,0.581063038907,0.000149989467253,1.04003354513,0.551633718538,0.0088226271144,1.03970493693
+354,5.900000000,pose2_to_pose3_retreat,0.580630278403,0.000150147559855,1.04003362785,0.551200955752,0.00882277741734,1.03970501853
+355,5.916666667,pose2_to_pose3_retreat,0.580212338467,0.000150263069701,1.04003358012,0.550783015197,0.00882289088668,1.03970497235
+356,5.933333333,pose2_to_pose3_retreat,0.579811045545,0.000150181739257,1.04003360227,0.550381723959,0.00882281518031,1.0397049921
+357,5.950000000,pose2_to_pose3_retreat,0.5794330058,0.000150093471384,1.04003360157,0.550003685509,0.00882273146432,1.03970499565
+358,5.966666667,pose2_to_pose3_retreat,0.579082254102,0.000150173631669,1.04003344644,0.549652932591,0.00882280793145,1.03970485251
+359,5.983333333,pose2_to_pose3_retreat,0.578763257612,0.000150253251647,1.04003341439,0.54933393367,0.00882287898247,1.03970481217
+360,6.000000000,pose2_to_pose3_retreat,0.57846656307,0.000150265492218,1.04003371052,0.549037240558,0.00882289607573,1.03970510796
+361,6.016666667,pose2_to_pose3_retreat,0.578190794635,0.000150120878753,1.0400337672,0.548761474709,0.00882276007664,1.03970516033
+362,6.033333333,pose2_to_pose3_retreat,0.577932058747,0.000150111111871,1.04003368023,0.548502739521,0.00882275288579,1.03970507864
+363,6.050000000,pose2_to_pose3_retreat,0.577685934073,0.000150058055693,1.04003352619,0.548256615108,0.00882270081706,1.03970492727
+364,6.066666667,pose2_to_pose3_retreat,0.577448784815,0.000149897909102,1.04003344712,0.548019466395,0.00882254217663,1.03970483935
+365,6.083333333,pose2_to_pose3_retreat,0.577224027793,0.000150131005548,1.04003363897,0.547794706468,0.00882276539597,1.03970503089
+366,6.100000000,pose2_to_pose3_retreat,0.577014362001,0.0001500805834,1.04003355723,0.547585041039,0.00882271599686,1.0397049436
+367,6.116666667,pose2_to_pose3_retreat,0.576823615556,0.000149956638931,1.04003362727,0.547394294829,0.00882259317287,1.03970502191
+368,6.133333333,pose2_to_pose3_retreat,0.576652847666,0.00015017749247,1.04003355361,0.54722352475,0.00882280644005,1.03970494418
+369,6.150000000,pose2_to_pose3_retreat,0.576504667663,0.000150126617333,1.04003334514,0.547075346628,0.00882276219011,1.03970474208
+370,6.166666667,pose2_to_pose3_retreat,0.576375762494,0.000150167451827,1.04003330857,0.546946441494,0.00882280340951,1.03970471262
+371,6.183333333,pose2_to_pose3_retreat,0.576265204701,0.000150185092475,1.04003334941,0.546835882999,0.00882281874569,1.03970475562
+372,6.200000000,pose2_to_pose3_retreat,0.57616743683,0.000150106529384,1.04003337959,0.546738115106,0.00882273995575,1.03970478193
+373,6.216666667,pose2_to_pose3_retreat,0.576081946137,0.00015022031584,1.04003352937,0.546652622747,0.00882284768112,1.0397049214
+374,6.233333333,pose2_to_pose3_retreat,0.576006196457,0.000150017555386,1.04003363202,0.546576875848,0.00882265427023,1.03970502166
+375,6.250000000,pose2_to_pose3_retreat,0.575939253295,0.000150006613528,1.04003364723,0.546509932506,0.00882264280529,1.03970503913
+376,6.266666667,pose2_to_pose3_retreat,0.575881598959,0.000149987771152,1.04003354136,0.546452277879,0.00882262291809,1.03970493169
+377,6.283333333,pose2_to_pose3_retreat,0.575832430292,0.000149959428062,1.04003346183,0.546403110119,0.00882259760305,1.03970485075
+378,6.300000000,pose2_to_pose3_retreat,0.575791983997,0.000150047428024,1.04003354484,0.546362664248,0.0088226872429,1.03970493906
+379,6.316666667,pose2_to_pose3_retreat,0.575759980771,0.000150259593142,1.04003362764,0.546330656682,0.00882288482363,1.03970502566
+380,6.333333333,pose2_to_pose3_retreat,0.575735601453,0.000150124202761,1.04003363399,0.54630627937,0.0088227561456,1.03970502949
+381,6.350000000,pose2_to_pose3_retreat,0.575716482724,0.000150043468479,1.04003364803,0.546287161435,0.00882267794653,1.03970503941
+382,6.366666667,pose2_to_pose3_retreat,0.5757016749,0.000150080210157,1.04003359583,0.546272353113,0.00882271297879,1.03970498675
+383,6.383333333,pose2_to_pose3_retreat,0.575690845517,0.00015027878685,1.04003341042,0.546261522058,0.00882290616922,1.03970480887
+384,6.400000000,pose2_to_pose3_retreat,0.575682868941,0.000150249468182,1.0400336755,0.546253546585,0.00882288054386,1.03970507221
+385,6.416666667,pose2_to_pose3_retreat,0.575677318292,0.000150214452877,1.04003384242,0.546247996662,0.00882284792769,1.0397052372
+386,6.433333333,pose2_to_pose3_retreat,0.575673464518,0.000150235482829,1.04003370599,0.546244142106,0.00882286628753,1.03970510097
+387,6.450000000,pose2_to_pose3_retreat,0.575670875178,0.000150227647976,1.04003360635,0.546241552303,0.00882285684469,1.03970500053
+388,6.466666667,pose2_to_pose3_retreat,0.575669049973,0.000150167066702,1.04003351612,0.546239726936,0.00882279559633,1.03970490739
+389,6.483333333,pose2_to_pose3_retreat,0.575667644011,0.000150120400699,1.04003344661,0.546238320847,0.00882274841646,1.03970483564
+390,6.500000000,pose2_to_pose3_retreat,0.575666680321,0.000150079665197,1.04003350842,0.546237357703,0.00882270956166,1.03970489812
+391,6.516666667,pose2_to_pose3_retreat,0.575666058273,0.00015005103489,1.04003357754,0.546236736177,0.00882268274153,1.03970496827
+392,6.533333333,pose2_to_pose3_retreat,0.575665729902,0.000150035921272,1.04003361403,0.54623640808,0.00882266858348,1.03970500531
+393,6.550000000,pose2_to_pose3_retreat,0.575665632556,0.000150031440852,1.04003362484,0.546236310816,0.00882266438634,1.03970501628
+394,6.566666667,pose2_to_pose3_retreat,0.575665583246,0.000150029171293,1.04003363032,0.546236261547,0.00882266226028,1.03970502184
+395,6.583333333,pose2_to_pose3_retreat,0.575665491223,0.000150024935883,1.04003364055,0.546236169602,0.00882265829265,1.03970503222
+396,6.600000000,pose2_to_pose3_retreat,0.575665334888,0.000150026144006,1.04003365476,0.546236013356,0.00882265981685,1.03970504669
+397,6.616666667,pose2_to_pose3_retreat,0.575665122102,0.000150080958802,1.04003365408,0.546235800434,0.0088227141832,1.0397050464
+398,6.633333333,pose2_to_pose3_retreat,0.575664935665,0.000150128985912,1.04003365348,0.546235613878,0.0088227618174,1.03970504615
+399,6.650000000,pose2_to_pose3_retreat,0.575664797275,0.00015016463578,1.04003365304,0.546235475399,0.00882279717561,1.03970504596
+400,6.666666667,pose2_to_pose3_retreat,0.575664796188,0.000150164915868,1.04003365303,0.546235474311,0.00882279745341,1.03970504595
+401,6.683333333,pose2_to_pose3_retreat,0.575664756665,0.000150175097153,1.04003365291,0.546235434763,0.0088228075514,1.0397050459
+402,6.700000000,pose2_to_pose3_retreat,0.575664670925,0.000150197184118,1.04003365263,0.546235348969,0.00882282945767,1.03970504578
+403,6.716666667,pose2_to_pose3_retreat,0.575664621559,0.000150209901255,1.04003365247,0.54623529957,0.00882284207076,1.03970504571
+404,6.733333333,pose2_to_pose3_retreat,0.575664416842,0.000150153694178,1.04003364148,0.546235094597,0.00882278502251,1.03970503552
+405,6.750000000,pose2_to_pose3_retreat,0.575664392699,0.000150141358269,1.04003363964,0.546235070417,0.00882277256593,1.03970503379
+406,6.766666667,pose2_to_pose3_retreat,0.575664379302,0.000150134512577,1.04003363862,0.546235056999,0.00882276565327,1.03970503284
+407,6.783333333,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015507,1.03970504886

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08515ce75c32bbb8be9da3582fc3d2d83df137ef237278bde9967e8d783f54f8
+size 26056665

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/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,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+1,0.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+2,0.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+3,0.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+4,0.066666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+5,0.083333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+6,0.100000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+7,0.116666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+8,0.133333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+9,0.150000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+10,0.166666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+11,0.183333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+12,0.200000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+13,0.216666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+14,0.233333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+15,0.250000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+16,0.266666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+17,0.283333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+18,0.300000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+19,0.316666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+20,0.333333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+21,0.350000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+22,0.366666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+23,0.383333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+24,0.400000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+25,0.416666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+26,0.433333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+27,0.450000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+28,0.466666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+29,0.483333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+30,0.500000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+31,0.516666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+32,0.533333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+33,0.550000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+34,0.566666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+35,0.583333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+36,0.600000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+37,0.616666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+38,0.633333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+39,0.650000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+40,0.666666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+41,0.683333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+42,0.700000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+43,0.716666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+44,0.733333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+45,0.750000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+46,0.766666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+47,0.783333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+48,0.800000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+49,0.816666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+50,0.833333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+51,0.850000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+52,0.866666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+53,0.883333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+54,0.900000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+55,0.916666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+56,0.933333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+57,0.950000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+58,0.966666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+59,0.983333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+60,1.000000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+61,1.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+62,1.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+63,1.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+64,1.066666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+65,1.083333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+66,1.100000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+67,1.116666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+68,1.133333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+69,1.150000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+70,1.166666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+71,1.183333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+72,1.200000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+73,1.216666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+74,1.233333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+75,1.250000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+76,1.266666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+77,1.283333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+78,1.300000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+79,1.316666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+80,1.333333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+81,1.350000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+82,1.366666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+83,1.383333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+84,1.400000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+85,1.416666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+86,1.433333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+87,1.450000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+88,1.466666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+89,1.483333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+90,1.500000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+91,1.516666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+92,1.533333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+93,1.550000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+94,1.566666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+95,1.583333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+96,1.600000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+97,1.616666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+98,1.633333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+99,1.650000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+100,1.666666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+101,1.683333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+102,1.700000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+103,1.716666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+104,1.733333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+105,1.750000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+106,1.766666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+107,1.783333333,pose1_to_pose2_press,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+108,1.800000000,pose1_to_pose2_press,0.575664371073,0.000150092224693,1.0400336142,0.546235049359,0.00882272524572,1.03970500543
+109,1.816666667,pose1_to_pose2_press,0.575664384046,0.000150088846656,1.04003358746,0.54623506244,0.00882272224244,1.03970497885
+110,1.833333333,pose1_to_pose2_press,0.57566438947,0.000150087434253,1.04003357628,0.54623506791,0.00882272098673,1.03970496774
+111,1.850000000,pose1_to_pose2_press,0.575664389823,0.00015008734245,1.04003357556,0.546235068265,0.00882272090511,1.03970496702
+112,1.866666667,pose1_to_pose2_press,0.575664399154,0.000150084912889,1.04003355633,0.546235077674,0.00882271874509,1.03970494791
+113,1.883333333,pose1_to_pose2_press,0.575664581108,0.000150072042191,1.04003358289,0.546235260583,0.00882270908896,1.03970497381
+114,1.900000000,pose1_to_pose2_press,0.575665499417,0.000150044740049,1.04003346246,0.546236179902,0.00882268540565,1.03970485843
+115,1.916666667,pose1_to_pose2_press,0.575668441049,0.000150111751824,1.04003355855,0.546239120252,0.00882274813421,1.03970495623
+116,1.933333333,pose1_to_pose2_press,0.575676424544,0.000150175605029,1.04003384729,0.546247102225,0.00882280638907,1.03970523352
+117,1.950000000,pose1_to_pose2_press,0.5756910688,0.000150217475842,1.04003373125,0.546261746122,0.00882284735039,1.03970512561
+118,1.966666667,pose1_to_pose2_press,0.575715900839,0.000150220923658,1.04003351675,0.546286577253,0.00882284756679,1.039704907
+119,1.983333333,pose1_to_pose2_press,0.57575097015,0.000150165886237,1.04003370946,0.546321647876,0.00882279687439,1.03970509682
+120,2.000000000,pose1_to_pose2_press,0.575795809254,0.000150230219113,1.04003347411,0.546366485983,0.00882285847497,1.03970487865
+121,2.016666667,pose1_to_pose2_press,0.57584869307,0.000150089658623,1.04003339548,0.546419370117,0.00882271871356,1.03970479247
+122,2.033333333,pose1_to_pose2_press,0.575909376038,0.000149945797255,1.0400337441,0.546480056103,0.00882258501513,1.03970513906
+123,2.050000000,pose1_to_pose2_press,0.57597621825,0.000150086237256,1.04003337671,0.546546897443,0.00882272287227,1.03970478152
+124,2.066666667,pose1_to_pose2_press,0.576049656253,0.000150152950063,1.04003337346,0.546620335016,0.00882278801759,1.03970477542
+125,2.083333333,pose1_to_pose2_press,0.57613371072,0.000150049428213,1.04003339328,0.546704390242,0.00882268680917,1.03970478819
+126,2.100000000,pose1_to_pose2_press,0.576228832093,0.00015004210714,1.04003348048,0.546799511094,0.00882267753382,1.03970487044
+127,2.116666667,pose1_to_pose2_press,0.576337110494,0.000150185527589,1.0400335243,0.546907788049,0.00882281618461,1.03970491776
+128,2.133333333,pose1_to_pose2_press,0.576459863099,0.00015026259634,1.04003346029,0.547030540623,0.00882289335419,1.03970485922
+129,2.150000000,pose1_to_pose2_press,0.576598495526,0.000150092884618,1.04003338776,0.547169174877,0.00882272974837,1.0397047841
+130,2.166666667,pose1_to_pose2_press,0.576752637926,0.000149950976886,1.04003339236,0.54732331732,0.00882258794856,1.03970478772
+131,2.183333333,pose1_to_pose2_press,0.576922078274,0.000150072645012,1.04003342381,0.547492757753,0.00882270965299,1.03970481235
+132,2.200000000,pose1_to_pose2_press,0.577109306496,0.000150087692106,1.04003350048,0.547679985523,0.00882272344812,1.03970489642
+133,2.216666667,pose1_to_pose2_press,0.577315087681,0.000150172464855,1.04003330351,0.547885766231,0.0088228067063,1.0397047021
+134,2.233333333,pose1_to_pose2_press,0.577542479567,0.000150016011166,1.04003342536,0.548113158906,0.00882265305512,1.0397048272
+135,2.250000000,pose1_to_pose2_press,0.577791932088,0.000150022300512,1.04003350145,0.548362611229,0.00882265852724,1.03970489938
+136,2.266666667,pose1_to_pose2_press,0.578063328428,0.000150045049408,1.04003357982,0.548634007522,0.00882268107249,1.03970497648
+137,2.283333333,pose1_to_pose2_press,0.578355158894,0.000150045876491,1.04003356328,0.548925838288,0.00882268292294,1.03970495998
+138,2.300000000,pose1_to_pose2_press,0.578662873946,0.000150162581378,1.04003358068,0.549233551605,0.00882279364549,1.03970497483
+139,2.316666667,pose1_to_pose2_press,0.578980507287,0.000150249029067,1.04003365113,0.549551183969,0.00882287671825,1.03970504363
+140,2.333333333,pose1_to_pose2_press,0.579309759522,0.000150158680579,1.04003363762,0.549880438094,0.00882279289197,1.03970503286
+141,2.350000000,pose1_to_pose2_press,0.579653830103,0.000150109787636,1.04003361282,0.550224508202,0.00882274258011,1.03970501295
+142,2.366666667,pose1_to_pose2_press,0.580018849143,0.000150259571669,1.0400336121,0.550589526694,0.00882289048869,1.03970501167
+143,2.383333333,pose1_to_pose2_press,0.580407749023,0.000150164146307,1.04003355318,0.550978426522,0.00882279459289,1.0397049449
+144,2.400000000,pose1_to_pose2_press,0.580828940914,0.000149980879377,1.04003342849,0.551399621497,0.00882262187248,1.03970482228
+145,2.416666667,pose1_to_pose2_press,0.581278792557,0.000150093996366,1.04003346745,0.551849470425,0.00882272587035,1.03970486365
+146,2.433333333,pose1_to_pose2_press,0.581756343408,0.00015007964666,1.04003359317,0.552327020981,0.00882271038922,1.03970498579
+147,2.450000000,pose1_to_pose2_press,0.582249762198,0.00015002000209,1.04003348753,0.552820441275,0.00882265611029,1.03970488698
+148,2.466666667,pose1_to_pose2_press,0.582755377011,0.000150080553775,1.0400333626,0.553326055314,0.00882271415591,1.03970476514
+149,2.483333333,pose1_to_pose2_press,0.583271236196,0.000150134331989,1.04003339033,0.553841913584,0.00882276460431,1.03970478677
+150,2.500000000,pose1_to_pose2_press,0.583798800652,0.000150097713747,1.04003338684,0.554369479248,0.00882273212761,1.03970478432
+151,2.516666667,pose1_to_pose2_press,0.584348751827,0.000150093978475,1.04003341873,0.554919430502,0.00882272841148,1.03970480963
+152,2.533333333,pose1_to_pose2_press,0.584920367353,0.000150173358201,1.04003354787,0.55549104679,0.00882281030562,1.03970493684
+153,2.550000000,pose1_to_pose2_press,0.58551235181,0.000150079373732,1.04003364942,0.556083031242,0.00882271637571,1.03970504008
+154,2.566666667,pose1_to_pose2_press,0.586121048296,0.000150075557835,1.0400338287,0.556691728003,0.00882271368795,1.03970522451
+155,2.583333333,pose1_to_pose2_press,0.586743728986,0.000150115839494,1.04003371578,0.557314406637,0.00882274691643,1.03970510948
+156,2.600000000,pose1_to_pose2_press,0.587379963566,0.000150175857471,1.0400338063,0.557950641265,0.00882280696366,1.03970519644
+157,2.616666667,pose1_to_pose2_press,0.588031648094,0.000150226478916,1.0400337113,0.55860232585,0.0088228577795,1.03970510138
+158,2.633333333,pose1_to_pose2_press,0.58870084725,0.00015013456368,1.04003352786,0.55927152553,0.00882276765988,1.0397049184
+159,2.650000000,pose1_to_pose2_press,0.589381900644,0.000150024520793,1.04003349894,0.559952579749,0.00882266039073,1.03970488873
+160,2.666666667,pose1_to_pose2_press,0.590071402471,0.000150163064627,1.04003341953,0.560642079908,0.00882279332807,1.03970481064
+161,2.683333333,pose1_to_pose2_press,0.590773350204,0.00015024579673,1.04003339981,0.561344027143,0.00882287443951,1.03970479273
+162,2.700000000,pose1_to_pose2_press,0.591489303319,0.000150110072917,1.04003327357,0.562059982877,0.00882274782004,1.03970467223
+163,2.716666667,pose1_to_pose2_press,0.59221292056,0.000150029887434,1.04003364773,0.562783600126,0.00882266718399,1.0397050338
+164,2.733333333,pose1_to_pose2_press,0.592948263183,0.000150138595845,1.04003376121,0.56351894347,0.0088227785185,1.03970515199
+165,2.750000000,pose1_to_pose2_press,0.593698816278,0.000149999874455,1.04003347986,0.564269496362,0.00882263929543,1.03970487558
+166,2.766666667,pose1_to_pose2_press,0.594448475164,0.000150123265341,1.04003345201,0.565019152961,0.00882275509275,1.03970485213
+167,2.783333333,pose1_to_pose2_press,0.595196214151,0.000150221994119,1.04003352015,0.565766890378,0.00882284828492,1.03970491472
+168,2.800000000,pose1_to_pose2_press,0.59593790563,0.000150191432099,1.0400336153,0.566508583543,0.00882282312599,1.03970500155
+169,2.816666667,pose1_to_pose2_press,0.596675998708,0.00015010084039,1.04003359932,0.567246678396,0.00882273847747,1.03970498348
+170,2.833333333,pose1_to_pose2_press,0.59742240382,0.000150022177475,1.0400335117,0.567993083132,0.00882265871144,1.03970490047
+171,2.850000000,pose1_to_pose2_press,0.598171854204,0.00015004112892,1.04003372209,0.568742534737,0.00882268202927,1.03970511685
+172,2.866666667,pose1_to_pose2_press,0.598920604037,0.000150134870116,1.04003350463,0.569491280686,0.00882276260461,1.03970489971
+173,2.883333333,pose1_to_pose2_press,0.599675216358,0.000150116708513,1.04003329253,0.570245893571,0.0088227463248,1.03970468689
+174,2.900000000,pose1_to_pose2_press,0.600432168236,0.000150074660287,1.0400333328,0.571002847443,0.00882271142471,1.03970473726
+175,2.916666667,pose1_to_pose2_press,0.601182395629,0.000150125885719,1.04003333654,0.571753074562,0.00882276189516,1.03970474568
+176,2.933333333,pose1_to_pose2_press,0.601926838724,0.00015012232326,1.040033515,0.572497515559,0.00882275033325,1.03970490104
+177,2.950000000,pose1_to_pose2_press,0.602661740621,0.000150013180884,1.04003356574,0.573232418739,0.00882264542182,1.03970494855
+178,2.966666667,pose1_to_pose2_press,0.603389989878,0.000149991558469,1.04003345162,0.573960669406,0.00882262907788,1.03970484763
+179,2.983333333,pose1_to_pose2_press,0.604111802848,0.000150033055156,1.04003347736,0.574682482002,0.00882266941122,1.03970487622
+180,3.000000000,pose1_to_pose2_press,0.6048250567,0.000150086195179,1.0400336818,0.575395734899,0.00882271910006,1.03970507521
+181,3.016666667,pose1_to_pose2_press,0.605531204891,0.000150227251934,1.04003371384,0.576101881987,0.00882285657792,1.03970511169
+182,3.033333333,pose1_to_pose2_press,0.606227904085,0.000150191884054,1.04003362161,0.576798582244,0.00882282484953,1.03970502044
+183,3.050000000,pose1_to_pose2_press,0.606914509461,0.000150106557954,1.04003362951,0.57748518859,0.00882274271362,1.03970502572
+184,3.066666667,pose1_to_pose2_press,0.607589735183,0.00015010525211,1.04003355769,0.578160413367,0.00882273776799,1.0397049427
+185,3.083333333,pose1_to_pose2_press,0.608245057292,0.000150128356634,1.04003338735,0.578815735113,0.00882276020422,1.03970478738
+186,3.100000000,pose1_to_pose2_press,0.608879810598,0.000150021729782,1.04003358873,0.579450491152,0.00882266266791,1.03970498397
+187,3.116666667,pose1_to_pose2_press,0.60948159224,0.000150038080372,1.04003363088,0.580052272745,0.00882267882642,1.03970502555
+188,3.133333333,pose1_to_pose2_press,0.610054263248,0.000150034196137,1.04003349782,0.580624942382,0.00882267029117,1.03970489267
+189,3.150000000,pose1_to_pose2_press,0.610606694923,0.0001500846073,1.04003351641,0.581177372509,0.00882271529628,1.03970490732
+190,3.166666667,pose1_to_pose2_press,0.611144491324,0.000150143050654,1.04003359727,0.581715168453,0.00882277210932,1.0397049862
+191,3.183333333,pose1_to_pose2_press,0.61166945767,0.000150070365765,1.04003341428,0.582240136154,0.00882270424241,1.03970480913
+192,3.200000000,pose1_to_pose2_press,0.612188178236,0.000150149779658,1.04003357957,0.582758856701,0.00882278307045,1.03970496027
+193,3.216666667,pose1_to_pose2_press,0.612694885161,0.000150198234943,1.04003352191,0.583265561866,0.0088228261564,1.03970491658
+194,3.233333333,pose1_to_pose2_press,0.613177926287,0.000150030704939,1.04003361375,0.583748606944,0.00882267229088,1.03970500921
+195,3.250000000,pose1_to_pose2_press,0.613638298139,0.000150100902355,1.04003345945,0.584208977233,0.00882273763336,1.03970485748
+196,3.266666667,pose1_to_pose2_press,0.61407723191,0.00015008324656,1.04003350932,0.584647911036,0.00882272048571,1.03970490791
+197,3.283333333,pose1_to_pose2_press,0.614505420407,0.000150109267428,1.04003358164,0.585076098829,0.00882274438408,1.03970497696
+198,3.300000000,pose1_to_pose2_press,0.614924086473,0.000150209907359,1.04003357927,0.585494762713,0.00882283785716,1.039704971
+199,3.316666667,pose1_to_pose2_press,0.615326196785,0.000150169396632,1.04003361383,0.585896873759,0.00882280026347,1.03970500742
+200,3.333333333,pose1_to_pose2_press,0.61570800225,0.000150081217432,1.0400334758,0.586278680902,0.00882271840035,1.03970487384
+201,3.350000000,pose1_to_pose2_press,0.616059150513,0.00015006597091,1.04003341785,0.586629827723,0.00882269846487,1.03970481029
+202,3.366666667,pose1_to_pose2_press,0.616382867719,0.000150062638436,1.04003351583,0.586953544989,0.00882269552312,1.03970491076
+203,3.383333333,pose1_to_pose2_press,0.616679960024,0.000150162965486,1.04003361645,0.587250636761,0.00882279471866,1.03970501079
+204,3.400000000,pose1_to_pose2_press,0.616960623575,0.000150107428445,1.04003356451,0.587531300918,0.00882274155154,1.03970495697
+205,3.416666667,pose1_to_pose2_press,0.617227352211,0.000150146744915,1.0400334542,0.587798029463,0.00882278092151,1.03970484814
+206,3.433333333,pose1_to_pose2_press,0.617482868229,0.000150166766002,1.04003348207,0.588053545859,0.00882280277572,1.03970488274
+207,3.450000000,pose1_to_pose2_press,0.617726239527,0.000150090606823,1.04003356424,0.588296917438,0.0088227278962,1.03970496509
+208,3.466666667,pose1_to_pose2_press,0.617954491259,0.000150054472907,1.04003347705,0.588525168529,0.00882268965627,1.03970487025
+209,3.483333333,pose1_to_pose2_press,0.618164348263,0.000150121670118,1.04003348557,0.588735025237,0.00882275613966,1.03970487959
+210,3.500000000,pose1_to_pose2_press,0.618353857632,0.00015023184769,1.04003374906,0.58892453214,0.00882285786698,1.03970513494
+211,3.516666667,pose1_to_pose2_press,0.618523824742,0.000150159958249,1.04003348612,0.589094502048,0.00882279617118,1.03970488347
+212,3.533333333,pose1_to_pose2_press,0.618675347459,0.000150210601195,1.04003321665,0.589246023868,0.0088228444095,1.03970462643
+213,3.550000000,pose1_to_pose2_press,0.618808132258,0.000150136979294,1.04003361687,0.589378809036,0.00882277129794,1.03970500827
+214,3.566666667,pose1_to_pose2_press,0.618925245432,0.000150204198151,1.04003353002,0.58949592143,0.00882283652741,1.03970492828
+215,3.583333333,pose1_to_pose2_press,0.619027491957,0.000150086281201,1.04003359201,0.589598169634,0.00882272444942,1.03970498911
+216,3.600000000,pose1_to_pose2_press,0.619117243696,0.000150136354191,1.04003358182,0.58968792082,0.0088227726174,1.03970497548
+217,3.616666667,pose1_to_pose2_press,0.619194866931,0.000150243803838,1.04003356971,0.58976554241,0.00882287509034,1.03970496343
+218,3.633333333,pose1_to_pose2_press,0.619262525042,0.000150192136614,1.04003360078,0.589833200453,0.00882282384104,1.03970499759
+219,3.650000000,pose1_to_pose2_press,0.6193210064,0.000149993205303,1.04003349384,0.589891683442,0.00882262924594,1.03970489207
+220,3.666666667,pose1_to_pose2_press,0.619369615937,0.000150185526423,1.04003338815,0.589940290422,0.00882281342231,1.03970478656
+221,3.683333333,pose1_to_pose2_press,0.619411076099,0.000150140052513,1.04003346021,0.589981750569,0.00882276836004,1.0397048597
+222,3.700000000,pose1_to_pose2_press,0.619446414724,0.000150083958645,1.0400334769,0.590017092323,0.00882272271769,1.03970487959
+223,3.716666667,pose1_to_pose2_press,0.619475809713,0.00015012738198,1.04003330314,0.590046488674,0.00882277065962,1.03970470912
+224,3.733333333,pose1_to_pose2_press,0.619499521363,0.000150143970036,1.04003323391,0.590070198784,0.00882278209274,1.03970463752
+225,3.750000000,pose1_to_pose2_press,0.619518665139,0.000150041144452,1.04003351331,0.590089341092,0.00882267417568,1.03970490977
+226,3.766666667,pose1_to_pose2_press,0.619533125828,0.000150158213913,1.04003347256,0.590103801174,0.00882278936698,1.03970487472
+227,3.783333333,pose1_to_pose2_press,0.619542798712,0.000150035736002,1.04003338414,0.590113475419,0.00882267140238,1.03970478585
+228,3.800000000,pose1_to_pose2_press,0.61954945211,0.000149986884463,1.04003338527,0.590120129159,0.00882262346598,1.03970478327
+229,3.816666667,pose1_to_pose2_press,0.619553846998,0.000150053287293,1.04003350149,0.590124524223,0.0088226905378,1.03970489921
+230,3.833333333,pose1_to_pose2_press,0.619556784585,0.000150157933478,1.04003360991,0.590127461407,0.00882279397675,1.03970500815
+231,3.850000000,pose1_to_pose2_press,0.619558416305,0.0001502395993,1.04003347965,0.590129089912,0.00882286458494,1.03970487362
+232,3.866666667,pose1_to_pose2_press,0.619559384357,0.000150260392308,1.04003341146,0.590130057131,0.00882288249925,1.03970480417
+233,3.883333333,pose1_to_pose2_press,0.619559821924,0.000150211965481,1.04003339964,0.590130496571,0.00882284046846,1.03970479443
+234,3.900000000,pose1_to_pose2_press,0.619559938023,0.000150199116545,1.04003339651,0.590130613166,0.00882282931657,1.03970479184
+235,3.916666667,pose1_to_pose2_press,0.61956002408,0.000150189592272,1.04003339418,0.590130699593,0.00882282105023,1.03970478993
+236,3.933333333,pose1_to_pose2_press,0.61956011842,0.000150179151417,1.04003339163,0.590130794336,0.00882281198837,1.03970478783
+237,3.950000000,pose1_to_pose2_press,0.619560184163,0.000150171875482,1.04003338986,0.59013086036,0.00882280567341,1.03970478636
+238,3.966666667,pose1_to_pose2_press,0.619560249232,0.000150164674093,1.0400333881,0.590130925708,0.00882279942315,1.03970478492
+239,3.983333333,pose1_to_pose2_press,0.619560410714,0.000150146802377,1.04003338374,0.590131087881,0.00882278391187,1.03970478132
+240,4.000000000,pose1_to_pose2_press,0.619560553844,0.000150180950416,1.04003340782,0.590131230434,0.00882281613106,1.03970480611
+241,4.016666667,pose1_to_pose2_press,0.619560648826,0.000150218892584,1.04003343235,0.59013132467,0.00882285156402,1.03970483112
+242,4.033333333,pose1_to_pose2_press,0.619560807599,0.00015028231756,1.04003347335,0.590131482196,0.00882291079456,1.03970487292
+243,4.050000000,pose1_to_pose2_press,0.619560978402,0.000150319544452,1.04003351507,0.590131652334,0.00882294572125,1.03970491337
+244,4.066666667,pose1_to_pose2_press,0.619561065827,0.000150287085948,1.04003353246,0.590131740543,0.00882291576074,1.03970492659
+245,4.083333333,pose1_to_pose2_press,0.619561114998,0.000150265753695,1.04003353927,0.590131790198,0.00882289598731,1.03970493121
+246,4.100000000,pose1_to_pose2_press,0.61956108147,0.000150108033868,1.04003336847,0.590131758781,0.00882274582009,1.0397047703
+247,4.116666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582151,1.0397047703
+248,4.133333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582137,1.03970477029
+249,4.150000000,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582132,1.0397047703
+250,4.166666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.0088227458213,1.0397047703
+251,4.183333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582126,1.0397047703
+252,4.200000000,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582124,1.0397047703
+253,4.216666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582117,1.0397047703
+254,4.233333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582114,1.0397047703
+255,4.250000000,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582109,1.0397047703
+256,4.266666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582105,1.0397047703
+257,4.283333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582102,1.0397047703
+258,4.300000000,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582099,1.0397047703
+259,4.316666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582095,1.0397047703
+260,4.333333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582092,1.0397047703
+261,4.350000000,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582089,1.0397047703
+262,4.366666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582087,1.0397047703
+263,4.383333333,pose2_to_pose3_retreat,0.619561053796,0.000150143058239,1.04003353459,0.590131730445,0.00882277829004,1.03970492855
+264,4.400000000,pose2_to_pose3_retreat,0.619560924742,0.000150310820177,1.04003337741,0.590131597896,0.00882293446014,1.03970477843
+265,4.416666667,pose2_to_pose3_retreat,0.619560848275,0.000150321974467,1.04003338122,0.59013152159,0.0088229461385,1.03970478162
+266,4.433333333,pose2_to_pose3_retreat,0.619560846298,0.000150322262742,1.04003338132,0.590131519618,0.00882294644032,1.0397047817
+267,4.450000000,pose2_to_pose3_retreat,0.61956069369,0.000150344523646,1.04003338892,0.590131367333,0.00882296974713,1.03970478806
+268,4.466666667,pose2_to_pose3_retreat,0.619560412861,0.000150362675648,1.04003341333,0.590131086678,0.00882298844415,1.03970481125
+269,4.483333333,pose2_to_pose3_retreat,0.619560363021,0.000150363153632,1.04003341892,0.590131036818,0.00882298885294,1.03970481675
+270,4.500000000,pose2_to_pose3_retreat,0.619559912883,0.000150367470652,1.0400334694,0.590130586503,0.00882299254503,1.03970486639
+271,4.516666667,pose2_to_pose3_retreat,0.619558445951,0.000150260510228,1.04003356268,0.590129121157,0.00882289094498,1.03970495894
+272,4.533333333,pose2_to_pose3_retreat,0.619554241198,0.000150222124238,1.04003343004,0.59012491665,0.00882285344993,1.03970482899
+273,4.550000000,pose2_to_pose3_retreat,0.619546068349,0.000150227546414,1.04003336825,0.590116743212,0.00882285680865,1.03970476426
+274,4.566666667,pose2_to_pose3_retreat,0.619529639274,0.000149994263415,1.04003327998,0.590100317068,0.00882263347706,1.03970468172
+275,4.583333333,pose2_to_pose3_retreat,0.619504365141,0.000150108655119,1.04003352181,0.590075041726,0.0088227438162,1.03970492536
+276,4.600000000,pose2_to_pose3_retreat,0.619469363318,0.00015004932336,1.04003334787,0.590040039937,0.00882268485509,1.03970475473
+277,4.616666667,pose2_to_pose3_retreat,0.619425467804,0.000150102412965,1.04003336837,0.589996143741,0.00882273529653,1.03970476949
+278,4.633333333,pose2_to_pose3_retreat,0.619372506226,0.000150040114247,1.04003348533,0.589943183257,0.00882267654028,1.03970487959
+279,4.650000000,pose2_to_pose3_retreat,0.619314252146,0.000150235582914,1.04003380736,0.589884925993,0.0088228610831,1.03970519079
+280,4.666666667,pose2_to_pose3_retreat,0.61925087469,0.000150130226102,1.04003372137,0.589821550285,0.0088227617676,1.03970510917
+281,4.683333333,pose2_to_pose3_retreat,0.619179612966,0.000149905596456,1.04003342573,0.589750291847,0.00882254831968,1.03970482363
+282,4.700000000,pose2_to_pose3_retreat,0.619100427573,0.000149887131023,1.04003329079,0.589671106373,0.00882252930866,1.03970469236
+283,4.716666667,pose2_to_pose3_retreat,0.619012060443,0.000150104711658,1.04003347461,0.589582737226,0.00882273988005,1.03970487618
+284,4.733333333,pose2_to_pose3_retreat,0.618912585842,0.000150106107001,1.040033616,0.589483262711,0.00882274113137,1.03970500893
+285,4.750000000,pose2_to_pose3_retreat,0.6188003916,0.000150124846456,1.0400336031,0.589371067496,0.00882275626205,1.03970499176
+286,4.766666667,pose2_to_pose3_retreat,0.618672778641,0.000150140490991,1.04003350495,0.589243454254,0.00882277074085,1.03970489306
+287,4.783333333,pose2_to_pose3_retreat,0.61852891242,0.000150129486308,1.04003346152,0.589099589341,0.00882276401001,1.0397048506
+288,4.800000000,pose2_to_pose3_retreat,0.618365749769,0.000150151551207,1.04003365928,0.588936425504,0.0088227818824,1.03970504979
+289,4.816666667,pose2_to_pose3_retreat,0.618183556396,0.000150023548219,1.04003350618,0.588754235004,0.00882266389339,1.03970490823
+290,4.833333333,pose2_to_pose3_retreat,0.617981532004,0.00014996391236,1.04003364317,0.58855221135,0.00882260581171,1.03970502895
+291,4.850000000,pose2_to_pose3_retreat,0.617762021772,0.000150051760947,1.04003368089,0.588332699049,0.00882268634592,1.03970506608
+292,4.866666667,pose2_to_pose3_retreat,0.617524958718,0.000150052929797,1.04003359119,0.588095636336,0.00882268863926,1.0397049839
+293,4.883333333,pose2_to_pose3_retreat,0.617269948139,0.000150006357356,1.04003355691,0.587840626933,0.00882264569452,1.03970494996
+294,4.900000000,pose2_to_pose3_retreat,0.616997020806,0.000150099969429,1.04003367283,0.587567697226,0.00882273065997,1.03970505905
+295,4.916666667,pose2_to_pose3_retreat,0.616704657302,0.00015017444607,1.04003366136,0.587275332996,0.00882280248979,1.03970505214
+296,4.933333333,pose2_to_pose3_retreat,0.616396247606,0.000150338930258,1.04003364516,0.586966922639,0.00882296445872,1.03970503892
+297,4.950000000,pose2_to_pose3_retreat,0.616073523042,0.000150048308988,1.04003346375,0.586644200811,0.00882268278291,1.0397048588
+298,4.966666667,pose2_to_pose3_retreat,0.615736455897,0.000150039192624,1.0400334297,0.586307133962,0.00882267449937,1.03970483016
+299,4.983333333,pose2_to_pose3_retreat,0.615384400794,0.000150170547598,1.04003350638,0.585955078256,0.00882280363639,1.03970491255
+300,5.000000000,pose2_to_pose3_retreat,0.615009896589,0.00015018090178,1.04003357235,0.58558057466,0.00882281564135,1.03970497816
+301,5.016666667,pose2_to_pose3_retreat,0.614609888441,0.000150063713201,1.04003352082,0.585180567271,0.00882270017077,1.03970491365
+302,5.033333333,pose2_to_pose3_retreat,0.614178809617,0.000150142994921,1.04003362118,0.584749487135,0.00882277483338,1.0397050138
+303,5.050000000,pose2_to_pose3_retreat,0.613720956446,0.000150170654885,1.04003337374,0.584291634341,0.00882280328041,1.03970476877
+304,5.066666667,pose2_to_pose3_retreat,0.613238588268,0.000150148327505,1.04003340365,0.583809266034,0.00882278015176,1.03970480157
+305,5.083333333,pose2_to_pose3_retreat,0.612745978777,0.000150101786024,1.04003339972,0.583316656304,0.00882273248605,1.03970479642
+306,5.100000000,pose2_to_pose3_retreat,0.612245348884,0.000150066882505,1.040033399,0.582816026932,0.00882269908467,1.03970479149
+307,5.116666667,pose2_to_pose3_retreat,0.611736175957,0.000150068285826,1.04003361167,0.582306854861,0.00882270336583,1.03970500323
+308,5.133333333,pose2_to_pose3_retreat,0.611212107224,0.000150104106415,1.04003326248,0.581782783776,0.00882273167174,1.0397046668
+309,5.150000000,pose2_to_pose3_retreat,0.610664956658,0.000150051424551,1.04003352924,0.581235636619,0.00882269037118,1.03970492882
+310,5.166666667,pose2_to_pose3_retreat,0.610100042306,0.000150060373851,1.0400335566,0.580670722503,0.00882270000114,1.03970495276
+311,5.183333333,pose2_to_pose3_retreat,0.609521465638,0.0001501247192,1.04003345117,0.580092144469,0.00882275979552,1.0397048492
+312,5.200000000,pose2_to_pose3_retreat,0.608930181985,0.000150145669051,1.04003336566,0.579500860028,0.00882277819755,1.03970476669
+313,5.216666667,pose2_to_pose3_retreat,0.6083275551,0.000150043594656,1.04003337311,0.578898234032,0.00882267908375,1.03970477209
+314,5.233333333,pose2_to_pose3_retreat,0.60770800466,0.000150171691265,1.04003335759,0.578278683872,0.00882280829137,1.03970476152
+315,5.250000000,pose2_to_pose3_retreat,0.60706028957,0.000150167258055,1.04003364985,0.577630968645,0.00882280328126,1.03970505085
+316,5.266666667,pose2_to_pose3_retreat,0.606378336054,0.000150180449792,1.04003358932,0.576949013541,0.008822811038,1.039704989
+317,5.283333333,pose2_to_pose3_retreat,0.605674342028,0.000150093876609,1.04003336568,0.57624502049,0.0088227278717,1.03970476792
+318,5.300000000,pose2_to_pose3_retreat,0.60495463048,0.000150010995155,1.04003340957,0.575525311048,0.00882265201117,1.03970480809
+319,5.316666667,pose2_to_pose3_retreat,0.60422509246,0.000149999356056,1.04003370177,0.574795773558,0.00882264181644,1.03970509036
+320,5.333333333,pose2_to_pose3_retreat,0.603493769409,0.000149961231161,1.0400337495,0.574064450335,0.00882260308735,1.03970513766
+321,5.350000000,pose2_to_pose3_retreat,0.602769877439,0.000150143016362,1.04003353748,0.573340556257,0.00882277783983,1.03970492879
+322,5.366666667,pose2_to_pose3_retreat,0.602043993198,0.000150146705129,1.04003351608,0.572614670912,0.00882277791187,1.03970491067
+323,5.383333333,pose2_to_pose3_retreat,0.601314526753,0.00015007451167,1.04003368903,0.57188520601,0.0088227109011,1.03970508216
+324,5.400000000,pose2_to_pose3_retreat,0.600575477975,0.000150095751521,1.04003369357,0.57114615746,0.00882273291568,1.03970508669
+325,5.416666667,pose2_to_pose3_retreat,0.599825075683,0.000150081007867,1.04003365491,0.570395755414,0.00882271886828,1.03970504434
+326,5.433333333,pose2_to_pose3_retreat,0.599067831101,0.000150031492676,1.04003363185,0.569638510913,0.00882266951476,1.03970501827
+327,5.450000000,pose2_to_pose3_retreat,0.598302144617,0.000150112228277,1.04003349813,0.568872822435,0.0088227438438,1.03970489397
+328,5.466666667,pose2_to_pose3_retreat,0.597525127026,0.000150199592216,1.04003334725,0.568095804499,0.00882283047473,1.03970475462
+329,5.483333333,pose2_to_pose3_retreat,0.596764317071,0.000150083001682,1.04003335715,0.567334995606,0.00882271740752,1.03970476233
+330,5.500000000,pose2_to_pose3_retreat,0.596021301222,0.000150093260061,1.04003345351,0.566591980049,0.00882272854044,1.03970485553
+331,5.516666667,pose2_to_pose3_retreat,0.59527986609,0.000150155115986,1.04003351149,0.565850545124,0.00882279090845,1.0397049084
+332,5.533333333,pose2_to_pose3_retreat,0.594542474701,0.000150121177925,1.04003358346,0.565113154318,0.00882275882541,1.03970497711
+333,5.550000000,pose2_to_pose3_retreat,0.593809821618,0.000150070683971,1.04003366482,0.564380501504,0.00882270912161,1.03970505519
+334,5.566666667,pose2_to_pose3_retreat,0.593075396125,0.000150151531119,1.04003369074,0.563646075231,0.00882278707767,1.03970507463
+335,5.583333333,pose2_to_pose3_retreat,0.592339229677,0.000149993191973,1.04003367374,0.562909909526,0.00882263136817,1.0397050605
+336,5.600000000,pose2_to_pose3_retreat,0.591601929373,0.000150233646783,1.04003365739,0.562172607073,0.00882286469713,1.03970504846
+337,5.616666667,pose2_to_pose3_retreat,0.590867518486,0.000150088623139,1.04003355468,0.561438197389,0.00882272377819,1.03970494619
+338,5.633333333,pose2_to_pose3_retreat,0.59015318434,0.000149964158985,1.0400336061,0.560723864794,0.00882260456069,1.03970499729
+339,5.650000000,pose2_to_pose3_retreat,0.58945653995,0.000149935648492,1.04003364465,0.560027220058,0.00882257494648,1.03970503759
+340,5.666666667,pose2_to_pose3_retreat,0.58877850501,0.000150014344451,1.04003354176,0.559349183558,0.00882264852316,1.03970493925
+341,5.683333333,pose2_to_pose3_retreat,0.588119200874,0.000150152716586,1.04003339584,0.558689878402,0.00882278354326,1.03970479625
+342,5.700000000,pose2_to_pose3_retreat,0.587474497829,0.00015017120775,1.04003353896,0.558045175365,0.00882280170649,1.03970492992
+343,5.716666667,pose2_to_pose3_retreat,0.586837634956,0.000149946377127,1.04003353854,0.557408315758,0.00882258796605,1.03970492967
+344,5.733333333,pose2_to_pose3_retreat,0.586208150852,0.000150057615563,1.04003373053,0.55677882962,0.00882269209117,1.03970511613
+345,5.750000000,pose2_to_pose3_retreat,0.58559090967,0.00015001789837,1.04003369636,0.556161588594,0.00882265312284,1.0397050877
+346,5.766666667,pose2_to_pose3_retreat,0.584992225632,0.000150022402372,1.04003356946,0.555562905264,0.00882266023986,1.03970496633
+347,5.783333333,pose2_to_pose3_retreat,0.584415000904,0.000150120477345,1.04003350973,0.554985680054,0.00882275668682,1.03970490678
+348,5.800000000,pose2_to_pose3_retreat,0.583855561669,0.000150168220481,1.04003351615,0.554426239905,0.00882280136227,1.03970491405
+349,5.816666667,pose2_to_pose3_retreat,0.583312783316,0.000150190200502,1.04003348037,0.553883461875,0.00882282464894,1.03970488377
+350,5.833333333,pose2_to_pose3_retreat,0.582791799984,0.000150188072161,1.04003343374,0.553362478586,0.00882282219931,1.03970482485
+351,5.850000000,pose2_to_pose3_retreat,0.582292861251,0.00015011735305,1.04003360893,0.552863540346,0.00882275305078,1.03970499729
+352,5.866666667,pose2_to_pose3_retreat,0.581817603786,0.000150113481526,1.0400335744,0.552388281804,0.00882274571528,1.03970496784
+353,5.883333333,pose2_to_pose3_retreat,0.581363118908,0.000150142920609,1.0400335618,0.551933796938,0.00882277530171,1.03970495796
+354,5.900000000,pose2_to_pose3_retreat,0.580926674301,0.00015013988339,1.04003357311,0.551497353271,0.00882277543143,1.03970496871
+355,5.916666667,pose2_to_pose3_retreat,0.580497676054,0.000150087893021,1.04003337802,0.551068354006,0.00882272010576,1.03970477676
+356,5.933333333,pose2_to_pose3_retreat,0.580078519185,0.000150182480299,1.04003337954,0.550649196262,0.0088228117084,1.03970477784
+357,5.950000000,pose2_to_pose3_retreat,0.579679052984,0.000150105192401,1.04003337672,0.550249731939,0.00882274084933,1.03970477683
+358,5.966666667,pose2_to_pose3_retreat,0.579305168165,0.000150180939951,1.04003335864,0.549875845238,0.00882281030575,1.03970476147
+359,5.983333333,pose2_to_pose3_retreat,0.578962890109,0.000150187348068,1.04003360228,0.549533567979,0.00882281939532,1.03970500418
+360,6.000000000,pose2_to_pose3_retreat,0.578651322545,0.000150311269721,1.04003354754,0.549221999402,0.00882293993951,1.03970495093
+361,6.016666667,pose2_to_pose3_retreat,0.578368208334,0.000150288014841,1.04003336054,0.548938885476,0.00882291768104,1.03970476474
+362,6.033333333,pose2_to_pose3_retreat,0.578099835295,0.000149911873969,1.04003338607,0.548670517188,0.00882255746168,1.03970478493
+363,6.050000000,pose2_to_pose3_retreat,0.577842648067,0.000150128327944,1.0400334289,0.548413326246,0.00882276086716,1.03970481607
+364,6.066666667,pose2_to_pose3_retreat,0.577595446144,0.000150111540608,1.04003362291,0.548166124329,0.00882274404867,1.03970500876
+365,6.083333333,pose2_to_pose3_retreat,0.577358954491,0.000150035969022,1.04003347291,0.54792963397,0.00882267317905,1.03970486691
+366,6.100000000,pose2_to_pose3_retreat,0.577134865504,0.000150031966812,1.04003354948,0.547705545858,0.0088226721339,1.0397049433
+367,6.116666667,pose2_to_pose3_retreat,0.576932175164,0.000150034960157,1.04003356326,0.547502854975,0.00882267345769,1.03970496168
+368,6.133333333,pose2_to_pose3_retreat,0.576750778339,0.000150060566076,1.04003356077,0.547321456889,0.00882269476692,1.03970495875
+369,6.150000000,pose2_to_pose3_retreat,0.576591120924,0.000150124631693,1.04003357686,0.547161798892,0.00882275665357,1.03970496948
+370,6.166666667,pose2_to_pose3_retreat,0.576451064227,0.000150141019285,1.04003340759,0.547021742827,0.00882277544512,1.03970480718
+371,6.183333333,pose2_to_pose3_retreat,0.57633084431,0.000150074753429,1.0400334978,0.546901523991,0.00882271278135,1.03970489558
+372,6.200000000,pose2_to_pose3_retreat,0.576224900859,0.000150114392796,1.04003340157,0.546795580607,0.00882275264771,1.0397047993
+373,6.216666667,pose2_to_pose3_retreat,0.576131899546,0.000150093787078,1.04003346814,0.54670257858,0.00882272952201,1.03970486375
+374,6.233333333,pose2_to_pose3_retreat,0.57605007192,0.00015009982001,1.04003352518,0.546620750316,0.00882273328033,1.03970491805
+375,6.250000000,pose2_to_pose3_retreat,0.575977940154,0.00015013012882,1.04003352877,0.546548617814,0.00882276109618,1.03970492167
+376,6.266666667,pose2_to_pose3_retreat,0.57591460982,0.000150145621747,1.04003350462,0.546485286569,0.00882277365492,1.03970490165
+377,6.283333333,pose2_to_pose3_retreat,0.575860608399,0.000150128145874,1.04003350676,0.546431285858,0.00882275858439,1.03970490364
+378,6.300000000,pose2_to_pose3_retreat,0.575817018321,0.000150168823633,1.04003362459,0.546387696354,0.00882280112032,1.03970501908
+379,6.316666667,pose2_to_pose3_retreat,0.57578093955,0.000150121032818,1.04003348657,0.546351618132,0.00882275522387,1.03970488195
+380,6.333333333,pose2_to_pose3_retreat,0.575751936095,0.000150079489601,1.04003344552,0.546322614438,0.00882271289467,1.03970484158
+381,6.350000000,pose2_to_pose3_retreat,0.575729110135,0.000150099576556,1.04003352154,0.546299788023,0.00882273143793,1.03970491749
+382,6.366666667,pose2_to_pose3_retreat,0.575711098401,0.000150222517391,1.04003351842,0.546281777106,0.00882285716377,1.03970491482
+383,6.383333333,pose2_to_pose3_retreat,0.575697065242,0.000150172724509,1.0400335798,0.54626774443,0.00882280920955,1.03970498144
+384,6.400000000,pose2_to_pose3_retreat,0.575686571375,0.000150108150385,1.04003361842,0.546257250253,0.00882274352023,1.03970501844
+385,6.416666667,pose2_to_pose3_retreat,0.575679267794,0.000150092282806,1.04003363346,0.546249945995,0.00882272521085,1.03970502971
+386,6.433333333,pose2_to_pose3_retreat,0.57567403286,0.000150225941009,1.04003362969,0.546244710352,0.00882285650644,1.03970502719
+387,6.450000000,pose2_to_pose3_retreat,0.575670591754,0.000150152421166,1.04003360125,0.546241269298,0.00882278295201,1.03970499318
+388,6.466666667,pose2_to_pose3_retreat,0.575668231784,0.000150028993107,1.04003357001,0.5462389096,0.00882266018716,1.03970495522
+389,6.483333333,pose2_to_pose3_retreat,0.57566678218,0.000150047850253,1.04003356462,0.546237460331,0.008822680183,1.03970494968
+390,6.500000000,pose2_to_pose3_retreat,0.575666112223,0.000150058655097,1.04003356243,0.546236790534,0.00882269153025,1.03970494752
+391,6.516666667,pose2_to_pose3_retreat,0.575665792225,0.000150063815923,1.04003356138,0.546236470612,0.00882269695015,1.03970494648
+392,6.533333333,pose2_to_pose3_retreat,0.5756656811,0.000150065608118,1.04003356102,0.546236359513,0.00882269883232,1.03970494612
+393,6.550000000,pose2_to_pose3_retreat,0.57566563027,0.000150068164032,1.04003355992,0.546236308668,0.00882270134837,1.03970494529
+394,6.566666667,pose2_to_pose3_retreat,0.575665581237,0.000150071705165,1.04003355829,0.546236259605,0.00882270480087,1.03970494408
+395,6.583333333,pose2_to_pose3_retreat,0.575665446867,0.000150081409423,1.04003355382,0.54623612515,0.00882271426221,1.03970494075
+396,6.600000000,pose2_to_pose3_retreat,0.575665371179,0.000150086875627,1.0400335513,0.546236049414,0.00882271959159,1.03970493888
+397,6.616666667,pose2_to_pose3_retreat,0.575665309004,0.000150091365892,1.04003354923,0.546235987201,0.00882272396946,1.03970493734
+398,6.633333333,pose2_to_pose3_retreat,0.575665199075,0.000150099304993,1.04003354557,0.546235877203,0.00882273170984,1.03970493461
+399,6.650000000,pose2_to_pose3_retreat,0.575665056476,0.000150109603533,1.04003354082,0.546235734514,0.00882274175059,1.03970493108
+400,6.666666667,pose2_to_pose3_retreat,0.575665051428,0.000150109968084,1.04003354065,0.546235729463,0.00882274210602,1.03970493096
+401,6.683333333,pose2_to_pose3_retreat,0.575664911406,0.000150120080537,1.04003353599,0.546235589353,0.00882275196534,1.03970492749
+402,6.700000000,pose2_to_pose3_retreat,0.57566469546,0.000150135676219,1.0400335288,0.546235373271,0.00882276717064,1.03970492214
+403,6.716666667,pose2_to_pose3_retreat,0.575664490656,0.000150117407927,1.04003351838,0.546235169462,0.00882275234391,1.03970491348
+404,6.733333333,pose2_to_pose3_retreat,0.575664336136,0.000150101282696,1.04003351027,0.546235015772,0.00882273908532,1.0397049067
+405,6.750000000,pose2_to_pose3_retreat,0.575664312126,0.000150098777096,1.04003350901,0.546234991891,0.00882273702515,1.03970490564
+406,6.766666667,pose2_to_pose3_retreat,0.575664292033,0.000150096284649,1.04003351965,0.54623497179,0.00882273449633,1.03970491603
+407,6.783333333,pose2_to_pose3_retreat,0.575664295254,0.000150096366073,1.04003352735,0.546234974919,0.00882273425456,1.03970492343
+408,6.800000000,pose2_to_pose3_retreat,0.575664312936,0.000150096813084,1.04003356962,0.546234992097,0.00882273292723,1.03970496404
+409,6.816666667,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015505,1.03970504886

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a298c883a13a458b2b2b4f337dfa8746b3d522b20d9ed835ce5942b102249c0
+size 26063284

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/simulation_data.csv

@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+1,0.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+2,0.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+3,0.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+4,0.066666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+5,0.083333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+6,0.100000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+7,0.116666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+8,0.133333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+9,0.150000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+10,0.166666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+11,0.183333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+12,0.200000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+13,0.216666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+14,0.233333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+15,0.250000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+16,0.266666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+17,0.283333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+18,0.300000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+19,0.316666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+20,0.333333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+21,0.350000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+22,0.366666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+23,0.383333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+24,0.400000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+25,0.416666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+26,0.433333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+27,0.450000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+28,0.466666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+29,0.483333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+30,0.500000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+31,0.516666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+32,0.533333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+33,0.550000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+34,0.566666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+35,0.583333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+36,0.600000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+37,0.616666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+38,0.633333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+39,0.650000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+40,0.666666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+41,0.683333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+42,0.700000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+43,0.716666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+44,0.733333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+45,0.750000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+46,0.766666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+47,0.783333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+48,0.800000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+49,0.816666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+50,0.833333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+51,0.850000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+52,0.866666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+53,0.883333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+54,0.900000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+55,0.916666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+56,0.933333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+57,0.950000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+58,0.966666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+59,0.983333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+60,1.000000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+61,1.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+62,1.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+63,1.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+64,1.066666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+65,1.083333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+66,1.100000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+67,1.116666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+68,1.133333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+69,1.150000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+70,1.166666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+71,1.183333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+72,1.200000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+73,1.216666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+74,1.233333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+75,1.250000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+76,1.266666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+77,1.283333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+78,1.300000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+79,1.316666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+80,1.333333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+81,1.350000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+82,1.366666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+83,1.383333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+84,1.400000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+85,1.416666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+86,1.433333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+87,1.450000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+88,1.466666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+89,1.483333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+90,1.500000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+91,1.516666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+92,1.533333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+93,1.550000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+94,1.566666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+95,1.583333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+96,1.600000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+97,1.616666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+98,1.633333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+99,1.650000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+100,1.666666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+101,1.683333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+102,1.700000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+103,1.716666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+104,1.733333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+105,1.750000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+106,1.766666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+107,1.783333333,pose1_to_pose2_press,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+108,1.800000000,pose1_to_pose2_press,0.575664590144,0.000150072718261,1.04003357987,0.546235269562,0.00882270957355,1.03970497084
+109,1.816666667,pose1_to_pose2_press,0.57566499879,0.000150053375077,1.04003365152,0.546235679749,0.00882269542586,1.03970504156
+110,1.833333333,pose1_to_pose2_press,0.575665243733,0.000150051066101,1.04003359789,0.546235924501,0.00882269254824,1.03970499007
+111,1.850000000,pose1_to_pose2_press,0.575665454237,0.000150049081761,1.0400335518,0.546236134841,0.0088226900752,1.03970494582
+112,1.866666667,pose1_to_pose2_press,0.575665608743,0.000150047625301,1.04003351797,0.546236289226,0.00882268826005,1.03970491334
+113,1.883333333,pose1_to_pose2_press,0.575665898487,0.000150044894001,1.04003345454,0.546236578743,0.00882268485609,1.03970485244
+114,1.900000000,pose1_to_pose2_press,0.575666786779,0.000150048500416,1.04003341254,0.546237466042,0.00882268511723,1.03970481106
+115,1.916666667,pose1_to_pose2_press,0.575668735849,0.000150071620939,1.04003351395,0.546239412555,0.00882269926887,1.03970490476
+116,1.933333333,pose1_to_pose2_press,0.575674715014,0.000150138921497,1.04003355012,0.546245393915,0.0088227740409,1.03970494156
+117,1.950000000,pose1_to_pose2_press,0.5756868035,0.000150129237699,1.04003363454,0.546257482837,0.00882276607269,1.03970503216
+118,1.966666667,pose1_to_pose2_press,0.575708870016,0.000150066017676,1.040033428,0.546279549588,0.00882270347448,1.03970482093
+119,1.983333333,pose1_to_pose2_press,0.575741369555,0.000150077346537,1.04003357468,0.546312048417,0.00882271237715,1.03970496708
+120,2.000000000,pose1_to_pose2_press,0.575784544309,0.000150231724715,1.04003369888,0.54635522089,0.00882285892274,1.03970508875
+121,2.016666667,pose1_to_pose2_press,0.575836120029,0.000150040308425,1.0400337169,0.546406799365,0.00882267687828,1.03970510735
+122,2.033333333,pose1_to_pose2_press,0.575895413724,0.000150099043768,1.04003376409,0.546466093097,0.00882273564659,1.03970515207
+123,2.050000000,pose1_to_pose2_press,0.575960360419,0.000150133284429,1.04003366542,0.546531038463,0.00882276561395,1.03970505947
+124,2.066666667,pose1_to_pose2_press,0.576031234346,0.000150005601144,1.04003348641,0.546601913803,0.00882264265762,1.03970487862
+125,2.083333333,pose1_to_pose2_press,0.576111937665,0.00015007555257,1.04003361846,0.546682616537,0.0088227104814,1.0397050069
+126,2.100000000,pose1_to_pose2_press,0.576203666623,0.000150145422133,1.04003373651,0.546774344676,0.00882277753838,1.03970512402
+127,2.116666667,pose1_to_pose2_press,0.576309718914,0.000150073062332,1.04003357276,0.546880397653,0.00882270764012,1.03970496379
+128,2.133333333,pose1_to_pose2_press,0.576429700335,0.000150067679063,1.0400333881,0.547000379057,0.00882270237734,1.03970478374
+129,2.150000000,pose1_to_pose2_press,0.576564356148,0.00015011736972,1.04003340321,0.547135034149,0.00882274950416,1.0397047957
+130,2.166666667,pose1_to_pose2_press,0.576713863716,0.000150028040092,1.04003334671,0.547284542413,0.00882266305054,1.03970475272
+131,2.183333333,pose1_to_pose2_press,0.576878217907,0.000150018986264,1.04003346699,0.547448897201,0.00882265591796,1.03970487013
+132,2.200000000,pose1_to_pose2_press,0.577060207916,0.000150051804847,1.04003338442,0.547630886661,0.0088226868494,1.03970478685
+133,2.216666667,pose1_to_pose2_press,0.57726190283,0.00015020288258,1.04003329332,0.547832579675,0.00882283131668,1.03970469137
+134,2.233333333,pose1_to_pose2_press,0.577487315881,0.000150109024003,1.04003335448,0.548057994481,0.00882274330449,1.0397047496
+135,2.250000000,pose1_to_pose2_press,0.57773385661,0.00014999915982,1.04003334725,0.548304536565,0.00882263843689,1.03970475281
+136,2.266666667,pose1_to_pose2_press,0.578000948651,0.000149972668289,1.04003342844,0.548571629401,0.00882261450546,1.03970483029
+137,2.283333333,pose1_to_pose2_press,0.578289231192,0.000150034330074,1.04003359274,0.548859910598,0.00882267120461,1.03970498389
+138,2.300000000,pose1_to_pose2_press,0.5785946126,0.000150131581816,1.04003365766,0.549165290646,0.00882276382442,1.03970504834
+139,2.316666667,pose1_to_pose2_press,0.578911649375,0.000150161985975,1.04003361926,0.549482328206,0.0088227969168,1.03970501038
+140,2.333333333,pose1_to_pose2_press,0.579241788794,0.000150123223524,1.04003349934,0.549812467024,0.00882275621096,1.0397048929
+141,2.350000000,pose1_to_pose2_press,0.579587352637,0.000149952756855,1.04003340926,0.550158035104,0.00882260023438,1.03970480572
+142,2.366666667,pose1_to_pose2_press,0.579949584342,0.00015004298986,1.04003361747,0.550520262895,0.0088226771417,1.03970501273
+143,2.383333333,pose1_to_pose2_press,0.580331624567,0.000150014406877,1.04003343764,0.550902304398,0.008822652921,1.03970483343
+144,2.400000000,pose1_to_pose2_press,0.580746455714,0.000150020951829,1.04003340306,0.551317134885,0.0088226571622,1.03970479712
+145,2.416666667,pose1_to_pose2_press,0.581191778499,0.000150086253082,1.0400334232,0.551762457059,0.00882272022404,1.03970481274
+146,2.433333333,pose1_to_pose2_press,0.581666789901,0.000150130777196,1.04003353844,0.552237467581,0.0088227618978,1.03970493147
+147,2.450000000,pose1_to_pose2_press,0.582163212922,0.000150116333341,1.04003363332,0.552733891334,0.00882275003559,1.03970502879
+148,2.466666667,pose1_to_pose2_press,0.582678185675,0.000150097897916,1.04003364707,0.553248864258,0.00882273208875,1.03970504001
+149,2.483333333,pose1_to_pose2_press,0.583195776288,0.000150109907442,1.04003364349,0.553766453663,0.00882274002339,1.03970503704
+150,2.500000000,pose1_to_pose2_press,0.583718883922,0.000150161256707,1.04003358099,0.554289561266,0.00882279138233,1.03970497745
+151,2.516666667,pose1_to_pose2_press,0.584265343453,0.000150265694274,1.04003342867,0.554836019254,0.00882289055697,1.03970482437
+152,2.533333333,pose1_to_pose2_press,0.584834931284,0.00015010823032,1.04003368681,0.555405610407,0.00882274388384,1.03970506967
+153,2.550000000,pose1_to_pose2_press,0.585427487641,0.000150148692045,1.04003362816,0.555998165459,0.00882278041979,1.03970502429
+154,2.566666667,pose1_to_pose2_press,0.586044065636,0.00014995655389,1.0400334434,0.556614745084,0.00882259367372,1.03970483575
+155,2.583333333,pose1_to_pose2_press,0.586679673157,0.000149983760728,1.0400333896,0.557250352327,0.00882262003772,1.03970478449
+156,2.600000000,pose1_to_pose2_press,0.58732468313,0.000150187066941,1.0400333726,0.557895361858,0.0088228220694,1.03970477333
+157,2.616666667,pose1_to_pose2_press,0.587980837328,0.000150254487017,1.04003354186,0.558551514756,0.0088228848471,1.03970493643
+158,2.633333333,pose1_to_pose2_press,0.588652693946,0.000150183637311,1.04003366417,0.559223371914,0.00882281561835,1.03970505317
+159,2.650000000,pose1_to_pose2_press,0.589337509373,0.000150080193459,1.04003358195,0.559908189826,0.00882272087749,1.03970497804
+160,2.666666667,pose1_to_pose2_press,0.590031836401,0.000150006175261,1.0400335228,0.560602517765,0.00882265013757,1.03970492384
+161,2.683333333,pose1_to_pose2_press,0.590741382149,0.000150013052126,1.04003365418,0.561312062308,0.00882265252216,1.03970504444
+162,2.700000000,pose1_to_pose2_press,0.591466232321,0.000150043730116,1.04003363764,0.562036913152,0.00882268566304,1.03970503267
+163,2.716666667,pose1_to_pose2_press,0.592197696262,0.000150021147609,1.0400336228,0.562768376811,0.00882266219537,1.03970501971
+164,2.733333333,pose1_to_pose2_press,0.592940717874,0.000150254607865,1.04003351,0.563511395163,0.00882288471444,1.03970491013
+165,2.750000000,pose1_to_pose2_press,0.593699441189,0.000150100694902,1.04003362569,0.564270119538,0.00882273419136,1.03970502034
+166,2.766666667,pose1_to_pose2_press,0.594461188411,0.000149889138655,1.04003335615,0.56503186946,0.00882253170591,1.03970474837
+167,2.783333333,pose1_to_pose2_press,0.595225946698,0.000150101349225,1.04003344889,0.565796625125,0.00882273507335,1.03970484263
+168,2.800000000,pose1_to_pose2_press,0.595986094098,0.000150042771479,1.04003360516,0.566556773004,0.00882267802959,1.03970499639
+169,2.816666667,pose1_to_pose2_press,0.5967430013,0.00015003096761,1.04003357423,0.567313680305,0.00882266669369,1.03970496912
+170,2.833333333,pose1_to_pose2_press,0.597503577823,0.000150104613224,1.0400336053,0.568074256477,0.00882273923495,1.03970500247
+171,2.850000000,pose1_to_pose2_press,0.598264238569,0.000150083852927,1.04003374591,0.568834918172,0.00882272141639,1.03970513579
+172,2.866666667,pose1_to_pose2_press,0.599023328919,0.000150114281183,1.04003370824,0.569594008215,0.00882275063629,1.0397050937
+173,2.883333333,pose1_to_pose2_press,0.599788908233,0.000150123562137,1.04003375944,0.570359587577,0.00882276021701,1.03970514862
+174,2.900000000,pose1_to_pose2_press,0.600558339374,0.000150275906504,1.04003350812,0.571129016371,0.00882290487889,1.03970490473
+175,2.916666667,pose1_to_pose2_press,0.601328846078,0.000150139891982,1.04003337926,0.571899522666,0.0088227675956,1.03970477912
+176,2.933333333,pose1_to_pose2_press,0.602095862155,0.000150128837346,1.04003366914,0.572666538622,0.00882275535225,1.03970504852
+177,2.950000000,pose1_to_pose2_press,0.602849557355,0.000150197793041,1.04003365153,0.573420234896,0.00882282835296,1.0397050416
+178,2.966666667,pose1_to_pose2_press,0.603591874632,0.000150234899284,1.04003359229,0.574162551797,0.00882286471285,1.03970499645
+179,2.983333333,pose1_to_pose2_press,0.604322388511,0.000150187876529,1.04003347657,0.57489306654,0.0088228203831,1.0397048745
+180,3.000000000,pose1_to_pose2_press,0.60505032584,0.000150124606434,1.0400334364,0.575621004063,0.00882275781095,1.03970483545
+181,3.016666667,pose1_to_pose2_press,0.605778007229,0.000150103259915,1.04003340244,0.576348685396,0.00882273667015,1.03970481201
+182,3.033333333,pose1_to_pose2_press,0.606496182716,0.000150103952149,1.04003339278,0.577066861547,0.00882273947906,1.03970479889
+183,3.050000000,pose1_to_pose2_press,0.607206245517,0.000150076827338,1.0400335537,0.577776924336,0.00882271185391,1.03970494775
+184,3.066666667,pose1_to_pose2_press,0.607908855695,0.000150037920377,1.04003357511,0.578479534499,0.00882267298292,1.03970497165
+185,3.083333333,pose1_to_pose2_press,0.608584589812,0.000150071226089,1.04003335115,0.579155268266,0.00882270545414,1.03970475714
+186,3.100000000,pose1_to_pose2_press,0.60923264569,0.000150093311849,1.04003340326,0.57980332534,0.00882273112943,1.03970479695
+187,3.116666667,pose1_to_pose2_press,0.609855363566,0.000150107143944,1.04003362732,0.580426040819,0.00882273681359,1.03970502073
+188,3.133333333,pose1_to_pose2_press,0.610453563861,0.000150046162291,1.04003355769,0.581024242429,0.00882268014022,1.03970494729
+189,3.150000000,pose1_to_pose2_press,0.611028576131,0.000150249772999,1.04003350359,0.581599253049,0.00882287842695,1.0397049005
+190,3.166666667,pose1_to_pose2_press,0.611586980327,0.000150185764582,1.04003347168,0.582157658089,0.00882281752082,1.03970487568
+191,3.183333333,pose1_to_pose2_press,0.612131902189,0.0001499869868,1.04003343678,0.582702582027,0.00882262568051,1.03970483804
+192,3.200000000,pose1_to_pose2_press,0.612666089104,0.000149971259067,1.04003347619,0.583236769486,0.00882261161542,1.03970487023
+193,3.216666667,pose1_to_pose2_press,0.613186538661,0.000150131992046,1.0400336552,0.583757217847,0.00882276838999,1.03970504673
+194,3.233333333,pose1_to_pose2_press,0.613690980223,0.000150047842578,1.04003370166,0.584261658132,0.00882267966664,1.0397050808
+195,3.250000000,pose1_to_pose2_press,0.61417709652,0.000150044821039,1.04003347858,0.584747776432,0.00882268506825,1.03970488424
+196,3.266666667,pose1_to_pose2_press,0.614641753684,0.000150020657491,1.04003352706,0.58521243222,0.00882265615286,1.03970491895
+197,3.283333333,pose1_to_pose2_press,0.61509373991,0.000150127878795,1.0400333121,0.585664417902,0.00882276230264,1.03970471207
+198,3.300000000,pose1_to_pose2_press,0.615533701225,0.00015019725997,1.04003339549,0.58610437829,0.00882282919207,1.03970480041
+199,3.316666667,pose1_to_pose2_press,0.615953485249,0.000150131755036,1.04003341712,0.586524162114,0.00882276336913,1.03970481884
+200,3.333333333,pose1_to_pose2_press,0.616351663016,0.000150099146809,1.0400333878,0.586922339639,0.00882273018801,1.03970478344
+201,3.350000000,pose1_to_pose2_press,0.616721496912,0.000150146097395,1.04003338216,0.587292173467,0.00882277741314,1.03970477938
+202,3.366666667,pose1_to_pose2_press,0.61706561446,0.000150114009771,1.0400334457,0.587636292009,0.00882274924886,1.039704845
+203,3.383333333,pose1_to_pose2_press,0.617384989212,0.000149967222299,1.04003363694,0.587955667781,0.00882260595553,1.03970502376
+204,3.400000000,pose1_to_pose2_press,0.617687935719,0.000150073844699,1.04003341601,0.588258612774,0.00882270794788,1.03970480852
+205,3.416666667,pose1_to_pose2_press,0.617976747144,0.000150128551066,1.04003363557,0.588547424074,0.00882276250636,1.03970502658
+206,3.433333333,pose1_to_pose2_press,0.618253758614,0.00014994064825,1.04003355996,0.588824438865,0.00882258623275,1.03970495063
+207,3.450000000,pose1_to_pose2_press,0.618517469457,0.0001500684497,1.04003360289,0.589088147376,0.00882270667387,1.03970499879
+208,3.466666667,pose1_to_pose2_press,0.618764108007,0.000150064874515,1.04003373176,0.589334784808,0.00882269957405,1.0397051234
+209,3.483333333,pose1_to_pose2_press,0.618989390222,0.000150072821539,1.04003359341,0.589560066519,0.00882270626607,1.03970498957
+210,3.500000000,pose1_to_pose2_press,0.619190191202,0.000150194147946,1.04003350968,0.589760866923,0.0088228258265,1.03970490602
+211,3.516666667,pose1_to_pose2_press,0.619370654422,0.000150197344467,1.04003360137,0.589941330359,0.00882282968548,1.03970498996
+212,3.533333333,pose1_to_pose2_press,0.619531748922,0.000150111938584,1.0400337078,0.59010242537,0.00882274630615,1.03970509687
+213,3.550000000,pose1_to_pose2_press,0.619673513825,0.000150101850998,1.04003367863,0.590244190323,0.00882273708772,1.03970507976
+214,3.566666667,pose1_to_pose2_press,0.61979960197,0.000150080020714,1.04003347373,0.590370278708,0.0088227163657,1.03970487939
+215,3.583333333,pose1_to_pose2_press,0.619912014245,0.000150025843263,1.0400334736,0.590482690987,0.0088226623937,1.03970487927
+216,3.600000000,pose1_to_pose2_press,0.620011581383,0.000150163913383,1.0400335052,0.590582257584,0.00882279842456,1.03970490282
+217,3.616666667,pose1_to_pose2_press,0.62009899559,0.000150161750784,1.04003351658,0.590669671095,0.00882279442548,1.03970491121
+218,3.633333333,pose1_to_pose2_press,0.620178475422,0.000150134302247,1.0400335184,0.590749150946,0.00882276729473,1.03970491259
+219,3.650000000,pose1_to_pose2_press,0.620250403054,0.000150107246273,1.04003349402,0.59082107906,0.00882274138557,1.03970488585
+220,3.666666667,pose1_to_pose2_press,0.620313586174,0.000150012083925,1.0400333947,0.590884262485,0.00882264699535,1.03970478475
+221,3.683333333,pose1_to_pose2_press,0.620368321961,0.000150086251743,1.04003328477,0.590939000337,0.00882272923302,1.03970468849
+222,3.700000000,pose1_to_pose2_press,0.62041446139,0.000150141062755,1.04003371339,0.590985136364,0.00882277214484,1.03970511906
+223,3.716666667,pose1_to_pose2_press,0.620451519427,0.000149995525274,1.04003379016,0.591022195614,0.00882262987202,1.03970517784
+224,3.733333333,pose1_to_pose2_press,0.620480378141,0.000150198425626,1.04003345237,0.59105105353,0.00882283067897,1.039704849
+225,3.750000000,pose1_to_pose2_press,0.620503031755,0.00015020365009,1.04003344526,0.591073708104,0.00882283940815,1.03970484964
+226,3.766666667,pose1_to_pose2_press,0.620520546102,0.000150156665414,1.04003342341,0.591091221375,0.00882278865071,1.03970482448
+227,3.783333333,pose1_to_pose2_press,0.620533448419,0.000150115023462,1.04003338803,0.59110412325,0.00882274556525,1.0397047852
+228,3.800000000,pose1_to_pose2_press,0.620542862554,0.000150064147486,1.0400333876,0.591113539016,0.00882270040274,1.03970478491
+229,3.816666667,pose1_to_pose2_press,0.620549269432,0.000149981948234,1.04003339378,0.591119948199,0.00882262583661,1.03970479096
+230,3.833333333,pose1_to_pose2_press,0.620553545367,0.000150105513183,1.04003331396,0.591124220423,0.00882273671196,1.03970470962
+231,3.850000000,pose1_to_pose2_press,0.620556208018,0.000150187350202,1.04003329567,0.591126881407,0.00882281300445,1.03970469397
+232,3.866666667,pose1_to_pose2_press,0.62055802392,0.000150229632556,1.04003333569,0.591128697651,0.00882285674759,1.03970474089
+233,3.883333333,pose1_to_pose2_press,0.620559181551,0.00015019546948,1.04003329207,0.591129856186,0.00882282580203,1.0397047013
+234,3.900000000,pose1_to_pose2_press,0.620559720728,0.000150156723875,1.04003324591,0.59113039604,0.00882278940917,1.03970465688
+235,3.916666667,pose1_to_pose2_press,0.620560127027,0.000150127526919,1.04003321113,0.591130802849,0.00882276198514,1.03970462342
+236,3.933333333,pose1_to_pose2_press,0.620560413112,0.000150136594487,1.0400332473,0.591131089165,0.00882277176245,1.03970465799
+237,3.950000000,pose1_to_pose2_press,0.620560553074,0.000150149737592,1.04003328281,0.591131229202,0.00882278509449,1.03970469199
+238,3.966666667,pose1_to_pose2_press,0.620560658602,0.000150159647092,1.04003330959,0.591131334785,0.00882279514644,1.03970471763
+239,3.983333333,pose1_to_pose2_press,0.620560791535,0.000150172130055,1.04003334333,0.591131467789,0.00882280780885,1.03970474992
+240,4.000000000,pose1_to_pose2_press,0.620560865898,0.000150166278912,1.04003335416,0.591131542201,0.00882280209218,1.03970476009
+241,4.016666667,pose1_to_pose2_press,0.620560887098,0.000150160518554,1.04003335468,0.591131563417,0.00882279638103,1.03970476048
+242,4.033333333,pose1_to_pose2_press,0.620560898552,0.000150157406392,1.04003335496,0.59113157488,0.00882279329545,1.03970476068
+243,4.050000000,pose1_to_pose2_press,0.620560976038,0.000150136352485,1.04003335687,0.591131652426,0.00882277242139,1.03970476208
+244,4.066666667,pose1_to_pose2_press,0.620561046887,0.000150117101622,1.04003335862,0.591131723331,0.00882275333498,1.03970476335
+245,4.083333333,pose1_to_pose2_press,0.620561128662,0.000150094882398,1.04003336063,0.591131805166,0.00882273130629,1.03970476483
+246,4.100000000,pose1_to_pose2_press,0.620561128662,0.000150094882398,1.04003336063,0.591131805155,0.00882273130934,1.03970476483
+247,4.116666667,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805158,0.00882273130816,1.03970476483
+248,4.133333333,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805158,0.00882273130811,1.03970476483
+249,4.150000000,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805158,0.00882273130807,1.03970476483
+250,4.166666667,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805158,0.00882273130787,1.03970476483
+251,4.183333333,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805158,0.00882273130797,1.03970476483
+252,4.200000000,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805158,0.00882273130779,1.03970476483
+253,4.216666667,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.0088227313078,1.03970476483
+254,4.233333333,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130769,1.03970476483
+255,4.250000000,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130771,1.03970476483
+256,4.266666667,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130762,1.03970476483
+257,4.283333333,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130759,1.03970476483
+258,4.300000000,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130759,1.03970476483
+259,4.316666667,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130756,1.03970476483
+260,4.333333333,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130749,1.03970476483
+261,4.350000000,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130746,1.03970476483
+262,4.366666667,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130748,1.03970476483
+263,4.383333333,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130741,1.03970476483
+264,4.400000000,pose2_hold,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130738,1.03970476483
+265,4.416666667,pose2_to_pose3_retreat,0.620561128662,0.000150094882398,1.04003336063,0.591131805159,0.00882273130726,1.03970476483
+266,4.433333333,pose2_to_pose3_retreat,0.620561094568,0.000150118774394,1.04003336294,0.591131770686,0.00882275389732,1.03970476677
+267,4.450000000,pose2_to_pose3_retreat,0.620561087722,0.000150123572056,1.04003336341,0.591131763763,0.00882275843355,1.03970476716
+268,4.466666667,pose2_to_pose3_retreat,0.620561035304,0.000150160305095,1.04003336696,0.591131710761,0.00882279316492,1.03970477015
+269,4.483333333,pose2_to_pose3_retreat,0.620560921175,0.000150163188429,1.04003339453,0.591131596586,0.00882279586142,1.03970479694
+270,4.500000000,pose2_to_pose3_retreat,0.620560770272,0.000150140070643,1.04003343793,0.59113144605,0.00882277395371,1.03970483945
+271,4.516666667,pose2_to_pose3_retreat,0.620560488523,0.000150108231895,1.0400334922,0.591131164761,0.00882274361085,1.03970489207
+272,4.533333333,pose2_to_pose3_retreat,0.620559356391,0.000150063539661,1.04003352865,0.591130032878,0.00882269951731,1.03970492226
+273,4.550000000,pose2_to_pose3_retreat,0.620555985278,0.000150170129974,1.04003360391,0.591126660024,0.00882280016076,1.03970499648
+274,4.566666667,pose2_to_pose3_retreat,0.620547508479,0.000150144632472,1.0400333342,0.591118182763,0.00882277319498,1.03970472773
+275,4.583333333,pose2_to_pose3_retreat,0.620532657336,0.000150214982413,1.04003340511,0.591103331294,0.00882284209894,1.03970479729
+276,4.600000000,pose2_to_pose3_retreat,0.620508385417,0.000149992315217,1.04003356963,0.591079061807,0.00882262736639,1.03970495892
+277,4.616666667,pose2_to_pose3_retreat,0.620475012195,0.00015006002465,1.04003349492,0.591045687863,0.00882269310205,1.03970489658
+278,4.633333333,pose2_to_pose3_retreat,0.620432637496,0.000150072131618,1.0400335415,0.591003313065,0.00882270474184,1.03970493628
+279,4.650000000,pose2_to_pose3_retreat,0.620381874259,0.000150157979013,1.04003353972,0.590952550414,0.00882279233947,1.03970493946
+280,4.666666667,pose2_to_pose3_retreat,0.620322414313,0.000150191562037,1.04003343103,0.590893089846,0.00882282326378,1.03970482879
+281,4.683333333,pose2_to_pose3_retreat,0.620256028183,0.00015010948648,1.04003348889,0.590826703865,0.00882274091753,1.03970487805
+282,4.700000000,pose2_to_pose3_retreat,0.620182820867,0.000150035219375,1.04003354339,0.590753498413,0.00882267323218,1.03970493293
+283,4.716666667,pose2_to_pose3_retreat,0.620100260861,0.00015007493812,1.04003358357,0.590670939277,0.00882271680359,1.03970497665
+284,4.733333333,pose2_to_pose3_retreat,0.620008525387,0.000150237885985,1.04003380596,0.590579200242,0.00882286700173,1.03970518553
+285,4.750000000,pose2_to_pose3_retreat,0.619906012938,0.000150259005727,1.04003345488,0.590476689421,0.00882289399155,1.03970484852
+286,4.766666667,pose2_to_pose3_retreat,0.619790650668,0.000150135176787,1.04003342557,0.590361326595,0.00882276798753,1.0397048147
+287,4.783333333,pose2_to_pose3_retreat,0.619660796061,0.000150096988647,1.04003353494,0.590231472408,0.00882273116479,1.03970492658
+288,4.800000000,pose2_to_pose3_retreat,0.619517523051,0.000150111039979,1.04003355858,0.590088199698,0.00882274626528,1.03970495584
+289,4.816666667,pose2_to_pose3_retreat,0.619361020899,0.000150074708103,1.04003340186,0.589931696619,0.00882270656823,1.03970479818
+290,4.833333333,pose2_to_pose3_retreat,0.619188068075,0.000150024495924,1.04003349269,0.589758746378,0.00882266499022,1.03970489275
+291,4.850000000,pose2_to_pose3_retreat,0.618998165277,0.000150029988043,1.04003358882,0.589568842643,0.00882266701171,1.03970498778
+292,4.866666667,pose2_to_pose3_retreat,0.618788641566,0.000150092751088,1.04003362624,0.589359318648,0.00882272844462,1.03970502296
+293,4.883333333,pose2_to_pose3_retreat,0.618556737998,0.000150064888267,1.04003358807,0.589127415401,0.00882270121503,1.03970498108
+294,4.900000000,pose2_to_pose3_retreat,0.618301722192,0.000150040860358,1.04003352056,0.588872399424,0.00882267629168,1.03970491408
+295,4.916666667,pose2_to_pose3_retreat,0.61802626021,0.000150148450991,1.04003358218,0.588596936399,0.00882278009923,1.03970497861
+296,4.933333333,pose2_to_pose3_retreat,0.617731656151,0.000150094364856,1.04003392335,0.58830233244,0.00882272531743,1.039705303
+297,4.950000000,pose2_to_pose3_retreat,0.617416025032,0.000150146824268,1.04003365759,0.587986701345,0.00882277793823,1.03970505031
+298,4.966666667,pose2_to_pose3_retreat,0.617085698657,0.000150243549355,1.04003349283,0.587656373795,0.00882287074428,1.03970489834
+299,4.983333333,pose2_to_pose3_retreat,0.6167430107,0.000150172622629,1.04003347818,0.587313686863,0.00882280278409,1.03970488212
+300,5.000000000,pose2_to_pose3_retreat,0.61638186819,0.000150128991682,1.04003343662,0.586952545471,0.00882276240347,1.03970483748
+301,5.016666667,pose2_to_pose3_retreat,0.616002125822,0.000150094292857,1.04003346836,0.586572803596,0.00882272871961,1.03970486362
+302,5.033333333,pose2_to_pose3_retreat,0.615603880851,0.00014998469944,1.04003366129,0.586174559204,0.00882262025266,1.0397050475
+303,5.050000000,pose2_to_pose3_retreat,0.61518256283,0.000150012966254,1.04003347181,0.585753243287,0.00882265602927,1.03970487761
+304,5.066666667,pose2_to_pose3_retreat,0.614731119152,0.000150165373961,1.04003352016,0.585301797607,0.00882280076634,1.03970491517
+305,5.083333333,pose2_to_pose3_retreat,0.614255983888,0.000150190909258,1.04003370579,0.584826662517,0.00882282635464,1.03970509645
+306,5.100000000,pose2_to_pose3_retreat,0.613758277388,0.000150080829888,1.04003365188,0.58432895628,0.00882271653446,1.03970503932
+307,5.116666667,pose2_to_pose3_retreat,0.613245686592,0.000150067261709,1.04003353753,0.583816364739,0.00882270007296,1.03970492734
+308,5.133333333,pose2_to_pose3_retreat,0.612721609905,0.000150157298127,1.04003354952,0.583292287105,0.00882278683388,1.03970494445
+309,5.150000000,pose2_to_pose3_retreat,0.612186151344,0.000150144475761,1.04003360322,0.582756828952,0.00882277526257,1.03970499734
+310,5.166666667,pose2_to_pose3_retreat,0.611636850906,0.000150092652644,1.04003339405,0.582207530395,0.00882272988919,1.03970479007
+311,5.183333333,pose2_to_pose3_retreat,0.611069458711,0.000150076198422,1.04003349176,0.581640136945,0.00882270911966,1.0397048866
+312,5.200000000,pose2_to_pose3_retreat,0.610486340615,0.000150040745247,1.04003328571,0.581057020775,0.00882268026749,1.03970468264
+313,5.216666667,pose2_to_pose3_retreat,0.609889484126,0.000150027952775,1.04003323185,0.580460164933,0.0088226698761,1.03970463402
+314,5.233333333,pose2_to_pose3_retreat,0.609277719168,0.000150062677429,1.04003342864,0.57984839834,0.00882269908351,1.03970483109
+315,5.250000000,pose2_to_pose3_retreat,0.608650724041,0.000150128776617,1.04003361783,0.579221401574,0.00882275920046,1.03970500898
+316,5.266666667,pose2_to_pose3_retreat,0.608001734339,0.000150119333275,1.04003343842,0.578572412633,0.00882275227793,1.03970482735
+317,5.283333333,pose2_to_pose3_retreat,0.607325821968,0.000150163335381,1.04003358933,0.577896500415,0.00882279702866,1.0397049849
+318,5.300000000,pose2_to_pose3_retreat,0.606621171613,0.000150201751312,1.04003353788,0.577191849312,0.00882283298552,1.03970493568
+319,5.316666667,pose2_to_pose3_retreat,0.605897654839,0.000150118789825,1.04003345277,0.576468333391,0.00882275273039,1.03970484546
+320,5.333333333,pose2_to_pose3_retreat,0.605160891533,0.000150071118623,1.04003352447,0.575731570914,0.00882270782039,1.03970491586
+321,5.350000000,pose2_to_pose3_retreat,0.604419374479,0.000150099260772,1.04003359679,0.574990053598,0.00882273522565,1.0397049917
+322,5.366666667,pose2_to_pose3_retreat,0.603676688934,0.000150136720215,1.04003354278,0.57424736733,0.008822770284,1.03970493839
+323,5.383333333,pose2_to_pose3_retreat,0.602936898149,0.000150224553584,1.04003362006,0.573507575562,0.00882285469877,1.03970501367
+324,5.400000000,pose2_to_pose3_retreat,0.602192447107,0.000150160080116,1.04003344163,0.572763124751,0.00882279084351,1.03970483079
+325,5.416666667,pose2_to_pose3_retreat,0.601440902211,0.000150163783441,1.04003350242,0.572011580623,0.00882279738291,1.03970489759
+326,5.433333333,pose2_to_pose3_retreat,0.600681123657,0.000150126633808,1.04003351724,0.571251801155,0.00882275714278,1.03970491261
+327,5.450000000,pose2_to_pose3_retreat,0.599911220198,0.000150087441758,1.04003358131,0.570481898637,0.0088227211223,1.03970497602
+328,5.466666667,pose2_to_pose3_retreat,0.599130719443,0.000150083356202,1.04003366039,0.56970139928,0.00882272161415,1.03970505069
+329,5.483333333,pose2_to_pose3_retreat,0.598345114007,0.000150093938524,1.04003359846,0.568915793494,0.00882273094222,1.03970498696
+330,5.500000000,pose2_to_pose3_retreat,0.597556689364,0.000150042531218,1.04003338999,0.568127368001,0.00882267693339,1.03970478598
+331,5.516666667,pose2_to_pose3_retreat,0.596784295662,0.000149906800612,1.04003345691,0.567354975523,0.00882254479299,1.03970483789
+332,5.533333333,pose2_to_pose3_retreat,0.596029536956,0.000150160564251,1.0400334117,0.566600214837,0.00882279227337,1.03970480412
+333,5.550000000,pose2_to_pose3_retreat,0.595281144679,0.000150145429261,1.04003339666,0.56585182301,0.00882277879817,1.03970479255
+334,5.566666667,pose2_to_pose3_retreat,0.594537514336,0.000150094527239,1.0400334541,0.565108193531,0.00882273090597,1.03970485199
+335,5.583333333,pose2_to_pose3_retreat,0.593795280095,0.000150110832695,1.04003342354,0.564365959092,0.00882274675701,1.03970482718
+336,5.600000000,pose2_to_pose3_retreat,0.593049606494,0.000150165331683,1.04003339623,0.563620284967,0.00882279946588,1.03970479953
+337,5.616666667,pose2_to_pose3_retreat,0.592302557517,0.000150156263772,1.04003354285,0.562873236648,0.00882279211796,1.03970493255
+338,5.633333333,pose2_to_pose3_retreat,0.591559230332,0.00015009147682,1.04003349242,0.562129909312,0.00882272715775,1.03970489106
+339,5.650000000,pose2_to_pose3_retreat,0.590824504785,0.000150202980935,1.04003339191,0.561395183178,0.00882283667465,1.03970479058
+340,5.666666667,pose2_to_pose3_retreat,0.590114857951,0.000150118664607,1.04003359952,0.560685536114,0.00882275128329,1.03970499032
+341,5.683333333,pose2_to_pose3_retreat,0.589421007421,0.000150031138891,1.04003359058,0.559991686247,0.0088226658752,1.03970497793
+342,5.700000000,pose2_to_pose3_retreat,0.588737429599,0.000150082004149,1.04003359501,0.55930810846,0.00882271697189,1.03970498523
+343,5.716666667,pose2_to_pose3_retreat,0.588067460905,0.000150186421677,1.04003355624,0.5586381392,0.0088228195638,1.03970494893
+344,5.733333333,pose2_to_pose3_retreat,0.587408456347,0.000150186123689,1.04003346516,0.557979134563,0.0088228188674,1.03970485443
+345,5.750000000,pose2_to_pose3_retreat,0.586760044811,0.000150067404946,1.04003366582,0.557330724013,0.00882270333814,1.03970505096
+346,5.766666667,pose2_to_pose3_retreat,0.586124653426,0.000150105492675,1.04003352493,0.556695332088,0.00882273989157,1.03970491793
+347,5.783333333,pose2_to_pose3_retreat,0.585507830259,0.000150044497495,1.04003360656,0.55607851151,0.00882268776117,1.03970500155
+348,5.800000000,pose2_to_pose3_retreat,0.584909627856,0.00015005240457,1.04003345493,0.555480307316,0.0088226897024,1.03970485299
+349,5.816666667,pose2_to_pose3_retreat,0.584330398988,0.000150158158471,1.04003346118,0.554901077409,0.00882279183812,1.03970485673
+350,5.833333333,pose2_to_pose3_retreat,0.583768251953,0.000150197814731,1.04003362991,0.554338929687,0.00882282905139,1.03970502249
+351,5.850000000,pose2_to_pose3_retreat,0.583224714968,0.0001500989153,1.0400337779,0.553795392749,0.00882273023848,1.03970516847
+352,5.866666667,pose2_to_pose3_retreat,0.582706775019,0.000149976877067,1.04003374149,0.553277455533,0.00882261735794,1.03970512906
+353,5.883333333,pose2_to_pose3_retreat,0.582212908904,0.000149918054861,1.04003336821,0.552783588941,0.00882255753646,1.03970477202
+354,5.900000000,pose2_to_pose3_retreat,0.581741338671,0.000150095816559,1.04003331139,0.552312016732,0.0088227281782,1.0397047043
+355,5.916666667,pose2_to_pose3_retreat,0.581284130201,0.000150101055806,1.04003371975,0.551854808645,0.00882273448068,1.03970510639
+356,5.933333333,pose2_to_pose3_retreat,0.580838753408,0.000150131553627,1.04003369699,0.551409431152,0.00882276278366,1.03970508833
+357,5.950000000,pose2_to_pose3_retreat,0.580403975285,0.000150164065702,1.04003355485,0.550974652825,0.00882279484115,1.03970495257
+358,5.966666667,pose2_to_pose3_retreat,0.579984100782,0.000150116157228,1.04003364068,0.550554780204,0.00882275319511,1.03970503543
+359,5.983333333,pose2_to_pose3_retreat,0.57959116242,0.000150048558662,1.04003367523,0.550161843257,0.00882269010024,1.03970506226
+360,6.000000000,pose2_to_pose3_retreat,0.579227089513,0.000150102877678,1.04003367386,0.549797768526,0.00882273831518,1.03970506269
+361,6.016666667,pose2_to_pose3_retreat,0.57889484939,0.000150287703652,1.04003378378,0.549465525794,0.00882291424035,1.03970517151
+362,6.033333333,pose2_to_pose3_retreat,0.578588615707,0.000150209242192,1.04003357048,0.549159291603,0.00882283432775,1.0397049654
+363,6.050000000,pose2_to_pose3_retreat,0.578305984676,0.000150149753402,1.04003342293,0.548876662725,0.00882278237436,1.03970482387
+364,6.066666667,pose2_to_pose3_retreat,0.57803793753,0.000150090909168,1.04003343374,0.548608617019,0.00882272831562,1.03970483206
+365,6.083333333,pose2_to_pose3_retreat,0.577782095117,0.000149990809913,1.04003349236,0.548352775292,0.00882263034384,1.03970488537
+366,6.100000000,pose2_to_pose3_retreat,0.577537387271,0.000149871920463,1.04003345147,0.548108069486,0.00882251854464,1.03970484892
+367,6.116666667,pose2_to_pose3_retreat,0.577304293718,0.00015002851103,1.04003390385,0.547874973194,0.00882266538725,1.03970528946
+368,6.133333333,pose2_to_pose3_retreat,0.577084297655,0.000149906961515,1.04003352057,0.547654977352,0.00882254498904,1.03970491682
+369,6.150000000,pose2_to_pose3_retreat,0.576884757038,0.000150053155399,1.04003351598,0.547455437135,0.00882269251549,1.03970491149
+370,6.166666667,pose2_to_pose3_retreat,0.576705595815,0.000150005981514,1.04003360914,0.54727627722,0.00882264982316,1.03970500583
+371,6.183333333,pose2_to_pose3_retreat,0.576549901601,0.000150115518662,1.04003354982,0.547120580266,0.00882275001408,1.03970494522
+372,6.200000000,pose2_to_pose3_retreat,0.576415287395,0.000150079497458,1.04003344126,0.546985966079,0.00882271408575,1.0397048374
+373,6.216666667,pose2_to_pose3_retreat,0.576301262738,0.00015006949453,1.04003340341,0.546871941704,0.00882270495291,1.0397047973
+374,6.233333333,pose2_to_pose3_retreat,0.576200627696,0.000150144112425,1.04003344164,0.54677130565,0.00882277604024,1.03970483312
+375,6.250000000,pose2_to_pose3_retreat,0.576111815528,0.000150099757335,1.04003348303,0.546682493532,0.00882273227011,1.0397048855
+376,6.266666667,pose2_to_pose3_retreat,0.576032393742,0.000150054241875,1.04003350306,0.546603072219,0.00882268815436,1.03970490056
+377,6.283333333,pose2_to_pose3_retreat,0.575961275238,0.000149989704049,1.040033411,0.546531954606,0.00882262672828,1.03970481086
+378,6.300000000,pose2_to_pose3_retreat,0.575899443388,0.0001500518872,1.04003337222,0.546470122343,0.00882268756389,1.03970477342
+379,6.316666667,pose2_to_pose3_retreat,0.575847138224,0.000150143611699,1.04003349511,0.546417816727,0.00882277756738,1.03970489132
+380,6.333333333,pose2_to_pose3_retreat,0.575804912084,0.000150173852924,1.04003360457,0.546375590723,0.00882280804382,1.03970499476
+381,6.350000000,pose2_to_pose3_retreat,0.575770989991,0.000150184885526,1.04003341423,0.546341668111,0.00882281742019,1.03970480721
+382,6.366666667,pose2_to_pose3_retreat,0.575744599574,0.000150046025265,1.04003349989,0.546315278777,0.00882268226575,1.03970489368
+383,6.383333333,pose2_to_pose3_retreat,0.575723072904,0.000150208587018,1.04003361157,0.54629375087,0.00882284051937,1.03970500248
+384,6.400000000,pose2_to_pose3_retreat,0.575705918969,0.000150212380899,1.04003366842,0.546276596591,0.00882284303837,1.03970505654
+385,6.416666667,pose2_to_pose3_retreat,0.575693198877,0.00015004950718,1.04003366073,0.546263877352,0.00882268308117,1.03970504942
+386,6.433333333,pose2_to_pose3_retreat,0.575683444487,0.00015006172769,1.04003362304,0.546254123176,0.0088226963867,1.03970502125
+387,6.450000000,pose2_to_pose3_retreat,0.575676487226,0.000150086981365,1.04003357302,0.546247166705,0.00882272406158,1.03970496444
+388,6.466666667,pose2_to_pose3_retreat,0.575671906671,0.000150077737454,1.04003350985,0.546242586591,0.00882271611749,1.03970489615
+389,6.483333333,pose2_to_pose3_retreat,0.575669036831,0.000150049380111,1.04003344853,0.546239716894,0.00882268815947,1.03970483255
+390,6.500000000,pose2_to_pose3_retreat,0.575667185988,0.000150035368042,1.04003350453,0.546237865873,0.00882267366722,1.03970489189
+391,6.516666667,pose2_to_pose3_retreat,0.575666099679,0.000150027224886,1.04003354496,0.546236779448,0.00882266522123,1.03970493468
+392,6.533333333,pose2_to_pose3_retreat,0.575665780932,0.000150012179451,1.04003355859,0.54623646119,0.00882265192102,1.03970495056
+393,6.550000000,pose2_to_pose3_retreat,0.575665746779,0.000150010567374,1.04003356005,0.54623642709,0.00882265049593,1.03970495226
+394,6.566666667,pose2_to_pose3_retreat,0.575665612173,0.000150004213704,1.04003356581,0.54623629269,0.00882264487927,1.03970495896
+395,6.583333333,pose2_to_pose3_retreat,0.575665579589,0.000150002675667,1.0400335672,0.546236260156,0.00882264351964,1.03970496059
+396,6.600000000,pose2_to_pose3_retreat,0.575665417469,0.000149995023314,1.04003357413,0.546236098285,0.00882263675493,1.03970496866
+397,6.616666667,pose2_to_pose3_retreat,0.575665261384,0.000149987655831,1.0400335808,0.54623594244,0.00882263024205,1.03970497644
+398,6.633333333,pose2_to_pose3_retreat,0.575665064347,0.0001499783553,1.04003358923,0.546235745704,0.00882262202035,1.03970498625
+399,6.650000000,pose2_to_pose3_retreat,0.575664753021,0.000149963660121,1.04003360254,0.546235434856,0.00882260902976,1.03970500176
+400,6.666666667,pose2_to_pose3_retreat,0.575664703112,0.000149961304346,1.04003360468,0.546235385024,0.00882260694725,1.03970500425
+401,6.683333333,pose2_to_pose3_retreat,0.575664600339,0.000149984906014,1.04003358793,0.54623528192,0.0088226294159,1.03970498719
+402,6.700000000,pose2_to_pose3_retreat,0.57566455052,0.000150002596072,1.04003357517,0.546235231834,0.00882264618429,1.03970497404
+403,6.716666667,pose2_to_pose3_retreat,0.575664497202,0.000150021528628,1.04003356152,0.54623517823,0.00882266413044,1.03970495998
+404,6.733333333,pose2_to_pose3_retreat,0.575664444061,0.000150040398521,1.04003354791,0.546235124803,0.00882268201719,1.03970494596
+405,6.750000000,pose2_to_pose3_retreat,0.575664398636,0.000150056528247,1.04003353627,0.546235079135,0.00882269730654,1.03970493398
+406,6.766666667,pose2_to_pose3_retreat,0.57566429924,0.000150096466836,1.04003353688,0.546234978791,0.00882273395529,1.03970493258
+407,6.783333333,pose2_to_pose3_retreat,0.575664330385,0.000150097254178,1.04003361133,0.546235009048,0.00882273161746,1.03970500412
+408,6.800000000,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015513,1.03970504886
+409,6.816666667,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015507,1.03970504886

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:522e52da553c8e0f3ca426ba86b501a74ca80cb61b57cb7498f7eb0f47d76714
+size 26190448

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/simulation_data.csv

@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+1,0.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+2,0.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+3,0.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+4,0.066666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+5,0.083333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+6,0.100000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+7,0.116666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+8,0.133333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+9,0.150000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+10,0.166666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+11,0.183333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+12,0.200000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+13,0.216666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+14,0.233333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+15,0.250000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+16,0.266666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+17,0.283333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+18,0.300000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+19,0.316666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+20,0.333333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+21,0.350000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+22,0.366666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+23,0.383333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+24,0.400000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+25,0.416666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+26,0.433333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+27,0.450000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+28,0.466666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+29,0.483333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+30,0.500000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+31,0.516666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+32,0.533333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+33,0.550000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+34,0.566666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+35,0.583333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+36,0.600000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+37,0.616666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+38,0.633333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+39,0.650000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+40,0.666666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+41,0.683333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+42,0.700000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+43,0.716666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+44,0.733333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+45,0.750000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+46,0.766666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+47,0.783333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+48,0.800000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+49,0.816666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+50,0.833333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+51,0.850000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+52,0.866666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+53,0.883333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+54,0.900000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+55,0.916666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+56,0.933333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+57,0.950000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+58,0.966666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+59,0.983333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+60,1.000000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+61,1.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+62,1.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+63,1.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+64,1.066666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+65,1.083333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+66,1.100000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+67,1.116666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+68,1.133333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+69,1.150000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+70,1.166666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+71,1.183333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+72,1.200000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+73,1.216666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+74,1.233333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+75,1.250000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+76,1.266666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+77,1.283333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+78,1.300000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+79,1.316666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+80,1.333333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+81,1.350000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+82,1.366666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+83,1.383333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+84,1.400000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+85,1.416666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+86,1.433333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+87,1.450000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+88,1.466666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+89,1.483333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+90,1.500000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+91,1.516666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+92,1.533333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+93,1.550000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+94,1.566666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+95,1.583333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+96,1.600000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+97,1.616666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+98,1.633333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+99,1.650000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+100,1.666666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+101,1.683333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+102,1.700000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+103,1.716666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+104,1.733333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+105,1.750000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+106,1.766666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+107,1.783333333,pose1_to_pose2_press,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+108,1.800000000,pose1_to_pose2_press,0.575664441816,0.000150081444459,1.04003354544,0.546235120586,0.0088227161211,1.03970493699
+109,1.816666667,pose1_to_pose2_press,0.575664628886,0.000150075967519,1.0400335958,0.546235308611,0.00882271385268,1.03970498647
+110,1.833333333,pose1_to_pose2_press,0.575664788883,0.000150071283222,1.04003363888,0.546235469425,0.00882271191256,1.0397050288
+111,1.850000000,pose1_to_pose2_press,0.575664831959,0.000150070022068,1.04003365047,0.546235512721,0.00882271139022,1.03970504019
+112,1.866666667,pose1_to_pose2_press,0.575664839232,0.000150069809131,1.04003365243,0.546235520031,0.00882271130203,1.03970504212
+113,1.883333333,pose1_to_pose2_press,0.575664959787,0.000150071711469,1.04003364743,0.546235640637,0.00882271338859,1.03970503749
+114,1.900000000,pose1_to_pose2_press,0.575665325342,0.000150086683703,1.04003356877,0.546236005384,0.00882272572802,1.03970496157
+115,1.916666667,pose1_to_pose2_press,0.575667268476,0.000150109638923,1.04003349974,0.546237946475,0.00882274176665,1.03970489301
+116,1.933333333,pose1_to_pose2_press,0.575673723246,0.000150096354062,1.0400338985,0.546244402487,0.00882273259797,1.03970528911
+117,1.950000000,pose1_to_pose2_press,0.575686425556,0.000150122704353,1.04003351087,0.546257104381,0.00882275778297,1.0397049082
+118,1.966666667,pose1_to_pose2_press,0.575710050369,0.000150164594882,1.04003364025,0.546280730385,0.00882280362081,1.03970503474
+119,1.983333333,pose1_to_pose2_press,0.575744552629,0.000150138636899,1.04003347676,0.546315230133,0.00882276894256,1.0397048661
+120,2.000000000,pose1_to_pose2_press,0.575789079342,0.000150134881265,1.04003331533,0.546359757207,0.00882276677897,1.03970471425
+121,2.016666667,pose1_to_pose2_press,0.575842310532,0.000150144771012,1.04003365457,0.546412987794,0.00882277421246,1.0397050426
+122,2.033333333,pose1_to_pose2_press,0.575904041588,0.000150062595814,1.04003364758,0.546474720444,0.00882269773411,1.03970504312
+123,2.050000000,pose1_to_pose2_press,0.575972357463,0.00015006145656,1.04003388594,0.546543037484,0.00882270036068,1.03970527647
+124,2.066666667,pose1_to_pose2_press,0.576047274884,0.000150133384145,1.04003351739,0.546617952855,0.00882276572404,1.03970491824
+125,2.083333333,pose1_to_pose2_press,0.576131092488,0.000150127506085,1.04003340261,0.546701770588,0.00882276022035,1.03970480166
+126,2.100000000,pose1_to_pose2_press,0.576224900627,0.000150067852724,1.04003340018,0.546795580857,0.008822707638,1.03970479516
+127,2.116666667,pose1_to_pose2_press,0.576332479567,0.000150073537621,1.04003344888,0.546903158644,0.00882270955887,1.0397048477
+128,2.133333333,pose1_to_pose2_press,0.57645388613,0.000150071419355,1.04003355859,0.547024564967,0.00882270662399,1.03970495735
+129,2.150000000,pose1_to_pose2_press,0.576589735518,0.000150051293146,1.04003358823,0.54716041524,0.00882268944242,1.03970498526
+130,2.166666667,pose1_to_pose2_press,0.576743236391,0.000150072026358,1.04003348663,0.547313915138,0.00882270702831,1.03970488784
+131,2.183333333,pose1_to_pose2_press,0.576913486843,0.000150086206663,1.04003352898,0.547484165545,0.00882272089465,1.03970492589
+132,2.200000000,pose1_to_pose2_press,0.577101982976,0.000150056384867,1.04003369174,0.547672662322,0.00882269282127,1.03970507708
+133,2.216666667,pose1_to_pose2_press,0.577309572751,0.000150041295895,1.04003376593,0.54788025253,0.00882267936214,1.03970515541
+134,2.233333333,pose1_to_pose2_press,0.577538727537,0.000150054757915,1.04003341864,0.548109405144,0.00882268548239,1.03970480883
+135,2.250000000,pose1_to_pose2_press,0.577789031421,0.000150071709399,1.04003329473,0.548359710113,0.00882270626778,1.03970468878
+136,2.266666667,pose1_to_pose2_press,0.578060565534,0.000150047101951,1.04003374223,0.548631244093,0.00882268068396,1.03970512241
+137,2.283333333,pose1_to_pose2_press,0.578354668763,0.000149995728258,1.04003363601,0.548925348772,0.00882263495114,1.03970503506
+138,2.300000000,pose1_to_pose2_press,0.578667797858,0.000150145197818,1.04003346901,0.549238475758,0.00882277706081,1.0397048626
+139,2.316666667,pose1_to_pose2_press,0.578993096206,0.000150088864948,1.0400333057,0.549563774386,0.00882272188419,1.03970470468
+140,2.333333333,pose1_to_pose2_press,0.579330374578,0.000150014058095,1.04003331848,0.549901053638,0.00882265010592,1.0397047185
+141,2.350000000,pose1_to_pose2_press,0.579681793641,0.000149994274763,1.04003345015,0.550252473247,0.00882263194113,1.03970484386
+142,2.366666667,pose1_to_pose2_press,0.580047906673,0.000150054228606,1.04003351946,0.550618585828,0.00882269037962,1.03970491347
+143,2.383333333,pose1_to_pose2_press,0.580432670946,0.000150216011367,1.04003347841,0.551003347877,0.00882284493506,1.03970488082
+144,2.400000000,pose1_to_pose2_press,0.580853850548,0.000150154053367,1.04003354295,0.551424527571,0.00882278285909,1.03970493392
+145,2.416666667,pose1_to_pose2_press,0.581307676189,0.000150188492241,1.04003365778,0.551878354743,0.00882282253524,1.0397050497
+146,2.433333333,pose1_to_pose2_press,0.58179281327,0.000150215104259,1.04003362461,0.552363489765,0.0088228423581,1.0397050217
+147,2.450000000,pose1_to_pose2_press,0.58229754882,0.000150338081209,1.04003341437,0.55286822372,0.00882295998946,1.03970481312
+148,2.466666667,pose1_to_pose2_press,0.582817385744,0.000150218901523,1.04003347725,0.553388062908,0.00882284853067,1.03970487693
+149,2.483333333,pose1_to_pose2_press,0.583342055447,0.00015026133181,1.04003352944,0.553912731653,0.00882288745446,1.03970492225
+150,2.500000000,pose1_to_pose2_press,0.583874276728,0.000150168444493,1.04003351179,0.554444954479,0.00882279993263,1.03970490771
+151,2.516666667,pose1_to_pose2_press,0.584429585912,0.000150124987557,1.04003363472,0.555000264924,0.0088227607578,1.03970503066
+152,2.533333333,pose1_to_pose2_press,0.585010459433,0.000150168484991,1.04003360518,0.555581137943,0.00882280255655,1.03970500117
+153,2.550000000,pose1_to_pose2_press,0.585617878042,0.000150108417142,1.04003338168,0.556188555967,0.00882274059808,1.03970478002
+154,2.566666667,pose1_to_pose2_press,0.586244713881,0.000149990407396,1.04003350235,0.556815392045,0.0088226231413,1.03970489383
+155,2.583333333,pose1_to_pose2_press,0.586885719241,0.000150088752231,1.04003378463,0.557456397576,0.00882272177875,1.03970516854
+156,2.600000000,pose1_to_pose2_press,0.587536677925,0.00015007293384,1.04003370008,0.558107355498,0.00882270306405,1.03970507565
+157,2.616666667,pose1_to_pose2_press,0.5882002235,0.000149938652496,1.04003355971,0.558770905458,0.00882258400988,1.03970494442
+158,2.633333333,pose1_to_pose2_press,0.588882396939,0.000150195966785,1.04003363598,0.559453074972,0.00882282836294,1.03970503016
+159,2.650000000,pose1_to_pose2_press,0.589580309227,0.000150164467082,1.0400335217,0.56015098744,0.00882279762688,1.03970491986
+160,2.666666667,pose1_to_pose2_press,0.590291169763,0.000149979540162,1.04003343784,0.560861849733,0.00882261845074,1.03970483034
+161,2.683333333,pose1_to_pose2_press,0.591016218976,0.000150087194889,1.04003356099,0.561586898246,0.00882272380298,1.03970495525
+162,2.700000000,pose1_to_pose2_press,0.591755452208,0.000150155084299,1.04003366091,0.562326130012,0.00882278657309,1.03970505142
+163,2.716666667,pose1_to_pose2_press,0.592501986302,0.000150136208038,1.04003349068,0.563072663117,0.00882276420919,1.03970487767
+164,2.733333333,pose1_to_pose2_press,0.593260327765,0.000150106793526,1.04003322804,0.563831005004,0.00882273649869,1.03970462199
+165,2.750000000,pose1_to_pose2_press,0.594032679903,0.000150087562328,1.04003323674,0.564603358547,0.00882272213893,1.03970463348
+166,2.766666667,pose1_to_pose2_press,0.59480784508,0.000150138477682,1.04003341293,0.565378523565,0.00882277230692,1.03970480411
+167,2.783333333,pose1_to_pose2_press,0.595585479653,0.000150208079039,1.04003336791,0.56615615672,0.00882283746405,1.03970476891
+168,2.800000000,pose1_to_pose2_press,0.596354057226,0.000150136069452,1.04003338181,0.566924735835,0.00882277060124,1.03970478056
+169,2.816666667,pose1_to_pose2_press,0.597117940289,0.00015004317903,1.04003335878,0.567688619296,0.00882267924477,1.0397047623
+170,2.833333333,pose1_to_pose2_press,0.597890220684,0.000150167695809,1.04003358919,0.568460899502,0.00882280296942,1.0397049888
+171,2.850000000,pose1_to_pose2_press,0.59866514239,0.00015010530712,1.04003364977,0.569235822305,0.00882274401994,1.03970504201
+172,2.866666667,pose1_to_pose2_press,0.599439539592,0.00015006374493,1.04003353103,0.570010219245,0.00882270181511,1.03970492972
+173,2.883333333,pose1_to_pose2_press,0.600221899842,0.00015011693052,1.04003369446,0.570792578084,0.00882274988626,1.03970508466
+174,2.900000000,pose1_to_pose2_press,0.601008265738,0.000150110284461,1.04003370767,0.571578943726,0.00882274241865,1.03970509899
+175,2.916666667,pose1_to_pose2_press,0.601788527819,0.000150095227929,1.04003351973,0.572359205696,0.00882272711877,1.0397049146
+176,2.933333333,pose1_to_pose2_press,0.602561214878,0.000150148915202,1.04003355381,0.573131891622,0.00882277687984,1.03970494661
+177,2.950000000,pose1_to_pose2_press,0.603322619232,0.000150167387797,1.04003364365,0.573893295834,0.00882279486373,1.03970503634
+178,2.966666667,pose1_to_pose2_press,0.604078955877,0.000150054377518,1.04003339801,0.574649634957,0.00882269031675,1.03970479223
+179,2.983333333,pose1_to_pose2_press,0.604832466257,0.000149991459655,1.04003341411,0.575403146638,0.00882263183725,1.03970480905
+180,3.000000000,pose1_to_pose2_press,0.605582211592,0.000150261275088,1.04003352781,0.576152887756,0.00882288724626,1.03970492029
+181,3.016666667,pose1_to_pose2_press,0.606328371641,0.000150082404454,1.0400335151,0.576899051107,0.00882271972775,1.03970491154
+182,3.033333333,pose1_to_pose2_press,0.607061593296,0.000149987506471,1.04003342628,0.577632272911,0.00882262511971,1.03970481721
+183,3.050000000,pose1_to_pose2_press,0.607782749257,0.000150125890588,1.04003325712,0.578353426373,0.00882275546412,1.03970465976
+184,3.066666667,pose1_to_pose2_press,0.608494035614,0.000150151246368,1.04003356949,0.579064711827,0.0088227775182,1.039704966
+185,3.083333333,pose1_to_pose2_press,0.609183519665,0.000150094373527,1.04003345689,0.579754197849,0.00882272729966,1.03970485267
+186,3.100000000,pose1_to_pose2_press,0.609850485946,0.000150150753677,1.04003340621,0.580421164279,0.00882278413426,1.03970480075
+187,3.116666667,pose1_to_pose2_press,0.610490507477,0.000150247646131,1.04003348252,0.581061184532,0.00882287660558,1.03970487493
+188,3.133333333,pose1_to_pose2_press,0.611102183514,0.000150250948614,1.04003349121,0.58167286054,0.00882287966516,1.0397048799
+189,3.150000000,pose1_to_pose2_press,0.611686475142,0.000150183470572,1.04003355936,0.582257153722,0.0088228172225,1.03970494336
+190,3.166666667,pose1_to_pose2_press,0.612255811954,0.000150140849439,1.04003376213,0.582826491457,0.0088227776639,1.03970514604
+191,3.183333333,pose1_to_pose2_press,0.612815067018,0.000150123215971,1.04003350999,0.583385744145,0.00882275272248,1.03970490745
+192,3.200000000,pose1_to_pose2_press,0.613366924737,0.000150181873778,1.04003362445,0.583937601165,0.00882280929544,1.03970502215
+193,3.216666667,pose1_to_pose2_press,0.613905933655,0.000150010461724,1.04003365301,0.584476613331,0.00882264908711,1.03970504371
+194,3.233333333,pose1_to_pose2_press,0.614423601284,0.000150166114502,1.04003356617,0.584994278531,0.00882279699517,1.0397049572
+195,3.250000000,pose1_to_pose2_press,0.61491928853,0.000150254932491,1.0400334549,0.585489963855,0.00882287987056,1.03970484752
+196,3.266666667,pose1_to_pose2_press,0.615393009406,0.000150183899312,1.04003368093,0.585963686456,0.00882281499094,1.03970506864
+197,3.283333333,pose1_to_pose2_press,0.615857429364,0.000150134451516,1.0400337058,0.586428108028,0.00882277153426,1.0397050939
+198,3.300000000,pose1_to_pose2_press,0.61631436331,0.000150141125551,1.04003335627,0.586885041778,0.00882277840192,1.03970475287
+199,3.316666667,pose1_to_pose2_press,0.616750523386,0.000150084776703,1.04003338055,0.587321202486,0.0088227247718,1.03970477819
+200,3.333333333,pose1_to_pose2_press,0.617162202003,0.000150132450059,1.04003358712,0.587732880099,0.00882276955858,1.03970498418
+201,3.350000000,pose1_to_pose2_press,0.617539952102,0.000150263500443,1.0400333952,0.588110627444,0.00882289197028,1.03970479742
+202,3.366666667,pose1_to_pose2_press,0.617889660194,0.000150056432235,1.04003366424,0.588460337363,0.00882269098828,1.03970505079
+203,3.383333333,pose1_to_pose2_press,0.618214681272,0.000150061132576,1.0400336422,0.588785358545,0.00882269670452,1.03970503586
+204,3.400000000,pose1_to_pose2_press,0.618529492951,0.000150132405906,1.04003342818,0.589100170464,0.00882276961314,1.03970483198
+205,3.416666667,pose1_to_pose2_press,0.618835820081,0.000150101757957,1.04003347968,0.589406497432,0.00882273847332,1.03970487458
+206,3.433333333,pose1_to_pose2_press,0.619129708163,0.00015015756022,1.04003355307,0.589700383781,0.0088227885167,1.03970494056
+207,3.450000000,pose1_to_pose2_press,0.61940671391,0.000150198791894,1.04003344591,0.589977388854,0.00882282822073,1.03970484331
+208,3.466666667,pose1_to_pose2_press,0.619660301112,0.000150167643399,1.04003353699,0.590230976937,0.00882280057511,1.03970493926
+209,3.483333333,pose1_to_pose2_press,0.619888986101,0.000150142928932,1.04003366255,0.590459662001,0.00882277611376,1.039705057
+210,3.500000000,pose1_to_pose2_press,0.620091178168,0.000150149226487,1.04003357904,0.590661853374,0.00882278017622,1.03970496907
+211,3.516666667,pose1_to_pose2_press,0.620273918452,0.000150200576677,1.04003363903,0.590844593523,0.00882283137322,1.03970503033
+212,3.533333333,pose1_to_pose2_press,0.620438456144,0.00015013516282,1.04003353274,0.591009131264,0.00882276630164,1.03970492487
+213,3.550000000,pose1_to_pose2_press,0.620585803128,0.000150118964762,1.04003355575,0.591156479491,0.00882275438717,1.03970494323
+214,3.566666667,pose1_to_pose2_press,0.6207196967,0.000150107432737,1.04003351184,0.591290372379,0.00882274100972,1.03970490709
+215,3.583333333,pose1_to_pose2_press,0.620841749873,0.000150152757511,1.04003351554,0.591412424872,0.00882278416513,1.0397049104
+216,3.600000000,pose1_to_pose2_press,0.62095373467,0.000150149733499,1.04003346022,0.591524409528,0.00882278085337,1.03970485502
+217,3.616666667,pose1_to_pose2_press,0.621055778527,0.000150106148612,1.04003337686,0.59162645419,0.00882274027499,1.03970477385
+218,3.633333333,pose1_to_pose2_press,0.621147308816,0.000150112859239,1.04003345994,0.591717985388,0.00882275002919,1.03970485369
+219,3.650000000,pose1_to_pose2_press,0.621227817219,0.000150115005956,1.04003363466,0.591798492975,0.00882274967554,1.03970502551
+220,3.666666667,pose1_to_pose2_press,0.621295136778,0.000150143024815,1.04003357346,0.591865812841,0.00882278001224,1.03970496274
+221,3.683333333,pose1_to_pose2_press,0.621351260178,0.000150091552876,1.04003382613,0.591921934326,0.0088227210543,1.03970520505
+222,3.700000000,pose1_to_pose2_press,0.621396359605,0.000149986370459,1.04003382369,0.591967035587,0.008822622063,1.03970520406
+223,3.716666667,pose1_to_pose2_press,0.621433475213,0.000150033328345,1.04003349033,0.592004151037,0.00882266886311,1.03970488826
+224,3.733333333,pose1_to_pose2_press,0.621463521761,0.000150201393055,1.04003344507,0.592034196682,0.0088228337106,1.03970484336
+225,3.750000000,pose1_to_pose2_press,0.621488510488,0.000150247321381,1.04003356323,0.592059185129,0.0088228784262,1.03970495689
+226,3.766666667,pose1_to_pose2_press,0.62150887795,0.000150114154201,1.04003364084,0.592079553236,0.00882274743296,1.03970503519
+227,3.783333333,pose1_to_pose2_press,0.621524708964,0.000150114557499,1.04003365997,0.592095384424,0.0088227483858,1.03970505027
+228,3.800000000,pose1_to_pose2_press,0.621536565495,0.000150220994218,1.04003375588,0.592107240201,0.0088228522977,1.03970514801
+229,3.816666667,pose1_to_pose2_press,0.621544689136,0.000150160043801,1.04003375221,0.592115365272,0.00882279623106,1.03970514918
+230,3.833333333,pose1_to_pose2_press,0.621550453544,0.000150127459444,1.04003370664,0.592121130157,0.00882276520921,1.03970510331
+231,3.850000000,pose1_to_pose2_press,0.621554223679,0.000150139025086,1.04003365189,0.592124899795,0.00882277498156,1.03970504454
+232,3.866666667,pose1_to_pose2_press,0.621556504886,0.00015003291807,1.04003362876,0.592127181459,0.00882267064708,1.03970502566
+233,3.883333333,pose1_to_pose2_press,0.621557898168,0.000149970205662,1.04003361169,0.592128575012,0.00882260897855,1.03970501103
+234,3.900000000,pose1_to_pose2_press,0.621558415399,0.000149984925349,1.04003355781,0.592129092174,0.00882262335306,1.0397049553
+235,3.916666667,pose1_to_pose2_press,0.621558778844,0.000149995268482,1.04003351994,0.59212945557,0.00882263345364,1.03970491614
+236,3.933333333,pose1_to_pose2_press,0.621559092937,0.000150004207133,1.04003348722,0.592129769621,0.00882264218268,1.03970488229
+237,3.950000000,pose1_to_pose2_press,0.621559232645,0.000150008183028,1.04003347267,0.59212990931,0.00882264606534,1.03970486724
+238,3.966666667,pose1_to_pose2_press,0.621559357587,0.000150011738707,1.04003345965,0.592130034236,0.00882264953764,1.03970485378
+239,3.983333333,pose1_to_pose2_press,0.621559571586,0.000150017828804,1.04003343736,0.592130248205,0.00882265548492,1.03970483072
+240,4.000000000,pose1_to_pose2_press,0.621559746572,0.000150022808683,1.04003341913,0.592130423169,0.00882266034802,1.03970481186
+241,4.016666667,pose1_to_pose2_press,0.621559883671,0.000150035529613,1.04003343361,0.592130560292,0.00882267314797,1.03970482603
+242,4.033333333,pose1_to_pose2_press,0.621560047772,0.000150058625355,1.04003347661,0.592130724461,0.00882269649044,1.03970486882
+243,4.050000000,pose1_to_pose2_press,0.621560243446,0.000150086164815,1.04003352788,0.592130920216,0.00882272432409,1.03970491984
+244,4.066666667,pose1_to_pose2_press,0.621560326963,0.000150097919133,1.04003354976,0.592131003768,0.00882273620398,1.03970494162
+245,4.083333333,pose1_to_pose2_press,0.621560409506,0.00015010953635,1.04003357139,0.592131086345,0.0088227479453,1.03970496314
+246,4.100000000,pose1_to_pose2_press,0.6215606528,0.00015014377793,1.04003363514,0.59213132974,0.00882278255267,1.03970502658
+247,4.116666667,pose1_to_pose2_press,0.621560872521,0.000150173214185,1.04003366606,0.592131547646,0.00882280575524,1.03970505528
+248,4.133333333,pose1_to_pose2_press,0.621560966057,0.000150067629973,1.04003348055,0.592131642711,0.00882270586908,1.03970488409
+249,4.150000000,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642714,0.00882270586747,1.03970488409
+250,4.166666667,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642714,0.0088227058674,1.03970488409
+251,4.183333333,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642714,0.00882270586733,1.03970488409
+252,4.200000000,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642714,0.00882270586728,1.03970488409
+253,4.216666667,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642715,0.00882270586725,1.03970488409
+254,4.233333333,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642715,0.00882270586718,1.03970488409
+255,4.250000000,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642715,0.00882270586711,1.03970488409
+256,4.266666667,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642715,0.00882270586705,1.03970488409
+257,4.283333333,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642715,0.008822705867,1.03970488409
+258,4.300000000,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642715,0.00882270586696,1.03970488409
+259,4.316666667,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642715,0.00882270586692,1.03970488409
+260,4.333333333,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642715,0.00882270586687,1.03970488409
+261,4.350000000,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642715,0.00882270586682,1.03970488409
+262,4.366666667,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642715,0.00882270586681,1.03970488409
+263,4.383333333,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642716,0.00882270586676,1.03970488409
+264,4.400000000,pose2_hold,0.621560966057,0.000150067629973,1.04003348055,0.592131642716,0.0088227058667,1.03970488409
+265,4.416666667,pose2_to_pose3_retreat,0.621560966057,0.000150067629973,1.04003348055,0.592131642716,0.00882270586673,1.03970488409
+266,4.433333333,pose2_to_pose3_retreat,0.621560968871,0.000150071660198,1.04003349996,0.592131645455,0.00882270960955,1.03970490267
+267,4.450000000,pose2_to_pose3_retreat,0.621560986068,0.000150096284234,1.0400336185,0.592131662192,0.00882273247762,1.03970501615
+268,4.466666667,pose2_to_pose3_retreat,0.621561015362,0.000150138229231,1.04003382044,0.592131690701,0.00882277143146,1.03970520945
+269,4.483333333,pose2_to_pose3_retreat,0.621560960928,0.000150154191216,1.04003386734,0.592131636211,0.00882278712532,1.03970525437
+270,4.500000000,pose2_to_pose3_retreat,0.621560862116,0.000150147195055,1.04003379077,0.592131537874,0.00882278187431,1.03970518111
+271,4.516666667,pose2_to_pose3_retreat,0.621560777972,0.000150141237524,1.04003372557,0.592131454136,0.00882277740286,1.03970511873
+272,4.533333333,pose2_to_pose3_retreat,0.621560355528,0.000150110784347,1.0400335646,0.592131031859,0.00882274759796,1.03970495978
+273,4.550000000,pose2_to_pose3_retreat,0.621559238362,0.000150074241649,1.04003343408,0.59212991308,0.00882270534602,1.0397048234
+274,4.566666667,pose2_to_pose3_retreat,0.621555051558,0.000150205885749,1.04003351727,0.592125725896,0.00882283590089,1.03970491231
+275,4.583333333,pose2_to_pose3_retreat,0.621546794211,0.000150170674305,1.04003371684,0.592117471086,0.00882280904595,1.03970510457
+276,4.600000000,pose2_to_pose3_retreat,0.621530559073,0.000149983345784,1.0400333991,0.592101235314,0.0088226198143,1.03970479259
+277,4.616666667,pose2_to_pose3_retreat,0.621505400689,0.000150223169899,1.04003345101,0.592076077008,0.00882286042158,1.03970485533
+278,4.633333333,pose2_to_pose3_retreat,0.621470169815,0.000150168570191,1.04003365989,0.592040845259,0.00882280241049,1.03970504885
+279,4.650000000,pose2_to_pose3_retreat,0.621426302226,0.00015012215256,1.04003346347,0.591996977911,0.00882275704971,1.03970485506
+280,4.666666667,pose2_to_pose3_retreat,0.621373773699,0.000150108163982,1.04003351156,0.59194444971,0.00882274380859,1.03970490391
+281,4.683333333,pose2_to_pose3_retreat,0.621314963475,0.000150001615693,1.04003328551,0.591885639957,0.00882263933813,1.03970468938
+282,4.700000000,pose2_to_pose3_retreat,0.621250072021,0.000150060247547,1.04003371076,0.591820749121,0.00882269888223,1.03970510021
+283,4.716666667,pose2_to_pose3_retreat,0.62117691074,0.000150141001316,1.040033844,0.591747586633,0.00882277528474,1.03970523084
+284,4.733333333,pose2_to_pose3_retreat,0.62109493449,0.000150214390459,1.0400335687,0.591665608784,0.00882284373045,1.03970496551
+285,4.750000000,pose2_to_pose3_retreat,0.62100206551,0.000150271611171,1.04003325456,0.591572739169,0.00882289898361,1.039704659
+286,4.766666667,pose2_to_pose3_retreat,0.620897061993,0.000150230103699,1.04003338205,0.591467735307,0.00882285587496,1.03970478023
+287,4.783333333,pose2_to_pose3_retreat,0.620778543583,0.000150072498024,1.04003338035,0.591349218965,0.00882270517336,1.03970477793
+288,4.800000000,pose2_to_pose3_retreat,0.620645099825,0.000150113545693,1.04003354554,0.591215774211,0.00882274265361,1.03970494349
+289,4.816666667,pose2_to_pose3_retreat,0.620496724344,0.000150120706583,1.0400336318,0.591067400321,0.00882275494835,1.03970502834
+290,4.833333333,pose2_to_pose3_retreat,0.620332625544,0.000150077519913,1.0400336011,0.590903303328,0.00882271757901,1.03970499498
+291,4.850000000,pose2_to_pose3_retreat,0.620153975687,0.000150038751383,1.04003354532,0.590724652402,0.00882267475602,1.03970493462
+292,4.866666667,pose2_to_pose3_retreat,0.619960355827,0.000150011376121,1.0400335907,0.590531030835,0.00882264094673,1.03970496978
+293,4.883333333,pose2_to_pose3_retreat,0.619751385365,0.000150154576311,1.04003364128,0.590322061348,0.00882278765846,1.0397050329
+294,4.900000000,pose2_to_pose3_retreat,0.619526448896,0.00015014129985,1.04003357024,0.590097125989,0.00882277790484,1.03970496362
+295,4.916666667,pose2_to_pose3_retreat,0.619279407191,0.000150069390136,1.04003342661,0.589850084503,0.0088227062039,1.03970481519
+296,4.933333333,pose2_to_pose3_retreat,0.619009709608,0.000150064742025,1.04003335646,0.589580386555,0.00882269989992,1.03970474367
+297,4.950000000,pose2_to_pose3_retreat,0.618713892482,0.000150110473276,1.04003346297,0.589284569765,0.00882274659668,1.03970485575
+298,4.966666667,pose2_to_pose3_retreat,0.618394791733,0.000149987981404,1.04003363185,0.58896547091,0.00882263012277,1.03970502529
+299,4.983333333,pose2_to_pose3_retreat,0.61805208801,0.000149982226449,1.04003363317,0.588622767457,0.0088226249172,1.03970502884
+300,5.000000000,pose2_to_pose3_retreat,0.617694987643,0.000150143621063,1.04003338551,0.588265665227,0.00882277993959,1.03970479196
+301,5.016666667,pose2_to_pose3_retreat,0.617325018731,0.000150235442245,1.04003345534,0.587895694749,0.00882286579647,1.03970485738
+302,5.033333333,pose2_to_pose3_retreat,0.616941065294,0.000150114472917,1.04003336027,0.587511743213,0.00882275061941,1.0397047605
+303,5.050000000,pose2_to_pose3_retreat,0.616541108224,0.000150037342938,1.04003338065,0.587111787219,0.00882267672503,1.03970478366
+304,5.066666667,pose2_to_pose3_retreat,0.616119256199,0.000150115450527,1.04003364215,0.586689933719,0.00882274930853,1.03970504306
+305,5.083333333,pose2_to_pose3_retreat,0.615671889982,0.000150145927259,1.04003379393,0.586242567434,0.00882277829808,1.03970517596
+306,5.100000000,pose2_to_pose3_retreat,0.615196916448,0.000150012286414,1.04003340717,0.585767597596,0.00882265728888,1.03970480379
+307,5.116666667,pose2_to_pose3_retreat,0.614694531494,0.000150160952313,1.04003351049,0.585265210247,0.0088227970965,1.03970490151
+308,5.133333333,pose2_to_pose3_retreat,0.614169267076,0.000150045539947,1.04003350338,0.584739946044,0.00882268208761,1.03970489997
+309,5.150000000,pose2_to_pose3_retreat,0.61363200974,0.000150096123606,1.040033509,0.58420268805,0.00882272996018,1.0397049057
+310,5.166666667,pose2_to_pose3_retreat,0.613082889984,0.00015019970408,1.04003353076,0.583653567406,0.00882282995974,1.03970492399
+311,5.183333333,pose2_to_pose3_retreat,0.612519574769,0.000150198776934,1.04003355342,0.583090252242,0.00882282898428,1.03970494759
+312,5.200000000,pose2_to_pose3_retreat,0.611942819943,0.000150162208913,1.04003359981,0.582513497857,0.00882279423659,1.03970499967
+313,5.216666667,pose2_to_pose3_retreat,0.611350484121,0.000150065817781,1.0400335369,0.581921163217,0.0088227016,1.03970492976
+314,5.233333333,pose2_to_pose3_retreat,0.610745413307,0.000150131179017,1.04003366532,0.581316092161,0.00882276572539,1.03970504736
+315,5.250000000,pose2_to_pose3_retreat,0.610128877953,0.000150116097798,1.04003364895,0.580699556813,0.00882275104607,1.03970504039
+316,5.266666667,pose2_to_pose3_retreat,0.609498917725,0.000150004403376,1.04003357554,0.580069597386,0.00882264228045,1.03970497248
+317,5.283333333,pose2_to_pose3_retreat,0.608849838749,0.000149972149988,1.04003350033,0.579420518116,0.00882260882459,1.03970489239
+318,5.300000000,pose2_to_pose3_retreat,0.608175156115,0.00015018624089,1.04003344333,0.578745832574,0.00882281291546,1.03970483178
+319,5.316666667,pose2_to_pose3_retreat,0.607471201137,0.000150178182066,1.04003352625,0.578041880084,0.0088228135246,1.03970491961
+320,5.333333333,pose2_to_pose3_retreat,0.606741154639,0.000149969041239,1.04003363844,0.577311836952,0.00882261562689,1.03970502802
+321,5.350000000,pose2_to_pose3_retreat,0.605992088265,0.000149972863729,1.04003362272,0.576562770613,0.0088226198093,1.0397050188
+322,5.366666667,pose2_to_pose3_retreat,0.605233884357,0.000150190385361,1.04003363295,0.575804562181,0.00882282197194,1.03970502875
+323,5.383333333,pose2_to_pose3_retreat,0.604472616962,0.000150268337146,1.04003379114,0.575043293787,0.00882289638624,1.03970518297
+324,5.400000000,pose2_to_pose3_retreat,0.603711865234,0.000150222352601,1.04003372693,0.574282542589,0.00882285229557,1.03970512072
+325,5.416666667,pose2_to_pose3_retreat,0.602953721834,0.000150138360138,1.04003348242,0.573524399558,0.00882276964021,1.03970487779
+326,5.433333333,pose2_to_pose3_retreat,0.602188185825,0.000150027347052,1.04003342331,0.572758865065,0.00882266352683,1.03970481237
+327,5.450000000,pose2_to_pose3_retreat,0.601416619564,0.000149987191017,1.04003337965,0.571987298347,0.00882262216527,1.03970477785
+328,5.466666667,pose2_to_pose3_retreat,0.600642017835,0.000150101906342,1.04003338268,0.571212695471,0.00882273298121,1.03970478057
+329,5.483333333,pose2_to_pose3_retreat,0.59985820864,0.000150017247782,1.04003348481,0.570428888093,0.0088226544509,1.03970488165
+330,5.500000000,pose2_to_pose3_retreat,0.599061385415,0.000149968859673,1.04003345216,0.569632066861,0.00882261268117,1.03970484519
+331,5.516666667,pose2_to_pose3_retreat,0.598264497045,0.000149976284407,1.0400333914,0.568835177343,0.00882261633142,1.03970478761
+332,5.533333333,pose2_to_pose3_retreat,0.597469705813,0.00015004053948,1.0400334784,0.568040384355,0.00882267473615,1.03970487737
+333,5.550000000,pose2_to_pose3_retreat,0.5966898122,0.000150135221967,1.04003359613,0.567260490036,0.00882276690686,1.039704992
+334,5.566666667,pose2_to_pose3_retreat,0.595923496949,0.000150183202874,1.04003351421,0.566494174433,0.00882281355972,1.03970490646
+335,5.583333333,pose2_to_pose3_retreat,0.595167185405,0.000150068900585,1.04003341937,0.565737865995,0.00882270975594,1.03970481045
+336,5.600000000,pose2_to_pose3_retreat,0.594414211583,0.000150109740814,1.04003350628,0.564984890378,0.0088227446598,1.03970490139
+337,5.616666667,pose2_to_pose3_retreat,0.593660072682,0.000150137964799,1.04003357269,0.564230751087,0.00882277179697,1.03970497403
+338,5.633333333,pose2_to_pose3_retreat,0.592901490133,0.000150064241584,1.04003363286,0.563472169698,0.00882270180483,1.03970502873
+339,5.650000000,pose2_to_pose3_retreat,0.592141676671,0.000150079673261,1.04003359033,0.5627123554,0.00882271428887,1.03970498327
+340,5.666666667,pose2_to_pose3_retreat,0.591383971777,0.000150111427501,1.04003351237,0.561954649278,0.00882274197397,1.03970490788
+341,5.683333333,pose2_to_pose3_retreat,0.590640866002,0.000150038056437,1.04003351982,0.56121154471,0.00882267264926,1.03970491396
+342,5.700000000,pose2_to_pose3_retreat,0.589925621234,0.000150068311109,1.04003353852,0.560496300289,0.00882270395944,1.03970492938
+343,5.716666667,pose2_to_pose3_retreat,0.589227424148,0.000149996589429,1.04003353378,0.559798103819,0.00882263437387,1.03970492589
+344,5.733333333,pose2_to_pose3_retreat,0.588544926049,0.000149921925185,1.04003341559,0.559115606407,0.00882256215665,1.03970481071
+345,5.750000000,pose2_to_pose3_retreat,0.587877511333,0.000150099856062,1.0400335694,0.558448190123,0.00882273472912,1.03970496346
+346,5.766666667,pose2_to_pose3_retreat,0.58722017576,0.000150177587386,1.04003360131,0.557790854021,0.00882281046509,1.03970499009
+347,5.783333333,pose2_to_pose3_retreat,0.586571140022,0.00015017644196,1.04003355075,0.557141818039,0.00882280845574,1.03970493858
+348,5.800000000,pose2_to_pose3_retreat,0.58593760244,0.000150088856562,1.04003351297,0.556508281219,0.00882272372837,1.03970490789
+349,5.816666667,pose2_to_pose3_retreat,0.585325407074,0.000149921034033,1.04003347939,0.555896088046,0.00882256359534,1.03970488082
+350,5.833333333,pose2_to_pose3_retreat,0.584730314931,0.000150142228154,1.04003351842,0.555300991963,0.00882277110711,1.0397049116
+351,5.850000000,pose2_to_pose3_retreat,0.584149937621,0.000149998210803,1.04003339159,0.554720618523,0.00882264039776,1.03970478945
+352,5.866666667,pose2_to_pose3_retreat,0.583591327799,0.000149987918902,1.04003338177,0.554162007053,0.00882262449334,1.03970477902
+353,5.883333333,pose2_to_pose3_retreat,0.583051813073,0.000150091751953,1.04003355707,0.553622490925,0.00882272344654,1.03970495106
+354,5.900000000,pose2_to_pose3_retreat,0.582531836615,0.000150083122174,1.04003365617,0.553102516002,0.00882271996419,1.03970504858
+355,5.916666667,pose2_to_pose3_retreat,0.582039892277,0.000150060245118,1.04003365138,0.552610572087,0.00882269856002,1.03970504473
+356,5.933333333,pose2_to_pose3_retreat,0.581576400653,0.000150088980173,1.04003361383,0.552147079088,0.00882272265449,1.03970500788
+357,5.950000000,pose2_to_pose3_retreat,0.581123021083,0.000149992599187,1.04003353607,0.551693702458,0.00882263614213,1.03970492722
+358,5.966666667,pose2_to_pose3_retreat,0.580678849121,0.000150148976252,1.04003352749,0.551249525321,0.00882277502502,1.03970492076
+359,5.983333333,pose2_to_pose3_retreat,0.580249001595,0.000150234066508,1.0400334529,0.550819678661,0.00882286283517,1.0397048407
+360,6.000000000,pose2_to_pose3_retreat,0.579838159137,0.000150144035872,1.04003359189,0.550408837219,0.00882277647602,1.03970498519
+361,6.016666667,pose2_to_pose3_retreat,0.579452536703,0.000150039232172,1.04003348009,0.55002321632,0.00882267697989,1.03970487587
+362,6.033333333,pose2_to_pose3_retreat,0.579099866528,0.000150100897205,1.04003351593,0.549670545806,0.00882273751341,1.03970491224
+363,6.050000000,pose2_to_pose3_retreat,0.578779020601,0.000150116660092,1.04003349287,0.549349699809,0.00882275311833,1.03970489127
+364,6.066666667,pose2_to_pose3_retreat,0.578481542676,0.000150004014207,1.0400332684,0.54905222307,0.00882264461384,1.03970466992
+365,6.083333333,pose2_to_pose3_retreat,0.578201958189,0.000150123826829,1.04003338169,0.548772636716,0.00882275808298,1.03970478293
+366,6.100000000,pose2_to_pose3_retreat,0.577934814326,0.000149957548238,1.04003342174,0.548505494299,0.00882259621752,1.03970481002
+367,6.116666667,pose2_to_pose3_retreat,0.577678457922,0.000150075681225,1.04003357939,0.54824913688,0.00882271109119,1.03970497257
+368,6.133333333,pose2_to_pose3_retreat,0.577434080515,0.000150101949613,1.04003340282,0.548004758667,0.00882273472894,1.03970479879
+369,6.150000000,pose2_to_pose3_retreat,0.577206223078,0.000150141160254,1.04003345079,0.547776901215,0.00882277408597,1.03970485202
+370,6.166666667,pose2_to_pose3_retreat,0.576996167667,0.000150102124543,1.04003351418,0.547566846735,0.00882273803446,1.03970491095
+371,6.183333333,pose2_to_pose3_retreat,0.576808365199,0.00015007183615,1.04003347556,0.547379044011,0.00882270651815,1.03970486292
+372,6.200000000,pose2_to_pose3_retreat,0.5766414638,0.00015012980586,1.04003349908,0.547212141665,0.00882276140529,1.03970488982
+373,6.216666667,pose2_to_pose3_retreat,0.576496370294,0.000150068223973,1.04003344253,0.54706704957,0.0088227048922,1.0397048406
+374,6.233333333,pose2_to_pose3_retreat,0.576369333935,0.00015013132918,1.04003376549,0.546940011874,0.0088227632485,1.03970515803
+375,6.250000000,pose2_to_pose3_retreat,0.5762599018,0.000150181248367,1.04003345464,0.54683057902,0.00882281083217,1.03970485003
+376,6.266666667,pose2_to_pose3_retreat,0.576163682416,0.000150086456213,1.0400335605,0.546734360713,0.00882271967226,1.03970495531
+377,6.283333333,pose2_to_pose3_retreat,0.576078887692,0.00015007930837,1.04003352441,0.546649565794,0.00882271184095,1.03970491891
+378,6.300000000,pose2_to_pose3_retreat,0.576003655069,0.000150116863261,1.04003339544,0.546574332577,0.00882274739412,1.03970479046
+379,6.316666667,pose2_to_pose3_retreat,0.575936981518,0.000150099267951,1.04003336786,0.546507659595,0.00882273183262,1.03970476551
+380,6.333333333,pose2_to_pose3_retreat,0.57587944945,0.000150148078244,1.0400332162,0.546450127168,0.00882277989332,1.03970462618
+381,6.350000000,pose2_to_pose3_retreat,0.575831037477,0.000150062015158,1.0400333559,0.546401715774,0.00882269542533,1.03970475614
+382,6.366666667,pose2_to_pose3_retreat,0.575791501722,0.00015016675561,1.04003361487,0.546362180386,0.00882280155074,1.03970501882
+383,6.383333333,pose2_to_pose3_retreat,0.575760202239,0.000150174859696,1.04003353382,0.546330880886,0.00882280956083,1.03970493684
+384,6.400000000,pose2_to_pose3_retreat,0.57573552332,0.000150102873719,1.04003338321,0.546306202332,0.00882273862548,1.03970478121
+385,6.416666667,pose2_to_pose3_retreat,0.57571649725,0.00015002695007,1.04003340557,0.546287177278,0.00882266595284,1.03970479843
+386,6.433333333,pose2_to_pose3_retreat,0.575701711798,0.000150081298401,1.04003352954,0.546272391075,0.00882271756215,1.03970491738
+387,6.450000000,pose2_to_pose3_retreat,0.57569050859,0.000150147956445,1.04003361186,0.546261186674,0.00882278021541,1.03970500086
+388,6.466666667,pose2_to_pose3_retreat,0.575682182588,0.000150185664522,1.04003367619,0.546252860379,0.00882281707249,1.03970506905
+389,6.483333333,pose2_to_pose3_retreat,0.575676359232,0.000150167348071,1.04003373685,0.546247038551,0.00882280413328,1.03970513487
+390,6.500000000,pose2_to_pose3_retreat,0.575672332865,0.000150133431976,1.04003351508,0.546243011598,0.0088227681639,1.03970491136
+391,6.516666667,pose2_to_pose3_retreat,0.575669602033,0.000150104776466,1.04003329452,0.546240279933,0.00882273658081,1.03970468822
+392,6.533333333,pose2_to_pose3_retreat,0.575668101571,0.000150060960208,1.04003333431,0.54623878048,0.00882269618054,1.03970472775
+393,6.550000000,pose2_to_pose3_retreat,0.575667317114,0.000150037045321,1.0400333609,0.546237996604,0.00882267423186,1.03970475424
+394,6.566666667,pose2_to_pose3_retreat,0.575667101996,0.000150030487242,1.04003336819,0.546237781645,0.00882266821297,1.0397047615
+395,6.583333333,pose2_to_pose3_retreat,0.575666985616,0.000150026939316,1.04003337213,0.546237665352,0.00882266495674,1.03970476543
+396,6.600000000,pose2_to_pose3_retreat,0.575666655518,0.000150016875957,1.04003338332,0.546237335497,0.00882265572076,1.03970477658
+397,6.616666667,pose2_to_pose3_retreat,0.575666315511,0.000150006476947,1.04003340263,0.546236995749,0.0088226461971,1.03970479577
+398,6.633333333,pose2_to_pose3_retreat,0.575666222723,0.00015000359383,1.04003341839,0.546236903043,0.00882264358404,1.0397048114
+399,6.650000000,pose2_to_pose3_retreat,0.575665907066,0.000149993785656,1.04003347202,0.546236587662,0.00882263469456,1.03970486457
+400,6.666666667,pose2_to_pose3_retreat,0.575665569093,0.000149983284063,1.04003352944,0.546236249983,0.00882262517661,1.0397049215
+401,6.683333333,pose2_to_pose3_retreat,0.575665304732,0.000149975069759,1.04003357435,0.546235985853,0.00882261773171,1.03970496603
+402,6.700000000,pose2_to_pose3_retreat,0.575664983588,0.000149965091107,1.04003362891,0.54623566499,0.00882260868772,1.03970502012
+403,6.716666667,pose2_to_pose3_retreat,0.575664878298,0.000149970608008,1.04003363444,0.546235559577,0.00882261378551,1.03970502559
+404,6.733333333,pose2_to_pose3_retreat,0.575664660701,0.000150022420891,1.04003358907,0.546235340739,0.00882266139607,1.03970498048
+405,6.750000000,pose2_to_pose3_retreat,0.575664491217,0.000150062777388,1.04003355373,0.546235170288,0.00882269847942,1.03970494534
+406,6.766666667,pose2_to_pose3_retreat,0.575664403284,0.00015008383738,1.04003354781,0.546235081839,0.00882271778883,1.03970493945
+407,6.783333333,pose2_to_pose3_retreat,0.575664396885,0.000150085503481,1.040033561,0.546235075387,0.00882271927011,1.03970495256
+408,6.800000000,pose2_to_pose3_retreat,0.575664369612,0.000150092605301,1.04003361721,0.546235047885,0.00882272558411,1.03970500842
+409,6.816666667,pose2_to_pose3_retreat,0.57566435848,0.000150095503855,1.04003364015,0.54623503666,0.00882272816113,1.03970503122
+410,6.833333333,pose2_to_pose3_retreat,0.575664355357,0.000150096317162,1.04003364659,0.54623503351,0.00882272888422,1.03970503762
+411,6.850000000,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015507,1.03970504886

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced3111ccbffd361b8e6ae25904a647310f885b198b8a22d47e90739663adbeb
+size 25968790

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/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,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+1,0.016666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+2,0.033333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+3,0.050000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+4,0.066666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+5,0.083333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+6,0.100000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+7,0.116666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+8,0.133333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+9,0.150000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+10,0.166666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+11,0.183333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+12,0.200000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+13,0.216666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+14,0.233333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+15,0.250000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+16,0.266666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+17,0.283333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+18,0.300000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+19,0.316666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+20,0.333333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+21,0.350000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+22,0.366666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+23,0.383333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+24,0.400000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+25,0.416666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+26,0.433333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+27,0.450000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+28,0.466666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+29,0.483333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+30,0.500000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+31,0.516666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+32,0.533333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+33,0.550000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+34,0.566666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+35,0.583333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+36,0.600000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+37,0.616666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+38,0.633333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+39,0.650000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+40,0.666666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+41,0.683333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+42,0.700000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+43,0.716666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+44,0.733333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+45,0.750000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+46,0.766666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+47,0.783333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+48,0.800000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+49,0.816666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+50,0.833333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+51,0.850000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+52,0.866666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+53,0.883333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+54,0.900000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+55,0.916666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+56,0.933333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+57,0.950000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+58,0.966666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+59,0.983333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+60,1.000000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+61,1.016666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+62,1.033333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+63,1.050000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+64,1.066666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+65,1.083333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+66,1.100000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+67,1.116666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+68,1.133333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+69,1.150000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+70,1.166666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+71,1.183333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+72,1.200000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+73,1.216666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+74,1.233333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+75,1.250000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+76,1.266666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+77,1.283333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+78,1.300000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+79,1.316666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+80,1.333333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+81,1.350000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+82,1.366666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+83,1.383333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+84,1.400000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+85,1.416666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+86,1.433333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+87,1.450000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+88,1.466666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+89,1.483333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+90,1.500000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+91,1.516666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+92,1.533333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+93,1.550000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+94,1.566666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+95,1.583333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+96,1.600000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+97,1.616666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+98,1.633333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+99,1.650000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+100,1.666666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+101,1.683333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+102,1.700000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+103,1.716666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+104,1.733333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+105,1.750000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+106,1.766666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+107,1.783333333,pose1_to_pose2_press,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+108,1.800000000,pose1_to_pose2_press,0.575664400603,0.000150145803444,1.06003351513,0.546235078053,0.00882277594592,1.05970490516
+109,1.816666667,pose1_to_pose2_press,0.575664634231,0.000150109695136,1.06003351632,0.546235311806,0.00882274024527,1.05970490596
+110,1.833333333,pose1_to_pose2_press,0.575664873342,0.000150071925802,1.06003351556,0.546235551214,0.00882270349046,1.05970490535
+111,1.850000000,pose1_to_pose2_press,0.575664890717,0.000150069181233,1.06003351551,0.546235568611,0.00882270081961,1.05970490531
+112,1.866666667,pose1_to_pose2_press,0.575665090721,0.000150056920044,1.06003351383,0.546235768742,0.00882268900563,1.05970490403
+113,1.883333333,pose1_to_pose2_press,0.575665330554,0.000150073384502,1.06003351011,0.546236008531,0.00882270535918,1.05970490126
+114,1.900000000,pose1_to_pose2_press,0.575665942688,0.000150115407438,1.06003350064,0.546236620555,0.00882274709905,1.05970489417
+115,1.916666667,pose1_to_pose2_press,0.575667784469,0.000150062364243,1.0600335705,0.54623846354,0.0088226980713,1.05970496228
+116,1.933333333,pose1_to_pose2_press,0.575672510073,0.000150093062777,1.06003357789,0.54624318901,0.00882272816181,1.05970496557
+117,1.950000000,pose1_to_pose2_press,0.575681491954,0.000150131087073,1.06003348504,0.54625217021,0.00882276420908,1.05970488145
+118,1.966666667,pose1_to_pose2_press,0.575698250311,0.000150060741765,1.06003346401,0.546268931012,0.00882270225849,1.05970486297
+119,1.983333333,pose1_to_pose2_press,0.575723434768,0.000150150866419,1.06003331392,0.546294113399,0.00882278537031,1.05970471308
+120,2.000000000,pose1_to_pose2_press,0.575759138662,0.00015018299954,1.06003333972,0.546329816743,0.00882281553086,1.05970473603
+121,2.016666667,pose1_to_pose2_press,0.575804415307,0.00015014695777,1.06003371274,0.546375095442,0.00882278642063,1.05970510794
+122,2.033333333,pose1_to_pose2_press,0.575859286736,0.000150086458788,1.06003326972,0.546429965987,0.00882272300938,1.05970466726
+123,2.050000000,pose1_to_pose2_press,0.575921843003,0.000150214001176,1.06003361967,0.546492521488,0.00882284775868,1.05970501192
+124,2.066666667,pose1_to_pose2_press,0.575991871628,0.00015024465799,1.0600334106,0.546562547844,0.00882287060063,1.05970479979
+125,2.083333333,pose1_to_pose2_press,0.576071362432,0.000150173460626,1.06003334267,0.546642040537,0.00882280638273,1.05970474684
+126,2.100000000,pose1_to_pose2_press,0.576161311336,0.000150162258121,1.0600335853,0.546731989833,0.00882279611431,1.05970497888
+127,2.116666667,pose1_to_pose2_press,0.576264218639,0.000150162275065,1.06003353611,0.54683489629,0.00882279328129,1.05970493035
+128,2.133333333,pose1_to_pose2_press,0.576382145299,0.00015014435006,1.06003366489,0.546952823817,0.00882277823538,1.05970505739
+129,2.150000000,pose1_to_pose2_press,0.576516946383,0.000150169191722,1.06003362068,0.547087623932,0.00882279975337,1.05970501219
+130,2.166666667,pose1_to_pose2_press,0.576667818098,0.000150210509895,1.06003369684,0.547238494824,0.00882283829733,1.05970508867
+131,2.183333333,pose1_to_pose2_press,0.576834693454,0.000150103570211,1.06003367231,0.547405372351,0.00882273872831,1.05970506422
+132,2.200000000,pose1_to_pose2_press,0.57701883568,0.00015002857962,1.06003346833,0.547589515971,0.0088226685008,1.05970486105
+133,2.216666667,pose1_to_pose2_press,0.577220205373,0.000150170696679,1.06003362262,0.547790883801,0.00882280430168,1.05970501537
+134,2.233333333,pose1_to_pose2_press,0.577441205995,0.00015010811262,1.06003364761,0.548011884296,0.00882274125777,1.05970503948
+135,2.250000000,pose1_to_pose2_press,0.577680950831,0.00015022457523,1.06003370181,0.548251628041,0.00882285427949,1.05970510047
+136,2.266666667,pose1_to_pose2_press,0.577939399705,0.00015009490783,1.06003349331,0.548510077636,0.00882272686976,1.059704887
+137,2.283333333,pose1_to_pose2_press,0.57821738222,0.000150037467049,1.06003338825,0.548788060999,0.00882267237215,1.05970478356
+138,2.300000000,pose1_to_pose2_press,0.578513718284,0.00015015180402,1.0600333569,0.54908439523,0.00882278069247,1.05970475748
+139,2.316666667,pose1_to_pose2_press,0.57882735605,0.00015023671824,1.06003342351,0.549398031776,0.00882286171843,1.05970483063
+140,2.333333333,pose1_to_pose2_press,0.579156439215,0.000150139422796,1.06003337759,0.549727117964,0.00882277458976,1.05970478224
+141,2.350000000,pose1_to_pose2_press,0.579500890154,0.000150046278323,1.06003342637,0.55007157194,0.00882269153054,1.05970482512
+142,2.366666667,pose1_to_pose2_press,0.579863035061,0.000150043535724,1.06003343797,0.550433716257,0.00882268677779,1.05970483636
+143,2.383333333,pose1_to_pose2_press,0.580244677743,0.000150098408516,1.06003330917,0.550815356686,0.00882273418009,1.05970471207
+144,2.400000000,pose1_to_pose2_press,0.580653193558,0.000150152730026,1.0600333286,0.551223872914,0.00882278992988,1.0597047322
+145,2.416666667,pose1_to_pose2_press,0.581087596981,0.000150160029468,1.06003381847,0.551658275525,0.00882279437627,1.05970521943
+146,2.433333333,pose1_to_pose2_press,0.58154775681,0.00015007109325,1.06003379642,0.552118436065,0.00882270710199,1.05970517741
+147,2.450000000,pose1_to_pose2_press,0.582026724573,0.000150110845517,1.06003376439,0.552597403345,0.00882274547702,1.0597051522
+148,2.466666667,pose1_to_pose2_press,0.582522434068,0.000150064132148,1.06003364462,0.553093113752,0.00882270200035,1.05970503613
+149,2.483333333,pose1_to_pose2_press,0.583033146548,0.000150005031199,1.0600335107,0.553603827066,0.00882264601827,1.05970490965
+150,2.500000000,pose1_to_pose2_press,0.583561152511,0.000150061206309,1.06003364528,0.554131833046,0.00882270209981,1.05970504019
+151,2.516666667,pose1_to_pose2_press,0.584113549095,0.000150133675346,1.06003354545,0.554684227891,0.00882276867112,1.05970494032
+152,2.533333333,pose1_to_pose2_press,0.584687028531,0.000150093512203,1.06003335666,0.555257707209,0.0088227282672,1.05970475571
+153,2.550000000,pose1_to_pose2_press,0.585278564133,0.000150028364452,1.06003336171,0.55584924406,0.00882266733115,1.05970475993
+154,2.566666667,pose1_to_pose2_press,0.585876330144,0.000150063750669,1.06003346256,0.556447009434,0.00882270045778,1.05970485818
+155,2.583333333,pose1_to_pose2_press,0.58647702601,0.000150106047903,1.06003369355,0.557047705298,0.00882274274274,1.05970508895
+156,2.600000000,pose1_to_pose2_press,0.587088097314,0.00015026035516,1.06003352873,0.557658774136,0.00882288848989,1.05970491895
+157,2.616666667,pose1_to_pose2_press,0.58771230616,0.000150238126399,1.06003346851,0.558282982745,0.00882286592122,1.059704871
+158,2.633333333,pose1_to_pose2_press,0.588354995833,0.000150064747286,1.06003340073,0.558925673802,0.00882269694701,1.0597047955
+159,2.650000000,pose1_to_pose2_press,0.589020586138,0.000150076459309,1.06003345686,0.559591264423,0.00882270969814,1.05970485071
+160,2.666666667,pose1_to_pose2_press,0.589711853459,0.000150102577912,1.06003350767,0.560282531681,0.0088227355737,1.0597049007
+161,2.683333333,pose1_to_pose2_press,0.590417617928,0.000150107526234,1.06003350104,0.560988296118,0.00882274046994,1.05970489555
+162,2.700000000,pose1_to_pose2_press,0.591135263635,0.000150140726983,1.06003347112,0.561705941843,0.00882277398566,1.05970487226
+163,2.716666667,pose1_to_pose2_press,0.591846960766,0.000150120552159,1.06003350403,0.562417639463,0.00882275551491,1.0597049064
+164,2.733333333,pose1_to_pose2_press,0.592552104547,0.000150007494205,1.06003362074,0.563122784314,0.00882264575415,1.05970501424
+165,2.750000000,pose1_to_pose2_press,0.593251383634,0.000150008444315,1.06003363964,0.563822063998,0.00882264867457,1.05970503171
+166,2.766666667,pose1_to_pose2_press,0.59395111454,0.000150094581651,1.06003363746,0.564521793553,0.00882273024914,1.05970503006
+167,2.783333333,pose1_to_pose2_press,0.594657997593,0.000150144100332,1.06003361744,0.565228676173,0.00882277837726,1.05970501221
+168,2.800000000,pose1_to_pose2_press,0.595392741103,0.000150195162263,1.06003343434,0.56596341857,0.00882282577476,1.05970483206
+169,2.816666667,pose1_to_pose2_press,0.596152265009,0.000150213302206,1.06003340803,0.566722943342,0.00882284714636,1.0597048136
+170,2.833333333,pose1_to_pose2_press,0.596929076522,0.000150210809352,1.06003347204,0.567499755242,0.00882284581177,1.05970487348
+171,2.850000000,pose1_to_pose2_press,0.597702864715,0.00015018372747,1.06003349887,0.568273542841,0.00882281643065,1.05970489295
+172,2.866666667,pose1_to_pose2_press,0.598458149152,0.00015013778946,1.0600334411,0.56902882792,0.00882277271462,1.05970483632
+173,2.883333333,pose1_to_pose2_press,0.599184154048,0.000150107013064,1.06003349354,0.569754833459,0.0088227441155,1.05970488868
+174,2.900000000,pose1_to_pose2_press,0.599882074903,0.000150100401382,1.06003374096,0.570452753106,0.00882273317494,1.05970513014
+175,2.916666667,pose1_to_pose2_press,0.600587294849,0.000150087840025,1.06003363167,0.571157973053,0.00882272073771,1.0597050241
+176,2.933333333,pose1_to_pose2_press,0.601303392376,0.000150159677062,1.06003363148,0.571874070076,0.00882279085,1.05970502359
+177,2.950000000,pose1_to_pose2_press,0.602029284303,0.000150180630918,1.06003366228,0.572599961738,0.00882281060344,1.05970504654
+178,2.966666667,pose1_to_pose2_press,0.602766126828,0.000150074190247,1.06003333992,0.57333680553,0.00882270883125,1.05970473405
+179,2.983333333,pose1_to_pose2_press,0.603511350983,0.000150060286597,1.06003353901,0.574082030123,0.00882269632843,1.05970493093
+180,3.000000000,pose1_to_pose2_press,0.604221156517,0.000150129092134,1.06003343198,0.574791835425,0.00882276468485,1.05970483294
+181,3.016666667,pose1_to_pose2_press,0.604896526001,0.000150120532458,1.06003340544,0.575467205193,0.00882275719595,1.05970480933
+182,3.033333333,pose1_to_pose2_press,0.605538049129,0.00015011571808,1.06003353002,0.576108728772,0.00882275372259,1.05970492902
+183,3.050000000,pose1_to_pose2_press,0.606154078742,0.000150126497164,1.06003359415,0.576724758472,0.00882276457206,1.05970498745
+184,3.066666667,pose1_to_pose2_press,0.606753584888,0.000150088179234,1.06003350812,0.577324263985,0.00882272398856,1.05970489832
+185,3.083333333,pose1_to_pose2_press,0.607349089845,0.000150210373278,1.06003336546,0.577919766208,0.00882283719259,1.05970476343
+186,3.100000000,pose1_to_pose2_press,0.607944570767,0.000150131592126,1.06003344996,0.578515248829,0.00882276432105,1.05970485181
+187,3.116666667,pose1_to_pose2_press,0.608537373749,0.000150226898258,1.06003339808,0.579108051068,0.00882285692836,1.05970479535
+188,3.133333333,pose1_to_pose2_press,0.609120530618,0.000150182904747,1.06003351664,0.579691209533,0.0088228184296,1.05970491619
+189,3.150000000,pose1_to_pose2_press,0.609681947101,0.000150206153684,1.06003348853,0.580252625595,0.00882284014294,1.05970488537
+190,3.166666667,pose1_to_pose2_press,0.610218861559,0.000150188190692,1.06003349966,0.580789539575,0.00882282027166,1.05970488906
+191,3.183333333,pose1_to_pose2_press,0.610728538329,0.000150096307074,1.06003361636,0.581299217164,0.00882273105869,1.059705003
+192,3.200000000,pose1_to_pose2_press,0.611218349367,0.000150138446296,1.06003350487,0.581789027371,0.00882277057034,1.05970489669
+193,3.216666667,pose1_to_pose2_press,0.61168809618,0.000149972907342,1.0600334788,0.58225877722,0.00882261566264,1.05970487942
+194,3.233333333,pose1_to_pose2_press,0.612138524244,0.000150087742369,1.06003351126,0.58270920283,0.0088227218475,1.05970490348
+195,3.250000000,pose1_to_pose2_press,0.612573609977,0.000150034277837,1.06003350189,0.583144290162,0.00882267388473,1.05970489709
+196,3.266666667,pose1_to_pose2_press,0.61299778814,0.000150113921284,1.06003350372,0.583568467193,0.00882274969637,1.05970489809
+197,3.283333333,pose1_to_pose2_press,0.613412262446,0.000150230097713,1.0600335517,0.583982939559,0.00882285944432,1.05970494614
+198,3.300000000,pose1_to_pose2_press,0.613816447531,0.000150230515304,1.06003361502,0.584387124507,0.00882285962423,1.0597050102
+199,3.316666667,pose1_to_pose2_press,0.614203199452,0.000150159609256,1.0600335955,0.584773877045,0.00882279094989,1.05970498867
+200,3.333333333,pose1_to_pose2_press,0.614568730489,0.000150130336555,1.06003351005,0.585139408637,0.00882276408368,1.05970490764
+201,3.350000000,pose1_to_pose2_press,0.6149034478,0.000150175781579,1.06003364304,0.585474125663,0.00882280869781,1.05970503512
+202,3.366666667,pose1_to_pose2_press,0.615210364871,0.000150167915567,1.0600337503,0.585781041697,0.00882279757304,1.05970514271
+203,3.383333333,pose1_to_pose2_press,0.615491119582,0.000150023246919,1.0600336346,0.58606179835,0.00882265996935,1.05970503142
+204,3.400000000,pose1_to_pose2_press,0.615755260829,0.000150109729922,1.06003346223,0.586325938365,0.00882274250568,1.05970485799
+205,3.416666667,pose1_to_pose2_press,0.616004665968,0.000150199689129,1.06003349763,0.586575342956,0.00882283085287,1.0597048922
+206,3.433333333,pose1_to_pose2_press,0.616241250836,0.000150201310164,1.06003362824,0.586811928444,0.00882283482565,1.05970502167
+207,3.450000000,pose1_to_pose2_press,0.616463927129,0.000150198377719,1.06003363856,0.587034604648,0.00882283174365,1.05970502943
+208,3.466666667,pose1_to_pose2_press,0.616668991258,0.000150275073208,1.06003362304,0.587239668144,0.00882290655123,1.05970501378
+209,3.483333333,pose1_to_pose2_press,0.616857139253,0.000150177180422,1.06003350915,0.587427817989,0.00882281531112,1.05970490395
+210,3.500000000,pose1_to_pose2_press,0.617028291009,0.000150172338729,1.0600335893,0.587598969853,0.00882281121077,1.05970498736
+211,3.516666667,pose1_to_pose2_press,0.617184812232,0.000150078894611,1.06003372462,0.587755490331,0.00882271508211,1.05970511456
+212,3.533333333,pose1_to_pose2_press,0.617326998232,0.000150071009631,1.06003367482,0.587897676456,0.00882270783079,1.05970506639
+213,3.550000000,pose1_to_pose2_press,0.617455863351,0.000150148543424,1.06003377767,0.588026540884,0.00882278304386,1.05970516516
+214,3.566666667,pose1_to_pose2_press,0.617571417778,0.000150185710885,1.06003382961,0.588142093848,0.00882281547268,1.05970521858
+215,3.583333333,pose1_to_pose2_press,0.617672421211,0.000150141175038,1.06003365622,0.588243096884,0.00882276995538,1.05970505202
+216,3.600000000,pose1_to_pose2_press,0.617761169084,0.000150102512639,1.0600334843,0.588331845782,0.00882273495601,1.05970487706
+217,3.616666667,pose1_to_pose2_press,0.617838283607,0.000150110711334,1.06003336337,0.588408960523,0.00882274504453,1.05970476387
+218,3.633333333,pose1_to_pose2_press,0.617904561967,0.000150106309165,1.06003350397,0.588475238741,0.00882273878019,1.05970489743
+219,3.650000000,pose1_to_pose2_press,0.61796061768,0.000150060180005,1.06003350201,0.588531296357,0.00882270001124,1.0597048966
+220,3.666666667,pose1_to_pose2_press,0.618007158412,0.000150022514028,1.06003358906,0.588577836339,0.00882265944645,1.05970498388
+221,3.683333333,pose1_to_pose2_press,0.618045517818,0.000150118164752,1.06003354293,0.58861619348,0.00882274756985,1.05970493614
+222,3.700000000,pose1_to_pose2_press,0.618075938284,0.000150139174862,1.06003349078,0.588646615037,0.00882277231494,1.05970488725
+223,3.716666667,pose1_to_pose2_press,0.618100202396,0.000150084881306,1.06003343861,0.588670880847,0.00882272365417,1.05970483556
+224,3.733333333,pose1_to_pose2_press,0.618118643121,0.000150048536593,1.06003338428,0.588689321322,0.0088226863809,1.05970477778
+225,3.750000000,pose1_to_pose2_press,0.618132846128,0.000150097731463,1.06003337261,0.588703522993,0.00882273106889,1.05970476845
+226,3.766666667,pose1_to_pose2_press,0.618143257505,0.000150256977114,1.060033553,0.58871393241,0.00882288393408,1.0597049533
+227,3.783333333,pose1_to_pose2_press,0.618150325468,0.000150195282541,1.06003355486,0.588721002052,0.00882282773857,1.05970495064
+228,3.800000000,pose1_to_pose2_press,0.618155310396,0.000150105624236,1.06003347566,0.588725988548,0.00882274322039,1.05970486751
+229,3.816666667,pose1_to_pose2_press,0.618158609282,0.000150098553131,1.06003331093,0.588729286189,0.00882273211582,1.05970470661
+230,3.833333333,pose1_to_pose2_press,0.618160738879,0.000150139132796,1.06003332275,0.588731414971,0.00882276989348,1.05970471733
+231,3.850000000,pose1_to_pose2_press,0.618162007439,0.00015020452759,1.06003343768,0.588732683034,0.00882283343819,1.05970482834
+232,3.866666667,pose1_to_pose2_press,0.618162938729,0.000150252535988,1.06003352206,0.58873361396,0.00882288008838,1.05970490985
+233,3.883333333,pose1_to_pose2_press,0.618163478947,0.000150215387357,1.06003346812,0.588734154438,0.00882284396757,1.0597048593
+234,3.900000000,pose1_to_pose2_press,0.618163788874,0.000150191759096,1.06003343352,0.588734464531,0.00882282099367,1.05970482682
+235,3.916666667,pose1_to_pose2_press,0.618163888871,0.000150184135569,1.06003342235,0.58873456458,0.00882281358127,1.05970481634
+236,3.933333333,pose1_to_pose2_press,0.61816398509,0.000150176800033,1.06003341161,0.588734660851,0.00882280644888,1.05970480625
+237,3.950000000,pose1_to_pose2_press,0.618164147205,0.000150164440681,1.06003339351,0.588734823052,0.00882279443181,1.05970478926
+238,3.966666667,pose1_to_pose2_press,0.618164436943,0.000150142351583,1.06003336115,0.588735112946,0.00882277295445,1.05970475889
+239,3.983333333,pose1_to_pose2_press,0.618164564136,0.000150120309797,1.0600333924,0.588735240569,0.00882275228408,1.05970478768
+240,4.000000000,pose1_to_pose2_press,0.618164738237,0.000150086746377,1.06003344765,0.58873541536,0.00882272090095,1.05970483865
+241,4.016666667,pose1_to_pose2_press,0.618165053407,0.0001500269622,1.06003354713,0.588735731778,0.00882266506195,1.05970493047
+242,4.033333333,pose1_to_pose2_press,0.618165090438,0.000150069514226,1.06003353156,0.588735768889,0.00882270798905,1.05970491786
+243,4.050000000,pose1_to_pose2_press,0.618165100768,0.000150081383967,1.06003352722,0.588735779241,0.00882271996341,1.05970491434
+244,4.066666667,pose1_to_pose2_press,0.618165111503,0.000150093719583,1.06003352271,0.588735789999,0.00882273240757,1.05970491069
+245,4.083333333,pose1_to_pose2_press,0.618165111503,0.000150093719583,1.06003352271,0.588735789998,0.00882273240717,1.05970491069
+246,4.100000000,pose1_to_pose2_press,0.618165111503,0.000150093719583,1.06003352271,0.588735789999,0.00882273240703,1.05970491069
+247,4.116666667,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240636,1.05970491069
+248,4.133333333,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240627,1.05970491069
+249,4.150000000,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240625,1.05970491069
+250,4.166666667,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240631,1.05970491069
+251,4.183333333,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240622,1.05970491069
+252,4.200000000,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240621,1.05970491069
+253,4.216666667,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240621,1.05970491069
+254,4.233333333,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240622,1.05970491069
+255,4.250000000,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240634,1.05970491069
+256,4.266666667,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240636,1.05970491069
+257,4.283333333,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240625,1.05970491069
+258,4.300000000,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240627,1.05970491069
+259,4.316666667,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240639,1.05970491069
+260,4.333333333,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240631,1.05970491069
+261,4.350000000,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240633,1.05970491069
+262,4.366666667,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240635,1.05970491069
+263,4.383333333,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240637,1.05970491069
+264,4.400000000,pose2_hold,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240646,1.05970491069
+265,4.416666667,pose2_to_pose3_retreat,0.618165111503,0.000150093719583,1.06003352271,0.588735790001,0.00882273240644,1.05970491069
+266,4.433333333,pose2_to_pose3_retreat,0.618165115749,0.000150094032515,1.06003349476,0.58873579317,0.00882272920536,1.05970488658
+267,4.450000000,pose2_to_pose3_retreat,0.618164955533,0.000150125349831,1.06003344383,0.588735632693,0.00882275968506,1.05970483687
+268,4.466666667,pose2_to_pose3_retreat,0.618164857959,0.000150144422789,1.06003341281,0.588735534958,0.00882277824788,1.0597048066
+269,4.483333333,pose2_to_pose3_retreat,0.618164804334,0.000150154904865,1.06003339577,0.588735481246,0.0088227884496,1.05970478996
+270,4.500000000,pose2_to_pose3_retreat,0.618164681316,0.000150168445947,1.060033389,0.588735357972,0.00882280112896,1.05970478343
+271,4.516666667,pose2_to_pose3_retreat,0.618164431289,0.000150181999941,1.06003341822,0.588735107349,0.00882281264093,1.05970481224
+272,4.533333333,pose2_to_pose3_retreat,0.6181630329,0.000150194429267,1.06003353696,0.588733707795,0.00882282105618,1.05970492974
+273,4.550000000,pose2_to_pose3_retreat,0.618158812651,0.000150100016508,1.06003357053,0.588729489747,0.00882273415334,1.05970496467
+274,4.566666667,pose2_to_pose3_retreat,0.61814906538,0.000150162150486,1.06003346474,0.58871974187,0.00882279453703,1.05970486799
+275,4.583333333,pose2_to_pose3_retreat,0.61813236719,0.000150192596509,1.06003360564,0.588703042845,0.00882282186993,1.05970500174
+276,4.600000000,pose2_to_pose3_retreat,0.618107006366,0.000150085154317,1.06003363886,0.588677685165,0.00882272488553,1.05970502894
+277,4.616666667,pose2_to_pose3_retreat,0.618073409475,0.000150207170601,1.06003359157,0.588644084603,0.00882283423554,1.05970497917
+278,4.633333333,pose2_to_pose3_retreat,0.618030593738,0.000150135938601,1.0600336137,0.588601270156,0.00882276731503,1.0597049997
+279,4.650000000,pose2_to_pose3_retreat,0.617980414317,0.000150084203028,1.06003370466,0.58855109244,0.00882272130062,1.05970509568
+280,4.666666667,pose2_to_pose3_retreat,0.617923411152,0.000150142686603,1.06003367718,0.588494087752,0.00882277447165,1.0597050722
+281,4.683333333,pose2_to_pose3_retreat,0.617857240084,0.00015008281171,1.06003361494,0.588427917639,0.00882271773159,1.05970501072
+282,4.700000000,pose2_to_pose3_retreat,0.617781344266,0.000149997466677,1.06003357755,0.588352024287,0.00882264087685,1.059704973
+283,4.716666667,pose2_to_pose3_retreat,0.617694411622,0.000150114953585,1.06003352057,0.588265089444,0.00882275097319,1.0597049159
+284,4.733333333,pose2_to_pose3_retreat,0.617595348399,0.00015045376538,1.06003370858,0.588166021916,0.0088230752926,1.0597051099
+285,4.750000000,pose2_to_pose3_retreat,0.617481538879,0.000150198284859,1.06003339467,0.588052216115,0.00882283235928,1.05970479641
+286,4.766666667,pose2_to_pose3_retreat,0.617353414689,0.000150122954149,1.06003328605,0.587924092384,0.00882275819672,1.05970468413
+287,4.783333333,pose2_to_pose3_retreat,0.617209893201,0.000150062266106,1.06003347662,0.5877805715,0.00882269919461,1.05970487113
+288,4.800000000,pose2_to_pose3_retreat,0.617050434292,0.000150080030509,1.06003351784,0.587621112598,0.00882271680511,1.05970491109
+289,4.816666667,pose2_to_pose3_retreat,0.616875360376,0.000150111820955,1.0600334228,0.587446039064,0.00882274979065,1.05970481654
+290,4.833333333,pose2_to_pose3_retreat,0.616683526949,0.000150040161605,1.06003348547,0.587254207175,0.00882268316553,1.05970488043
+291,4.850000000,pose2_to_pose3_retreat,0.616475996387,0.000150037534765,1.06003336074,0.5870466738,0.00882267094467,1.05970475981
+292,4.866666667,pose2_to_pose3_retreat,0.616251784999,0.00015021721921,1.06003347752,0.586822460856,0.00882284491556,1.05970487296
+293,4.883333333,pose2_to_pose3_retreat,0.61601073028,0.000150194122705,1.06003359019,0.586581406394,0.00882282225817,1.05970498347
+294,4.900000000,pose2_to_pose3_retreat,0.615752999496,0.000150179635732,1.06003356527,0.586323676122,0.00882280924203,1.05970495755
+295,4.916666667,pose2_to_pose3_retreat,0.615477019889,0.000150155549211,1.06003339532,0.586047697384,0.00882278803707,1.05970479342
+296,4.933333333,pose2_to_pose3_retreat,0.61518440527,0.000150123844284,1.0600332574,0.585755083586,0.00882275903343,1.05970466422
+297,4.950000000,pose2_to_pose3_retreat,0.614876157874,0.000150192616022,1.06003347307,0.585446835484,0.00882282487491,1.05970487369
+298,4.966666667,pose2_to_pose3_retreat,0.614551945405,0.000150072790046,1.06003361269,0.585122625253,0.00882271206469,1.05970500602
+299,4.983333333,pose2_to_pose3_retreat,0.614210015508,0.000150173162377,1.06003354229,0.584780694011,0.00882280770777,1.05970493785
+300,5.000000000,pose2_to_pose3_retreat,0.613846755326,0.000150222527515,1.06003353797,0.584417433927,0.00882285725893,1.05970493658
+301,5.016666667,pose2_to_pose3_retreat,0.613460274494,0.000150196776759,1.06003353045,0.584030953672,0.00882283321046,1.05970492857
+302,5.033333333,pose2_to_pose3_retreat,0.613043077131,0.000150182019591,1.06003342493,0.583613755155,0.00882281423446,1.0597048188
+303,5.050000000,pose2_to_pose3_retreat,0.612601265207,0.000150185054343,1.06003362787,0.583171944632,0.00882282193799,1.05970502034
+304,5.066666667,pose2_to_pose3_retreat,0.612141259161,0.000150162551781,1.06003347679,0.582711936982,0.00882279435798,1.05970487893
+305,5.083333333,pose2_to_pose3_retreat,0.611670177659,0.000150148820061,1.06003350649,0.582240856204,0.00882278275736,1.05970489995
+306,5.100000000,pose2_to_pose3_retreat,0.611189848707,0.000150120173242,1.06003343994,0.581760527709,0.00882275566956,1.05970483364
+307,5.116666667,pose2_to_pose3_retreat,0.610699887501,0.000150100409722,1.06003337068,0.581270566307,0.00882273533932,1.05970476697
+308,5.133333333,pose2_to_pose3_retreat,0.610196362111,0.000150114256563,1.06003339902,0.580767040517,0.0088227477786,1.05970479395
+309,5.150000000,pose2_to_pose3_retreat,0.609670833914,0.00015017383799,1.06003349604,0.580241512679,0.00882280870445,1.05970489365
+310,5.166666667,pose2_to_pose3_retreat,0.609126198798,0.000150144822561,1.0600336416,0.579696876845,0.00882277672959,1.05970502546
+311,5.183333333,pose2_to_pose3_retreat,0.608563666492,0.000150110462986,1.06003348459,0.579134344989,0.00882274411173,1.05970487527
+312,5.200000000,pose2_to_pose3_retreat,0.60798616114,0.000150133070812,1.06003330352,0.578556840158,0.00882276882778,1.05970470326
+313,5.216666667,pose2_to_pose3_retreat,0.607393091608,0.000150147969808,1.06003333182,0.577963770705,0.00882278403481,1.05970473197
+314,5.233333333,pose2_to_pose3_retreat,0.606774673767,0.000150088614614,1.06003363499,0.577345352653,0.00882272364621,1.05970502678
+315,5.250000000,pose2_to_pose3_retreat,0.606133172821,0.000150289428209,1.06003375113,0.576703852058,0.00882292561413,1.05970514273
+316,5.266666667,pose2_to_pose3_retreat,0.605472977893,0.000150060911882,1.06003348842,0.576043657885,0.00882269940959,1.0597048721
+317,5.283333333,pose2_to_pose3_retreat,0.60480172133,0.000150197473422,1.06003356285,0.575372400278,0.00882283270586,1.05970495353
+318,5.300000000,pose2_to_pose3_retreat,0.60412213125,0.000150158056401,1.06003348308,0.574692809999,0.00882279282665,1.05970487939
+319,5.316666667,pose2_to_pose3_retreat,0.603446262197,0.00015008147041,1.06003336543,0.574016941209,0.00882271719166,1.05970476317
+320,5.333333333,pose2_to_pose3_retreat,0.602769557599,0.000150135054679,1.06003343264,0.573340236488,0.00882277021483,1.05970482657
+321,5.350000000,pose2_to_pose3_retreat,0.602078448067,0.000150141267946,1.06003368528,0.572649126768,0.00882277523615,1.0597050645
+322,5.366666667,pose2_to_pose3_retreat,0.601366478085,0.000150050975219,1.06003363271,0.571937158098,0.00882268987226,1.05970502449
+323,5.383333333,pose2_to_pose3_retreat,0.60062551836,0.000150284555925,1.0600337315,0.571196196004,0.00882291536108,1.05970512183
+324,5.400000000,pose2_to_pose3_retreat,0.599869897519,0.000150241714514,1.0600336776,0.570440574621,0.00882287073466,1.05970506923
+325,5.416666667,pose2_to_pose3_retreat,0.599106297872,0.000150150299091,1.06003361085,0.569676976237,0.00882278381417,1.05970500801
+326,5.433333333,pose2_to_pose3_retreat,0.598356787768,0.000150145659549,1.06003359863,0.568927466457,0.00882278036514,1.05970499811
+327,5.450000000,pose2_to_pose3_retreat,0.597624005566,0.000150153373189,1.06003348572,0.568194683376,0.00882278501667,1.05970488313
+328,5.466666667,pose2_to_pose3_retreat,0.596904471291,0.000150095083107,1.06003315492,0.567475149604,0.00882272842396,1.05970455199
+329,5.483333333,pose2_to_pose3_retreat,0.596188338727,0.000149999550716,1.06003348377,0.56675901906,0.00882263951722,1.05970487471
+330,5.500000000,pose2_to_pose3_retreat,0.595471205667,0.000150111690154,1.06003342278,0.566041884393,0.00882274619958,1.05970481351
+331,5.516666667,pose2_to_pose3_retreat,0.594727750031,0.000150021597581,1.06003337122,0.565298429979,0.00882266042016,1.05970476633
+332,5.533333333,pose2_to_pose3_retreat,0.59396010205,0.00015001705849,1.06003354356,0.564530782463,0.00882265750139,1.05970493972
+333,5.550000000,pose2_to_pose3_retreat,0.593202529866,0.000150113906771,1.06003360097,0.563773208504,0.00882274825253,1.05970499515
+334,5.566666667,pose2_to_pose3_retreat,0.592458717704,0.000150102301567,1.06003340142,0.563029395756,0.00882273467972,1.05970479607
+335,5.583333333,pose2_to_pose3_retreat,0.591735603098,0.000150052750552,1.06003347772,0.562306283718,0.00882269393263,1.0597048747
+336,5.600000000,pose2_to_pose3_retreat,0.591044374922,0.000150060452541,1.06003345765,0.561615054877,0.00882269959483,1.05970486037
+337,5.616666667,pose2_to_pose3_retreat,0.590386091552,0.000150041410528,1.06003337584,0.560956772174,0.00882268275827,1.05970477701
+338,5.633333333,pose2_to_pose3_retreat,0.589733244881,0.000150021729697,1.06003351441,0.560303925265,0.00882266197545,1.05970490778
+339,5.650000000,pose2_to_pose3_retreat,0.589080968194,0.000150121906327,1.06003354127,0.559651646804,0.00882275604822,1.0597049323
+340,5.666666667,pose2_to_pose3_retreat,0.588421265034,0.000150298723701,1.06003339108,0.558991941234,0.00882292492696,1.05970478845
+341,5.683333333,pose2_to_pose3_retreat,0.58775518968,0.000150262549063,1.06003347973,0.55832586573,0.00882288835952,1.05970488014
+342,5.700000000,pose2_to_pose3_retreat,0.58708336596,0.000150117385243,1.06003358952,0.557654044089,0.00882275030206,1.05970499127
+343,5.716666667,pose2_to_pose3_retreat,0.586433899002,0.000150027148487,1.06003363621,0.557004577976,0.00882266249337,1.05970502629
+344,5.733333333,pose2_to_pose3_retreat,0.585815569163,0.000149994195282,1.06003374916,0.556386249137,0.00882263270121,1.05970513316
+345,5.750000000,pose2_to_pose3_retreat,0.585231925275,0.000149969543189,1.06003357199,0.555802604544,0.00882260576342,1.05970495878
+346,5.766666667,pose2_to_pose3_retreat,0.584679435348,0.00014998032743,1.06003344293,0.555250114133,0.00882261500609,1.05970483237
+347,5.783333333,pose2_to_pose3_retreat,0.584149588963,0.000150043381913,1.06003353086,0.554720268224,0.0088226795893,1.05970491791
+348,5.800000000,pose2_to_pose3_retreat,0.583620609327,0.000150143092304,1.06003355752,0.554191287827,0.00882277656352,1.05970494051
+349,5.816666667,pose2_to_pose3_retreat,0.583085103743,0.000150109631077,1.06003349355,0.553655783005,0.00882274618926,1.05970488982
+350,5.833333333,pose2_to_pose3_retreat,0.58255604419,0.000150099932034,1.06003328175,0.553126722896,0.00882273491264,1.05970468618
+351,5.850000000,pose2_to_pose3_retreat,0.58204060481,0.000150120049083,1.06003347013,0.552611283103,0.0088227533898,1.05970486817
+352,5.866666667,pose2_to_pose3_retreat,0.581555434614,0.000150091942531,1.06003356865,0.552126112866,0.00882272495394,1.05970496166
+353,5.883333333,pose2_to_pose3_retreat,0.581100018261,0.00015006670939,1.06003344656,0.55167069701,0.00882270153701,1.05970484306
+354,5.900000000,pose2_to_pose3_retreat,0.580675229325,0.000150128744901,1.06003342133,0.55124590795,0.00882276326559,1.05970482081
+355,5.916666667,pose2_to_pose3_retreat,0.580268588496,0.000150260802436,1.06003375803,0.550839263598,0.00882288291965,1.05970514564
+356,5.933333333,pose2_to_pose3_retreat,0.579877596271,0.000150060159874,1.06003351725,0.550448276255,0.00882269916146,1.05970491323
+357,5.950000000,pose2_to_pose3_retreat,0.579509218076,0.000150066697921,1.06003349199,0.55007989713,0.00882270252403,1.0597048875
+358,5.966666667,pose2_to_pose3_retreat,0.579164407435,0.000150155152623,1.06003347701,0.549735086219,0.0088227902277,1.05970487694
+359,5.983333333,pose2_to_pose3_retreat,0.578844307602,0.000150196344791,1.06003354082,0.549414986744,0.00882283252127,1.05970493774
+360,6.000000000,pose2_to_pose3_retreat,0.57854623624,0.000150166826707,1.06003364685,0.549116915316,0.0088228024985,1.0597050363
+361,6.016666667,pose2_to_pose3_retreat,0.578269113594,0.000150151338157,1.06003358993,0.54883979159,0.00882278381455,1.05970499188
+362,6.033333333,pose2_to_pose3_retreat,0.578001980927,0.000150132616175,1.06003340654,0.54857265832,0.00882276292862,1.05970480531
+363,6.050000000,pose2_to_pose3_retreat,0.577744341509,0.000150074507276,1.06003346911,0.548315020593,0.00882271038076,1.05970486328
+364,6.066666667,pose2_to_pose3_retreat,0.577500615159,0.000150171603292,1.06003356593,0.548071293046,0.00882280344263,1.05970496097
+365,6.083333333,pose2_to_pose3_retreat,0.577272555381,0.00015027754044,1.06003362528,0.547843231823,0.00882290440616,1.05970501857
+366,6.100000000,pose2_to_pose3_retreat,0.577064034027,0.000150216855196,1.06003352335,0.547634711686,0.00882284777169,1.05970491441
+367,6.116666667,pose2_to_pose3_retreat,0.57687457932,0.000150070133065,1.0600332928,0.547445259004,0.0088227081951,1.05970469089
+368,6.133333333,pose2_to_pose3_retreat,0.576704740943,0.000150077301315,1.06003348416,0.54727542078,0.00882271597268,1.0597048847
+369,6.150000000,pose2_to_pose3_retreat,0.576551665514,0.000150232799695,1.06003360969,0.547122342767,0.00882286241518,1.05970500291
+370,6.166666667,pose2_to_pose3_retreat,0.576414127079,0.000150053712103,1.0600337263,0.546984805405,0.00882268694571,1.05970511883
+371,6.183333333,pose2_to_pose3_retreat,0.576292335217,0.000150057967982,1.06003370343,0.54686301447,0.00882269402151,1.05970508737
+372,6.200000000,pose2_to_pose3_retreat,0.576184620246,0.00015015398641,1.0600336492,0.546755299198,0.00882278917581,1.05970503728
+373,6.216666667,pose2_to_pose3_retreat,0.5760911687,0.000150208472251,1.06003370576,0.546661846052,0.00882283816516,1.05970509241
+374,6.233333333,pose2_to_pose3_retreat,0.576009815959,0.0001501717773,1.06003361673,0.546580492839,0.00882279975633,1.05970500072
+375,6.250000000,pose2_to_pose3_retreat,0.575940079645,0.000150117730015,1.0600331575,0.546510758573,0.00882275338782,1.05970456057
+376,6.266666667,pose2_to_pose3_retreat,0.575880802327,0.000150282889146,1.06003350857,0.546451476678,0.00882290262554,1.05970490133
+377,6.283333333,pose2_to_pose3_retreat,0.575830620885,0.000150106329449,1.06003341101,0.546401298664,0.00882273759508,1.05970480103
+378,6.300000000,pose2_to_pose3_retreat,0.575789939342,0.000150137693637,1.06003366177,0.546360616491,0.00882276686549,1.05970505298
+379,6.316666667,pose2_to_pose3_retreat,0.575757021431,0.000150108357161,1.06003357927,0.546327700625,0.00882274476492,1.05970497819
+380,6.333333333,pose2_to_pose3_retreat,0.575731528209,0.000150147971101,1.06003347538,0.546302207336,0.00882278418456,1.05970487532
+381,6.350000000,pose2_to_pose3_retreat,0.575711638641,0.000150235557749,1.06003352854,0.546282315476,0.00882286373669,1.05970492167
+382,6.366666667,pose2_to_pose3_retreat,0.575696647433,0.000150212535145,1.06003364633,0.546267323983,0.00882283951764,1.05970503338
+383,6.383333333,pose2_to_pose3_retreat,0.575685467095,0.000150040917435,1.06003365051,0.546256145832,0.00882267532964,1.05970503783
+384,6.400000000,pose2_to_pose3_retreat,0.575677290239,0.00015007684605,1.06003367467,0.546247968678,0.00882271003725,1.0597050564
+385,6.416666667,pose2_to_pose3_retreat,0.575671964563,0.000150099270592,1.06003367025,0.546242643446,0.00882273400719,1.0597050531
+386,6.433333333,pose2_to_pose3_retreat,0.575668664829,0.000150097575201,1.06003364187,0.546239344091,0.00882273368894,1.05970502716
+387,6.450000000,pose2_to_pose3_retreat,0.575667103281,0.000150118589289,1.0600336003,0.546237780998,0.00882274925735,1.05970498019
+388,6.466666667,pose2_to_pose3_retreat,0.575666068809,0.000150112949575,1.06003356929,0.546236745796,0.00882274109482,1.05970494805
+389,6.483333333,pose2_to_pose3_retreat,0.575665454134,0.000150058401933,1.0600335418,0.546236131452,0.00882268788729,1.05970492628
+390,6.500000000,pose2_to_pose3_retreat,0.575665247482,0.000150040063104,1.06003353256,0.546235924911,0.008822669999,1.05970491896
+391,6.516666667,pose2_to_pose3_retreat,0.575665209894,0.000150036727506,1.06003353088,0.546235887344,0.00882266674535,1.05970491763
+392,6.533333333,pose2_to_pose3_retreat,0.575665112346,0.000150028070888,1.06003352652,0.546235789849,0.00882265830141,1.05970491418
+393,6.550000000,pose2_to_pose3_retreat,0.575665061242,0.000150023535788,1.06003352423,0.546235738772,0.00882265387772,1.05970491237
+394,6.566666667,pose2_to_pose3_retreat,0.575665016246,0.000150019542723,1.06003352222,0.5462356938,0.00882264998276,1.05970491077
+395,6.583333333,pose2_to_pose3_retreat,0.575665010199,0.00015001900611,1.06003352195,0.546235687756,0.00882264945933,1.05970491056
+396,6.600000000,pose2_to_pose3_retreat,0.575664906135,0.000150009771232,1.06003351729,0.546235583748,0.00882264045133,1.05970490687
+397,6.616666667,pose2_to_pose3_retreat,0.575664829122,0.000150002936969,1.06003351385,0.546235506777,0.00882263378497,1.05970490414
+398,6.633333333,pose2_to_pose3_retreat,0.575664722058,0.000150027262465,1.06003349598,0.546235399812,0.0088226584208,1.05970488566
+399,6.650000000,pose2_to_pose3_retreat,0.575664523183,0.000150099093796,1.06003345249,0.546235201151,0.00882273088916,1.05970483974
+400,6.666666667,pose2_to_pose3_retreat,0.57566449494,0.000150109294515,1.06003344632,0.546235172939,0.00882274118034,1.05970483321
+401,6.683333333,pose2_to_pose3_retreat,0.575664340251,0.000150152742852,1.06003344273,0.546235018882,0.00882278687483,1.05970483227
+402,6.700000000,pose2_to_pose3_retreat,0.575664307334,0.000150154368347,1.06003346051,0.546234986386,0.00882279005206,1.0597048534
+403,6.716666667,pose2_to_pose3_retreat,0.575664298158,0.000150154821476,1.06003346547,0.546234977327,0.00882279093775,1.05970485929
+404,6.733333333,pose2_to_pose3_retreat,0.575664274236,0.000150156002801,1.0600334784,0.54623495371,0.0088227932468,1.05970487465
+405,6.750000000,pose2_to_pose3_retreat,0.57566426636,0.000150156391738,1.06003348265,0.546234945934,0.00882279400702,1.0597048797
+406,6.766666667,pose2_to_pose3_retreat,0.575664258839,0.000150156763135,1.06003348672,0.546234938509,0.00882279473296,1.05970488453
+407,6.783333333,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485914,1.05970488537
+408,6.800000000,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485909,1.05970488537

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88dc5ca548e592369803ad265e844af52cfac7c35ab9e6abff576713eb1a61e
+size 25892653

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/simulation_data.csv

@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+1,0.016666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+2,0.033333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+3,0.050000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+4,0.066666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+5,0.083333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+6,0.100000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+7,0.116666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+8,0.133333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+9,0.150000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+10,0.166666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+11,0.183333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+12,0.200000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+13,0.216666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+14,0.233333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+15,0.250000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+16,0.266666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+17,0.283333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+18,0.300000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+19,0.316666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+20,0.333333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+21,0.350000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+22,0.366666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+23,0.383333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+24,0.400000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+25,0.416666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+26,0.433333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+27,0.450000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+28,0.466666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+29,0.483333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+30,0.500000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+31,0.516666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+32,0.533333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+33,0.550000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+34,0.566666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+35,0.583333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+36,0.600000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+37,0.616666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+38,0.633333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+39,0.650000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+40,0.666666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+41,0.683333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+42,0.700000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+43,0.716666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+44,0.733333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+45,0.750000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+46,0.766666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+47,0.783333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+48,0.800000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+49,0.816666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+50,0.833333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+51,0.850000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+52,0.866666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+53,0.883333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+54,0.900000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+55,0.916666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+56,0.933333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+57,0.950000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+58,0.966666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+59,0.983333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+60,1.000000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+61,1.016666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+62,1.033333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+63,1.050000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+64,1.066666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+65,1.083333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+66,1.100000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+67,1.116666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+68,1.133333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+69,1.150000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+70,1.166666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+71,1.183333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+72,1.200000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+73,1.216666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+74,1.233333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+75,1.250000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+76,1.266666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+77,1.283333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+78,1.300000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+79,1.316666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+80,1.333333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+81,1.350000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+82,1.366666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+83,1.383333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+84,1.400000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+85,1.416666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+86,1.433333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+87,1.450000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+88,1.466666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+89,1.483333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+90,1.500000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+91,1.516666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+92,1.533333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+93,1.550000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+94,1.566666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+95,1.583333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+96,1.600000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+97,1.616666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+98,1.633333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+99,1.650000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+100,1.666666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+101,1.683333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+102,1.700000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+103,1.716666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+104,1.733333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+105,1.750000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+106,1.766666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+107,1.783333333,pose1_to_pose2_press,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+108,1.800000000,pose1_to_pose2_press,0.575664279325,0.000150156886111,1.06003347908,0.546234958766,0.00882279404688,1.05970487611
+109,1.816666667,pose1_to_pose2_press,0.575664333957,0.000150157032556,1.06003345818,0.54623501278,0.00882279201083,1.05970485289
+110,1.833333333,pose1_to_pose2_press,0.575664496543,0.000150149265518,1.06003340954,0.546235173916,0.0088227791216,1.05970479894
+111,1.850000000,pose1_to_pose2_press,0.575664620254,0.000150110921651,1.06003342617,0.546235298054,0.00882274230903,1.05970481774
+112,1.866666667,pose1_to_pose2_press,0.575664724177,0.000150078710976,1.06003344015,0.546235402336,0.00882271138471,1.05970483354
+113,1.883333333,pose1_to_pose2_press,0.575664915761,0.000150019330046,1.06003346591,0.546235594581,0.00882265437521,1.05970486267
+114,1.900000000,pose1_to_pose2_press,0.575665885879,0.000150082676598,1.06003340222,0.546236563576,0.00882271393821,1.05970479974
+115,1.916666667,pose1_to_pose2_press,0.575669119213,0.000150091551272,1.06003365387,0.546239798921,0.00882272923761,1.05970504074
+116,1.933333333,pose1_to_pose2_press,0.575677857649,0.000150173384898,1.06003360764,0.546248536306,0.00882280784896,1.05970500356
+117,1.950000000,pose1_to_pose2_press,0.575693888892,0.000150199721843,1.060033639,0.546264566864,0.00882283166552,1.05970502972
+118,1.966666667,pose1_to_pose2_press,0.57571916395,0.000150238738212,1.0600335643,0.546289840082,0.00882286472205,1.0597049624
+119,1.983333333,pose1_to_pose2_press,0.57575349755,0.000150123115814,1.06003339808,0.546324176946,0.00882276017903,1.05970479622
+120,2.000000000,pose1_to_pose2_press,0.575797592807,0.000150048141964,1.06003340745,0.546368271948,0.0088226841191,1.05970479972
+121,2.016666667,pose1_to_pose2_press,0.575849581723,0.000150171689554,1.06003349974,0.546420258173,0.00882279846388,1.05970489009
+122,2.033333333,pose1_to_pose2_press,0.575909379756,0.000150073611444,1.06003351107,0.546480058889,0.00882270953408,1.05970490251
+123,2.050000000,pose1_to_pose2_press,0.575977010827,0.000150175031042,1.0600336108,0.546547689386,0.00882280914126,1.05970500571
+124,2.066666667,pose1_to_pose2_press,0.576052656495,0.000150113673395,1.06003363614,0.546623336499,0.00882275256222,1.05970502774
+125,2.083333333,pose1_to_pose2_press,0.576139766427,0.000150114350361,1.06003353212,0.546710445326,0.00882274959276,1.05970492636
+126,2.100000000,pose1_to_pose2_press,0.576239007005,0.000150083425906,1.06003359908,0.546809685922,0.00882271849243,1.05970498704
+127,2.116666667,pose1_to_pose2_press,0.57635300064,0.000150056052322,1.06003371354,0.546923679781,0.00882269185191,1.05970510077
+128,2.133333333,pose1_to_pose2_press,0.576482852894,0.000150091601203,1.06003370209,0.547053530356,0.0088227218043,1.05970509187
+129,2.150000000,pose1_to_pose2_press,0.576629867677,0.000150137766668,1.0600336387,0.547200544341,0.00882276523661,1.05970502772
+130,2.166666667,pose1_to_pose2_press,0.576792604271,0.00015015440276,1.06003363315,0.547363281994,0.00882278555808,1.05970502458
+131,2.183333333,pose1_to_pose2_press,0.576971186519,0.000150177688016,1.06003356483,0.547541863333,0.00882280584063,1.05970495838
+132,2.200000000,pose1_to_pose2_press,0.577169067445,0.000150104052332,1.06003336384,0.547739747052,0.00882274183002,1.05970476122
+133,2.216666667,pose1_to_pose2_press,0.577385619425,0.000150061746366,1.06003334786,0.547956298411,0.0088226976433,1.05970475104
+134,2.233333333,pose1_to_pose2_press,0.577622403143,0.000150087523619,1.06003349511,0.548193083193,0.00882272680745,1.05970489242
+135,2.250000000,pose1_to_pose2_press,0.577877424862,0.000150195206353,1.06003373597,0.548448103881,0.00882283082858,1.05970512882
+136,2.266666667,pose1_to_pose2_press,0.57814991958,0.000150083768654,1.06003353078,0.548720598963,0.00882272070497,1.05970492566
+137,2.283333333,pose1_to_pose2_press,0.578440366776,0.000149979349475,1.06003360573,0.549011047617,0.00882262111699,1.05970499737
+138,2.300000000,pose1_to_pose2_press,0.578747362218,0.000150113700936,1.0600335531,0.549318039966,0.00882274499734,1.05970494538
+139,2.316666667,pose1_to_pose2_press,0.579071197737,0.000150206605849,1.06003342631,0.549641874088,0.00882283332098,1.05970482267
+140,2.333333333,pose1_to_pose2_press,0.579412005746,0.000150184074475,1.06003353688,0.549982683069,0.00882281402715,1.05970493154
+141,2.350000000,pose1_to_pose2_press,0.579771583817,0.000150115047068,1.06003376814,0.550342262234,0.00882274845938,1.05970515606
+142,2.366666667,pose1_to_pose2_press,0.580151353954,0.000150099611451,1.06003369553,0.550722032322,0.0088227328464,1.05970508311
+143,2.383333333,pose1_to_pose2_press,0.58055285716,0.00015025582264,1.06003338414,0.551123533522,0.00882288260798,1.05970478102
+144,2.400000000,pose1_to_pose2_press,0.580981370711,0.000150183926321,1.0600334811,0.551552048432,0.00882281539643,1.05970487981
+145,2.416666667,pose1_to_pose2_press,0.581434888729,0.000150103443601,1.06003363889,0.552005567102,0.00882273677214,1.0597050281
+146,2.433333333,pose1_to_pose2_press,0.581911538194,0.000149987592072,1.06003373198,0.552482218767,0.00882262851522,1.05970512463
+147,2.450000000,pose1_to_pose2_press,0.582405310474,0.000150232623277,1.06003364608,0.552975988652,0.00882286560019,1.05970504339
+148,2.466666667,pose1_to_pose2_press,0.582914944233,0.000150117813959,1.06003364663,0.553485623406,0.00882275384916,1.05970503544
+149,2.483333333,pose1_to_pose2_press,0.58344240065,0.000150003401637,1.06003351881,0.554013080015,0.00882264003225,1.05970490599
+150,2.500000000,pose1_to_pose2_press,0.583989206454,0.000150019454216,1.0600334459,0.554559885924,0.00882265666868,1.05970483908
+151,2.516666667,pose1_to_pose2_press,0.584558898884,0.000150120929696,1.06003349105,0.555129577323,0.00882275476053,1.05970488711
+152,2.533333333,pose1_to_pose2_press,0.585148041725,0.000150220348381,1.06003364952,0.555718718193,0.00882284732213,1.05970504109
+153,2.550000000,pose1_to_pose2_press,0.585754334369,0.00015014870045,1.06003392124,0.55632501349,0.00882278444196,1.05970530651
+154,2.566666667,pose1_to_pose2_press,0.586365043828,0.000150089916409,1.06003352363,0.556935723231,0.00882272675342,1.05970491248
+155,2.583333333,pose1_to_pose2_press,0.586977798442,0.000150181663175,1.06003351333,0.557548475405,0.00882281032593,1.0597049049
+156,2.600000000,pose1_to_pose2_press,0.587605424484,0.000150189279416,1.06003338585,0.558176103036,0.00882282355704,1.05970478325
+157,2.616666667,pose1_to_pose2_press,0.588249120195,0.000150131634168,1.06003346868,0.558819798456,0.00882276481973,1.05970486334
+158,2.633333333,pose1_to_pose2_press,0.588911670623,0.000150094578804,1.06003334676,0.559482349196,0.00882272879512,1.05970474051
+159,2.650000000,pose1_to_pose2_press,0.589600543519,0.000150113975194,1.06003341812,0.560171221754,0.0088227468347,1.05970480631
+160,2.666666667,pose1_to_pose2_press,0.590320442467,0.000150145690532,1.06003346004,0.560891120162,0.00882277676836,1.05970484958
+161,2.683333333,pose1_to_pose2_press,0.59104584948,0.000150138509642,1.06003337302,0.561616527656,0.00882277145982,1.05970476888
+162,2.700000000,pose1_to_pose2_press,0.591773471838,0.000150091149542,1.06003349898,0.562344151246,0.00882272828071,1.05970489487
+163,2.716666667,pose1_to_pose2_press,0.592490632158,0.00015006935762,1.06003371957,0.563061311517,0.00882270625536,1.05970511361
+164,2.733333333,pose1_to_pose2_press,0.593197001717,0.000150153282268,1.06003363112,0.563767678013,0.00882277962528,1.05970502086
+165,2.750000000,pose1_to_pose2_press,0.59389829694,0.000150085371925,1.06003349464,0.564468975295,0.00882271892839,1.05970489049
+166,2.766666667,pose1_to_pose2_press,0.594614309577,0.000150169778705,1.06003359445,0.565184986424,0.00882279820346,1.05970498986
+167,2.783333333,pose1_to_pose2_press,0.595352877946,0.000150232641264,1.0600338276,0.565923554079,0.00882285832434,1.05970521463
+168,2.800000000,pose1_to_pose2_press,0.596119176475,0.0001501577403,1.06003380104,0.566689853473,0.00882278647964,1.05970519129
+169,2.816666667,pose1_to_pose2_press,0.596905247849,0.000150136000649,1.06003359303,0.56747592508,0.00882276570121,1.05970498775
+170,2.833333333,pose1_to_pose2_press,0.597694624436,0.000150112313806,1.06003342383,0.568265302438,0.00882274465984,1.05970481939
+171,2.850000000,pose1_to_pose2_press,0.59846698669,0.000150154931028,1.06003336737,0.569037664853,0.00882278783056,1.05970476319
+172,2.866666667,pose1_to_pose2_press,0.599208590572,0.000150153046354,1.06003345715,0.569779269339,0.00882278801682,1.05970485361
+173,2.883333333,pose1_to_pose2_press,0.599936082507,0.000150033703453,1.06003354839,0.570506763085,0.00882267483531,1.05970494535
+174,2.900000000,pose1_to_pose2_press,0.600654843175,0.000150092772013,1.06003338594,0.571225522747,0.00882273049727,1.05970478312
+175,2.916666667,pose1_to_pose2_press,0.601380945124,0.000150124577703,1.06003347654,0.571951623733,0.00882275915469,1.05970487691
+176,2.933333333,pose1_to_pose2_press,0.602119901979,0.000150072434895,1.0600334391,0.572690581062,0.0088227079482,1.05970482194
+177,2.950000000,pose1_to_pose2_press,0.602871712388,0.000150144946135,1.06003349772,0.573442390632,0.00882277792464,1.05970488887
+178,2.966666667,pose1_to_pose2_press,0.603621459172,0.000150082038,1.06003349252,0.574192138867,0.00882272012086,1.05970488851
+179,2.983333333,pose1_to_pose2_press,0.604363208568,0.000150291757181,1.06003369687,0.574933886397,0.00882292339234,1.05970508991
+180,3.000000000,pose1_to_pose2_press,0.605071470533,0.000150172983521,1.06003360438,0.575642148647,0.00882280546773,1.05970499448
+181,3.016666667,pose1_to_pose2_press,0.605746706257,0.000150173142946,1.06003351218,0.576317384459,0.00882280599731,1.0597049042
+182,3.033333333,pose1_to_pose2_press,0.606389420754,0.000150201379952,1.06003334395,0.57696009823,0.00882283189239,1.05970473935
+183,3.050000000,pose1_to_pose2_press,0.607011914296,0.000150151588944,1.0600332304,0.577582591695,0.00882278188837,1.05970462713
+184,3.066666667,pose1_to_pose2_press,0.607626566044,0.000150162874258,1.06003352824,0.578197245036,0.00882279854542,1.05970492422
+185,3.083333333,pose1_to_pose2_press,0.608240722018,0.000150034675547,1.06003373248,0.578811403037,0.00882267727844,1.05970513
+186,3.100000000,pose1_to_pose2_press,0.608854238386,0.000150073501335,1.06003342823,0.579424916926,0.00882270752206,1.0597048214
+187,3.116666667,pose1_to_pose2_press,0.609463144014,0.000150090753536,1.06003369297,0.580033823659,0.00882272840551,1.0597050831
+188,3.133333333,pose1_to_pose2_press,0.610056265194,0.000150160510603,1.06003375432,0.58062694352,0.00882279377687,1.059705147
+189,3.150000000,pose1_to_pose2_press,0.610616117417,0.000150227942905,1.06003352619,0.581186794162,0.00882285590818,1.05970492066
+190,3.166666667,pose1_to_pose2_press,0.611149817038,0.000150219434092,1.06003351115,0.581720494184,0.00882284861388,1.05970490185
+191,3.183333333,pose1_to_pose2_press,0.61165976184,0.000150214017841,1.06003364344,0.582230439753,0.00882284574358,1.05970503282
+192,3.200000000,pose1_to_pose2_press,0.61215051537,0.000150259126187,1.06003356689,0.5827211927,0.0088228891352,1.05970496331
+193,3.216666667,pose1_to_pose2_press,0.612623070672,0.00015016682394,1.06003336942,0.583193748407,0.00882279827978,1.05970476813
+194,3.233333333,pose1_to_pose2_press,0.613084884822,0.000150253976185,1.06003360259,0.583655560698,0.00882287892385,1.05970499529
+195,3.250000000,pose1_to_pose2_press,0.613535247965,0.000150183206106,1.06003382333,0.584105925815,0.00882281488186,1.0597052134
+196,3.266666667,pose1_to_pose2_press,0.613972623557,0.00014999687875,1.06003353539,0.584543303806,0.00882263714095,1.05970492893
+197,3.283333333,pose1_to_pose2_press,0.614398742179,0.000150028094502,1.06003335366,0.584969421255,0.00882266496208,1.05970475397
+198,3.300000000,pose1_to_pose2_press,0.614812306656,0.000150049838784,1.06003326856,0.58538298558,0.00882268676625,1.05970467421
+199,3.316666667,pose1_to_pose2_press,0.615198119718,0.000150049951047,1.06003338625,0.585768798247,0.00882268582937,1.05970478956
+200,3.333333333,pose1_to_pose2_press,0.615555801249,0.000150112377668,1.06003352137,0.586126478348,0.00882274349602,1.05970491938
+201,3.350000000,pose1_to_pose2_press,0.615885783843,0.000150128866549,1.06003339804,0.586456461674,0.00882276269162,1.0597047939
+202,3.366666667,pose1_to_pose2_press,0.616191571504,0.000150134017398,1.06003352536,0.586762249437,0.00882276851068,1.05970491494
+203,3.383333333,pose1_to_pose2_press,0.616473266389,0.000150187482315,1.06003362566,0.587043942471,0.00882281603281,1.05970501645
+204,3.400000000,pose1_to_pose2_press,0.616743172745,0.000150183866857,1.06003363012,0.587313849796,0.0088228161139,1.05970502282
+205,3.416666667,pose1_to_pose2_press,0.617001829743,0.000150175519599,1.06003363331,0.587572507672,0.00882281111832,1.05970502631
+206,3.433333333,pose1_to_pose2_press,0.617243219608,0.00015019289973,1.06003363698,0.587813896095,0.00882282387101,1.05970502875
+207,3.450000000,pose1_to_pose2_press,0.617468047456,0.000150259428717,1.06003359325,0.588038722348,0.00882288516212,1.05970498236
+208,3.466666667,pose1_to_pose2_press,0.617675450204,0.000150249109073,1.06003362469,0.588246126403,0.00882287944624,1.05970501132
+209,3.483333333,pose1_to_pose2_press,0.617866105316,0.000150110969814,1.06003367669,0.588436784125,0.00882275053862,1.05970506659
+210,3.500000000,pose1_to_pose2_press,0.618039386675,0.000150097930202,1.06003337279,0.588610064448,0.00882273463516,1.05970477401
+211,3.516666667,pose1_to_pose2_press,0.618198633094,0.000150144237003,1.06003348616,0.58876931161,0.0088227833701,1.05970488323
+212,3.533333333,pose1_to_pose2_press,0.618343986351,0.000150083888744,1.0600333823,0.588914662826,0.00882271616629,1.05970477624
+213,3.550000000,pose1_to_pose2_press,0.618474134894,0.000150063316388,1.06003336925,0.589044811847,0.00882269756535,1.05970476737
+214,3.566666667,pose1_to_pose2_press,0.618589798278,0.00014995592586,1.06003366596,0.589160477109,0.00882259669658,1.05970506294
+215,3.583333333,pose1_to_pose2_press,0.618689262959,0.00014999627735,1.06003356767,0.589259940394,0.00882263224271,1.05970496116
+216,3.600000000,pose1_to_pose2_press,0.618775047364,0.00015013724261,1.0600336465,0.589345724182,0.00882277155677,1.05970504061
+217,3.616666667,pose1_to_pose2_press,0.618847781625,0.000150147855041,1.06003360869,0.589418458632,0.00882278304954,1.05970500625
+218,3.633333333,pose1_to_pose2_press,0.618908679062,0.000150113008857,1.06003351962,0.589479356048,0.00882274805196,1.05970491829
+219,3.650000000,pose1_to_pose2_press,0.61895950987,0.000150181764332,1.06003362711,0.589530186448,0.00882281522965,1.05970502199
+220,3.666666667,pose1_to_pose2_press,0.619002542723,0.000150242649549,1.06003376291,0.589573218905,0.00882287402458,1.05970515128
+221,3.683333333,pose1_to_pose2_press,0.61903915722,0.000150265088318,1.06003362426,0.589609832612,0.00882289492998,1.05970502275
+222,3.700000000,pose1_to_pose2_press,0.619069488676,0.000150255022742,1.06003351167,0.589640164375,0.00882288605378,1.05970491406
+223,3.716666667,pose1_to_pose2_press,0.619095002796,0.000150179079659,1.06003349171,0.589665679498,0.00882281318349,1.05970488897
+224,3.733333333,pose1_to_pose2_press,0.619115728007,0.000150110536994,1.0600335597,0.589686405474,0.00882274702743,1.05970495145
+225,3.750000000,pose1_to_pose2_press,0.619131543605,0.000150116264988,1.06003366027,0.589702220993,0.00882275261463,1.05970505348
+226,3.766666667,pose1_to_pose2_press,0.619143087659,0.000150108503138,1.06003375255,0.589713764626,0.00882274362452,1.05970514513
+227,3.783333333,pose1_to_pose2_press,0.619150703385,0.000150226835625,1.060033661,0.589721378745,0.00882285622827,1.05970505199
+228,3.800000000,pose1_to_pose2_press,0.61915585807,0.0001501787831,1.06003350238,0.589726533076,0.00882280707966,1.0597048945
+229,3.816666667,pose1_to_pose2_press,0.619158964525,0.000150118962665,1.06003339613,0.589729639666,0.00882274789856,1.05970479073
+230,3.833333333,pose1_to_pose2_press,0.619161132547,0.000150120061376,1.06003342873,0.589731808566,0.00882275222668,1.05970483172
+231,3.850000000,pose1_to_pose2_press,0.619162649511,0.000150146606975,1.06003348299,0.589733325796,0.00882277970311,1.05970488765
+232,3.866666667,pose1_to_pose2_press,0.619163549115,0.000150196304136,1.0600335566,0.589734225099,0.00882282820194,1.05970495671
+233,3.883333333,pose1_to_pose2_press,0.619164121941,0.00015022751457,1.06003360309,0.589734797737,0.00882285866424,1.05970500034
+234,3.900000000,pose1_to_pose2_press,0.619164493594,0.000150211653839,1.0600336015,0.589735169607,0.00882284355684,1.05970499974
+235,3.916666667,pose1_to_pose2_press,0.619164667434,0.000150204234993,1.06003360076,0.589735343549,0.00882283649037,1.05970499945
+236,3.933333333,pose1_to_pose2_press,0.619164685215,0.00015020347617,1.06003360069,0.58973536134,0.00882283576759,1.05970499943
+237,3.950000000,pose1_to_pose2_press,0.619164710325,0.000150202404551,1.06003360058,0.589735386465,0.00882283474687,1.05970499938
+238,3.966666667,pose1_to_pose2_press,0.619164780479,0.000150199410676,1.06003360028,0.589735456659,0.0088228318952,1.05970499927
+239,3.983333333,pose1_to_pose2_press,0.619164956935,0.000150191880208,1.06003359953,0.589735633218,0.0088228247224,1.05970499898
+240,4.000000000,pose1_to_pose2_press,0.619165059366,0.000150190187333,1.06003357754,0.58973573577,0.00882282341738,1.0597049765
+241,4.016666667,pose1_to_pose2_press,0.619165064689,0.000150190721495,1.0600335714,0.589735741114,0.00882282401356,1.05970497014
+242,4.033333333,pose1_to_pose2_press,0.619165071939,0.000150191448945,1.06003356302,0.589735748391,0.00882282482547,1.05970496149
+243,4.050000000,pose1_to_pose2_press,0.619165085377,0.000150192797386,1.0600335475,0.58973576188,0.00882282633046,1.05970494546
+244,4.066666667,pose1_to_pose2_press,0.619165174686,0.000150201759139,1.06003344437,0.589735851531,0.00882283633269,1.05970483887
+245,4.083333333,pose1_to_pose2_press,0.619165285669,0.000150200132068,1.06003352001,0.589735962252,0.00882283380884,1.05970491382
+246,4.100000000,pose1_to_pose2_press,0.61916533934,0.000150195201316,1.06003362276,0.589736015577,0.00882282773295,1.05970501741
+247,4.116666667,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.58973601558,0.00882282773232,1.05970501741
+248,4.133333333,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.58973601558,0.00882282773235,1.05970501741
+249,4.150000000,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.58973601558,0.00882282773244,1.05970501741
+250,4.166666667,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.58973601558,0.00882282773263,1.05970501741
+251,4.183333333,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.58973601558,0.00882282773262,1.05970501741
+252,4.200000000,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.58973601558,0.00882282773263,1.05970501741
+253,4.216666667,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.58973601558,0.00882282773264,1.05970501741
+254,4.233333333,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.58973601558,0.00882282773265,1.05970501741
+255,4.250000000,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.58973601558,0.00882282773265,1.05970501741
+256,4.266666667,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.589736015581,0.00882282773254,1.05970501741
+257,4.283333333,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.589736015581,0.00882282773269,1.05970501741
+258,4.300000000,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.589736015581,0.0088228277327,1.05970501741
+259,4.316666667,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.589736015581,0.00882282773271,1.05970501741
+260,4.333333333,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.589736015581,0.00882282773272,1.05970501741
+261,4.350000000,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.589736015581,0.00882282773273,1.05970501741
+262,4.366666667,pose2_hold,0.61916533934,0.000150195201316,1.06003362276,0.589736015581,0.00882282773275,1.05970501741
+263,4.383333333,pose2_to_pose3_retreat,0.61916533934,0.000150195201316,1.06003362276,0.589736015581,0.0088228277327,1.05970501741
+264,4.400000000,pose2_to_pose3_retreat,0.619165319796,0.000150207895243,1.06003362587,0.589735995935,0.00882284004979,1.05970501978
+265,4.416666667,pose2_to_pose3_retreat,0.619165318568,0.000150208693051,1.06003362606,0.5897359947,0.00882284082392,1.05970501993
+266,4.433333333,pose2_to_pose3_retreat,0.619165245024,0.000150256461851,1.06003363774,0.58973592077,0.00882288717466,1.05970502885
+267,4.450000000,pose2_to_pose3_retreat,0.619165216941,0.000150271174526,1.06003364333,0.589735892552,0.00882290139625,1.05970503356
+268,4.466666667,pose2_to_pose3_retreat,0.61916520587,0.000150269623133,1.0600336479,0.589735881456,0.00882289975633,1.05970503811
+269,4.483333333,pose2_to_pose3_retreat,0.619165048141,0.000150247518613,1.060033713,0.589735723357,0.00882287639043,1.05970510295
+270,4.500000000,pose2_to_pose3_retreat,0.619165003542,0.000150241268482,1.06003373141,0.589735678654,0.00882286978363,1.05970512129
+271,4.516666667,pose2_to_pose3_retreat,0.619164290164,0.000150159692655,1.06003369348,0.589734966391,0.00882279208499,1.05970508587
+272,4.533333333,pose2_to_pose3_retreat,0.619161563654,0.000150065905809,1.06003361176,0.5897322417,0.00882270453698,1.0597050061
+273,4.550000000,pose2_to_pose3_retreat,0.61915554001,0.000150220834463,1.06003400856,0.589726215465,0.00882285017312,1.05970539107
+274,4.566666667,pose2_to_pose3_retreat,0.619141649303,0.000150162978439,1.06003354514,0.589712326973,0.0088228003053,1.05970494276
+275,4.583333333,pose2_to_pose3_retreat,0.619119533479,0.000150085695455,1.06003349786,0.589690209772,0.00882271830006,1.05970489629
+276,4.600000000,pose2_to_pose3_retreat,0.619088473852,0.000150279788719,1.06003349288,0.589659148984,0.00882290823107,1.0597048879
+277,4.616666667,pose2_to_pose3_retreat,0.619048701249,0.000150081332715,1.06003351741,0.589619379441,0.00882272039301,1.05970491432
+278,4.633333333,pose2_to_pose3_retreat,0.618999944798,0.000150107122788,1.06003358408,0.589570622887,0.00882274546522,1.05970498601
+279,4.650000000,pose2_to_pose3_retreat,0.618944380344,0.000150133958402,1.06003358669,0.589515058137,0.00882277194533,1.05970498897
+280,4.666666667,pose2_to_pose3_retreat,0.618882097824,0.000150073767039,1.06003357628,0.589452776278,0.00882271325692,1.0597049683
+281,4.683333333,pose2_to_pose3_retreat,0.618811290769,0.000150085205273,1.06003325284,0.589381969182,0.00882272407032,1.05970465013
+282,4.700000000,pose2_to_pose3_retreat,0.618731570008,0.00015017650502,1.06003348063,0.589302246699,0.00882280972869,1.05970487179
+283,4.716666667,pose2_to_pose3_retreat,0.618640598493,0.000150143517231,1.0600335017,0.589211275144,0.00882277675733,1.05970489543
+284,4.733333333,pose2_to_pose3_retreat,0.618537567803,0.000150141795977,1.06003357085,0.589108244369,0.00882277458838,1.05970496457
+285,4.750000000,pose2_to_pose3_retreat,0.618421221618,0.000150209720876,1.06003355282,0.588991897486,0.0088228398619,1.05970494406
+286,4.766666667,pose2_to_pose3_retreat,0.618287920869,0.00015026871873,1.06003345488,0.588858596027,0.00882289624702,1.05970484451
+287,4.783333333,pose2_to_pose3_retreat,0.618137858971,0.000150170450244,1.06003362242,0.588708535013,0.00882280085195,1.05970501378
+288,4.800000000,pose2_to_pose3_retreat,0.61796933479,0.000150206941864,1.0600334832,0.588540012322,0.008822842376,1.05970488287
+289,4.816666667,pose2_to_pose3_retreat,0.617783535166,0.000150097158722,1.06003362209,0.588354212212,0.00882273023854,1.05970501151
+290,4.833333333,pose2_to_pose3_retreat,0.617579836882,0.000150223842537,1.06003364416,0.588150512752,0.00882285282741,1.05970503359
+291,4.850000000,pose2_to_pose3_retreat,0.617359965485,0.000150165266752,1.06003353885,0.587930642969,0.00882279977781,1.05970493761
+292,4.866666667,pose2_to_pose3_retreat,0.617124021556,0.000150103528061,1.06003337185,0.587694699974,0.00882274100389,1.05970477321
+293,4.883333333,pose2_to_pose3_retreat,0.616869573639,0.000150094337839,1.06003334959,0.58744025189,0.00882273087076,1.05970474674
+294,4.900000000,pose2_to_pose3_retreat,0.616597022752,0.000149999009428,1.06003361724,0.587167702462,0.0088226401785,1.05970501536
+295,4.916666667,pose2_to_pose3_retreat,0.616305238665,0.000150109562372,1.06003375084,0.586875917656,0.00882274738599,1.05970514309
+296,4.933333333,pose2_to_pose3_retreat,0.615996519413,0.000150198401975,1.06003342563,0.586567196204,0.00882282886652,1.05970482354
+297,4.950000000,pose2_to_pose3_retreat,0.615670781885,0.000150100966454,1.06003354008,0.586241461845,0.00882274177966,1.05970493517
+298,4.966666667,pose2_to_pose3_retreat,0.615330381189,0.000150080169477,1.06003355642,0.585901061375,0.00882272145907,1.05970495332
+299,4.983333333,pose2_to_pose3_retreat,0.614974943081,0.000150131280027,1.06003343863,0.585545621239,0.00882276550443,1.0597048398
+300,5.000000000,pose2_to_pose3_retreat,0.614597755579,0.000150143388893,1.0600333249,0.585168433024,0.00882277490888,1.05970472727
+301,5.016666667,pose2_to_pose3_retreat,0.614196506592,0.000150027409692,1.06003322768,0.584767185585,0.00882266388789,1.05970463142
+302,5.033333333,pose2_to_pose3_retreat,0.61376638773,0.000150056074471,1.06003349961,0.584337066419,0.00882269057597,1.05970488593
+303,5.050000000,pose2_to_pose3_retreat,0.613312115948,0.000150172880432,1.06003343302,0.583882794409,0.00882280654188,1.05970482389
+304,5.066666667,pose2_to_pose3_retreat,0.612835848648,0.000150262510033,1.06003344177,0.583406526626,0.00882289466741,1.05970483879
+305,5.083333333,pose2_to_pose3_retreat,0.612347171722,0.000150283774372,1.06003349416,0.582917849133,0.00882291405788,1.05970489278
+306,5.100000000,pose2_to_pose3_retreat,0.611848458253,0.000150230691891,1.06003349743,0.582419136185,0.00882286268893,1.0597048947
+307,5.116666667,pose2_to_pose3_retreat,0.61133944623,0.000150108393143,1.06003349966,0.581910126745,0.00882274906895,1.05970489465
+308,5.133333333,pose2_to_pose3_retreat,0.610816296035,0.000150012882566,1.06003350099,0.581386975868,0.00882265120191,1.05970489485
+309,5.150000000,pose2_to_pose3_retreat,0.610274590232,0.000150155707042,1.06003339192,0.580845268703,0.00882278959896,1.05970479081
+310,5.166666667,pose2_to_pose3_retreat,0.609715578094,0.000150179642487,1.06003349736,0.580286256428,0.00882281298725,1.05970489464
+311,5.183333333,pose2_to_pose3_retreat,0.609141459787,0.000150117874128,1.06003353745,0.579712137982,0.00882275060002,1.05970493066
+312,5.200000000,pose2_to_pose3_retreat,0.608556139736,0.000150065092677,1.06003337962,0.579126817541,0.00882269651293,1.05970477224
+313,5.216666667,pose2_to_pose3_retreat,0.607954444018,0.000150056400008,1.06003336859,0.578525123692,0.00882269434187,1.05970476571
+314,5.233333333,pose2_to_pose3_retreat,0.607321084062,0.000150109146166,1.06003338651,0.577891762612,0.00882274313903,1.05970478009
+315,5.250000000,pose2_to_pose3_retreat,0.606662577485,0.000150155704793,1.06003355794,0.577233255413,0.00882278752398,1.05970494981
+316,5.266666667,pose2_to_pose3_retreat,0.605983174207,0.000150185579026,1.06003352955,0.576553851937,0.0088228169565,1.05970492746
+317,5.283333333,pose2_to_pose3_retreat,0.605289274557,0.000150165052594,1.06003343418,0.575859951689,0.00882279432732,1.05970483009
+318,5.300000000,pose2_to_pose3_retreat,0.604589355281,0.000150116016968,1.06003346733,0.575160032705,0.0088227460745,1.05970485769
+319,5.316666667,pose2_to_pose3_retreat,0.603894505184,0.000150091968344,1.0600336065,0.574465184626,0.00882272906695,1.05970500193
+320,5.333333333,pose2_to_pose3_retreat,0.603197724745,0.00015008931446,1.06003362261,0.573768403294,0.00882272322304,1.05970501372
+321,5.350000000,pose2_to_pose3_retreat,0.602493264799,0.000150264841366,1.06003365056,0.573063941482,0.0088228922981,1.05970503852
+322,5.366666667,pose2_to_pose3_retreat,0.601765211442,0.000150214869786,1.06003344487,0.572335889383,0.00882284692298,1.05970484137
+323,5.383333333,pose2_to_pose3_retreat,0.601008779543,0.000150245624885,1.0600334319,0.571579457327,0.00882287718717,1.05970482951
+324,5.400000000,pose2_to_pose3_retreat,0.600243616954,0.000150280107563,1.06003344661,0.570814293383,0.00882290698539,1.05970484182
+325,5.416666667,pose2_to_pose3_retreat,0.599472924132,0.000150178445493,1.06003337773,0.570043600694,0.00882280579582,1.05970477355
+326,5.433333333,pose2_to_pose3_retreat,0.598705380435,0.000150020204923,1.06003341557,0.569276059342,0.00882265553473,1.05970481183
+327,5.450000000,pose2_to_pose3_retreat,0.597952903026,0.000150014107512,1.06003364983,0.568523583674,0.0088226552118,1.05970504261
+328,5.466666667,pose2_to_pose3_retreat,0.597220488082,0.0001500408874,1.06003383989,0.567791167866,0.0088226791324,1.05970523449
+329,5.483333333,pose2_to_pose3_retreat,0.596489721437,0.000150224934094,1.06003358069,0.567060398153,0.00882285283911,1.0597049771
+330,5.500000000,pose2_to_pose3_retreat,0.595756278795,0.000150179510083,1.06003350052,0.566326955622,0.0088228077228,1.05970489507
+331,5.516666667,pose2_to_pose3_retreat,0.595005694739,0.000150103461134,1.06003336427,0.565576373287,0.00882273773857,1.05970476467
+332,5.533333333,pose2_to_pose3_retreat,0.594239985637,0.000150083270458,1.06003331011,0.564810665147,0.00882272110454,1.05970471818
+333,5.550000000,pose2_to_pose3_retreat,0.59346198152,0.000150100064854,1.06003351963,0.564032660116,0.00882273465442,1.05970492388
+334,5.566666667,pose2_to_pose3_retreat,0.59269867182,0.00015027726088,1.0600333355,0.563269348966,0.00882290690977,1.05970473916
+335,5.583333333,pose2_to_pose3_retreat,0.591963609672,0.000150143344433,1.06003333948,0.562534289093,0.00882278071205,1.0597047431
+336,5.600000000,pose2_to_pose3_retreat,0.591259547138,0.000150093019743,1.06003361946,0.561830225956,0.00882272763844,1.05970500441
+337,5.616666667,pose2_to_pose3_retreat,0.590583339638,0.000150149584297,1.06003355199,0.561154018836,0.00882278582256,1.05970494571
+338,5.633333333,pose2_to_pose3_retreat,0.589923924287,0.000150172094921,1.0600334934,0.560494602724,0.00882280590205,1.05970489103
+339,5.650000000,pose2_to_pose3_retreat,0.58926130281,0.000150168930555,1.06003353979,0.559831979842,0.00882279780413,1.059704933
+340,5.666666667,pose2_to_pose3_retreat,0.588584692097,0.000150191754955,1.06003359299,0.559155368982,0.0088228200962,1.05970498524
+341,5.683333333,pose2_to_pose3_retreat,0.587900911923,0.000150131212907,1.06003335241,0.558471590739,0.00882276650109,1.05970475511
+342,5.700000000,pose2_to_pose3_retreat,0.587213113801,0.00015012031416,1.06003368957,0.557783791138,0.00882275043979,1.05970508843
+343,5.716666667,pose2_to_pose3_retreat,0.586556514561,0.000150064749128,1.06003346388,0.557127194297,0.0088227027024,1.05970485444
+344,5.733333333,pose2_to_pose3_retreat,0.585932155555,0.000150056519228,1.06003343143,0.556502834474,0.00882269207799,1.05970483197
+345,5.750000000,pose2_to_pose3_retreat,0.585345022563,0.00015008954438,1.06003348036,0.555915700734,0.00882272250804,1.05970487936
+346,5.766666667,pose2_to_pose3_retreat,0.584784668827,0.000150117637627,1.06003354539,0.555355346806,0.00882274973857,1.05970493871
+347,5.783333333,pose2_to_pose3_retreat,0.584244350911,0.000150107373256,1.06003359003,0.554815028803,0.00882273928674,1.05970498628
+348,5.800000000,pose2_to_pose3_retreat,0.583703797842,0.000150063626375,1.06003348295,0.554274476673,0.00882269881948,1.05970488165
+349,5.816666667,pose2_to_pose3_retreat,0.583163264329,0.000150040900056,1.0600337247,0.553733943129,0.00882267559027,1.05970511282
+350,5.833333333,pose2_to_pose3_retreat,0.582629811724,0.000150172533279,1.06003344427,0.553200489676,0.00882280484502,1.05970484554
+351,5.850000000,pose2_to_pose3_retreat,0.582114931342,0.000150218598674,1.06003349755,0.552685609717,0.00882285234938,1.05970489916
+352,5.866666667,pose2_to_pose3_retreat,0.581629657991,0.000150148909373,1.06003354396,0.552200337311,0.00882278575195,1.05970494293
+353,5.883333333,pose2_to_pose3_retreat,0.5811709697,0.000150102136908,1.06003342716,0.551741649175,0.00882273958802,1.05970482825
+354,5.900000000,pose2_to_pose3_retreat,0.580737751973,0.000150136003238,1.06003340769,0.551308431107,0.00882277223134,1.05970480648
+355,5.916666667,pose2_to_pose3_retreat,0.580323539889,0.000150089724717,1.06003368952,0.550894220335,0.00882272969211,1.05970506966
+356,5.933333333,pose2_to_pose3_retreat,0.579927257873,0.000150021343505,1.06003373067,0.550497937792,0.00882266005519,1.05970512479
+357,5.950000000,pose2_to_pose3_retreat,0.579554232713,0.000150098142344,1.06003354612,0.550124910112,0.00882272840357,1.05970494293
+358,5.966666667,pose2_to_pose3_retreat,0.579205635011,0.000150080188344,1.06003356247,0.549776313102,0.00882271276454,1.05970495841
+359,5.983333333,pose2_to_pose3_retreat,0.578883510973,0.000150055478646,1.06003351466,0.549454189686,0.00882269014428,1.05970491016
+360,6.000000000,pose2_to_pose3_retreat,0.578581455582,0.000150071062629,1.06003339821,0.549152134014,0.00882270482799,1.05970479505
+361,6.016666667,pose2_to_pose3_retreat,0.578296764255,0.000150098845562,1.06003348004,0.548867443528,0.00882273556013,1.05970487941
+362,6.033333333,pose2_to_pose3_retreat,0.578025561663,0.000150166093468,1.06003359194,0.548596240929,0.00882280271941,1.05970498968
+363,6.050000000,pose2_to_pose3_retreat,0.577766635584,0.000150056672525,1.06003343172,0.548337315035,0.00882269391295,1.05970482907
+364,6.066666667,pose2_to_pose3_retreat,0.577521089102,0.000150099814617,1.06003350836,0.548091768066,0.00882273545769,1.05970490717
+365,6.083333333,pose2_to_pose3_retreat,0.577292918387,0.000150113585048,1.06003347666,0.547863596979,0.0088227479533,1.05970487534
+366,6.100000000,pose2_to_pose3_retreat,0.577084233287,0.000150021095486,1.0600333604,0.547654912724,0.00882265833358,1.05970475917
+367,6.116666667,pose2_to_pose3_retreat,0.576892912888,0.000150010935496,1.06003339788,0.54746359237,0.00882264835886,1.05970479738
+368,6.133333333,pose2_to_pose3_retreat,0.576718256333,0.000150248250505,1.06003347873,0.547288931568,0.00882287111543,1.05970487448
+369,6.150000000,pose2_to_pose3_retreat,0.576561648448,0.000150347697983,1.06003339115,0.547132322002,0.00882296476535,1.0597047844
+370,6.166666667,pose2_to_pose3_retreat,0.576421686723,0.000150248922779,1.06003372115,0.546992363614,0.00882287728983,1.0597051138
+371,6.183333333,pose2_to_pose3_retreat,0.57629847254,0.000150153292095,1.06003343864,0.546869149599,0.00882278239812,1.05970483581
+372,6.200000000,pose2_to_pose3_retreat,0.576190457916,0.000150101381829,1.06003354257,0.54676113574,0.00882273296439,1.05970493658
+373,6.216666667,pose2_to_pose3_retreat,0.576097166319,0.00015007526954,1.06003350574,0.546667844907,0.00882270938669,1.05970489855
+374,6.233333333,pose2_to_pose3_retreat,0.576015488425,0.000150088271577,1.06003347222,0.546586167141,0.00882272299459,1.05970486979
+375,6.250000000,pose2_to_pose3_retreat,0.575944297344,0.000150102819413,1.06003359077,0.546514976507,0.00882273922049,1.05970499246
+376,6.266666667,pose2_to_pose3_retreat,0.575883473693,0.000150046361077,1.06003361409,0.546454154639,0.00882268856964,1.0597050093
+377,6.283333333,pose2_to_pose3_retreat,0.57583194759,0.000150037769514,1.06003363547,0.546402627014,0.00882267454411,1.05970502364
+378,6.300000000,pose2_to_pose3_retreat,0.575790000321,0.000150102307664,1.06003339225,0.546360678326,0.0088227345561,1.0597047879
+379,6.316666667,pose2_to_pose3_retreat,0.575756615587,0.000150004272155,1.06003346924,0.54632729679,0.00882264740782,1.05970486581
+380,6.333333333,pose2_to_pose3_retreat,0.575731181527,0.000149941177852,1.06003375235,0.546301862778,0.0088225842019,1.05970514181
+381,6.350000000,pose2_to_pose3_retreat,0.575711879565,0.000150026274928,1.0600337172,0.54628255882,0.00882266248028,1.05970510547
+382,6.366666667,pose2_to_pose3_retreat,0.575697271138,0.000150135362912,1.06003355539,0.546267948731,0.00882276608619,1.05970494782
+383,6.383333333,pose2_to_pose3_retreat,0.575686665505,0.000150078112111,1.06003371522,0.546257343855,0.00882271151902,1.05970511065
+384,6.400000000,pose2_to_pose3_retreat,0.575678979373,0.000150038689931,1.06003367939,0.54624965836,0.00882267396405,1.05970506707
+385,6.416666667,pose2_to_pose3_retreat,0.575673677302,0.000150115569128,1.06003359396,0.546244355715,0.00882274889059,1.05970498165
+386,6.433333333,pose2_to_pose3_retreat,0.575670276904,0.000150237741292,1.06003350476,0.546240954232,0.00882286754218,1.05970489676
+387,6.450000000,pose2_to_pose3_retreat,0.575668440469,0.000150188872408,1.06003351544,0.546239119009,0.00882282273192,1.05970490602
+388,6.466666667,pose2_to_pose3_retreat,0.575667247907,0.000150149299648,1.0600335264,0.546237927356,0.00882278620152,1.05970491579
+389,6.483333333,pose2_to_pose3_retreat,0.575666641525,0.000150130546402,1.06003353157,0.54623732138,0.00882276880103,1.05970492039
+390,6.500000000,pose2_to_pose3_retreat,0.575666636754,0.000150130600144,1.06003353156,0.546237316603,0.00882276883685,1.05970492037
+391,6.516666667,pose2_to_pose3_retreat,0.575666449598,0.000150132708246,1.06003353087,0.546237129241,0.00882277024188,1.05970491965
+392,6.533333333,pose2_to_pose3_retreat,0.575665974262,0.000150138062381,1.06003352915,0.546236653379,0.00882277381034,1.05970491782
+393,6.550000000,pose2_to_pose3_retreat,0.575665770915,0.00015014035285,1.06003352841,0.546236449808,0.0088227753369,1.05970491704
+394,6.566666667,pose2_to_pose3_retreat,0.575665698136,0.000150141172629,1.06003352814,0.546236376948,0.00882277588328,1.05970491676
+395,6.583333333,pose2_to_pose3_retreat,0.575665561117,0.000150142715996,1.06003352764,0.546236239778,0.00882277691191,1.05970491623
+396,6.600000000,pose2_to_pose3_retreat,0.575665557611,0.000150142755483,1.06003352763,0.546236236268,0.00882277693823,1.05970491621
+397,6.616666667,pose2_to_pose3_retreat,0.575665404929,0.000150144475282,1.06003352708,0.546236083417,0.00882277808445,1.05970491563
+398,6.633333333,pose2_to_pose3_retreat,0.575665318987,0.000150145443318,1.06003352676,0.54623599738,0.00882277872963,1.05970491529
+399,6.650000000,pose2_to_pose3_retreat,0.575665258566,0.000150146123894,1.06003352654,0.546235936892,0.00882277918323,1.05970491506
+400,6.666666667,pose2_to_pose3_retreat,0.575665031766,0.00015014369334,1.06003351329,0.546235709887,0.00882277605662,1.05970490183
+401,6.683333333,pose2_to_pose3_retreat,0.575664874145,0.000150133036647,1.06003348173,0.546235552204,0.00882276519672,1.05970487041
+402,6.700000000,pose2_to_pose3_retreat,0.575664672476,0.000150119401874,1.06003344134,0.546235350457,0.00882275130194,1.05970483022
+403,6.716666667,pose2_to_pose3_retreat,0.575664557337,0.000150111617327,1.06003341829,0.546235235273,0.00882274336896,1.05970480727
+404,6.733333333,pose2_to_pose3_retreat,0.575664486366,0.00015010681902,1.06003340408,0.546235164275,0.00882273847915,1.05970479312
+405,6.750000000,pose2_to_pose3_retreat,0.575664395428,0.000150123508175,1.06003343092,0.546235073952,0.00882275737607,1.05970482308
+406,6.766666667,pose2_to_pose3_retreat,0.575664294969,0.00015014778172,1.06003347208,0.546234974341,0.00882278468277,1.05970486846
+407,6.783333333,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.0088227948591,1.05970488537

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f5d6d70520fb776d2afb5e4356f7e6801dbc7f4116eb384530e3b8b6f02a2f
+size 26021701

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/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,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+1,0.016666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+2,0.033333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+3,0.050000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+4,0.066666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+5,0.083333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+6,0.100000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+7,0.116666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+8,0.133333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+9,0.150000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+10,0.166666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+11,0.183333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+12,0.200000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+13,0.216666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+14,0.233333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+15,0.250000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+16,0.266666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+17,0.283333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+18,0.300000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+19,0.316666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+20,0.333333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+21,0.350000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+22,0.366666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+23,0.383333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+24,0.400000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+25,0.416666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+26,0.433333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+27,0.450000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+28,0.466666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+29,0.483333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+30,0.500000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+31,0.516666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+32,0.533333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+33,0.550000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+34,0.566666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+35,0.583333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+36,0.600000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+37,0.616666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+38,0.633333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+39,0.650000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+40,0.666666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+41,0.683333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+42,0.700000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+43,0.716666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+44,0.733333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+45,0.750000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+46,0.766666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+47,0.783333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+48,0.800000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+49,0.816666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+50,0.833333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+51,0.850000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+52,0.866666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+53,0.883333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+54,0.900000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+55,0.916666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+56,0.933333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+57,0.950000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+58,0.966666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+59,0.983333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+60,1.000000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+61,1.016666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+62,1.033333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+63,1.050000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+64,1.066666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+65,1.083333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+66,1.100000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+67,1.116666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+68,1.133333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+69,1.150000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+70,1.166666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+71,1.183333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+72,1.200000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+73,1.216666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+74,1.233333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+75,1.250000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+76,1.266666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+77,1.283333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+78,1.300000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+79,1.316666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+80,1.333333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+81,1.350000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+82,1.366666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+83,1.383333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+84,1.400000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+85,1.416666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+86,1.433333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+87,1.450000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+88,1.466666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+89,1.483333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+90,1.500000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+91,1.516666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+92,1.533333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+93,1.550000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+94,1.566666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+95,1.583333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+96,1.600000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+97,1.616666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+98,1.633333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+99,1.650000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+100,1.666666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+101,1.683333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+102,1.700000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+103,1.716666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+104,1.733333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+105,1.750000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+106,1.766666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+107,1.783333333,pose1_to_pose2_press,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+108,1.800000000,pose1_to_pose2_press,0.575664307447,0.000150156961496,1.06003346832,0.54623498657,0.0088227929988,1.05970486416
+109,1.816666667,pose1_to_pose2_press,0.575664375013,0.000150157142611,1.06003344247,0.546235053372,0.00882279048072,1.05970483545
+110,1.833333333,pose1_to_pose2_press,0.575664417121,0.000150157255485,1.06003342636,0.546235095005,0.00882278891142,1.05970481755
+111,1.850000000,pose1_to_pose2_press,0.575664424839,0.000150157276175,1.0600334234,0.546235102636,0.00882278862376,1.05970481427
+112,1.866666667,pose1_to_pose2_press,0.575664484451,0.000150153013402,1.06003340791,0.546235161782,0.00882278271981,1.0597047971
+113,1.883333333,pose1_to_pose2_press,0.575664630894,0.000150107623677,1.0600334276,0.546235308731,0.00882273914276,1.05970481936
+114,1.900000000,pose1_to_pose2_press,0.575664928279,0.000150015450156,1.06003346759,0.546235607142,0.00882265065026,1.05970486457
+115,1.916666667,pose1_to_pose2_press,0.575666944837,0.000150248459935,1.06003357378,0.546237620341,0.00882287176318,1.05970495762
+116,1.933333333,pose1_to_pose2_press,0.575673270537,0.000150222214782,1.0600335377,0.546243946647,0.00882284778543,1.059704927
+117,1.950000000,pose1_to_pose2_press,0.575685680011,0.000150164877079,1.06003361979,0.546256359632,0.00882280222364,1.05970500541
+118,1.966666667,pose1_to_pose2_press,0.575707103725,0.000150046285172,1.06003348694,0.546277782949,0.00882268235856,1.05970487446
+119,1.983333333,pose1_to_pose2_press,0.575737420859,0.000150097833548,1.06003358056,0.546308101272,0.00882273829622,1.05970497739
+120,2.000000000,pose1_to_pose2_press,0.575777405113,0.000150113478062,1.06003347012,0.546348083107,0.00882274560502,1.05970486346
+121,2.016666667,pose1_to_pose2_press,0.575825956057,0.000150072263682,1.06003353818,0.546396634349,0.00882270511648,1.05970492391
+122,2.033333333,pose1_to_pose2_press,0.575883274563,0.000150190184011,1.06003362994,0.546453951119,0.00882281715754,1.05970501603
+123,2.050000000,pose1_to_pose2_press,0.575948403671,0.000150211245277,1.06003369567,0.546519079703,0.00882283657639,1.0597050853
+124,2.066666667,pose1_to_pose2_press,0.576021398564,0.000150189315927,1.0600335435,0.546592075452,0.00882281787551,1.05970494153
+125,2.083333333,pose1_to_pose2_press,0.576106062967,0.000150198128721,1.06003349849,0.546676739771,0.00882282626053,1.05970489271
+126,2.100000000,pose1_to_pose2_press,0.57620261921,0.000150163950141,1.06003348494,0.546773296245,0.00882279256392,1.05970487114
+127,2.116666667,pose1_to_pose2_press,0.576313112865,0.000150119480299,1.06003346477,0.546883790877,0.00882275156513,1.05970485508
+128,2.133333333,pose1_to_pose2_press,0.576438578519,0.000150093348205,1.06003363267,0.547009257137,0.00882272753227,1.05970502399
+129,2.150000000,pose1_to_pose2_press,0.576580138631,0.000150154158171,1.06003357201,0.54715081621,0.00882278510733,1.05970497092
+130,2.166666667,pose1_to_pose2_press,0.576738045515,0.000150072159642,1.06003347788,0.547308724765,0.00882270871297,1.05970487505
+131,2.183333333,pose1_to_pose2_press,0.576912325012,0.000150016021656,1.06003331447,0.547483004515,0.00882265393015,1.05970472464
+132,2.200000000,pose1_to_pose2_press,0.5771052953,0.000149942637534,1.06003336833,0.547675976335,0.00882258524437,1.05970476523
+133,2.216666667,pose1_to_pose2_press,0.57731681045,0.000150267138171,1.06003323506,0.547887487412,0.00882289614677,1.05970463781
+134,2.233333333,pose1_to_pose2_press,0.577549054508,0.000150108649214,1.0600332175,0.548119731747,0.00882273866659,1.05970462196
+135,2.250000000,pose1_to_pose2_press,0.577798926976,0.00015007165903,1.06003330634,0.548369605877,0.00882270732091,1.05970471082
+136,2.266666667,pose1_to_pose2_press,0.578065162147,0.000150057028402,1.06003353666,0.54863584249,0.00882269729227,1.05970493343
+137,2.283333333,pose1_to_pose2_press,0.578351907001,0.00015001483388,1.06003339944,0.54892258663,0.00882265256517,1.05970479313
+138,2.300000000,pose1_to_pose2_press,0.578657339995,0.000150193077754,1.06003332687,0.549228017544,0.00882282377042,1.05970472106
+139,2.316666667,pose1_to_pose2_press,0.578980844962,0.000150196749876,1.0600334927,0.549551522709,0.00882282810377,1.05970488646
+140,2.333333333,pose1_to_pose2_press,0.579321374003,0.000150046655161,1.06003362694,0.549892052713,0.00882268124285,1.05970501975
+141,2.350000000,pose1_to_pose2_press,0.579679009466,0.000150145157484,1.06003360855,0.550249686911,0.00882277538203,1.05970499947
+142,2.366666667,pose1_to_pose2_press,0.580052930375,0.000150030263879,1.06003356426,0.550623608814,0.00882266367257,1.05970495001
+143,2.383333333,pose1_to_pose2_press,0.580444667793,0.000150151474325,1.06003373984,0.551015345705,0.00882278330509,1.05970513105
+144,2.400000000,pose1_to_pose2_press,0.580865219891,0.000150227062183,1.0600336413,0.55143589629,0.00882285385364,1.05970503496
+145,2.416666667,pose1_to_pose2_press,0.581313574337,0.0001500453616,1.06003350688,0.551884254178,0.00882268399152,1.05970490457
+146,2.433333333,pose1_to_pose2_press,0.581789450315,0.000150054361791,1.06003360699,0.552360129083,0.0088226890708,1.05970499725
+147,2.450000000,pose1_to_pose2_press,0.582284630069,0.000150109291129,1.0600336542,0.552855308873,0.00882274395238,1.05970503989
+148,2.466666667,pose1_to_pose2_press,0.582796807251,0.00015008960223,1.06003343706,0.553367485761,0.00882272330345,1.05970482368
+149,2.483333333,pose1_to_pose2_press,0.583320759823,0.000150053250446,1.06003341169,0.553891438526,0.00882268764612,1.05970479919
+150,2.500000000,pose1_to_pose2_press,0.583860405025,0.000150104098373,1.06003353352,0.554431083605,0.00882273809402,1.05970492145
+151,2.516666667,pose1_to_pose2_press,0.584429553756,0.000150212767975,1.06003354882,0.555000230511,0.00882284072315,1.05970494068
+152,2.533333333,pose1_to_pose2_press,0.585023109805,0.000150221207917,1.06003362098,0.555593785559,0.00882284582815,1.05970501437
+153,2.550000000,pose1_to_pose2_press,0.585636207507,0.000150138623678,1.06003365262,0.556206884906,0.00882276840375,1.05970503479
+154,2.566666667,pose1_to_pose2_press,0.586256109209,0.000150140718399,1.06003353134,0.556826787386,0.00882277354955,1.05970492425
+155,2.583333333,pose1_to_pose2_press,0.586877727747,0.000150172333718,1.06003374603,0.557448404056,0.00882279874128,1.05970513661
+156,2.600000000,pose1_to_pose2_press,0.587504257541,0.000150108929618,1.06003342747,0.558074935303,0.00882274037121,1.05970482075
+157,2.616666667,pose1_to_pose2_press,0.588143688024,0.000150110622519,1.06003363445,0.55871436727,0.0088227472057,1.05970503053
+158,2.633333333,pose1_to_pose2_press,0.588807928928,0.000150189283178,1.06003364873,0.559378606361,0.00882281978075,1.05970504648
+159,2.650000000,pose1_to_pose2_press,0.589501083743,0.000150172601089,1.06003361957,0.560071761129,0.00882280283744,1.05970501462
+160,2.666666667,pose1_to_pose2_press,0.590224385283,0.000150113913842,1.06003348895,0.560795064146,0.0088227492589,1.0597048865
+161,2.683333333,pose1_to_pose2_press,0.590957053557,0.000150205166398,1.06003340172,0.561527731349,0.0088228369829,1.05970480198
+162,2.700000000,pose1_to_pose2_press,0.591693699502,0.000150296842488,1.06003353538,0.562264376027,0.00882292418032,1.05970493094
+163,2.716666667,pose1_to_pose2_press,0.592420249333,0.000150177136468,1.06003359403,0.562990927897,0.00882281134401,1.05970498822
+164,2.733333333,pose1_to_pose2_press,0.593140319516,0.000150090741044,1.06003347577,0.563710999102,0.00882272853296,1.05970487301
+165,2.750000000,pose1_to_pose2_press,0.593859228218,0.000150188447425,1.06003334429,0.56442990484,0.00882281638075,1.05970474687
+166,2.766666667,pose1_to_pose2_press,0.594589365165,0.000150121956382,1.06003359456,0.56516004368,0.008822755969,1.05970498798
+167,2.783333333,pose1_to_pose2_press,0.595336570295,0.000150214021388,1.06003341431,0.565907246573,0.00882284057637,1.05970481133
+168,2.800000000,pose1_to_pose2_press,0.59610443227,0.000150226440872,1.06003328369,0.566675109779,0.00882285721925,1.05970468188
+169,2.816666667,pose1_to_pose2_press,0.596889561157,0.00015015608501,1.06003341004,0.567460239444,0.00882278946076,1.05970480714
+170,2.833333333,pose1_to_pose2_press,0.597689103485,0.000150143445205,1.06003358563,0.56825978103,0.00882277409908,1.0597049774
+171,2.850000000,pose1_to_pose2_press,0.598482419354,0.000150162685695,1.06003362177,0.569053098033,0.00882279725435,1.05970501539
+172,2.866666667,pose1_to_pose2_press,0.599255775808,0.000150130671444,1.06003350149,0.569826455116,0.00882276746869,1.05970489758
+173,2.883333333,pose1_to_pose2_press,0.600011673661,0.000150154206927,1.06003352494,0.570582351417,0.00882278559569,1.05970491739
+174,2.900000000,pose1_to_pose2_press,0.600750192032,0.000150228654255,1.06003366323,0.571320868595,0.00882285595982,1.05970505483
+175,2.916666667,pose1_to_pose2_press,0.601486600894,0.000150115582149,1.06003337851,0.572057277674,0.00882274383988,1.05970477585
+176,2.933333333,pose1_to_pose2_press,0.602229576693,0.000150114989562,1.06003350166,0.572800254475,0.00882274655572,1.05970489665
+177,2.950000000,pose1_to_pose2_press,0.602984814856,0.000150207441389,1.0600336095,0.573555490582,0.0088228320435,1.05970500493
+178,2.966666667,pose1_to_pose2_press,0.603750462939,0.000150167954762,1.06003358966,0.574321140779,0.00882279990859,1.05970498986
+179,2.983333333,pose1_to_pose2_press,0.60452454606,0.000150126981623,1.06003340148,0.575095222768,0.0088227549325,1.05970479759
+180,3.000000000,pose1_to_pose2_press,0.605266119613,0.0001500027589,1.06003325263,0.575836798951,0.00882263984205,1.05970465424
+181,3.016666667,pose1_to_pose2_press,0.605972942632,0.000150059849312,1.06003355138,0.576543621461,0.00882269467819,1.0597049392
+182,3.033333333,pose1_to_pose2_press,0.606640807122,0.000149988144028,1.06003357368,0.577211487531,0.00882262838973,1.05970496314
+183,3.050000000,pose1_to_pose2_press,0.607281889096,0.000149994245524,1.06003350884,0.577852569896,0.00882263596837,1.05970490242
+184,3.066666667,pose1_to_pose2_press,0.607908772271,0.000150089568842,1.06003358246,0.578479451739,0.00882272674685,1.05970497548
+185,3.083333333,pose1_to_pose2_press,0.608539256484,0.000150110980407,1.06003368245,0.579109935429,0.00882274640814,1.05970507617
+186,3.100000000,pose1_to_pose2_press,0.609176335377,0.00015015484433,1.06003339856,0.579747013829,0.00882278857568,1.05970479174
+187,3.116666667,pose1_to_pose2_press,0.609808984213,0.000150162934175,1.06003348794,0.5803796614,0.00882279248682,1.05970488432
+188,3.133333333,pose1_to_pose2_press,0.610424955166,0.000150093264255,1.06003351175,0.580995631559,0.00882271986648,1.05970490156
+189,3.150000000,pose1_to_pose2_press,0.611009275419,0.000150164270941,1.06003371772,0.581579953998,0.00882279824302,1.05970510636
+190,3.166666667,pose1_to_pose2_press,0.611565295304,0.000150188549117,1.06003348067,0.582135974438,0.00882282475251,1.05970487859
+191,3.183333333,pose1_to_pose2_press,0.612093848185,0.000150104145943,1.06003350041,0.582664527921,0.00882274228965,1.05970489628
+192,3.200000000,pose1_to_pose2_press,0.612607012877,0.000150042077456,1.06003353055,0.583177692718,0.00882268038288,1.05970492174
+193,3.216666667,pose1_to_pose2_press,0.613104960376,0.000150063334523,1.06003349643,0.583675639972,0.00882270086288,1.0597048879
+194,3.233333333,pose1_to_pose2_press,0.613590228553,0.000150103590863,1.06003372144,0.584160908182,0.00882274137282,1.05970511223
+195,3.250000000,pose1_to_pose2_press,0.61406287015,0.000150225763321,1.06003350434,0.584633545462,0.00882284933093,1.05970489877
+196,3.266666667,pose1_to_pose2_press,0.614522228596,0.000150222190005,1.06003363127,0.58509290668,0.00882285542395,1.05970502333
+197,3.283333333,pose1_to_pose2_press,0.614970075399,0.000150142597593,1.06003352228,0.585540754064,0.00882277832711,1.05970491692
+198,3.300000000,pose1_to_pose2_press,0.615406176986,0.000150129732273,1.06003369826,0.585976854476,0.00882276176316,1.05970508976
+199,3.316666667,pose1_to_pose2_press,0.615812644923,0.000150017646618,1.06003364822,0.58638332447,0.00882265727119,1.05970504334
+200,3.333333333,pose1_to_pose2_press,0.616189901493,0.000150094893592,1.06003348151,0.586760579367,0.00882272924565,1.05970487438
+201,3.350000000,pose1_to_pose2_press,0.616540263208,0.000150138325056,1.06003343325,0.587110940503,0.00882277120826,1.05970482806
+202,3.366666667,pose1_to_pose2_press,0.616866281036,0.000150140420592,1.06003352313,0.587436958999,0.00882277604904,1.05970492047
+203,3.383333333,pose1_to_pose2_press,0.617168123045,0.000150194912823,1.06003357734,0.587738800044,0.00882282748011,1.05970497052
+204,3.400000000,pose1_to_pose2_press,0.617460055974,0.000150086026692,1.06003337041,0.588030733509,0.00882272085548,1.05970476601
+205,3.416666667,pose1_to_pose2_press,0.617741217313,0.000150162995131,1.06003325882,0.588311892047,0.00882278876492,1.05970465445
+206,3.433333333,pose1_to_pose2_press,0.618004936136,0.000150192324175,1.06003350716,0.588575611888,0.00882282144475,1.05970489209
+207,3.450000000,pose1_to_pose2_press,0.618252283064,0.000150224658684,1.06003341286,0.588822958288,0.00882285251684,1.0597048053
+208,3.466666667,pose1_to_pose2_press,0.618482053609,0.000150140189132,1.06003348274,0.589052729185,0.00882276951245,1.05970487293
+209,3.483333333,pose1_to_pose2_press,0.61869419642,0.000150169367452,1.0600334059,0.589264872793,0.00882280202916,1.0597048052
+210,3.500000000,pose1_to_pose2_press,0.618887297992,0.000150162309265,1.06003349547,0.589457974358,0.0088227951744,1.05970489475
+211,3.516666667,pose1_to_pose2_press,0.619062591583,0.000150124997452,1.06003348704,0.589633267905,0.00882275796904,1.05970488658
+212,3.533333333,pose1_to_pose2_press,0.619220341668,0.000150152272275,1.06003340936,0.589791018522,0.00882278725933,1.05970480905
+213,3.550000000,pose1_to_pose2_press,0.619358915954,0.000150196924744,1.06003351395,0.589929593016,0.0088228324689,1.05970490623
+214,3.566666667,pose1_to_pose2_press,0.619481189651,0.00015020918762,1.06003347558,0.590051865694,0.00882284160021,1.05970487195
+215,3.583333333,pose1_to_pose2_press,0.619587702868,0.000150251844104,1.06003338442,0.59015837665,0.0088228767045,1.05970478016
+216,3.600000000,pose1_to_pose2_press,0.619681995371,0.000150019891668,1.06003362452,0.590252673082,0.00882265782685,1.05970501149
+217,3.616666667,pose1_to_pose2_press,0.619764932203,0.0001501191216,1.06003334519,0.590335607313,0.00882275281839,1.05970474306
+218,3.633333333,pose1_to_pose2_press,0.619837794874,0.000150078047986,1.06003325031,0.590408470801,0.00882271284698,1.05970464768
+219,3.650000000,pose1_to_pose2_press,0.619901907631,0.000150092730212,1.06003331459,0.590472584496,0.00882272888828,1.05970470993
+220,3.666666667,pose1_to_pose2_press,0.619957139328,0.000150233457568,1.06003342253,0.590527814909,0.00882286563003,1.05970481704
+221,3.683333333,pose1_to_pose2_press,0.620003908915,0.000150315668493,1.06003351619,0.590574583217,0.00882294292963,1.05970490655
+222,3.700000000,pose1_to_pose2_press,0.620042262291,0.000150259392499,1.06003350863,0.590612937379,0.00882288898219,1.05970490137
+223,3.716666667,pose1_to_pose2_press,0.62007379421,0.00015018493501,1.06003361157,0.590644471882,0.00882282354508,1.05970500737
+224,3.733333333,pose1_to_pose2_press,0.620098920089,0.000150154396055,1.06003384528,0.590669597703,0.00882279236428,1.05970523603
+225,3.750000000,pose1_to_pose2_press,0.620118448639,0.000150121880631,1.06003356766,0.590689126491,0.0088227613078,1.05970496864
+226,3.766666667,pose1_to_pose2_press,0.620133117856,0.000150115571918,1.06003357445,0.590703796091,0.00882275620634,1.05970496953
+227,3.783333333,pose1_to_pose2_press,0.620143177148,0.000150120249701,1.06003364116,0.590713855003,0.00882275943344,1.0597050313
+228,3.800000000,pose1_to_pose2_press,0.620150129989,0.000150126272934,1.06003362119,0.590720806803,0.00882276204074,1.05970501409
+229,3.816666667,pose1_to_pose2_press,0.620154312623,0.000150244519594,1.06003366341,0.590724988352,0.0088228762743,1.05970504776
+230,3.833333333,pose1_to_pose2_press,0.620157433033,0.000150305628362,1.06003369663,0.590728108208,0.00882293531956,1.05970507622
+231,3.850000000,pose1_to_pose2_press,0.620159527483,0.000150206717731,1.0600337278,0.590730203605,0.00882283982659,1.05970511251
+232,3.866666667,pose1_to_pose2_press,0.620160607177,0.000150155729049,1.06003374386,0.590731283788,0.00882279059972,1.05970513122
+233,3.883333333,pose1_to_pose2_press,0.620161217163,0.000150126922403,1.06003375294,0.59073189405,0.00882276278843,1.05970514179
+234,3.900000000,pose1_to_pose2_press,0.620161764337,0.000150130136708,1.06003373986,0.590732441057,0.0088227654646,1.05970512944
+235,3.916666667,pose1_to_pose2_press,0.620162216314,0.000150150684265,1.060033716,0.590732892641,0.00882278468641,1.05970510578
+236,3.933333333,pose1_to_pose2_press,0.620162676049,0.000150171584541,1.06003369173,0.590733351977,0.00882280423817,1.05970508172
+237,3.950000000,pose1_to_pose2_press,0.62016340971,0.00015020493792,1.06003365299,0.590734085001,0.00882283543956,1.05970504332
+238,3.966666667,pose1_to_pose2_press,0.62016407798,0.00015015949478,1.06003360069,0.590734754159,0.00882279297096,1.0597049899
+239,3.983333333,pose1_to_pose2_press,0.620164417765,0.000150103256534,1.06003356665,0.590735095039,0.00882274040145,1.05970495467
+240,4.000000000,pose1_to_pose2_press,0.620164646245,0.00015006544069,1.06003354376,0.590735324254,0.00882270505255,1.05970493099
+241,4.016666667,pose1_to_pose2_press,0.620164835958,0.000150057022856,1.06003352522,0.590735513989,0.0088226967301,1.059704913
+242,4.033333333,pose1_to_pose2_press,0.620165035031,0.000150117472287,1.06003350715,0.590735711311,0.00882275139199,1.05970489921
+243,4.050000000,pose1_to_pose2_press,0.620165226263,0.000150170177797,1.06003350385,0.590735901276,0.00882279983886,1.05970489709
+244,4.066666667,pose1_to_pose2_press,0.62016522981,0.000150170187788,1.06003350632,0.590735904874,0.00882280000459,1.05970489906
+245,4.083333333,pose1_to_pose2_press,0.620165253025,0.000150170253172,1.06003352252,0.590735928426,0.00882280108923,1.05970491195
+246,4.100000000,pose1_to_pose2_press,0.620165297568,0.000150170378623,1.06003355361,0.590735973615,0.00882280317003,1.05970493668
+247,4.116666667,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973619,0.00882280317024,1.05970493668
+248,4.133333333,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.59073597362,0.00882280316995,1.05970493668
+249,4.150000000,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.59073597362,0.00882280317007,1.05970493668
+250,4.166666667,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.59073597362,0.00882280317007,1.05970493668
+251,4.183333333,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.59073597362,0.00882280317007,1.05970493668
+252,4.200000000,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.59073597362,0.00882280317007,1.05970493668
+253,4.216666667,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.59073597362,0.00882280317024,1.05970493668
+254,4.233333333,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.59073597362,0.00882280317031,1.05970493668
+255,4.250000000,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973621,0.00882280317031,1.05970493668
+256,4.266666667,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973621,0.00882280317031,1.05970493668
+257,4.283333333,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973621,0.00882280317031,1.05970493668
+258,4.300000000,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973621,0.00882280317031,1.05970493668
+259,4.316666667,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973621,0.00882280317031,1.05970493668
+260,4.333333333,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973621,0.00882280317036,1.05970493668
+261,4.350000000,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973622,0.00882280317036,1.05970493668
+262,4.366666667,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973622,0.00882280317012,1.05970493668
+263,4.383333333,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973622,0.00882280317053,1.05970493668
+264,4.400000000,pose2_hold,0.620165297568,0.000150170378623,1.06003355361,0.590735973622,0.0088228031705,1.05970493668
+265,4.416666667,pose2_to_pose3_retreat,0.620165297568,0.000150170378623,1.06003355361,0.590735973623,0.00882280316999,1.05970493668
+266,4.433333333,pose2_to_pose3_retreat,0.620165294783,0.000150169243981,1.06003355262,0.590735970827,0.00882280200774,1.05970493589
+267,4.450000000,pose2_to_pose3_retreat,0.620165248931,0.000150150562145,1.06003353622,0.590735924802,0.00882278287143,1.05970492295
+268,4.466666667,pose2_to_pose3_retreat,0.620165136851,0.000150106780567,1.06003350171,0.590735812409,0.00882273831397,1.0597048957
+269,4.483333333,pose2_to_pose3_retreat,0.620165131594,0.000150105523295,1.06003350244,0.590735807185,0.00882273716186,1.05970489628
+270,4.500000000,pose2_to_pose3_retreat,0.620165048282,0.000150085596873,1.06003351413,0.590735724392,0.00882271890205,1.05970490549
+271,4.516666667,pose2_to_pose3_retreat,0.620165019452,0.000150078701278,1.06003351817,0.590735695741,0.0088227125832,1.05970490868
+272,4.533333333,pose2_to_pose3_retreat,0.620164360317,0.000150082077923,1.06003358692,0.590735036528,0.00882271558033,1.05970497445
+273,4.550000000,pose2_to_pose3_retreat,0.620161581034,0.000149937220008,1.06003333234,0.590732257456,0.00882257157123,1.05970472373
+274,4.566666667,pose2_to_pose3_retreat,0.620153964345,0.000150046170601,1.06003350081,0.590724642825,0.00882268772346,1.05970489766
+275,4.583333333,pose2_to_pose3_retreat,0.620139531295,0.000150159397011,1.06003378308,0.590710206989,0.00882279128807,1.05970517431
+276,4.600000000,pose2_to_pose3_retreat,0.620115865141,0.000150145633774,1.06003363157,0.590686543095,0.00882278526366,1.05970502393
+277,4.616666667,pose2_to_pose3_retreat,0.620083099765,0.000150221606887,1.06003362498,0.590653774274,0.00882284956798,1.0597050164
+278,4.633333333,pose2_to_pose3_retreat,0.620040868438,0.000150111281395,1.06003356868,0.590611543952,0.00882274288787,1.05970496061
+279,4.650000000,pose2_to_pose3_retreat,0.619990600694,0.000150100280395,1.06003338389,0.590561277847,0.00882273797199,1.05970478845
+280,4.666666667,pose2_to_pose3_retreat,0.619932574002,0.000150005940721,1.06003346703,0.590503252539,0.00882264757765,1.05970486736
+281,4.683333333,pose2_to_pose3_retreat,0.619867517506,0.000149986405455,1.06003369261,0.590438196024,0.00882262713668,1.05970508107
+282,4.700000000,pose2_to_pose3_retreat,0.619795322063,0.000149915801278,1.06003367249,0.590366001525,0.00882255993189,1.05970506009
+283,4.716666667,pose2_to_pose3_retreat,0.619712939963,0.000149946994672,1.06003340842,0.590283618208,0.00882258679679,1.05970479692
+284,4.733333333,pose2_to_pose3_retreat,0.619619602899,0.000150169393961,1.06003334693,0.590190279978,0.00882280560227,1.0597047479
+285,4.750000000,pose2_to_pose3_retreat,0.619513509996,0.000150202279931,1.06003346051,0.590084185698,0.0088228335671,1.05970485965
+286,4.766666667,pose2_to_pose3_retreat,0.619393710206,0.000150216625409,1.0600335698,0.589964386997,0.00882285138036,1.05970496659
+287,4.783333333,pose2_to_pose3_retreat,0.61925932402,0.000150165046347,1.06003355611,0.589830001053,0.00882280042935,1.05970495182
+288,4.800000000,pose2_to_pose3_retreat,0.619110114088,0.000150152865612,1.06003354367,0.589680789841,0.00882278359857,1.0597049373
+289,4.816666667,pose2_to_pose3_retreat,0.618945734621,0.000150219168986,1.06003363009,0.589516409744,0.00882284745231,1.05970502275
+290,4.833333333,pose2_to_pose3_retreat,0.618763067468,0.000150082466193,1.06003355506,0.589333745917,0.00882272241119,1.05970496127
+291,4.850000000,pose2_to_pose3_retreat,0.618561824456,0.000150079435283,1.0600334773,0.589132501078,0.00882271271561,1.05970487794
+292,4.866666667,pose2_to_pose3_retreat,0.618338752332,0.000150097154947,1.06003357916,0.58890942883,0.00882272962481,1.05970497639
+293,4.883333333,pose2_to_pose3_retreat,0.618095754255,0.000150190198281,1.06003335665,0.588666430022,0.00882282013454,1.05970475949
+294,4.900000000,pose2_to_pose3_retreat,0.617833150787,0.000150207838345,1.06003348564,0.58840382624,0.00882283627085,1.05970488637
+295,4.916666667,pose2_to_pose3_retreat,0.617550856418,0.000150201024627,1.06003369481,0.58812153162,0.00882282797304,1.05970508976
+296,4.933333333,pose2_to_pose3_retreat,0.617250994528,0.000150200656831,1.0600335862,0.587821669915,0.00882282780471,1.05970498072
+297,4.950000000,pose2_to_pose3_retreat,0.616935016886,0.000150105044883,1.06003351047,0.587505694498,0.00882273934726,1.05970490541
+298,4.966666667,pose2_to_pose3_retreat,0.616602197788,0.000150164726132,1.06003361627,0.587172876097,0.00882280104646,1.05970501208
+299,4.983333333,pose2_to_pose3_retreat,0.616250027102,0.000150223923495,1.0600336153,0.586820704183,0.0088228556583,1.05970501133
+300,5.000000000,pose2_to_pose3_retreat,0.615883051234,0.000150190142722,1.06003362708,0.586453728666,0.00882282254851,1.05970502042
+301,5.016666667,pose2_to_pose3_retreat,0.615501232899,0.000150113308666,1.06003360229,0.586071911241,0.00882274857045,1.05970500045
+302,5.033333333,pose2_to_pose3_retreat,0.615097559982,0.000150067089257,1.06003354547,0.585668238658,0.00882270325919,1.05970494838
+303,5.050000000,pose2_to_pose3_retreat,0.614670461224,0.000150101798981,1.06003347709,0.585241139515,0.00882273609052,1.05970487508
+304,5.066666667,pose2_to_pose3_retreat,0.614213446254,0.000150156641507,1.06003336271,0.584784126178,0.0088227960788,1.05970476262
+305,5.083333333,pose2_to_pose3_retreat,0.613731757329,0.000150112543259,1.06003348212,0.584302436617,0.00882274929786,1.05970487821
+306,5.100000000,pose2_to_pose3_retreat,0.61322786565,0.000150173420594,1.06003360407,0.583798543231,0.00882280403902,1.05970499591
+307,5.116666667,pose2_to_pose3_retreat,0.612712030648,0.000150138544614,1.06003347834,0.583282709879,0.00882277481475,1.05970487219
+308,5.133333333,pose2_to_pose3_retreat,0.612187746771,0.000150090407173,1.06003343186,0.582758426364,0.00882272795141,1.05970482674
+309,5.150000000,pose2_to_pose3_retreat,0.611656031095,0.000150029008781,1.06003351774,0.582226710059,0.00882266424269,1.05970490795
+310,5.166666667,pose2_to_pose3_retreat,0.611110307886,0.000149907405607,1.06003354258,0.581680988753,0.00882254880802,1.05970492512
+311,5.183333333,pose2_to_pose3_retreat,0.610544123176,0.000149999789834,1.06003351463,0.58111480314,0.00882263847514,1.05970490631
+312,5.200000000,pose2_to_pose3_retreat,0.609959721558,0.000149990744367,1.06003346738,0.580530401847,0.00882263089501,1.05970486857
+313,5.216666667,pose2_to_pose3_retreat,0.609359825112,0.000150093521021,1.06003356888,0.579930504093,0.00882272892071,1.05970496241
+314,5.233333333,pose2_to_pose3_retreat,0.608740020432,0.000150196143195,1.06003358923,0.579310698468,0.00882282823505,1.05970497985
+315,5.250000000,pose2_to_pose3_retreat,0.608101084639,0.000150211865397,1.06003357294,0.578671762678,0.00882284413929,1.05970496716
+316,5.266666667,pose2_to_pose3_retreat,0.607440149915,0.000150172178093,1.06003374205,0.578010827445,0.00882280241797,1.05970512874
+317,5.283333333,pose2_to_pose3_retreat,0.606756454236,0.0001502449403,1.06003352647,0.577327130653,0.0088228715412,1.05970491676
+318,5.300000000,pose2_to_pose3_retreat,0.606050447412,0.00015005137064,1.06003363504,0.576621126454,0.00882268677821,1.05970502259
+319,5.316666667,pose2_to_pose3_retreat,0.605339418642,0.000150169813673,1.0600337237,0.575910096613,0.0088228017406,1.05970511537
+320,5.333333333,pose2_to_pose3_retreat,0.604626720594,0.000150161459555,1.06003365996,0.575197398566,0.00882279358833,1.05970505631
+321,5.350000000,pose2_to_pose3_retreat,0.603918695546,0.00015015824363,1.06003355724,0.574489373885,0.00882279166555,1.05970495447
+322,5.366666667,pose2_to_pose3_retreat,0.603208528186,0.000150223141291,1.06003350983,0.573779206028,0.0088228547294,1.05970490318
+323,5.383333333,pose2_to_pose3_retreat,0.602486495355,0.000150243518175,1.06003350935,0.573057172207,0.00882287155348,1.05970489752
+324,5.400000000,pose2_to_pose3_retreat,0.601736456496,0.00015010269766,1.06003337377,0.57230713609,0.00882274033754,1.05970476984
+325,5.416666667,pose2_to_pose3_retreat,0.600952538631,0.00015000045336,1.06003336466,0.571523218441,0.00882263888524,1.05970476218
+326,5.433333333,pose2_to_pose3_retreat,0.600159430148,0.000150040295247,1.06003347615,0.570730110401,0.00882268014594,1.0597048714
+327,5.450000000,pose2_to_pose3_retreat,0.599365191158,0.000150050480189,1.06003350209,0.569935870347,0.00882268671178,1.05970489709
+328,5.466666667,pose2_to_pose3_retreat,0.59858411919,0.000150166343225,1.06003371912,0.56915479646,0.0088227959092,1.05970511002
+329,5.483333333,pose2_to_pose3_retreat,0.597825018422,0.000150250408117,1.06003371895,0.568395694629,0.00882287644671,1.05970511179
+330,5.500000000,pose2_to_pose3_retreat,0.597089476451,0.000150192306354,1.06003350344,0.567660153605,0.0088228218266,1.05970490331
+331,5.516666667,pose2_to_pose3_retreat,0.596345632578,0.000150060322682,1.06003359159,0.566916312579,0.00882269943584,1.05970498966
+332,5.533333333,pose2_to_pose3_retreat,0.595588241106,0.000150100377087,1.06003337143,0.566158920365,0.00882273709313,1.05970477265
+333,5.550000000,pose2_to_pose3_retreat,0.594807260876,0.000150016843679,1.06003336615,0.565377940192,0.0088226536188,1.05970476375
+334,5.566666667,pose2_to_pose3_retreat,0.594015307721,0.000150014289889,1.0600334963,0.564585986829,0.00882264995031,1.05970488307
+335,5.583333333,pose2_to_pose3_retreat,0.593235699641,0.000150054155956,1.06003346419,0.563806378523,0.00882268898458,1.05970484924
+336,5.600000000,pose2_to_pose3_retreat,0.592482857953,0.000150095277471,1.06003346628,0.563053536358,0.00882272859878,1.05970485423
+337,5.616666667,pose2_to_pose3_retreat,0.591762619323,0.000150089111623,1.06003354395,0.562333297393,0.00882272147963,1.05970493657
+338,5.633333333,pose2_to_pose3_retreat,0.591069297759,0.000150067781518,1.06003355911,0.561639975574,0.00882269946793,1.05970495667
+339,5.650000000,pose2_to_pose3_retreat,0.590392905945,0.000150178002194,1.06003337213,0.560963582341,0.00882280483061,1.05970476843
+340,5.666666667,pose2_to_pose3_retreat,0.589715057881,0.000150187464415,1.0600335885,0.560285735461,0.00882281822346,1.05970498248
+341,5.683333333,pose2_to_pose3_retreat,0.589030968503,0.000150190193836,1.0600334655,0.559601646398,0.00882282198903,1.0597048587
+342,5.700000000,pose2_to_pose3_retreat,0.588338696806,0.000150127075657,1.06003360747,0.55890937521,0.00882276046764,1.05970499715
+343,5.716666667,pose2_to_pose3_retreat,0.587652051813,0.000150027752871,1.06003372051,0.558222730719,0.00882266268623,1.05970510587
+344,5.733333333,pose2_to_pose3_retreat,0.586973464709,0.000149978839693,1.06003355704,0.557544143882,0.00882261478164,1.05970494505
+345,5.750000000,pose2_to_pose3_retreat,0.586327545231,0.000149997596927,1.06003343462,0.556898224731,0.00882263492539,1.05970482992
+346,5.766666667,pose2_to_pose3_retreat,0.585713794594,0.000149987552673,1.06003359767,0.556284474715,0.00882262686456,1.05970498962
+347,5.783333333,pose2_to_pose3_retreat,0.585131862545,0.000149944841552,1.06003326827,0.555702543919,0.00882258863284,1.05970466622
+348,5.800000000,pose2_to_pose3_retreat,0.584573329117,0.000150070347001,1.06003342581,0.555144008317,0.00882270671632,1.05970482263
+349,5.816666667,pose2_to_pose3_retreat,0.584032943462,0.000150009694566,1.06003357581,0.554603623695,0.00882264942352,1.05970496876
+350,5.833333333,pose2_to_pose3_retreat,0.583490282946,0.00015003956621,1.0600335831,0.554060962949,0.00882267844032,1.0597049741
+351,5.850000000,pose2_to_pose3_retreat,0.582947464253,0.000150182324223,1.06003349756,0.553518142591,0.00882281564548,1.05970489111
+352,5.866666667,pose2_to_pose3_retreat,0.58241637925,0.000150155961001,1.06003353152,0.552987058667,0.00882279312167,1.05970492981
+353,5.883333333,pose2_to_pose3_retreat,0.581905780844,0.000150140569675,1.06003368997,0.552476459087,0.00882277380688,1.05970508981
+354,5.900000000,pose2_to_pose3_retreat,0.581426893976,0.000150230404749,1.06003340506,0.551997570326,0.00882285694961,1.0597047978
+355,5.916666667,pose2_to_pose3_retreat,0.58097486756,0.000150203008489,1.06003369186,0.551545545185,0.0088228338673,1.0597050842
+356,5.933333333,pose2_to_pose3_retreat,0.580547896174,0.000150137545552,1.06003357404,0.551118574266,0.0088227700317,1.05970496758
+357,5.950000000,pose2_to_pose3_retreat,0.580142521804,0.000150147968236,1.06003336728,0.550713199197,0.00882277808398,1.05970476083
+358,5.966666667,pose2_to_pose3_retreat,0.579757470004,0.00015017347104,1.06003340436,0.550328147194,0.00882280292173,1.05970479853
+359,5.983333333,pose2_to_pose3_retreat,0.57939539395,0.000150136373136,1.06003354995,0.549966072522,0.00882277062531,1.0597049471
+360,6.000000000,pose2_to_pose3_retreat,0.579056701959,0.000150060062752,1.06003336256,0.549627382267,0.00882270032438,1.05970476277
+361,6.016666667,pose2_to_pose3_retreat,0.578742296308,0.000150201399377,1.06003351947,0.549312972194,0.00882282619335,1.05970490745
+362,6.033333333,pose2_to_pose3_retreat,0.578445755911,0.000150126382946,1.06003367979,0.549016434411,0.00882276025102,1.05970507329
+363,6.050000000,pose2_to_pose3_retreat,0.578165706438,0.000150135269871,1.06003344696,0.548736385403,0.00882277087007,1.05970484473
+364,6.066666667,pose2_to_pose3_retreat,0.577897585882,0.000150160990824,1.06003334824,0.548468263889,0.00882279332955,1.05970474573
+365,6.083333333,pose2_to_pose3_retreat,0.577642477407,0.000150174971862,1.06003344708,0.548213154811,0.00882280530318,1.05970484541
+366,6.100000000,pose2_to_pose3_retreat,0.577404333318,0.00015021678652,1.06003337252,0.54797501059,0.00882284682282,1.05970477483
+367,6.116666667,pose2_to_pose3_retreat,0.577183502506,0.000150198916057,1.06003354555,0.547754178837,0.00882282527296,1.05970493509
+368,6.133333333,pose2_to_pose3_retreat,0.576981186818,0.000150188288078,1.0600337404,0.547551864814,0.00882282046136,1.0597051344
+369,6.150000000,pose2_to_pose3_retreat,0.576797799845,0.000150062806698,1.06003343459,0.54736847907,0.00882269916823,1.05970482916
+370,6.166666667,pose2_to_pose3_retreat,0.576632947628,0.000150040695207,1.06003379797,0.547203628175,0.00882268117239,1.05970518283
+371,6.183333333,pose2_to_pose3_retreat,0.576485495164,0.000150143325994,1.06003372601,0.547056174318,0.00882277925676,1.05970511556
+372,6.200000000,pose2_to_pose3_retreat,0.576354143071,0.000150133332948,1.06003362397,0.546924821059,0.00882276542636,1.05970501678
+373,6.216666667,pose2_to_pose3_retreat,0.576239659871,0.000150133448615,1.06003362614,0.546810337398,0.00882276396801,1.05970501862
+374,6.233333333,pose2_to_pose3_retreat,0.576138464063,0.000150181282032,1.06003367685,0.54670914181,0.00882281245328,1.05970506704
+375,6.250000000,pose2_to_pose3_retreat,0.576050411021,0.000150122460179,1.06003380368,0.546621090033,0.00882275770727,1.05970518855
+376,6.266666667,pose2_to_pose3_retreat,0.575974914499,0.000150107031023,1.06003387588,0.546545593436,0.00882274218667,1.05970526498
+377,6.283333333,pose2_to_pose3_retreat,0.575910513688,0.000150070372867,1.06003352189,0.546481193071,0.00882270741679,1.05970492086
+378,6.300000000,pose2_to_pose3_retreat,0.575856367725,0.000150093429684,1.06003348748,0.546427047034,0.0088227301541,1.05970488464
+379,6.316666667,pose2_to_pose3_retreat,0.575811531539,0.000150107904017,1.06003358961,0.546382210972,0.00882274485682,1.05970498165
+380,6.333333333,pose2_to_pose3_retreat,0.575775570399,0.000150107905672,1.06003353075,0.546346249308,0.00882274295775,1.05970491954
+381,6.350000000,pose2_to_pose3_retreat,0.575746462173,0.000150067068079,1.06003340385,0.546317140716,0.00882270083061,1.05970479135
+382,6.366666667,pose2_to_pose3_retreat,0.575723922517,0.000149997915903,1.06003340027,0.546294601809,0.00882263421379,1.05970478763
+383,6.383333333,pose2_to_pose3_retreat,0.57570719157,0.00015011512168,1.06003339019,0.54627787132,0.00882275317555,1.0597047829
+384,6.400000000,pose2_to_pose3_retreat,0.575694854789,0.000150092774873,1.06003338984,0.546265535283,0.00882273339166,1.05970478368
+385,6.416666667,pose2_to_pose3_retreat,0.575686122595,0.000150078338519,1.06003344611,0.546256803029,0.00882271871226,1.05970483885
+386,6.433333333,pose2_to_pose3_retreat,0.575679961923,0.000150122740107,1.0600335977,0.546250640929,0.00882275814212,1.0597049872
+387,6.450000000,pose2_to_pose3_retreat,0.575675861641,0.000150132853649,1.06003358173,0.546246540304,0.00882276705752,1.05970497032
+388,6.466666667,pose2_to_pose3_retreat,0.575672857422,0.000150124229977,1.06003347363,0.546243536336,0.00882275929712,1.0597048626
+389,6.483333333,pose2_to_pose3_retreat,0.57567076579,0.000150118564262,1.06003343054,0.546241444843,0.00882275410067,1.05970481938
+390,6.500000000,pose2_to_pose3_retreat,0.5756694242,0.000150116139207,1.06003351787,0.546240103217,0.00882275150578,1.05970490525
+391,6.516666667,pose2_to_pose3_retreat,0.575668644714,0.000150114730211,1.06003356861,0.546239323711,0.00882274999811,1.05970495515
+392,6.533333333,pose2_to_pose3_retreat,0.575668338809,0.000150114177259,1.06003358852,0.546239017798,0.00882274940643,1.05970497473
+393,6.550000000,pose2_to_pose3_retreat,0.575668052251,0.000150113659277,1.06003360718,0.546238731233,0.00882274885218,1.05970499307
+394,6.566666667,pose2_to_pose3_retreat,0.575667705366,0.00015011303225,1.06003362976,0.546238384339,0.00882274818124,1.05970501527
+395,6.583333333,pose2_to_pose3_retreat,0.575667269896,0.000150112245095,1.06003365811,0.546237948857,0.00882274733896,1.05970504314
+396,6.600000000,pose2_to_pose3_retreat,0.575666813213,0.000150103164831,1.0600336324,0.54623749221,0.00882273841811,1.05970501857
+397,6.616666667,pose2_to_pose3_retreat,0.57566628983,0.000150091336219,1.0600335934,0.546236968874,0.00882272680962,1.05970498114
+398,6.633333333,pose2_to_pose3_retreat,0.575665966418,0.000150084027021,1.0600335693,0.546236645492,0.00882271963645,1.05970495801
+399,6.650000000,pose2_to_pose3_retreat,0.575665914844,0.000150082861438,1.06003356545,0.546236593923,0.00882271849255,1.05970495432
+400,6.666666667,pose2_to_pose3_retreat,0.57566572411,0.000150078550802,1.06003355124,0.546236403207,0.00882271426214,1.05970494068
+401,6.683333333,pose2_to_pose3_retreat,0.57566543009,0.000150071905878,1.06003352933,0.546236109215,0.00882270774087,1.05970491965
+402,6.700000000,pose2_to_pose3_retreat,0.575665218084,0.000150067114474,1.06003351353,0.546235897228,0.00882270303863,1.05970490449
+403,6.716666667,pose2_to_pose3_retreat,0.575665211391,0.000150066975514,1.06003351294,0.546235890534,0.0088227028955,1.05970490391
+404,6.733333333,pose2_to_pose3_retreat,0.575665079666,0.00015006546853,1.06003349192,0.546235758585,0.0088227006084,1.05970488236
+405,6.750000000,pose2_to_pose3_retreat,0.575664989732,0.000150064439649,1.06003347757,0.546235668498,0.00882269904691,1.05970486765
+406,6.766666667,pose2_to_pose3_retreat,0.575664946948,0.000150063950177,1.06003347074,0.546235625641,0.00882269830405,1.05970486065
+407,6.783333333,pose2_to_pose3_retreat,0.575664704309,0.000150061174288,1.06003343203,0.546235382589,0.00882269409118,1.05970482096
+408,6.800000000,pose2_to_pose3_retreat,0.575664421778,0.000150028977794,1.06003348816,0.54623510033,0.00882266291522,1.05970487973
+409,6.816666667,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485915,1.05970488537

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c34cebed06909a4358c47f1ed89e93bfac1ae08b484887e229ce451c74767b19
+size 26091239

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/simulation_data.csv

@@ -0,0 +1,412 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+1,0.016666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+2,0.033333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+3,0.050000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+4,0.066666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+5,0.083333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+6,0.100000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+7,0.116666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+8,0.133333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+9,0.150000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+10,0.166666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+11,0.183333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+12,0.200000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+13,0.216666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+14,0.233333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+15,0.250000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+16,0.266666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+17,0.283333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+18,0.300000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+19,0.316666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+20,0.333333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+21,0.350000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+22,0.366666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+23,0.383333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+24,0.400000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+25,0.416666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+26,0.433333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+27,0.450000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+28,0.466666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+29,0.483333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+30,0.500000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+31,0.516666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+32,0.533333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+33,0.550000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+34,0.566666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+35,0.583333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+36,0.600000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+37,0.616666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+38,0.633333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+39,0.650000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+40,0.666666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+41,0.683333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+42,0.700000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+43,0.716666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+44,0.733333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+45,0.750000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+46,0.766666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+47,0.783333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+48,0.800000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+49,0.816666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+50,0.833333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+51,0.850000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+52,0.866666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+53,0.883333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+54,0.900000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+55,0.916666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+56,0.933333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+57,0.950000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+58,0.966666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+59,0.983333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+60,1.000000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+61,1.016666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+62,1.033333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+63,1.050000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+64,1.066666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+65,1.083333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+66,1.100000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+67,1.116666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+68,1.133333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+69,1.150000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+70,1.166666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+71,1.183333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+72,1.200000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+73,1.216666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+74,1.233333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+75,1.250000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+76,1.266666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+77,1.283333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+78,1.300000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+79,1.316666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+80,1.333333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+81,1.350000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+82,1.366666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+83,1.383333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+84,1.400000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+85,1.416666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+86,1.433333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+87,1.450000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+88,1.466666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+89,1.483333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+90,1.500000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+91,1.516666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+92,1.533333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+93,1.550000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+94,1.566666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+95,1.583333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+96,1.600000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+97,1.616666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+98,1.633333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+99,1.650000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+100,1.666666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+101,1.683333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+102,1.700000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+103,1.716666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+104,1.733333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+105,1.750000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+106,1.766666667,pose1_to_pose2_press,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+107,1.783333333,pose1_to_pose2_press,0.575664278494,0.000150156883883,1.0600334794,0.546234957944,0.00882279407786,1.05970487646
+108,1.800000000,pose1_to_pose2_press,0.575664327907,0.000150157016339,1.0600334605,0.546235006798,0.00882279223631,1.05970485546
+109,1.816666667,pose1_to_pose2_press,0.575664480724,0.000150154943758,1.06003340799,0.546235158044,0.00882278460677,1.05970479702
+110,1.833333333,pose1_to_pose2_press,0.575664488478,0.000150153117266,1.06003340946,0.546235165826,0.0088227828783,1.05970479857
+111,1.850000000,pose1_to_pose2_press,0.575664609619,0.00015012458171,1.0600334325,0.546235287407,0.00882275587414,1.05970482269
+112,1.866666667,pose1_to_pose2_press,0.57566468806,0.000150106104472,1.06003344742,0.546235366132,0.00882273838851,1.05970483831
+113,1.883333333,pose1_to_pose2_press,0.575664721823,0.000150098151446,1.06003345384,0.546235400017,0.00882273086229,1.05970484504
+114,1.900000000,pose1_to_pose2_press,0.575665100127,0.000150073037258,1.06003351746,0.546235778772,0.0088227072765,1.05970490856
+115,1.916666667,pose1_to_pose2_press,0.575667594843,0.000150189326024,1.06003365136,0.546238272475,0.00882281998775,1.05970503881
+116,1.933333333,pose1_to_pose2_press,0.575673683515,0.000150109927894,1.06003348087,0.546244362243,0.0088227448092,1.05970488151
+117,1.950000000,pose1_to_pose2_press,0.575687898684,0.000150165162242,1.06003352541,0.546258575897,0.00882279445216,1.05970491405
+118,1.966666667,pose1_to_pose2_press,0.57571092845,0.000150107379056,1.06003377138,0.546281607794,0.00882274377861,1.05970515677
+119,1.983333333,pose1_to_pose2_press,0.575743081724,0.000150064080142,1.06003338418,0.546313762044,0.00882270435971,1.05970478449
+120,2.000000000,pose1_to_pose2_press,0.575784589272,0.000150149792027,1.06003363182,0.546355268513,0.0088227861444,1.05970502506
+121,2.016666667,pose1_to_pose2_press,0.57583605057,0.000150147115404,1.06003370476,0.546406727769,0.00882277628466,1.05970509118
+122,2.033333333,pose1_to_pose2_press,0.575894048708,0.000150048752768,1.06003350297,0.546464726801,0.00882268130901,1.05970489868
+123,2.050000000,pose1_to_pose2_press,0.575958403452,0.000150084013055,1.06003338123,0.546529080899,0.00882271448414,1.05970477973
+124,2.066666667,pose1_to_pose2_press,0.57603340824,0.000150099887415,1.0600335492,0.546604086524,0.00882273315584,1.05970494651
+125,2.083333333,pose1_to_pose2_press,0.576119098201,0.000150038248727,1.06003345941,0.546689778405,0.00882267797926,1.05970485532
+126,2.100000000,pose1_to_pose2_press,0.576217397807,0.000150080477632,1.06003353823,0.546788077577,0.00882271858367,1.05970493007
+127,2.116666667,pose1_to_pose2_press,0.576330170404,0.000150128693241,1.06003357387,0.546900848293,0.00882276037999,1.05970496468
+128,2.133333333,pose1_to_pose2_press,0.576459137492,0.000150138857728,1.06003362261,0.547029814613,0.00882276795659,1.05970501389
+129,2.150000000,pose1_to_pose2_press,0.5766042875,0.000150159358287,1.06003370862,0.547174965041,0.00882278986793,1.05970509938
+130,2.166666667,pose1_to_pose2_press,0.576765565945,0.000150154062321,1.06003354595,0.547336243743,0.00882278555372,1.05970493953
+131,2.183333333,pose1_to_pose2_press,0.57694474476,0.000150130859494,1.06003343247,0.547515423184,0.00882276465814,1.05970483082
+132,2.200000000,pose1_to_pose2_press,0.577141148081,0.000150164937419,1.06003358878,0.54771182711,0.00882280087226,1.05970498925
+133,2.216666667,pose1_to_pose2_press,0.577355448387,0.00015022128882,1.06003357416,0.547926124438,0.00882284708058,1.05970497357
+134,2.233333333,pose1_to_pose2_press,0.57758871328,0.000150085612377,1.06003352997,0.548159390931,0.00882271654774,1.05970492174
+135,2.250000000,pose1_to_pose2_press,0.577841730173,0.000150124260437,1.06003364141,0.54841240982,0.00882276188218,1.05970503081
+136,2.266666667,pose1_to_pose2_press,0.578113651381,0.000150062968632,1.06003346045,0.548684331361,0.00882270219473,1.05970486229
+137,2.283333333,pose1_to_pose2_press,0.578404328955,0.000150175324239,1.0600334858,0.548975008163,0.00882281173983,1.05970488258
+138,2.300000000,pose1_to_pose2_press,0.578715900891,0.00015012903257,1.06003361217,0.54928658026,0.00882276579998,1.05970500368
+139,2.316666667,pose1_to_pose2_press,0.57904416271,0.000150133438048,1.06003342231,0.549614840266,0.00882276435467,1.05970482166
+140,2.333333333,pose1_to_pose2_press,0.579388377186,0.0001502080216,1.06003350953,0.54995905459,0.00882283847066,1.05970491007
+141,2.350000000,pose1_to_pose2_press,0.579749901957,0.0001501282413,1.06003347366,0.550320579573,0.00882275931429,1.05970487161
+142,2.366666667,pose1_to_pose2_press,0.580129550808,0.000150039828849,1.06003342819,0.550700228685,0.00882267164968,1.05970482233
+143,2.383333333,pose1_to_pose2_press,0.580533165833,0.000150112571649,1.06003356281,0.551103843309,0.00882274282969,1.05970495162
+144,2.400000000,pose1_to_pose2_press,0.580962508672,0.000150197402237,1.06003361985,0.551533185285,0.00882282469574,1.05970500753
+145,2.416666667,pose1_to_pose2_press,0.581422257591,0.000150112761296,1.06003348328,0.551992936852,0.00882274946355,1.05970488204
+146,2.433333333,pose1_to_pose2_press,0.581903169334,0.000150095883276,1.06003346502,0.552473847986,0.00882273079049,1.05970487089
+147,2.450000000,pose1_to_pose2_press,0.582400612441,0.000150111474212,1.06003362966,0.552971288849,0.00882273824011,1.05970502151
+148,2.466666667,pose1_to_pose2_press,0.582916805119,0.000150150390653,1.06003338465,0.553487482299,0.00882277994088,1.05970478077
+149,2.483333333,pose1_to_pose2_press,0.583451450227,0.000150094743934,1.06003359905,0.554022129287,0.00882273051852,1.05970499094
+150,2.500000000,pose1_to_pose2_press,0.584005145393,0.00015011029244,1.06003358828,0.554575825619,0.00882275036206,1.05970498904
+151,2.516666667,pose1_to_pose2_press,0.584583052321,0.000150161563357,1.06003360362,0.5551537295,0.00882279117197,1.05970500105
+152,2.533333333,pose1_to_pose2_press,0.585189778879,0.000150094541659,1.06003361721,0.555760456601,0.00882272591268,1.05970501254
+153,2.550000000,pose1_to_pose2_press,0.585805356034,0.000150135945209,1.0600335039,0.556376033682,0.00882276687722,1.05970489408
+154,2.566666667,pose1_to_pose2_press,0.586424358868,0.000150257300874,1.06003356857,0.556995035646,0.00882288523923,1.05970495768
+155,2.583333333,pose1_to_pose2_press,0.587053262536,0.00015022350873,1.06003375663,0.557623940666,0.00882285608043,1.05970514682
+156,2.600000000,pose1_to_pose2_press,0.587693246347,0.000150082529671,1.06003370996,0.558263926639,0.00882272236208,1.0597050981
+157,2.616666667,pose1_to_pose2_press,0.58834928382,0.000150113128228,1.06003354507,0.558919963862,0.00882275229336,1.05970493795
+158,2.633333333,pose1_to_pose2_press,0.589027798257,0.000149979936028,1.06003378099,0.559598478265,0.00882261861022,1.05970516394
+159,2.650000000,pose1_to_pose2_press,0.589731135269,0.000150119518101,1.06003361744,0.560301812866,0.00882275054609,1.05970501441
+160,2.666666667,pose1_to_pose2_press,0.590454774087,0.000150226311532,1.06003361727,0.561025451451,0.00882285646321,1.05970501192
+161,2.683333333,pose1_to_pose2_press,0.591196657041,0.000150309805519,1.06003338587,0.561767334258,0.00882293971105,1.05970478715
+162,2.700000000,pose1_to_pose2_press,0.591944825876,0.000150282528813,1.06003388613,0.562515503382,0.00882291285369,1.05970527256
+163,2.716666667,pose1_to_pose2_press,0.592692542126,0.000150164287233,1.06003365997,0.563263220891,0.00882279902166,1.05970505005
+164,2.733333333,pose1_to_pose2_press,0.593430326883,0.000150151311678,1.06003351984,0.564001005473,0.00882278543192,1.0597049094
+165,2.750000000,pose1_to_pose2_press,0.594162927677,0.000150203661353,1.06003344381,0.564733604599,0.00882283228389,1.05970483755
+166,2.766666667,pose1_to_pose2_press,0.594896611613,0.000150162292831,1.06003335194,0.565467288543,0.00882279120754,1.05970475268
+167,2.783333333,pose1_to_pose2_press,0.595647269358,0.000150043720677,1.06003343562,0.566217948432,0.008822679747,1.05970483209
+168,2.800000000,pose1_to_pose2_press,0.596422040799,0.000150068412481,1.06003358101,0.566992719427,0.00882270261175,1.05970496924
+169,2.816666667,pose1_to_pose2_press,0.597231055681,0.000150030264448,1.06003325121,0.567801734645,0.00882266604096,1.05970465098
+170,2.833333333,pose1_to_pose2_press,0.598053541086,0.000150145531097,1.06003335899,0.568624220291,0.00882278221744,1.05970476125
+171,2.850000000,pose1_to_pose2_press,0.5988750393,0.000150101535391,1.06003349857,0.569445717966,0.00882273613917,1.05970489423
+172,2.866666667,pose1_to_pose2_press,0.599666146264,0.0001501804235,1.06003360927,0.570236824767,0.0088228144768,1.059705005
+173,2.883333333,pose1_to_pose2_press,0.600422457107,0.000150165669095,1.06003324384,0.57099313589,0.00882280112454,1.05970465158
+174,2.900000000,pose1_to_pose2_press,0.601170336985,0.000150079741224,1.06003342287,0.571741016915,0.00882271876729,1.05970482219
+175,2.916666667,pose1_to_pose2_press,0.601918022614,0.000150091766322,1.0600335796,0.572488701881,0.00882272836261,1.05970497425
+176,2.933333333,pose1_to_pose2_press,0.602675873423,0.000150092486548,1.06003348058,0.573246551698,0.00882272574741,1.05970487616
+177,2.950000000,pose1_to_pose2_press,0.603454004126,0.000150098739833,1.06003345286,0.574024681884,0.00882273007079,1.0597048439
+178,2.966666667,pose1_to_pose2_press,0.604250953692,0.000150117496168,1.06003350798,0.57482163098,0.00882274724813,1.05970489951
+179,2.983333333,pose1_to_pose2_press,0.605028987588,0.000150166170411,1.0600335938,0.575599664108,0.00882279348279,1.05970498976
+180,3.000000000,pose1_to_pose2_press,0.605781370035,0.000150192742156,1.06003370345,0.576352046885,0.00882282105964,1.05970509657
+181,3.016666667,pose1_to_pose2_press,0.606488788901,0.000150110201007,1.06003354699,0.577059467638,0.00882274507044,1.05970494407
+182,3.033333333,pose1_to_pose2_press,0.607164725961,0.000150071818736,1.06003336627,0.577735405563,0.00882270983415,1.05970476901
+183,3.050000000,pose1_to_pose2_press,0.607822187316,0.000150050507997,1.06003351201,0.57839286545,0.00882268315989,1.05970490479
+184,3.066666667,pose1_to_pose2_press,0.608473556896,0.000150180006135,1.06003357866,0.579044234833,0.00882281230754,1.05970498002
+185,3.083333333,pose1_to_pose2_press,0.609124513241,0.000150087462347,1.06003343477,0.579695192012,0.00882272239159,1.05970483086
+186,3.100000000,pose1_to_pose2_press,0.609776695388,0.000150210336558,1.06003363772,0.580347372207,0.00882283845308,1.059705029
+187,3.116666667,pose1_to_pose2_press,0.610421581116,0.000150236200919,1.06003351783,0.580992258997,0.00882286816967,1.05970491578
+188,3.133333333,pose1_to_pose2_press,0.611044528114,0.000150116385041,1.0600333503,0.581615207665,0.00882275415517,1.05970475192
+189,3.150000000,pose1_to_pose2_press,0.611641773418,0.000150079948515,1.06003342014,0.582212451957,0.00882271407691,1.05970481637
+190,3.166666667,pose1_to_pose2_press,0.612210488294,0.000150162261511,1.060033554,0.582781164999,0.00882278994286,1.0597049446
+191,3.183333333,pose1_to_pose2_press,0.612758710946,0.000150192481821,1.0600336464,0.583329387778,0.00882282054371,1.05970503582
+192,3.200000000,pose1_to_pose2_press,0.61328744599,0.000150188821011,1.06003364753,0.583858124754,0.00882282350452,1.05970503713
+193,3.216666667,pose1_to_pose2_press,0.613798994154,0.000150131736075,1.06003372081,0.584369674622,0.00882277261992,1.05970511571
+194,3.233333333,pose1_to_pose2_press,0.614296515608,0.000149998670522,1.06003365986,0.584867195775,0.0088226387762,1.05970505091
+195,3.250000000,pose1_to_pose2_press,0.614783001907,0.000150013032157,1.06003354912,0.585353680294,0.00882264752884,1.05970494059
+196,3.266666667,pose1_to_pose2_press,0.615260962871,0.000150172546156,1.06003341,0.585831639436,0.0088228016732,1.05970480938
+197,3.283333333,pose1_to_pose2_press,0.615729954226,0.000150182273027,1.06003342806,0.586300630977,0.00882281251139,1.05970482664
+198,3.300000000,pose1_to_pose2_press,0.616176901985,0.000150189168377,1.06003356704,0.586747578363,0.00882281840317,1.05970495951
+199,3.316666667,pose1_to_pose2_press,0.616598458921,0.00015022443233,1.06003354594,0.587169135198,0.00882285380466,1.05970493791
+200,3.333333333,pose1_to_pose2_press,0.616987494629,0.000150114069988,1.06003342034,0.587558173125,0.00882275149857,1.05970481449
+201,3.350000000,pose1_to_pose2_press,0.617347535946,0.000150149359047,1.06003349098,0.587918213854,0.00882278536415,1.05970488999
+202,3.366666667,pose1_to_pose2_press,0.617680643545,0.00015008209361,1.06003350939,0.588251320769,0.00882271585334,1.05970490412
+203,3.383333333,pose1_to_pose2_press,0.617998914748,0.000150185352601,1.06003363106,0.588569591336,0.00882281739691,1.05970502088
+204,3.400000000,pose1_to_pose2_press,0.61830358401,0.000150212305759,1.06003364339,0.588874260373,0.00882284405927,1.05970503352
+205,3.416666667,pose1_to_pose2_press,0.6185958133,0.000150150010241,1.06003362143,0.589166490574,0.00882278537312,1.05970501543
+206,3.433333333,pose1_to_pose2_press,0.61887340249,0.000150125222002,1.06003363351,0.589444080275,0.00882276254496,1.0597050247
+207,3.450000000,pose1_to_pose2_press,0.619131214769,0.000150135932968,1.06003363196,0.589701892324,0.0088227727911,1.05970502334
+208,3.466666667,pose1_to_pose2_press,0.619370590177,0.000150165422379,1.06003355647,0.589941266607,0.00882279892056,1.05970495269
+209,3.483333333,pose1_to_pose2_press,0.61959057891,0.000150149444287,1.06003346689,0.590161254859,0.00882278172111,1.059704867
+210,3.500000000,pose1_to_pose2_press,0.619790755136,0.000150070837687,1.0600334505,0.590361432082,0.00882270688369,1.05970485332
+211,3.516666667,pose1_to_pose2_press,0.619971588348,0.000150081188543,1.06003348399,0.590542265017,0.00882271648385,1.05970488595
+212,3.533333333,pose1_to_pose2_press,0.620133025455,0.000150005193213,1.06003357208,0.590703703809,0.00882264657535,1.0597049775
+213,3.550000000,pose1_to_pose2_press,0.620276900573,0.000150124342195,1.06003359381,0.590847577651,0.00882276138717,1.0597049932
+214,3.566666667,pose1_to_pose2_press,0.620403386242,0.000150031974803,1.06003352924,0.590974062144,0.00882266491562,1.05970492194
+215,3.583333333,pose1_to_pose2_press,0.620516245271,0.000150099626883,1.06003352468,0.591086921639,0.00882273416509,1.05970491402
+216,3.600000000,pose1_to_pose2_press,0.620616619019,0.000150194184115,1.06003350108,0.591187294546,0.0088228261905,1.05970489555
+217,3.616666667,pose1_to_pose2_press,0.620706939999,0.000150253984283,1.06003347857,0.591277614304,0.00882288212082,1.05970487721
+218,3.633333333,pose1_to_pose2_press,0.620788103427,0.000150261201856,1.06003347319,0.591358778237,0.00882289113361,1.05970486788
+219,3.650000000,pose1_to_pose2_press,0.620859802109,0.000150158425255,1.06003337706,0.591430477656,0.00882279155835,1.05970477596
+220,3.666666667,pose1_to_pose2_press,0.620922482814,0.000150158916973,1.06003358721,0.591493158086,0.00882279127021,1.0597049887
+221,3.683333333,pose1_to_pose2_press,0.620975487413,0.000150151638365,1.06003375892,0.591546162136,0.0088227814133,1.05970514524
+222,3.700000000,pose1_to_pose2_press,0.621019763287,0.000150056349493,1.06003376253,0.591590440248,0.0088226937694,1.05970515093
+223,3.716666667,pose1_to_pose2_press,0.621055485085,0.00015005402327,1.06003364081,0.59162616177,0.00882269071091,1.05970503772
+224,3.733333333,pose1_to_pose2_press,0.621083902913,0.000150103339141,1.06003353482,0.591654578718,0.00882273714621,1.05970493225
+225,3.750000000,pose1_to_pose2_press,0.621106106149,0.000150195895571,1.06003360067,0.591676781389,0.00882282774949,1.05970499489
+226,3.766666667,pose1_to_pose2_press,0.621122720456,0.000150255279075,1.06003364507,0.591693395804,0.0088228874809,1.05970504002
+227,3.783333333,pose1_to_pose2_press,0.621135170514,0.000150146344157,1.06003324002,0.591705847245,0.00882278347071,1.05970464372
+228,3.800000000,pose1_to_pose2_press,0.621143962809,0.000150210303398,1.06003339169,0.591714638094,0.00882284250692,1.05970479412
+229,3.816666667,pose1_to_pose2_press,0.621150408637,0.000150173097924,1.0600335709,0.591721084501,0.00882280715278,1.05970496923
+230,3.833333333,pose1_to_pose2_press,0.621154802028,0.000150057372364,1.06003372811,0.591725480025,0.0088226985053,1.05970512113
+231,3.850000000,pose1_to_pose2_press,0.621157573355,0.000150058643266,1.060033689,0.59172825086,0.00882269806322,1.05970508374
+232,3.866666667,pose1_to_pose2_press,0.621159356028,0.000150075697647,1.06003363361,0.591730032815,0.00882271266514,1.05970503057
+233,3.883333333,pose1_to_pose2_press,0.621160560918,0.00015008515411,1.06003359719,0.591731237256,0.00882272057431,1.05970499512
+234,3.900000000,pose1_to_pose2_press,0.621161248293,0.000150073240766,1.06003358499,0.591731924679,0.00882270870032,1.05970497903
+235,3.916666667,pose1_to_pose2_press,0.621161490445,0.00015006904387,1.06003358069,0.591732166848,0.00882270451728,1.05970497336
+236,3.933333333,pose1_to_pose2_press,0.621161814604,0.000150063425657,1.06003357494,0.591732491029,0.00882269891763,1.05970496577
+237,3.950000000,pose1_to_pose2_press,0.621162148407,0.000150057640282,1.06003356901,0.591732824857,0.00882269315137,1.05970495795
+238,3.966666667,pose1_to_pose2_press,0.621162376895,0.000150053680208,1.06003356495,0.59173305336,0.00882268920437,1.0597049526
+239,3.983333333,pose1_to_pose2_press,0.621162740971,0.000150047370171,1.06003355849,0.591733417462,0.00882268291518,1.05970494407
+240,4.000000000,pose1_to_pose2_press,0.621163349438,0.000150037349208,1.06003354728,0.59173402597,0.00882267292513,1.05970492948
+241,4.016666667,pose1_to_pose2_press,0.621163831623,0.000150107280289,1.06003347861,0.591734507935,0.00882274229805,1.05970486629
+242,4.033333333,pose1_to_pose2_press,0.621164284862,0.000150173013419,1.06003341406,0.591734960967,0.00882280750654,1.0597048069
+243,4.050000000,pose1_to_pose2_press,0.621164425358,0.000150193389502,1.06003339405,0.591735101399,0.00882282771999,1.05970478849
+244,4.066666667,pose1_to_pose2_press,0.621164533978,0.000150209142664,1.06003337858,0.591735209969,0.00882284334742,1.05970477426
+245,4.083333333,pose1_to_pose2_press,0.621164749891,0.000150176276378,1.06003340153,0.591735426241,0.00882281175871,1.05970479836
+246,4.100000000,pose1_to_pose2_press,0.621165057563,0.000150091420478,1.06003346605,0.591735734696,0.00882272962828,1.05970486374
+247,4.116666667,pose1_to_pose2_press,0.621165311801,0.000150127479173,1.06003351932,0.591735988892,0.00882276537541,1.05970491017
+248,4.133333333,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988891,0.00882276536817,1.05970491017
+249,4.150000000,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988891,0.00882276536849,1.05970491017
+250,4.166666667,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988891,0.00882276536851,1.05970491017
+251,4.183333333,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988892,0.00882276536843,1.05970491017
+252,4.200000000,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988892,0.00882276536838,1.05970491017
+253,4.216666667,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988892,0.00882276536834,1.05970491017
+254,4.233333333,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988892,0.00882276536831,1.05970491017
+255,4.250000000,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988893,0.00882276536827,1.05970491017
+256,4.266666667,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988893,0.00882276536823,1.05970491017
+257,4.283333333,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988893,0.00882276536818,1.05970491017
+258,4.300000000,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988893,0.00882276536812,1.05970491017
+259,4.316666667,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988894,0.00882276536807,1.05970491017
+260,4.333333333,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988894,0.00882276536802,1.05970491017
+261,4.350000000,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988894,0.00882276536796,1.05970491017
+262,4.366666667,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988894,0.0088227653679,1.05970491017
+263,4.383333333,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988895,0.00882276536784,1.05970491017
+264,4.400000000,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988895,0.00882276536779,1.05970491017
+265,4.416666667,pose2_hold,0.621165311801,0.000150127479173,1.06003351932,0.591735988895,0.00882276536774,1.05970491017
+266,4.433333333,pose2_to_pose3_retreat,0.621165251511,0.000150083576693,1.06003336369,0.591735928528,0.00882272156514,1.05970476395
+267,4.450000000,pose2_to_pose3_retreat,0.621165252637,0.000150014678058,1.06003363858,0.591735929551,0.0088226519761,1.05970503012
+268,4.466666667,pose2_to_pose3_retreat,0.621165114773,0.000150022687716,1.06003359246,0.591735791554,0.00882265958084,1.05970498492
+269,4.483333333,pose2_to_pose3_retreat,0.621164938978,0.000150034665186,1.06003352661,0.591735615593,0.00882267105976,1.05970492048
+270,4.500000000,pose2_to_pose3_retreat,0.621164911011,0.000150036570676,1.06003351614,0.591735587599,0.00882267288594,1.05970491023
+271,4.516666667,pose2_to_pose3_retreat,0.62116484405,0.000150041132944,1.06003349106,0.591735520575,0.00882267725831,1.05970488568
+272,4.533333333,pose2_to_pose3_retreat,0.621164794259,0.000150049334839,1.06003347814,0.591735470682,0.00882268512709,1.05970487307
+273,4.550000000,pose2_to_pose3_retreat,0.621164286113,0.000150144151855,1.06003335954,0.591734961373,0.00882277610114,1.0597047573
+274,4.566666667,pose2_to_pose3_retreat,0.621161768625,0.000150034042515,1.06003335024,0.591732446103,0.008822673417,1.05970474584
+275,4.583333333,pose2_to_pose3_retreat,0.621154052852,0.000150056060006,1.06003360052,0.59172472884,0.00882269010419,1.05970499076
+276,4.600000000,pose2_to_pose3_retreat,0.621139134695,0.000150208819063,1.06003336557,0.591709810603,0.00882284302879,1.05970477029
+277,4.616666667,pose2_to_pose3_retreat,0.621114869195,0.000150137405187,1.06003351632,0.591685546442,0.00882277588322,1.05970491052
+278,4.633333333,pose2_to_pose3_retreat,0.621081076153,0.000150167944503,1.06003358377,0.591651752335,0.00882280297503,1.05970497568
+279,4.650000000,pose2_to_pose3_retreat,0.62103730488,0.000150160049294,1.06003358143,0.591607980339,0.0088227923246,1.05970497412
+280,4.666666667,pose2_to_pose3_retreat,0.620985666676,0.000150204567006,1.06003360771,0.591556341948,0.00882283661731,1.05970500413
+281,4.683333333,pose2_to_pose3_retreat,0.620926661022,0.000150215492358,1.06003360292,0.591497336047,0.00882284607271,1.05970500104
+282,4.700000000,pose2_to_pose3_retreat,0.62085943485,0.000150094041965,1.06003363268,0.591430111134,0.00882272906271,1.0597050236
+283,4.716666667,pose2_to_pose3_retreat,0.620783400388,0.000150072627046,1.06003352059,0.591354076512,0.00882270718118,1.05970491111
+284,4.733333333,pose2_to_pose3_retreat,0.620697219066,0.000150137828604,1.06003346051,0.591267894469,0.00882276939683,1.05970485463
+285,4.750000000,pose2_to_pose3_retreat,0.620600745984,0.00015013143303,1.06003362536,0.591171422545,0.00882276670546,1.05970501668
+286,4.766666667,pose2_to_pose3_retreat,0.620492592353,0.000150162788181,1.06003362617,0.591063268801,0.00882279764752,1.05970502086
+287,4.783333333,pose2_to_pose3_retreat,0.620372530071,0.000150193964252,1.06003371071,0.590943206387,0.00882282834253,1.05970510786
+288,4.800000000,pose2_to_pose3_retreat,0.620239346043,0.000150194684995,1.06003379114,0.590810021873,0.00882282656655,1.0597051738
+289,4.816666667,pose2_to_pose3_retreat,0.620091042656,0.000150066736269,1.06003380718,0.59066171999,0.0088227033997,1.059705186
+290,4.833333333,pose2_to_pose3_retreat,0.619926885418,0.000149985138006,1.06003373876,0.590497564042,0.00882262626112,1.05970512342
+291,4.850000000,pose2_to_pose3_retreat,0.619745226085,0.000150060070912,1.06003363941,0.590315903736,0.00882269790635,1.05970503041
+292,4.866666667,pose2_to_pose3_retreat,0.619545925112,0.000150129816463,1.06003363433,0.590116600826,0.00882276086829,1.05970502632
+293,4.883333333,pose2_to_pose3_retreat,0.61932616494,0.00015004672941,1.06003361464,0.589896842859,0.00882268499827,1.05970500761
+294,4.900000000,pose2_to_pose3_retreat,0.619086237828,0.000150149986354,1.06003361298,0.589656913437,0.00882278017977,1.05970500784
+295,4.916666667,pose2_to_pose3_retreat,0.618825611944,0.000150065568156,1.06003345262,0.589396288465,0.00882269855708,1.05970484884
+296,4.933333333,pose2_to_pose3_retreat,0.618541844178,0.000150103920865,1.06003348496,0.589112520738,0.00882273680514,1.05970488386
+297,4.950000000,pose2_to_pose3_retreat,0.618236843516,0.000150135281793,1.06003359247,0.588807520452,0.00882276878652,1.05970499225
+298,4.966666667,pose2_to_pose3_retreat,0.617910959224,0.000150064564096,1.06003356883,0.588481637239,0.00882270110277,1.05970496578
+299,4.983333333,pose2_to_pose3_retreat,0.617567997377,0.000150104759273,1.06003348053,0.588138674258,0.00882273766848,1.05970487443
+300,5.000000000,pose2_to_pose3_retreat,0.617209070573,0.000150199748807,1.06003339515,0.587779747247,0.00882283112889,1.05970478935
+301,5.016666667,pose2_to_pose3_retreat,0.616834762756,0.000150178334528,1.06003360262,0.587405439291,0.00882280905837,1.05970499541
+302,5.033333333,pose2_to_pose3_retreat,0.616444409206,0.000150140028503,1.06003354956,0.587015086001,0.00882277101129,1.05970494241
+303,5.050000000,pose2_to_pose3_retreat,0.616038277371,0.000150143475487,1.06003350968,0.586608954449,0.00882277542915,1.05970490355
+304,5.066666667,pose2_to_pose3_retreat,0.615612439469,0.000150101961414,1.06003343815,0.586183118324,0.00882273969426,1.05970483705
+305,5.083333333,pose2_to_pose3_retreat,0.615158118848,0.000150020427711,1.06003340493,0.585728800225,0.00882266578686,1.05970480782
+306,5.100000000,pose2_to_pose3_retreat,0.614677897323,0.0001500648518,1.06003361356,0.585248578225,0.00882270787931,1.05970500854
+307,5.116666667,pose2_to_pose3_retreat,0.614171937002,0.000150251269616,1.06003346257,0.584742616153,0.00882288829747,1.05970486764
+308,5.133333333,pose2_to_pose3_retreat,0.613646495506,0.000150122417582,1.06003368853,0.584217175845,0.0088227629446,1.05970508628
+309,5.150000000,pose2_to_pose3_retreat,0.613106336598,0.000150074233539,1.06003355312,0.583677017248,0.00882271555925,1.05970495097
+310,5.166666667,pose2_to_pose3_retreat,0.612558132298,0.000150077560111,1.06003347907,0.583128811202,0.00882271287647,1.05970487689
+311,5.183333333,pose2_to_pose3_retreat,0.611999934336,0.000150084289434,1.06003357767,0.582570612243,0.00882271617974,1.05970497424
+312,5.200000000,pose2_to_pose3_retreat,0.611427649882,0.000150105190528,1.06003365668,0.581998328129,0.00882273820621,1.05970505258
+313,5.216666667,pose2_to_pose3_retreat,0.610840203376,0.000150200275096,1.06003339412,0.581410880312,0.00882282888989,1.05970479128
+314,5.233333333,pose2_to_pose3_retreat,0.61023797313,0.0001501647706,1.06003361272,0.580808651198,0.00882279698851,1.0597050035
+315,5.250000000,pose2_to_pose3_retreat,0.609613853763,0.00014995314012,1.06003364274,0.580184534323,0.0088225937402,1.05970503156
+316,5.266666667,pose2_to_pose3_retreat,0.608968839842,0.000150029735968,1.06003354249,0.57953952022,0.00882267002026,1.0597049388
+317,5.283333333,pose2_to_pose3_retreat,0.608298283714,0.000150126527207,1.06003336249,0.578868962259,0.0088227608727,1.05970476587
+318,5.300000000,pose2_to_pose3_retreat,0.607605001499,0.000150115245546,1.06003322526,0.57817567903,0.00882274615972,1.05970462881
+319,5.316666667,pose2_to_pose3_retreat,0.606891533394,0.000150180785227,1.06003329848,0.577462211415,0.00882281323405,1.05970469854
+320,5.333333333,pose2_to_pose3_retreat,0.606171015806,0.000150213770859,1.06003360423,0.576741692806,0.00882284259522,1.05970500007
+321,5.350000000,pose2_to_pose3_retreat,0.605447183377,0.000150256434044,1.06003351567,0.576017861348,0.00882288847818,1.05970490949
+322,5.366666667,pose2_to_pose3_retreat,0.60472096785,0.000150238951782,1.06003361435,0.575291646211,0.00882287217292,1.05970500425
+323,5.383333333,pose2_to_pose3_retreat,0.603989842373,0.000150145308708,1.06003363662,0.574560521196,0.00882278014306,1.05970502767
+324,5.400000000,pose2_to_pose3_retreat,0.603252268824,0.000150167984034,1.06003364177,0.573822946844,0.00882280006054,1.05970503187
+325,5.416666667,pose2_to_pose3_retreat,0.602495358509,0.000150194066039,1.06003360481,0.573066036043,0.0088228244625,1.05970499407
+326,5.433333333,pose2_to_pose3_retreat,0.601714951848,0.000150124767376,1.06003353274,0.572285630696,0.00882275980498,1.05970492675
+327,5.450000000,pose2_to_pose3_retreat,0.600923206035,0.000150237086163,1.06003358634,0.571493885067,0.00882287293339,1.0597049852
+328,5.466666667,pose2_to_pose3_retreat,0.600123405472,0.000150185309678,1.06003349845,0.570694083026,0.00882281596189,1.05970489247
+329,5.483333333,pose2_to_pose3_retreat,0.599326961791,0.000150067458386,1.0600334748,0.569897640646,0.0088227027271,1.05970487409
+330,5.500000000,pose2_to_pose3_retreat,0.598543027931,0.000150189231175,1.0600335953,0.569113705476,0.00882281987337,1.0597049898
+331,5.516666667,pose2_to_pose3_retreat,0.597775946497,0.000150134847119,1.06003346551,0.568346623837,0.00882276488325,1.05970486233
+332,5.533333333,pose2_to_pose3_retreat,0.597019532411,0.000150146321723,1.0600333649,0.567590209898,0.0088227769576,1.05970476431
+333,5.550000000,pose2_to_pose3_retreat,0.596267535431,0.000150156007914,1.06003339801,0.566838213159,0.00882278743766,1.05970479671
+334,5.566666667,pose2_to_pose3_retreat,0.5954919456,0.000150026024829,1.06003351575,0.566062623854,0.00882265907238,1.05970491003
+335,5.583333333,pose2_to_pose3_retreat,0.59469829803,0.000150014143751,1.06003364996,0.565268976757,0.00882264849741,1.0597050363
+336,5.600000000,pose2_to_pose3_retreat,0.593896146505,0.000150098664598,1.06003362554,0.564466826142,0.00882273620562,1.0597050144
+337,5.616666667,pose2_to_pose3_retreat,0.593108607782,0.000150046186763,1.06003348074,0.563679287293,0.00882268370747,1.05970488042
+338,5.633333333,pose2_to_pose3_retreat,0.59235037665,0.000150080221704,1.06003348823,0.562921056254,0.00882271797203,1.0597048855
+339,5.650000000,pose2_to_pose3_retreat,0.591628650186,0.000150165874319,1.06003351649,0.562199328745,0.00882279986143,1.05970490807
+340,5.666666667,pose2_to_pose3_retreat,0.590936086234,0.000150197112531,1.06003368373,0.561506764771,0.00882283101285,1.05970507489
+341,5.683333333,pose2_to_pose3_retreat,0.590256111047,0.000150166879135,1.06003376283,0.560826790201,0.00882280295027,1.05970515591
+342,5.700000000,pose2_to_pose3_retreat,0.58957067302,0.000150127037119,1.06003345406,0.560141351906,0.00882276218748,1.05970484694
+343,5.716666667,pose2_to_pose3_retreat,0.588868183552,0.000150147425822,1.06003310102,0.55943886187,0.00882278112122,1.05970450631
+344,5.733333333,pose2_to_pose3_retreat,0.588161797486,0.000149990591433,1.06003346842,0.558732478113,0.00882263169125,1.05970486224
+345,5.750000000,pose2_to_pose3_retreat,0.587455935491,0.000150088292939,1.06003371326,0.55802661523,0.00882272627698,1.05970510438
+346,5.766666667,pose2_to_pose3_retreat,0.586784505249,0.000150228581336,1.0600336491,0.55735518308,0.00882286026222,1.05970504466
+347,5.783333333,pose2_to_pose3_retreat,0.586148048928,0.00015009399698,1.06003354378,0.556718727523,0.00882272827251,1.05970493944
+348,5.800000000,pose2_to_pose3_retreat,0.585548270294,0.000150017463047,1.06003358243,0.556118949884,0.00882265520956,1.05970498049
+349,5.816666667,pose2_to_pose3_retreat,0.584975117202,0.000150109628466,1.06003367888,0.555545795979,0.00882274471182,1.05970507951
+350,5.833333333,pose2_to_pose3_retreat,0.584421888878,0.000150165943432,1.06003362353,0.554992565486,0.00882279335849,1.05970501605
+351,5.850000000,pose2_to_pose3_retreat,0.58386722352,0.000150208354337,1.06003354394,0.55443790171,0.00882284096603,1.05970493181
+352,5.866666667,pose2_to_pose3_retreat,0.583312837818,0.000150169029255,1.0600334798,0.553883516832,0.00882280484608,1.05970487851
+353,5.883333333,pose2_to_pose3_retreat,0.582768632479,0.000150248566313,1.0600335709,0.553339309781,0.00882287847403,1.05970496698
+354,5.900000000,pose2_to_pose3_retreat,0.582243883159,0.000150157950714,1.06003346495,0.552814560793,0.00882278898004,1.05970486109
+355,5.916666667,pose2_to_pose3_retreat,0.58174924888,0.000150059554334,1.06003341864,0.552319927492,0.00882269393366,1.05970481593
+356,5.933333333,pose2_to_pose3_retreat,0.581281343816,0.000150085666422,1.0600335408,0.551852022501,0.00882272018199,1.05970493518
+357,5.950000000,pose2_to_pose3_retreat,0.580838191603,0.000150153567224,1.06003363157,0.551408869805,0.00882278639584,1.0597050241
+358,5.966666667,pose2_to_pose3_retreat,0.580414313848,0.000150168081648,1.06003358359,0.550984991015,0.00882279774058,1.05970498529
+359,5.983333333,pose2_to_pose3_retreat,0.580009564547,0.000150200023899,1.06003361402,0.550580243028,0.00882283385922,1.05970500824
+360,6.000000000,pose2_to_pose3_retreat,0.579628583866,0.000150115356217,1.06003361696,0.55019926296,0.00882275128363,1.05970501152
+361,6.016666667,pose2_to_pose3_retreat,0.579272756631,0.000150024972885,1.06003345269,0.549843435307,0.0088226595355,1.05970484873
+362,6.033333333,pose2_to_pose3_retreat,0.578943955593,0.000150023236642,1.06003342641,0.549514633738,0.00882265600032,1.0597048225
+363,6.050000000,pose2_to_pose3_retreat,0.578635980875,0.000150095259913,1.06003348394,0.549206659153,0.00882272853683,1.05970488175
+364,6.066666667,pose2_to_pose3_retreat,0.578346262829,0.000150177171255,1.06003346328,0.548916941603,0.00882281235495,1.05970486694
+365,6.083333333,pose2_to_pose3_retreat,0.578069117008,0.000150204437713,1.06003344396,0.548639793608,0.00882283239463,1.0597048516
+366,6.100000000,pose2_to_pose3_retreat,0.577804232942,0.000149959792043,1.06003350616,0.548374914231,0.00882260307989,1.05970489848
+367,6.116666667,pose2_to_pose3_retreat,0.5775532863,0.000150081366729,1.06003340454,0.548123965094,0.00882271630751,1.05970480008
+368,6.133333333,pose2_to_pose3_retreat,0.577319008676,0.000150064875587,1.06003337349,0.547889688486,0.00882270329184,1.05970476995
+369,6.150000000,pose2_to_pose3_retreat,0.57710380847,0.000150147098271,1.0600334371,0.547674487353,0.00882278240101,1.05970483438
+370,6.166666667,pose2_to_pose3_retreat,0.576908108592,0.000150153800979,1.06003342423,0.547478787543,0.00882278947124,1.05970482501
+371,6.183333333,pose2_to_pose3_retreat,0.576731381016,0.000150111348386,1.06003344557,0.547302060631,0.00882274925776,1.05970484611
+372,6.200000000,pose2_to_pose3_retreat,0.576573745008,0.000150205845769,1.06003357879,0.547144422168,0.00882283527086,1.05970497522
+373,6.216666667,pose2_to_pose3_retreat,0.576433336892,0.000150126946632,1.06003345733,0.547004014604,0.00882275839463,1.05970485777
+374,6.233333333,pose2_to_pose3_retreat,0.576310668873,0.000150105446289,1.06003336207,0.546881347887,0.00882274130747,1.05970476243
+375,6.250000000,pose2_to_pose3_retreat,0.576201632123,0.000150171790006,1.06003339016,0.54677230984,0.00882280298926,1.05970478364
+376,6.266666667,pose2_to_pose3_retreat,0.576105321554,0.000150273623192,1.06003336784,0.546675997451,0.00882289877331,1.05970476512
+377,6.283333333,pose2_to_pose3_retreat,0.576021698135,0.000150235423824,1.06003335778,0.546592374586,0.00882286254583,1.05970475754
+378,6.300000000,pose2_to_pose3_retreat,0.575949458966,0.000150145552062,1.06003366118,0.546520137415,0.0088227790939,1.0597050514
+379,6.316666667,pose2_to_pose3_retreat,0.575887611957,0.000150070759241,1.06003374785,0.546458291302,0.00882270722372,1.05970513486
+380,6.333333333,pose2_to_pose3_retreat,0.575836053342,0.000150073241733,1.06003361858,0.546406732446,0.0088227091364,1.05970501208
+381,6.350000000,pose2_to_pose3_retreat,0.575795383688,0.000150150489188,1.06003383,0.546366063051,0.00882278721939,1.0597052224
+382,6.366666667,pose2_to_pose3_retreat,0.575762212402,0.000150084729886,1.06003359501,0.546332890504,0.00882271749131,1.05970499557
+383,6.383333333,pose2_to_pose3_retreat,0.575736371653,0.000150172572457,1.06003353365,0.546307048441,0.00882280053902,1.0597049254
+384,6.400000000,pose2_to_pose3_retreat,0.575716310751,0.000150172407668,1.06003350863,0.54628698796,0.00882280181959,1.05970490081
+385,6.416666667,pose2_to_pose3_retreat,0.57570107927,0.000150097657893,1.06003350552,0.546271758412,0.00882273365212,1.05970489831
+386,6.433333333,pose2_to_pose3_retreat,0.575690174728,0.000150006890113,1.06003349277,0.546260856138,0.00882265055724,1.05970488498
+387,6.450000000,pose2_to_pose3_retreat,0.575682501526,0.000150070716956,1.06003329978,0.546253182195,0.00882271219357,1.05970470056
+388,6.466666667,pose2_to_pose3_retreat,0.575677541011,0.000150113690659,1.06003333919,0.546248220864,0.00882275239176,1.05970473964
+389,6.483333333,pose2_to_pose3_retreat,0.575674222239,0.000150144089821,1.06003352367,0.546244901222,0.00882277962484,1.05970491824
+390,6.500000000,pose2_to_pose3_retreat,0.575672015165,0.000150162596266,1.06003364094,0.546242693609,0.00882279615686,1.05970503157
+391,6.516666667,pose2_to_pose3_retreat,0.575670295587,0.000150152255721,1.06003365381,0.546240974176,0.00882278617656,1.05970504117
+392,6.533333333,pose2_to_pose3_retreat,0.575668940206,0.000150144105249,1.06003366395,0.54623961891,0.00882277831003,1.05970504873
+393,6.550000000,pose2_to_pose3_retreat,0.575668097855,0.000150139039838,1.06003367026,0.546238776631,0.00882277342109,1.05970505343
+394,6.566666667,pose2_to_pose3_retreat,0.575667589785,0.00015011903779,1.06003366868,0.546238268823,0.00882275432446,1.05970505224
+395,6.583333333,pose2_to_pose3_retreat,0.575667232246,0.000150092331635,1.06003366356,0.546237911634,0.00882272885093,1.0597050484
+396,6.600000000,pose2_to_pose3_retreat,0.575667077905,0.000150080803164,1.06003366136,0.546237757443,0.00882271785456,1.05970504675
+397,6.616666667,pose2_to_pose3_retreat,0.575666743547,0.000150055828438,1.06003365657,0.546237423411,0.00882269403255,1.05970504316
+398,6.633333333,pose2_to_pose3_retreat,0.575666667177,0.000150050124058,1.06003365548,0.546237347116,0.00882268859146,1.05970504234
+399,6.650000000,pose2_to_pose3_retreat,0.57566666139,0.00015004969177,1.06003365539,0.546237341335,0.00882268817912,1.05970504228
+400,6.666666667,pose2_to_pose3_retreat,0.575666246401,0.000150018694347,1.06003364945,0.546236926751,0.00882265861239,1.05970503782
+401,6.683333333,pose2_to_pose3_retreat,0.575666239473,0.000150018176914,1.06003364936,0.54623691983,0.00882265811884,1.05970503775
+402,6.700000000,pose2_to_pose3_retreat,0.575665885021,0.000149991701276,1.06003364428,0.546236565724,0.0088226328652,1.05970503395
+403,6.716666667,pose2_to_pose3_retreat,0.575665626679,0.000149972404526,1.06003364059,0.546236307634,0.00882261445909,1.05970503117
+404,6.733333333,pose2_to_pose3_retreat,0.57566535197,0.000149975120593,1.0600335829,0.546236032488,0.00882261569466,1.05970497362
+405,6.750000000,pose2_to_pose3_retreat,0.575664970907,0.000149987681406,1.06003348254,0.54623565055,0.00882262528309,1.05970487311
+406,6.766666667,pose2_to_pose3_retreat,0.575664731139,0.000149995584794,1.06003341939,0.546235410231,0.00882263131622,1.05970480988
+407,6.783333333,pose2_to_pose3_retreat,0.575664673387,0.000149997488442,1.06003340418,0.546235352346,0.00882263276939,1.05970479464
+408,6.800000000,pose2_to_pose3_retreat,0.575664506801,0.000149998162635,1.0600334697,0.546235185836,0.0088226337803,1.05970486228
+409,6.816666667,pose2_to_pose3_retreat,0.575664327878,0.000149996217964,1.06003360068,0.546235007249,0.00882263310377,1.05970499673
+410,6.833333333,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485914,1.05970488537

Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8335733393d80bec1f11d3cbc898ad5a15ad1885c64f57a70bd8e145954432a0
+size 26209448